CN106556397A - A kind of GNSS map-matching methods and device - Google Patents
A kind of GNSS map-matching methods and device Download PDFInfo
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- CN106556397A CN106556397A CN201510622751.1A CN201510622751A CN106556397A CN 106556397 A CN106556397 A CN 106556397A CN 201510622751 A CN201510622751 A CN 201510622751A CN 106556397 A CN106556397 A CN 106556397A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining 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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention discloses a kind of GNSS map-matching methods and device, wherein method includes：When multiple positioning modes are opened simultaneously, the positioning result of the multiple positioning modes is obtained；The positioning result of the multiple positioning modes is weighted averagely, obtains resolving coordinate；The property parameters that coordinate obtains optional section are resolved according to described；Many attribute judgements are carried out to the property parameters in the optional section using fuzzy algorithmic approach, Point matching will be resolved to the optimum optional section of many attribute judgements.By means of the invention it is possible to improve the precision of GNSS map match.
Description
Technical field
The present invention relates to GPS (GNSS, Global Navigation Satellite
System) technical field, espespecially a kind of GNSS map-matching methods and device.
Background technology
With the development of technology, airmanship has been increasingly becoming indispensable technology in people's daily life
Means, have become standard configuration in vehicle-mounted and smart mobile phone.With the continuous input of various countries, the whole world is defended
Celestial body system has gradually broken away from global positioning system (GPS, Global Positioning System) and has unified
The situation in the world, mainly includes that GPS, Beidou, Glonass, Galileo etc. are several substantially at present in the world
System.And map match (Map-Matching) technology as navigation application technological layer is also with navigation
The maturation of system is received more and more attention.
Map-matching algorithm is that the position coordinateses for calculating navigation chip are entered with electronic map road data
Row compares and matches.According to selected algorithm, so as to most positioning result accurately matches electronics at last
Certain point on certain road on map road network, a series of point connect into motion track, user
Therefore position and the mobile route oneself being presently in clearly can be seen from map.Map match
Difference of the algorithm according to algorithm framework, can substantially be divided into：Based on the matching algorithm of geological information, it is based on
Several big class such as probability matching algorithm, the matching algorithm based on topological relation, various algorithms itself have necessarily
Advance and restricted.
But, the difficult point of navigation map matching algorithm is：The civil navigation chip calculation accuracy of itself exists
Near 10～20 meters, particularly in urban canyons, road is very intensive, cross point is more, straight road
Length is short, multipath effect is obvious etc. it is multifactor under, how the determining with error that navigation chip is calculated
Position result, accurately matches on existing electronic chart, particularly in the crossing for having a plurality of road.Such as
Fruit vehicle is just being travelled in the intensive urban district of road, and in arbitrary given time, the candidate road section that needs consider can
Can have a lot, it is very tired that will accurately judge that vehicle is travelled just on which bar section in this case
It is difficult, what system often drew be such as " vehicle is likely on a certain section " or " it is unlikely
On a certain section " as fuzzy conclusion, as a result sometimes quite coarse, the erroneous judgement of matching, can cause use
Family obtains erroneous path track, has a strong impact on user's impression.
The content of the invention
In order to solve above-mentioned technical problem, the invention provides a kind of GNSS map-matching methods and device,
The precision of GNSS map match can be improved.
In order to reach the object of the invention, the invention provides a kind of GNSS map-matching methods, including：
When multiple positioning modes are opened simultaneously, the positioning result of the multiple positioning modes is obtained；To described many
The positioning result for planting positioning mode is weighted averagely, obtains resolving coordinate；Obtained according to the resolving coordinate
To the property parameters in optional section；Many category are carried out using fuzzy algorithmic approach to the property parameters in the optional section
Property judgement, optional section of the Point matching to many attributes judgement optimum will be resolved.
Present invention also offers a kind of device for GNSS map match, including：First processing module,
For when multiple positioning modes are opened simultaneously, obtaining the positioning result of the multiple positioning modes；To institute
The positioning result for stating multiple positioning modes is weighted averagely, obtains resolving coordinate；Sat according to described resolving
Mark obtains the property parameters in optional section；Second processing module, for using fuzzy algorithmic approach to described optional
The property parameters in section carry out many attribute judgements, by resolve Point matching to many attributes judgement optimum can
Routing section.
Compared with prior art, the various navigator fix means of present invention comprehensive utilization, for positioning calculation
As a result it is weighted and obscures resolving, it is to avoid the error brought by single calculation result；Algorithm itself is adopted
Multiple attributive decision making method, is input into reference to various location informations, so as to obtain a comprehensive optimal value；For
Various judgement criterion, such as distance, angle, speed, curve matching degree etc. of participating in have no absolute reference value
As " non-zero is one " direct judgement.Advantage of the algorithm using fuzzy algorithmic approach, using fuzzy number and fuzzy
Logic is capable of the speciality of preferably comprehensive each decision attribute, and can be calculated making inferences resolving
Apparent Optimum Matching value.The invention improves the precision of navigation system map matching algorithm, fully combines
The positioning result of each self-contained navigation and resolving system so that final map matching result is optimal value, from
And improve user's impression.
Other features and advantages of the present invention will be illustrated in the following description, also, partly from froming the perspective of
Become apparent in bright book, or understood by implementing the present invention.The purpose of the present invention is excellent with other
Point can be realized and be obtained by specifically noted structure in description, claims and accompanying drawing.
Description of the drawings
Accompanying drawing is used for providing further understanding technical solution of the present invention, and constitutes one of description
Point, together with embodiments herein it is used to explain technical scheme, does not constitute to the present invention
The restriction of technical scheme.
Fig. 1 is the schematic flow sheet of GNSS map-matching methods in a kind of embodiment of the invention.
Fig. 2 is the schematic diagram of the L-R Trapezoid Fuzzy Number algorithms of the present invention.
Fig. 3 is the schematic diagram of the weight vector and Evaluations matrix Trapezoid Fuzzy Number algorithm of the present invention.
Fig. 4 be the present invention a kind of embodiment in for GNSS map matching means structural representation.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing
Embodiments of the invention are described in detail.It should be noted that in the case where not conflicting, this Shen
Please in embodiment and the feature in embodiment can mutual combination in any.
Can be in the computer of such as one group of computer executable instructions the step of the flow process of accompanying drawing is illustrated
Perform in system.And, although show logical order in flow charts, but in some cases,
Can be with the step shown or described by performing different from order herein.
With the development of Global Satellite system, position with reference to GNSS and inertial navigation location technology, at present can
There is number of ways to obtain and calculate the current location of user.Generally map-matching algorithm adopts single substantially
Decision attribute, seldom have the fusion treatment of many algorithms, and actual map matching problem be special due to which
The probability of property and various solutions, is a kind of Multiple Attribute Decision Problems in itself.The present invention proposes a kind of based on mould
The blending algorithm of fuzzy logic, can fully be merged the result of many algorithms, and be asked using fuzzy logic algorithm
Obtain optimum map match effect.
In navigator and mobile terminal, there is the simultaneous trend of various airmanships, navigated
Chip itself can support various moisture images simultaneously, be typically include：GPS, Beidou, Glonass,
Tetra- large satellite systems of Galileo, at the same inertial navigation technology also can in the case of no satellite, according to
The movement track of last stage, derives the trajectory planning of next stage using the method for Kalman filtering.In the people
With aspect, at present using the principle of pseudorange positioning, it is desirable to can capture no less than four satellites, and ask
The method of 4 yuan of equations of solution obtains the coordinate of local user.
Fig. 1 is the schematic flow sheet of GNSS map-matching methods in a kind of embodiment of the invention.As schemed
Shown in 1, including：
Step 101, when multiple positioning modes are opened simultaneously, obtains the positioning knot of the multiple positioning modes
Really.
In this step, when user opens various positioning means simultaneously, and ought there are enough visible stars, energy
Following positioning result input is obtained enough：
X=[x1, x2……xi]
Y=[y1, y2……yi]
Z=[z1, z2……zi]
Wherein, X/Y/Z is the coordinate result set of multiple positioning modes, and x/y/z is the seat of every kind of positioning mode
Mark result, i are the quantity of the positioning mode opened.
Step 102, the positioning result of the multiple positioning modes to obtaining are weighted averagely, are resolved
Coordinate.
In this step, the positioning result for obtaining to multiple positioning modes is weighted on X/Y/Z respectively
Averagely.
Define W=[W1, W2……Wi] be various positioning modes respective weight, wherein:
The x ' for obtaining/y '/z ' is used as the resolving coordinate after weighted average.
It should be noted that weighted average here is not limited to the positioning of single standard, or many stars
Positioning result, such as GPS and Beidou co-located calculation results.If as foot can not be captured
Enough satellites and normally cannot be resolved, then the positioning result is considered as invalid, is not counted in weighted average.
Step 103, obtains the property parameters in optional section according to resolving coordinate.
In this step, when the resolving coordinate of various positioning modes is effective, after needing according to weighted average
Resolving coordinate, obtain the property parameters in the various optional sections for being available for decision-making.
In this algorithm, following parameter is chosen but is not limited to as the property parameters of judgement：
Current position coordinates are for the projector distance of candidate road section；
Current position coordinates are for the distance of electronic chart fixing point；
Distance between the path of current location track circuit and candidate road section；
The curve of current location track and electronic chart, surface fitting degree；
The difference of the tangent slope of the track of current location and the tangent slope of electronic chart；
Translational speed meter direction of current location etc..
The property parameters in the optional section are carried out many attribute judgements using fuzzy algorithmic approach by step 104,
Point matching will be resolved to the optimum optional section of many attribute judgements.
In this step, each property parameters carry out segmentation expression using fuzzy number, such as：Projector distance exists
Between 0～5 meter, it is expressed as " very close to ", distance is " generally proximate to " for 5-10 rice, and distance is 10-20
Rice is " not too close to ", and distance is " distant " for 20-50 rice, and distance is more than 50 meters for " very
Far ".The fuzzy chopping rule and gear number of concrete each property parameters is specifically set by each realization side, not at this
Invention defines category.
Computing between fuzzy number is very complicated, in order to reduce operand, introduces several certain modulis
Paste number, including Triangular Fuzzy Number, Trapezoid Fuzzy Number, L-R Triangular Fuzzy Numbers and L-R Trapezoid Fuzzy Numbers,
In the specific embodiment of the present invention, using the algorithm of L-R Trapezoid Fuzzy Numbers, as shown in Fig. 2 fuzzy number
Can be represented by M '=(a, b, c, d).
Scenario collection R=(x1,x2…xn) represent optional section；F=(f1,f2,…fm) for index set, according to
Index set F is evaluated as u for scheme collection R'sij, i ∈ 1,2 ... n }, j ∈ 1,2 ... and m }, then can obtain
To judgement matrix U=[uij]n*m, uijUsing fuzzy method for expressing, it is expressed as with Trapezoid Fuzzy Number：
u’ij=(aij,bij,cij,dij), fuzzy weight vector is:
W=(w1,w2,…wm), wherein wj=(αj,βj,γj,δj), j ∈ 1,2 ... m }.
For judgement matrix U and weight vector are represented using Trapezoid Fuzzy Number, as shown in figure 3, due to each
Property value unit is different, in order to strengthen comparability, first has to standardization judgement matrix, will adjudicate matrix
In each element specification in [0,1], here, adopt following linear transformation：Wherein,
It is hereby achieved that the judgement matrix U after conversion '=[rij]n*m, weighted normal can be constructed according to U '
Matrix V.
Work as rijAnd wjWhen being apparent several, VijIt is apparent；Work as rijAnd/or WjWhen being fuzzy number, then
VijNecessarily obscure, now above formula is changed into：
vij=rij×wj=(aij*αj,bij*βj,cij*γj,dij*δj)
Thus V=(v' are obtainedij)n×m。
If containing fuzzy number v' in matrix Vij, then will be to element v'ijAmbiguity solution is carried out, as it was previously stated,
Due to v'ijTo be represented by trapezoidal function, and to any fuzzy number M '=(a, b, c, d) can use it is as follows
Formula ambiguity solution, to obtain apparent number.
When M' is Trapezoid Fuzzy Number, then there is M=(- a2-b2+c2+d2-ab+cd)/[3 (- a-b+c+d)]；
According to after ambiguity solution matrix V ', according to TOPSIS algorithms, determine ideal solution X*With negative ideal
Solution Xo,
X*={ (max vij'|j∈J),(min vij' | j ∈ J') | i ∈ N }=
[v1 *,v2 *,…vm *]
Xo={ (min vij'|j∈J),(max vij' | j ∈ J') | i ∈ N }=
[v1 o,v2 o,…vm o]
J in formula is the subscript collection of profit evaluation model (being the bigger the better) attribute, J ' be cost type attribute (i.e.
It is the smaller the better) subscript, J ∪ J'={ 1,2 ..., m }.
Each scheme to the distance (Euclidean space distance) of ideal solution is：
Each scheme to the distance of minus ideal result is：
Relative proximities index C of each scheme to ideal solutioniFor：
Ci=Si o/(Si o+Si *) (i∈n)
According to CiSize being ranked up to the matching degree in optional section, and arrive Point matching is resolved
Ci value highests section.
Present invention also offers a kind of device for GNSS map match, as shown in figure 4, including：
First processing module, for when multiple positioning modes are opened simultaneously, obtaining various positioning sides
The positioning result of formula；The positioning result of the multiple positioning modes is weighted averagely, is obtained resolving and is sat
Mark；The property parameters that coordinate obtains optional section are resolved according to described；
Second processing module, for the property parameters in the optional section are carried out with many category using fuzzy algorithmic approach
Property judgement, optional section of the Point matching to many attributes judgement optimum will be resolved.
Further, first processing module obtains the positioning result of the multiple positioning modes, specially：
When multiple positioning modes are opened simultaneously, first processing module obtains determining for the multiple positioning modes
Position result,
X=[x1, x2……xi]；
Y=[y1, y2……yi]；
Z=[z1, z2……zi]；
Wherein, X/Y/Z is the coordinate result set of multiple positioning modes, and x/y/z is the seat of every kind of positioning mode
Mark result, i are the quantity of the positioning mode opened.
Further, the positioning result that first processing module is obtained to multiple positioning modes is respectively in X/Y/Z
On carry out weighted average, obtain resolve coordinate, specially：
Define W=[W1, W2……Wi] for the weight of multiple positioning modes,
Weighted average is carried out respectively on X/Y/Z to positioning result according to the weight of multiple positioning modes, is obtained
The x ' for arriving/y '/z ' is the resolving coordinate after weighted average,
Further, Second processing module, specifically for：Property parameters are obscured using fuzzy number
Segmentation；Scheme collection R=(x1,x2…xn) represent optional section；F=(f1,f2,…fm) for index set, according to finger
Mark collection F is evaluated as u for scheme collection Rij, i ∈ 1,2 ... n }, j ∈ 1,2 ... and m }, obtain adjudicating square
Battle array U=[uij]n*m；Each element in judgement matrix is carried out into linear transformation specification in [0,1], wherein
Linear transformation isJudgement matrix U after being converted '=[rij]n*m；According to judgement
Matrix U ' construction weighted normal matrix V, if containing fuzzy number in weighted normal matrix V, to fuzzy
Number carries out ambiguity solution and obtains apparent number, determines ideal solution X according to the weighted normal matrix V ' after ambiguity solution*
With minus ideal result Xo, according to ideal solution X*With minus ideal result XoEach optional section is obtained to ideal solution
Relative proximities index Ci, Point matching will be resolved to CiThe optional section of value highest.
Particular technique details and GNSS maps involved by the device for GNSS map match of the present invention
The correspondence description matched somebody with somebody is similar, therefore will not be described here.
The various navigator fix means of present invention comprehensive utilization, for the result of positioning calculation is weighted and mould
Paste is resolved, it is to avoid the error brought by single calculation result；Algorithm adopts multiple attributive decision making method in itself,
It is input into reference to various location informations, so as to obtain a comprehensive optimal value；Judgement criterion is participated in for various,
Such as distance, angle, speed, curve matching degree etc. have no absolute reference value as " non-zero i.e. one " and it is straight
Connect judgement.Algorithm makes inferences resolving using the advantage of fuzzy algorithmic approach using fuzzy number and fuzzy logic,
It is capable of the speciality of preferably comprehensive each decision attribute, and apparent Optimum Matching value can be calculated.Should
Invention improves the precision of navigation system map matching algorithm, fully with reference to each self-contained navigation and resolving system
Positioning result so that final map matching result be optimal value, so as to improve user impression.
Although disclosed herein embodiment as above, described content is only to readily appreciate the present invention
And the embodiment for adopting, it is not limited to the present invention.Technology people in any art of the present invention
Member, without departing from disclosed herein spirit and scope on the premise of, can be in the form implemented and thin
Any modification and change, but the scope of patent protection of the present invention are carried out on section, still must be with appended right
The scope defined by claim is defined.
Claims (10)
1. a kind of GNSS map-matching methods, it is characterised in that include：
When multiple positioning modes are opened simultaneously, the positioning result of the multiple positioning modes is obtained；
The positioning result of the multiple positioning modes is weighted averagely, obtains resolving coordinate；
The property parameters that coordinate obtains optional section are resolved according to described；
Many attribute judgements are carried out to the property parameters in the optional section using fuzzy algorithmic approach, point will be resolved
It is fitted on the optimum optional section of many attribute judgements.
2. GNSS map-matching methods according to claim 1, it is characterised in that described to obtain
The positioning result of the multiple positioning modes is taken, specially：
When multiple positioning modes are opened simultaneously, the positioning result of the multiple positioning modes is obtained,
X=[x1, x2……xi]；
Y=[y1, y2……yi]；
Z=[z1, z2……zi]；
Wherein, X/Y/Z is the coordinate result set of multiple positioning modes, and x/y/z is the seat of every kind of positioning mode
Mark result, i are the quantity of the positioning mode opened.
3. GNSS map-matching methods according to claim 2, it is characterised in that described right
The positioning result obtained to multiple positioning modes carries out weighted average respectively on X/Y/Z, obtains resolving and sits
Mark, specially：
It is the weight of multiple positioning modes to define W=[W1, W2 ... Wi],
Weighted average is carried out respectively on X/Y/Z to positioning result according to the weight of multiple positioning modes, is obtained
The x ' for arriving/y '/z ' is the resolving coordinate after weighted average,
4. GNSS map-matching methods according to claim 1, it is characterised in that the category
Property parameter includes：Current position coordinates are for the projector distance of candidate road section；Current position coordinates are for electricity
The distance of sub- map fixing point；Distance between the path of current location track circuit and candidate road section；
The curve of current location track and electronic chart, surface fitting degree；The tangent slope of the track of current location
With the difference of the tangent slope of electronic chart；The translational speed of current location and direction.
5. GNSS map-matching methods according to claim 1, it is characterised in that the mould
Pasting algorithm is：
Property parameters are carried out into fuzzy segmentation using fuzzy number；
Scheme collection R=(x1,x2…xn) represent optional section；F=(f1,f2,…fm) for index set, according to index
Collection F is evaluated as u for scheme collection Rij, i ∈ 1,2 ... n }, j ∈ 1,2 ... and m }, obtain adjudicating matrix
U=[uij]n*m；Each element in judgement matrix is carried out into linear transformation specification in [0,1], its center line
Property is transformed toJudgement matrix U after being converted '=[rij]n*m；
According to judgement matrix U ' construction weighted normal matrix V, if containing mould in weighted normal matrix V
Paste number, carries out ambiguity solution to fuzzy number and obtains apparent number, according to the weighted normal matrix V ' after ambiguity solution
Determine ideal solution X*With minus ideal result Xo, according to ideal solution X*With minus ideal result XoObtaining each can routing
Relative proximities index C of the section to ideal solutioni, Point matching will be resolved to CiThe optional section of value highest.
6. GNSS map-matching methods according to claim 5, it is characterised in that the mould
Algorithm of the paste algorithm using L-R Trapezoid Fuzzy Numbers, fuzzy number are represented by M '=(a, b, c, d)；
Judgement matrix U=[uij]n*m, uijIt is expressed as using Trapezoid Fuzzy Number：u’ij=(aij,bij,cij,dij), obscure
Weight vector is:W=(w1,w2,…wm), wherein wj=(αj,βj,γj,δj), j ∈ 1,2 ... m }；
Weighted normal matrix V,Work as rijAnd wjIt is bright
When clear several, VijIt is apparent；Work as rijAnd/or WjWhen being fuzzy number, then VijNecessarily obscure, then
vij=rij×wj=(aij*αj,bij*βj,cij*γj,dij*δj), obtain V=(v'ij)n×m；
If containing fuzzy number v' in weighted normal matrix Vij, then to v'ijCarry out ambiguity solution and obtain apparent number,
The formula of wherein ambiguity solution is：Work as M '=(a, b, c, d), then
M=(- a2-b2+c2+d2-ab+cd)/[3 (- a-b+c+d)]；
According to weighted normal matrix V ' is obtained after ambiguity solution, using TOPSIS algorithms, ideal solution X is determined*
With minus ideal result Xo,
X*={ (max vij'|j∈J),(min vij' | j ∈ J') | i ∈ N }=
[v1 *,v2 *,…vm *]
Xo={ (min vij'|j∈J),(max vij' | j ∈ J') | i ∈ N }=
[v1 o,v2 o,…vm o]
Wherein, J is that profit evaluation model is the bigger the better the subscript collection of attribute, under J' cost type attributes are the smaller the better
Mark, J ∪ J'={ 1,2 ..., m }；
Each optional section to the distance of ideal solution is：
Each optional section to the distance of minus ideal result is：
Relative proximities index C of each optional section to ideal solutioniFor：
Ci=Si o/(Si o+Si *)(i∈n)；
Point matching will be resolved to CiThe optional section of value highest.
7. a kind of device for GNSS map match, it is characterised in that include：
First processing module, for when multiple positioning modes are opened simultaneously, obtaining various positioning sides
The positioning result of formula；The positioning result of the multiple positioning modes is weighted averagely, is obtained resolving and is sat
Mark；The property parameters that coordinate obtains optional section are resolved according to described；
Second processing module, for the property parameters in the optional section are carried out with many category using fuzzy algorithmic approach
Property judgement, optional section of the Point matching to many attributes judgement optimum will be resolved.
8. the device for GNSS map match according to claim 7, it is characterised in that
The first processing module obtains the positioning result of the multiple positioning modes, specially：
When multiple positioning modes are opened simultaneously, first processing module obtains determining for the multiple positioning modes
Position result,
X=[x1, x2……xi]；
Y=[y1, y2……yi]；
Z=[z1, z2……zi]；
Wherein, X/Y/Z is the coordinate result set of multiple positioning modes, and x/y/z is the seat of every kind of positioning mode
Mark result, i are the quantity of the positioning mode opened.
9. the device for GNSS map match according to claim 8, it is characterised in that
The positioning result that the first processing module is obtained to multiple positioning modes is weighted on X/Y/Z respectively
Averagely, obtain resolving coordinate, specially：
Define W=[W1, W2……Wi] for the weight of multiple positioning modes,
Weighted average is carried out respectively on X/Y/Z to positioning result according to the weight of multiple positioning modes, is obtained
The x ' for arriving/y '/z ' is the resolving coordinate after weighted average,
10. the device for GNSS map match according to claim 7, it is characterised in that
The Second processing module, specifically for：Property parameters are carried out into fuzzy segmentation using fuzzy number；
Scheme collection R=(x1,x2…xn) represent optional section；F=(f1,f2,…fm) for index set, according to index
Collection F is evaluated as u for scheme collection Rij, i ∈ 1,2 ... n }, j ∈ 1,2 ... and m }, obtain adjudicating matrix
U=[uij]n*m；Each element in judgement matrix is carried out into linear transformation specification in [0,1], its center line
Property is transformed toJudgement matrix U after being converted '=[rij]n*m；
According to judgement matrix U ' construction weighted normal matrix V, if containing mould in weighted normal matrix V
Paste number, carries out ambiguity solution to fuzzy number and obtains apparent number, according to the weighted normal matrix V ' after ambiguity solution
Determine ideal solution X*With minus ideal result Xo, according to ideal solution X*With minus ideal result XoObtaining each can routing
Relative proximities index C of the section to ideal solutioni, Point matching will be resolved to CiThe optional section of value highest.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109270927A (en) * | 2017-07-17 | 2019-01-25 | 高德软件有限公司 | The generation method and device of road data |
| CN110275194A (en) * | 2018-03-14 | 2019-09-24 | 北京嘀嘀无限科技发展有限公司 | A kind of track of vehicle antidote and system |
| CN108923842A (en) * | 2018-07-17 | 2018-11-30 | 千寻位置网络有限公司 | Star the more algorithm fusions of one high-precision locating method, system and terminal |
| CN108923842B (en) * | 2018-07-17 | 2021-05-04 | 千寻位置网络有限公司 | Satellite-ground integrated multi-algorithm fused high-precision positioning method, system and terminal |
| CN111307165A (en) * | 2020-03-06 | 2020-06-19 | 新石器慧通（北京）科技有限公司 | Vehicle positioning method and system and unmanned vehicle |
| CN112558131A (en) * | 2020-11-24 | 2021-03-26 | 北京百度网讯科技有限公司 | AR navigation method and apparatus, electronic device, navigation system, and storage medium |
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