CN106291627A - A kind of ship type GPS course smooths update method - Google Patents
A kind of ship type GPS course smooths update method Download PDFInfo
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- CN106291627A CN106291627A CN201610712194.7A CN201610712194A CN106291627A CN 106291627 A CN106291627 A CN 106291627A CN 201610712194 A CN201610712194 A CN 201610712194A CN 106291627 A CN106291627 A CN 106291627A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a kind of ship type GPS course and smooth update method, longitude and latitude in present invention gps data based on two frames draws distance Dist, orientation Azimuth, then the mode using distance Dist to compare distance threshold DistTH determines whether to update the longitude and latitude under former frame state and course, in the case of distance Dist ＞ thresholding DistTH, update current longitude and latitude and replace former longitude and latitude, update orientation Azimuth and replace former orientation Azimuth, orientation Azimuth is obtained, it is possible to obtain course the most accurately owing to utilizing the gps data of two frames to calculate.
Description
Technical field
The present invention relates to GPS course and smooth field, smooth update method particularly to a kind of ship type GPS course.
Background technology
Equipped with in the boats and ships of navigator, navigator accesses GPS device.When ship speed is less, navigator receives
GPS course data is inaccurate, it may appear that consecutive points are beated the bigger situation of amplitude.Beating of GPS course data, causes navigator
Alarm can be met with other ships, and this alarm is the inaccurate false-alarm caused of course data.
Traditional course smoothing algorithm has curve matching and moving average algorithm, and both algorithms are beated not quite at consecutive points
In the case of, all can obtain preferable effect, but when adjacent way point is beated bigger, effect is the most undesirable, i.e. the speed of a ship or plane is relatively
Hour, adjacent way point is beated relatively big, and effect is the most undesirable.
Summary of the invention
The present invention provides a kind of ship type GPS course to smooth update method, solves in the case of the little speed of a ship or plane, and course data is forbidden
True problem.
A kind of ship type GPS course smooths update method, comprises the steps:
S1: obtain GPS the i-th frame data, parse longitude and latitude i, course information i from GPS the i-th frame data；
S2: if i is 1, is given to navigator by longitude and latitude i, course information i, and the positional information of navigator is longitude and latitude
I, course newCourse are course information i, after longitude and latitude i, course information i are as navigation information, terminate to update；
S3: if i is the positive integer more than 1, obtains GPS the i-th-1 frame data, parses longitude and latitude from GPS the i-th-1 frame data
I-1, course information i-1, calculate longitude and latitude i-1 and distance Dist of longitude and latitude i, orientation Azimuth；
S4: if distance Dist is more than distance threshold DistTH, longitude and latitude i, orientation Azimuth is given to navigator, leads
The updating location information of boat equipment is longitude and latitude i, course newCourse is updated to orientation Azimuth, completes course smooth more
Newly；
S5: if distance Dist is less than or equal to distance threshold DistTH, then the positional information of navigator is longitude and latitude i, boat
Being course information i to newCourse, then enumerator adds 1, obtains next frame gps data, until obtaining GPS the i-th+N frame data
Time, distance Dist performs S4 again more than after distance threshold distance DistTH.
The know-why of such scheme is: traditional course smooths update method curve matching and moving average algorithm,
In the case of high speed operation, the course consecutive points of both algorithms are beated not quite, all can obtain preferable effect, but in low boat
In the case of speed, adjacent way point is beated relatively big, and effect is the most undesirable.Longitude and latitude in present invention gps data based on two frames comes
Show that distance Dist, orientation Azimuth, the mode then using distance Dist to compare distance threshold DistTH determine whether to more
Longitude and latitude under new former frame state and course, in the case of distance Dist ＞ thresholding DistTH, update current longitude and latitude and replace
Change former longitude and latitude, update orientation Azimuth and replace former orientation Azimuth, obtain orientation owing to utilizing the gps data of two frames to calculate
Azimuth, it is possible to obtain course more accurately, therefore, uses said method so that the smooth renewal in course, improves course number
According to accuracy, such as, under former frame state, the longitude and latitude of ship be longitude and latitude 1, course be course 1, at next frame gps data
During arrival, it is thus achieved that the longitude and latitude 2 of this gps data, course 2, longitude and latitude 2 and longitude and latitude 1 is utilized to be calculated distance Dist, orientation
Azimuth, as distance Dist ＞ thresholding DistTH, it is believed that ship travels and moves enough distances, and ship position occurs
Change, can carry out above-mentioned renewal, and it is relatively reliable to rely on 2 calculation of longitude & latitudes to obtain orientation；Such as distance Dist≤thresholding
During DistTH, then regarding ship position and do not become, can retain former longitude and latitude and course, navigation information does not updates, and this ensures that theres
Navigation information updating is just carried out when only there occurs change in ship position.
Preferably, described distance threshold DistTH is: 5 meters to 30 meters.
Preferably, also need before S1 step to perform to calculate speed of a ship or plane step, when the speed of a ship or plane is less than or equal to 3 meter per second, then perform
S1、S2、 S3、 S4、 S5。
Advantages of the present invention has: traditional curve matching in the smoothing algorithm of course and moving average algorithm, at consecutive points
In the case of beating relatively greatly, effect is the most undesirable.This paper presents a kind of GPS course smoothing algorithm, this algorithm is jumped at consecutive points
In the case of moving relatively greatly, it is achieved preferably smooth effect, and this algorithm amount of calculation is little, it is easy to Project Realization.
Accompanying drawing explanation
The Data Matching figure of Fig. 1 embodiment of the present invention 2.
The Data Matching figure of Fig. 2 embodiment of the present invention 3.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, to the detailed description further of present invention work, but embodiments of the present invention
It is not limited to this.
Embodiment 1:
As depicted in figs. 1 and 2.
A kind of ship type GPS course smooths update method, comprises the steps:
S1: obtain GPS the i-th frame data, parse longitude and latitude i, course information i from GPS the i-th frame data；
S2: if i is 1, is given to navigator by longitude and latitude i, course information i, and the positional information of navigator is longitude and latitude
I, course newCourse are course information i, after longitude and latitude i, course information i are as navigation information, terminate to update；
S3: if i is the positive integer more than 1, obtains GPS the i-th-1 frame data, parses longitude and latitude from GPS the i-th-1 frame data
I-1, course information i-1, calculate longitude and latitude i-1 and distance Dist of longitude and latitude i, orientation Azimuth；
S4: if distance Dist is more than distance threshold DistTH, longitude and latitude i, orientation Azimuth is given to navigator, leads
The updating location information of boat equipment is longitude and latitude i, course newCourse is updated to orientation Azimuth, completes course smooth more
Newly；
S5: if distance Dist is less than or equal to distance threshold DistTH, then the positional information of navigator is longitude and latitude i, boat
Being course information i to newCourse, then enumerator adds 1, obtains next frame gps data, until obtaining GPS the i-th+N frame data
Time, distance Dist performs S4 again more than after distance threshold distance DistTH.
The know-why of such scheme is: traditional course smooths update method curve matching and moving average algorithm,
In the case of high speed operation, the course consecutive points of both algorithms are beated not quite, all can obtain preferable effect, but in low boat
In the case of speed, adjacent way point is beated relatively big, and effect is the most undesirable.Longitude and latitude in present invention gps data based on two frames comes
Show that distance Dist, orientation Azimuth, the mode then using distance Dist to compare distance threshold DistTH determine whether to more
Longitude and latitude under new former frame state and course, in the case of distance Dist ＞ thresholding DistTH, update current longitude and latitude and replace
Change former longitude and latitude, update orientation Azimuth and replace former orientation Azimuth, obtain orientation owing to utilizing the gps data of two frames to calculate
Azimuth, it is possible to obtain course the most accurately, therefore, uses said method so that the smooth renewal in course, improves course number
According to accuracy, such as, under former frame state, the longitude and latitude of ship be longitude and latitude 1, course be course 1, at next frame gps data
During arrival, it is thus achieved that the longitude and latitude 2 of this gps data, course 2, longitude and latitude 2 and longitude and latitude 1 is utilized to be calculated distance Dist, orientation
Azimuth, as distance Dist ＞ thresholding DistTH, it is believed that ship travels and moves enough distances, and ship position occurs
Change, can carry out above-mentioned renewal, and it is relatively reliable to rely on 2 calculation of longitude & latitudes to obtain orientation；Such as distance Dist≤thresholding
During DistTH, then regarding ship position and do not become, can retain former longitude and latitude and course, navigation information does not updates, and this ensures that theres
Navigation information updating is just carried out when only there occurs change in ship position.
Preferably, described distance threshold DistTH is: 5 meters to 30 meters.
Preferably, also need before S1 step to perform to calculate speed of a ship or plane step, when the speed of a ship or plane is less than or equal to 3 meter per second, then perform
S1、S2、 S3、 S4、 S5。
Embodiment 2
The most as shown in Figure 1:
Under 1st frame state, receive GPS the 1st frame data, including longitude and latitude 1, course information 1, now, by longitude and latitude 1, course
Information 1 is assigned to the navigator under the 1st frame state, and the navigation information of the navigator under the 1st frame state includes longitude and latitude
1, course information 1.
Under the 2nd frame state, receive GPS the 2nd frame data, including longitude and latitude 2, course information 2, now, pass through longitude and latitude
The degree previous longitude and latitude of 1() and the current longitude and latitude of longitude and latitude 2() it is calculated distance Dist, orientation Azimuth, distance now
Dist is more than distance threshold DistTH, then longitude and latitude 2, orientation Azimuth are assigned to the navigator under the 2nd frame state,
The navigation information of the navigator under the 2nd frame state includes longitude and latitude 2, orientation Azimuth, and in like manner, GPS frame data afterwards are all
Performing by this state, distance Dist under each frame state all meets the requirement more than distance threshold DistTH, therefore, the most more
The longitude and latitude obtained under new present frame state and orientation Azimuth.
Embodiment 3
As shown in Figure 2:
Under 1st frame state, receive GPS the 1st frame data, including longitude and latitude 1, course information 1, now, by longitude and latitude 1, course
Information 1 is assigned to the navigator under the 1st frame state, and the navigation information of the navigator under the 1st frame state includes longitude and latitude
1, course information 1.
Under the 2nd frame state, receive GPS the 2nd frame data, including longitude and latitude 2, course information 2, now, pass through longitude and latitude
The degree previous longitude and latitude of 1() and the current longitude and latitude of longitude and latitude 2() it is calculated distance Dist, orientation Azimuth, distance now
Dist is less than or equal to distance threshold DistTH, and now navigator does not updates；Obtain next frame always, until 1+N frame shape
Under state, receive GPS 1+N frame data, including longitude and latitude 1+N, course information 1+N, now, by the previous longitude and latitude of longitude and latitude 1(
Degree) and the current longitude and latitude of longitude and latitude 1+N() it being calculated distance Dist, orientation Azimuth, distance Dist now is more than distance
Thresholding DistTH, then be assigned to the navigator under 1+N frame state by longitude and latitude 1+N, orientation Azimuth, 1+N frame shape
The navigation information of the navigator under state includes that longitude and latitude 1+N, orientation Azimuth, navigator now just complete the most more
Newly.
Embodiment 3
The present invention to be embodied as step as follows:
1st step: when receiving the first frame data, it is judged that whether enumerator count is equal to 1.If count is equal to 1, its longitude and latitude is divided
It is not stored as beginLon1, beginLat1, GPS course is assigned to course newCourse, enumerator count after smoothing
Add 1；
2nd step: when receiving the second frame data, it is judged that enumerator count, whether equal to 2, if count is equal to 2, calculates this frame data
In longitude and latitude and distance Dist of beginLon1, beginLat1, orientation Azimuth, if distance Dist is more than distance threshold
DistTH, then be assigned to beginLon2, beginLat2 respectively by the longitude and latitude in these frame data, be assigned to by Azimuth
NewCourse, completes to update, and enumerator count adds 1.If Dist is less than or equal to distance threshold DistTH, directly quit a program；
3rd step: if Dist is less than or equal to DistTH in the 2nd step, continue executing with the 2nd step, during until receiving the i-th frame data, Dist
Till DistTH.
First GPS longitude and latitude data are assigned to EndLon, EndLat by the 4th step: when receiving i+1 frame data respectively, will
BeginLat2 is assigned to BeginLat, BeginLon2 and is assigned to BeginLon, according to starting point longitude and latitude BeginLon,
BeginLat and end point longitude and latitude EndLon, EndLat, calculate distance Dist and orientation Azimuth of at 2.
5th step: judge that whether Dist is more than DistTH.
6th step: if the 5th step is set up, then BeginLat2 is assigned to BeginLat1, BeginLon2 is assigned to
BeginLon1, is assigned to BeginLon2, BeginLat2 respectively by the GPS longitude and latitude in these frame data, and by Azimuth
It is assigned to newCourse.
7th step: if the 5th step is false, then be assigned to BeginLon, BeginLon1 by BeginLat1 and be assigned to
BeginLon, is assigned to EndLon, EndLat by the GPS longitude and latitude in these frame data, respectively according to starting point longitude and latitude
BeginLon, BeginLat and end point longitude and latitude EndLon, EndLat, calculate distance Dist and orientation Azimuth of at 2,
And orientation Azimuth calculated is assigned to newCourse.
8th step: when receiving N (N >=i+2) frame data, repeats the 4th to the 7th step.
The above, be only presently preferred embodiments of the present invention, and the present invention not does any pro forma restriction, every depends on
Any simple modification of being made above example according to the technical spirit of the present invention, equivalent variations, each fall within the protection of the present invention
Within the scope of.
Claims (3)
1. a ship type GPS course smooths update method, it is characterised in that comprise the steps:
S1: obtain GPS the i-th frame data, parse longitude and latitude i, course information i from GPS the i-th frame data；
S2: if i is 1, is given to navigator by longitude and latitude i, course information i, and the positional information of navigator is longitude and latitude
I, course newCourse are course information i, after longitude and latitude i, course information i are as navigation information, terminate to update；
S3: if i is the positive integer more than 1, obtains GPS the i-th-1 frame data, parses longitude and latitude from GPS the i-th-1 frame data
I-1, course information i-1, calculate longitude and latitude i-1 and distance Dist of longitude and latitude i, orientation Azimuth；
S4: if distance Dist is more than distance threshold DistTH, longitude and latitude i, orientation Azimuth is given to navigator, leads
The updating location information of boat equipment is longitude and latitude i, course newCourse is updated to orientation Azimuth, completes course smooth more
Newly；
S5: if distance Dist is less than or equal to distance threshold DistTH, then the positional information of navigator is longitude and latitude i, boat
Being course information i to newCourse, then enumerator adds 1, obtains next frame gps data, until obtaining GPS the i-th+N frame data
Time, distance Dist performs S4 again more than after distance threshold distance DistTH.
A kind of ship type GPS course the most according to claim 1 smooths update method, it is characterised in that: described distance threshold
DistTH is: 5 meters to 30 meters.
A kind of ship type GPS course the most according to claim 1 smooths update method, it is characterised in that: also need before S1 step
Perform to calculate speed of a ship or plane step, when the speed of a ship or plane is less than or equal to 3 meter per second, then perform S1, S2, S3, S4, S5.
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| CN201610712194.7A CN106291627A (en) | 2016-08-24 | 2016-08-24 | A kind of ship type GPS course smooths update method |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101188858A (en) * | 2006-11-23 | 2008-05-28 | 华为技术有限公司 | Location update method and system |
| CN101527088A (en) * | 2009-04-01 | 2009-09-09 | 四川九洲电器集团有限责任公司 | Broadcasting-mode automatic dependent surveillance track processing and device thereof |
| CN102158844A (en) * | 2011-05-13 | 2011-08-17 | 中国联合网络通信集团有限公司 | Method and system for updating position of base station |
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2016
- 2016-08-24 CN CN201610712194.7A patent/CN106291627A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101188858A (en) * | 2006-11-23 | 2008-05-28 | 华为技术有限公司 | Location update method and system |
| CN101128051A (en) * | 2007-09-18 | 2008-02-20 | 中国科学院软件研究所 | Update method of mobile object location based on traffic network and GPS |
| CN101527088A (en) * | 2009-04-01 | 2009-09-09 | 四川九洲电器集团有限责任公司 | Broadcasting-mode automatic dependent surveillance track processing and device thereof |
| CN102158844A (en) * | 2011-05-13 | 2011-08-17 | 中国联合网络通信集团有限公司 | Method and system for updating position of base station |
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Application publication date: 20170104 |