CN106707301B - A kind of duties line walking wire examination method based on location data - Google Patents
A kind of duties line walking wire examination method based on location data Download PDFInfo
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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
- G01S19/14—Receivers specially adapted for specific applications
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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
- G01S19/38—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
Abstract
The present invention relates to the movable police management based on location data, more particularly to a kind of duties line walking wire examination method based on location data, the reparation compensation of buffer area building and segmentation, the mapping of location data, the Interpolation compensation of location data and line walking path including line walking path；Line walking path forms grid by constructing and dividing buffer area, location data maps to grid according to spatial position distance, carries out labeling, the data cover of Interpolation compensation grid to grid, relatively complete grid data mapping is formed, finally by Mesh Fitting at line walking path.The method of the present invention focuses on solving more vehicle line walking attendance matching problems based on location data in duties management, when going on patrol progress attendance to duties by location data, there are more vehicles the problems such as the location data route on a plurality of route matches and location data coverage density is inadequate and location data is lost, and passes through the data buffering to line walking path and the compensation of location data covering.
Description
Technical field
The present invention relates to public security duties line walking examination field more particularly to a kind of duties line walking examinations based on location data
Method.
Background technique
With the continuous improvement of computer information level, government organs or enterprise go out in the way to manage of internal staff
A degree of innovation is showed, especially to the attendance appraisal management aspect of personnel.With GPS or Beidou positioning, wirelessly communicate with
And the technologies such as GIS GIS-Geographic Information System are that the mobile examination attendance of core becomes the important channel of many industry internal controls, are led to
The historical track of the real-time position information of tracking personnel and personnel in time is crossed, auxiliary internal administrative staff hold task in time
Execution state.
The positioning system of important component as system application, the precision and continuity of positioning directly determine to move
The effect for examining attendance business to carry out.Although current positioning system accurate, the round-the-clock, ability that positions in real time with higher,
And it also achieves GPS and Beidou bimodulus positions, but since there are positioning drifts and signal blind zone (in height for positioning system itself
When building or the masking local such as overhead, signal receiver cannot capture and trace into time positioning signal, and positioning function is caused to fail
Etc. inherent shortcomings, mobile communications network itself is there are network signal is weak and the performance issues such as dropout, so as to cause positioning number
According to loss or invalid, thus there are discontinuous problems for location data；In addition, route matching above, most of side
Method is mapped on route by location data, and the matching of route is carried out by the connection of mapping point, and this method can be effective
There are deviations for the case where solving the problems, such as that bicycle is gone on patrol, going on patrol for more vehicles.
Summary of the invention
The present invention is to overcome above-mentioned shortcoming, and it is an object of the present invention to provide a kind of duties line walking examination based on location data
Method is carried out the building of buffer area to the reference path manually set first, is split to be formed to buffer area with horizon radius
Several grids；Location data is mapped in grid according to Euclidean distance, virtualization label is carried out to the grid covered, it is complete
The grid covered is digitized at after mapping, the Interpolation compensation for line of going forward side by side forms practical patrol path, finally presses
The according to the facts virtualization coverage rate coupling path in border patrol path and reference path, obtains last result.This method emphasis solves
The examination matching problem of more vehicle patrol missions during movable police examination.
The present invention is to reach above-mentioned purpose by the following technical programs: a kind of duties line walking examination side based on location data
Method includes the following steps:
(1) path space data and Manual definition's line walking path are initialized, line walking path and path space data are passed through
Euclidean distance mapping matching parallel with track progress, generates the line walking reference path L with driving directioni, wherein i=1,2 ...,
n；
(2) to line walking reference path LiThe building of buffer area is carried out, gridding, segmentation are carried out to buffer area with horizon radius
Form several grids；
(3) it obtains location data and cleaning compensation deals is carried out to location data, location data is mapped in grid, it is right
The grid that every line walking reference path has mapped covering carries out virtualization label, generator matrixWherein, k indicates kth
Vehicle, j indicate j-th of grid, and r is vehicle fleet, miFor line walking reference path LiOn grid sum, according to positioning data of vehicles
Whether map in grid, matrix interior element is digitized；
(4) non-grid coverage data correlation degree δ is calculated, and linear interpolation is carried out to matrix using δ and compensates to obtain newly
Matrix；
(5) new matrix is carried out or operation obtains line walking reference path LiCoverage rate pi；
(6) to forming practical patrol path after examination associated vehicle path interpolation compensation, and with line walking reference path Li's
Coverage rate piIt is overlapped and average coverage rate is calculatedIt willWith pmIt is compared to obtain the result of appraisal, wherein pmIt is default
Coverage rate threshold value.
Preferably, the path space data include road axis data, with directive road data, space
Point data and space block data, using original road axis data as elementary path space number after initialization
According to.
Preferably, the step (2) is to line walking reference path LiThe method for carrying out the building of buffer area are as follows: with line walking base
Quasi- path LiFor reference, to line walking reference path LiPoint-by-point to carry out vertical radiation, the radius of radiation is R, is distinguished along vertical direction
Radiation constructs reference path LiBuffer area Ai；And according to reference path LiBearing mark buffer area direction；If encountering slow
Area overlapping is rushed, the differentiation of buffer area is distinguished with the direction marked.
Preferably, the step (2) carries out gridding to buffer area with horizon radius, segmentation forms several grids
Method is as follows:
(a) by line walking reference path LiRespectively extend L outward along two endpoints and generate new reference path, and selects wherein
An endpoint be starting point, be that radius cut along reference path direction and acquires intersection point and be denoted as L using 2*Li1, wherein L
For cut radius；
(b) according to Li1Centered on point, using 2*L be radius along reference path direction cut obtain intersection point Li2；According to above-mentioned
Method is iterated operation and acquires intersection point set in reference path, is denoted as { Lij, wherein i=1,2 ..., n；J=1,
2,…,mi；
(c) on the basis of the point in gathering, vertical radiation is carried out to the point and generates grid lines, and indicia grid is Gij。
Preferably, the step (3) is as follows the step of processing the location data of acquisition:
1) to line walking reference path LiIt is traversed, successively obtains the location data of associated vehicle in examination time window, and
Classification is carried out according to unique positioning identifier to sum up, and according to time ascending sort, forms location data set { Ckt, wherein k=1,
2 ... r；T=1,2 ... q, k represent kth vehicle, and t represents t-th of time point, location data CktIt include unique positioning identifier,
Position longitude and latitude (xkt,ykt) and data acquisition time Tkt；
2) location data set { C is traversedkt, spatial accessibility verification is carried out to the position data of two points of time order and function,
If spatial accessibility is not reachable, location data is filtered；Otherwise retain location data；The spatial accessibility verification side
Method is the speed by obtaining point-to-point transmission, is judged whether in section [0, Vmax] in, the acquisition methods of speed are as follows:
Wherein VmaxFor speed reachability threshold, work as v > VmaxRepresentation space accessibility is not reach；3) by Ck(t-1)And Ckt
Location data be mapped to reference path, if the mapping distance of location data and reference path be less than 2R (R is radiation radius)
It is then mapped, the mapping point in reference path is denoted as p respectivelyi(t-1)And pitStep 4) is executed afterwards；When being greater than 2R, to this
Location data carries out abandoning processing, executes step 2)；
4) judge whether vehicle goes offline: to step 3) treated location data set Ckt, Δ t=Tkt-Tk(t-1)For number
According to upload interval；If Δ t > 2Tm, wherein TmFor the time judgment threshold that goes offline, then determine that the vehicle goes offline, executes step 5)；
It is no to then follow the steps 2)；
5) interception reference path is between point pi(t-1)With point pitThe spatial data of section, is calculated its length, is combined using length
Ck(t-1)And CktBetween time interval obtain passage speedIf passage speedThen according toDistance obtain
The point that point in reference path is repaired as compensation.
Preferably, the step (3) is traversing location data set CktIn all location datas after will position number
The method for obtaining digitlization matrix according to matching network is as follows:
(A) location data is mapped to the line shortest distance by reference path L according to pointiOn, by reference path LiOn point institute
Grid make virtualization label, and generator matrixWherein k is represented and reference path LiAssociated kth vehicle, j generation
J-th of grid of table, r are vehicle fleet, miFor line walking reference path LiOn grid sum；It is needed in this step to point to benchmark
The shortest distance in path is constrained, and the shortest distance is constrained to less than 2*L, is abandoned to the location data more than or equal to 2*L；
(B) matrix of generation is digitized, maps point when k vehicle exists on j-th of grid, then marks ak*j
It is 1, is otherwise labeled as 0.
Preferably, the formula that the step (4) calculates non-grid coverage data correlation degree δ is as follows:
Wherein: TfFor there are the numbers of maximum time in the grid of data before grid coverage data time point non-in same direction
Strong point；TbFor there are the data points of minimum time in the grid of data after non-grid coverage data time point；T is compensation grid number
According to time point, pass through stepping TfAnd TbBetween time point acquired in, the serial number of grid where b and f are respectively represented；J representative is worked as
The serial number of preceding grid；The center position for obtaining non-grid coverage is denoted as (x, y), and the adjacent data point for having data grids is remembered respectively
For (xi, yi), viThere is the speed put in data grids not cover data grids to adjacent；By calculating adjacent net in time window
Spatial accessibility v between latticei, finally to spatial accessibility and absolute accessibilityCorrelation degree obtain degree of association δ.
Preferably, it is to association that the step (4), which carries out the method that Interpolation compensation obtains new matrix to matrix using δ,
The matrix element that degree is higher than confidence interval is directly repaired；Interpolation benefit is carried out to element of the degree of association in confidence interval
It repays, Interpolation compensation method is to extraction matrixThe data of middle row k and labelled element value are the interval between 1, when
It when less than 3, is then to carry out the label that the matrix element in interval is 0 value physical compensation, generate new matrix.
Preferably, the step (5) the specific steps are by the 1st row in matrix respectively with row k carry out or operate, will
Result set replace the first row data, finally according to marked in the first row data the ratio of the element for being and total number of grid work
For benchmark path LiOverlay capacity, total amount and coverage rate pi。
Preferably, the step (6) willWith pmIt is compared to obtain the result of appraisal to be specially to work asWhen, it indicates
The line walking task has been completed, and the label result of appraisal are to complete, otherwise labeled as unfinished；Wherein pmIt is preset.
The beneficial effects of the present invention are: (1) it by GPS positioning data carries out mobile examination, reduces the work manually examined
It measures, improves work efficiency；(2) by the Interpolation compensation of location data, the accuracy of line walking examination is improved, is made by fixed
The mode of position data examination is more rationally and effective；(3) by the compensation to mesh fitting data, grid data matching is improved
Precision, improve location data examination accuracy.
Detailed description of the invention
Fig. 1 is the building reference path grid flow chart of the embodiment of the present invention；
Fig. 2 is the reference path building buffer area schematic diagram of the embodiment of the present invention；
Fig. 3 is the buffer area gridding schematic diagram of the embodiment of the present invention；
Fig. 4 is the location data mesh fitting flow chart of the embodiment of the present invention；
Fig. 5 is the calculating result of appraisal flow chart of the embodiment of the present invention.
Specific embodiment
The present invention is described further combined with specific embodiments below, but protection scope of the present invention is not limited in
This:
Embodiment: a kind of duties line walking wire examination method based on location data is related to the mobile duties based on location information and examines
Core is realized the examination attendance of duties management, is specifically comprised the following steps: by the Auto-matching of location data and patrol route
(1) the step of constructing reference path grid, as shown in Figure 1:
Step 1-1, path space data initialization
Path space data include road axis data, with directive road data, point position in space data and
Space block data.This method needs to match reference path by original path space data, using original road
Centreline data is as elementary path spatial data.
Step 1-2, reference path matching generates
Before carrying out examination business, line walking path is defined by user；Due to manually when drawing line walking path, with
There are some deviations, this method, and the line walking path of Manual definition and path space data are passed through Euclidean for road luv space data
Distance mapping matching parallel with track progress, generates the line walking reference path L with driving directioni(i=1,2 ..., n).
Step 1-3, reference path buffer area is constructed
As shown in Fig. 2, using reference path as reference, to line walking reference path LiThe method for carrying out the building of buffer area are as follows:
With line walking reference path LiFor reference, to line walking reference path LiPoint-by-point to carry out vertical radiation, the radius of radiation is R, along vertical
Direction radiates respectively, constructs reference path LiBuffer area Ai；And according to reference path LiBearing mark buffer area direction；
If encountering buffering area overlapping, the differentiation of buffer area is distinguished with the direction marked.
Step 1-4, gridding is carried out to buffer area
As shown in figure 3, for the buffer area that step 1-3 is generated, to buffer area AiIt is split, generates the net of buffer area
Lattice.Specific method is by line walking reference path LiRespectively extend L outward along two endpoints and generate new reference path, and selects it
In an endpoint be starting point, be that radius cut along reference path direction and acquires intersection point and be denoted as L using 2*Li1, wherein
L is cut radius；According to Li1Centered on point, using 2*L be radius along reference path direction cut obtain intersection point Li2；According to upper
The method of stating is iterated operation and acquires intersection point set in reference path, is denoted as { Lij, wherein i=1,2 ..., n；J=1,
2,…,m；It is generated on the basis of point in gathering grid lines (create-rule carries out vertical radiation to the point), and indicia grid
For Gij。
(2) the step of location data mesh fitting, as shown in Figure 4:
Step 2-1, position history data are obtained, and are sorted
To line walking reference path LiIt is traversed, successively obtains the location data of associated vehicle in examination time window, and pressed
Classification is carried out according to unique positioning identifier to sum up, and according to time ascending sort, forms location data set { Ckt, wherein k=1,
2 ... r；T=1,2 ... q, k represent kth vehicle, and t represents t-th of time point, location data CktIt include unique positioning identifier,
Position longitude and latitude (xkt,ykt) and data acquisition time Tkt；.
Step 2-2, judge whether noise data, Exception Filter data
Traverse location data set { Ckt, spatial accessibility verification is carried out to the data of two points of time order and function, works as space
When accessibility is not reachable, location data is filtered.Spatial accessibility method of calibration is the velocity estimated by obtaining point-to-point transmission
Whether section [0, V is inmax] in, the acquisition methods of speed are as follows:
Step 2-3, location data maps reference path
By Ck(t-1)And CktLocation data be mapped to reference path, if the mapping distance of location data and reference path is small
It is then mapped when 2R (R is radiation radius), the mapping point in reference path is denoted as p respectivelyi(t-1)And pitAfter execute step
4)；When being greater than 2R, which is carried out to abandon processing, executes step 2)；
Step 2-4, judge whether to go offline?
To step 3) treated location data set Ckt, Δ t=Tkt-Tk(t-1)For the upload interval of data；If Δ t
> 2Tm, wherein Tm is the time judgment threshold that goes offline, then determines that the vehicle goes offline, and executes step 5)；It is no to then follow the steps 2)；
Step 2-5, location data compensates
Reference path is intercepted between point pi(t-1)With point pitThe spatial data of section, is calculated its length, is combined using length
Ck(t-1)And CktBetween time interval obtain passage speedIf passage speedThen according toDistance obtain
The point that point in reference path is repaired as compensation.
Step 2-6, location data matching network, generator matrix
Location data is matched into grid, location data is mapped to the line shortest distance by reference path L according to pointiOn,
By reference path LiOn point where grid make virtualization label, and generator matrixWherein k representative and reference path
LiAssociated kth vehicle, j represent j-th of grid, and r is vehicle fleet, miFor line walking reference path LiOn grid sum；Herein
It needs to constrain the shortest distance of reference path point in step, the shortest distance is constrained to less than 2*L, to more than or equal to 2*L
Location data abandoned.The matrix of generation is digitized, maps point when kth vehicle exists on j-th of grid,
Then mark ak*jIt is 1, is otherwise labeled as 0.
(3) checking-in result is calculated, as shown in Figure 5:
Step 3-1, non-grid coverage Data mutuality degree is calculated
The degree of correlation of grid data is mainly solved from the correlation in time and space, and method for solving is as follows:
Wherein: TfFor there are the numbers of maximum time in the grid of data before grid coverage data time point non-in same direction
Strong point；TbFor there are the data points of minimum time in the grid of data after non-grid coverage data time point；T is compensation grid number
According to time point, pass through stepping TfAnd TbBetween time point acquired in, the serial number of grid where b and f are respectively represented；J representative is worked as
The serial number of preceding grid；The center position for obtaining non-grid coverage is denoted as (x, y), and the adjacent data point for having data grids is remembered respectively
For (xi, yi), viThere is the speed put in data grids not cover data grids to adjacent；By calculating adjacent net in time window
Spatial accessibility v between latticei, finally to spatial accessibility and absolute accessibilityCorrelation degree obtain degree of association δ.
Step 3-2, matrix interpolation is compensated according to degree of association δ
Carrying out the method that Interpolation compensation obtains new matrix to matrix using δ is the matrix for being higher than confidence interval to the degree of association
Element is directly repaired；Interpolation compensation carried out to element of the degree of association in confidence interval, Interpolation compensation method is to mentioning
Take matrixThe data and labelled element value of middle row k are the interval between 1, then will be in interval when interval is less than W
Matrix element is that the label of 0 value is to compensate, and generates new matrix, and wherein W is backoff interval threshold value.
Step 3-3, grid coverage rate is obtained
1st row in matrix is carried out or operated with row k respectively, result set is replaced into the first row data, finally according to the
Mark the ratio of the element for being and total number of grid as reference path L in data lineiOverlay capacity, total amount and covering
Rate pi。
Step 3-4, the result of appraisal are calculated
According to the path of examination associated vehicle, the Interpolation compensation for carrying out step 3-2 respectively is calculated, and covers to reference path
Lid rate is overlapped calculating, and the method for calculating is average coverage rateIt willWith pm(preset threshold) is compared to obtain examination knot
Fruit is specially to work asWhen, indicate that the line walking task has been completed, the label result of appraisal are to complete, otherwise labeled as not complete
At.
It is specific embodiments of the present invention and the technical principle used described in above, if conception under this invention institute
The change of work when the spirit that generated function is still covered without departing from specification and attached drawing, should belong to of the invention
Protection scope.
Claims (10)
1. a kind of duties line walking wire examination method based on location data, which comprises the steps of:
(1) path space data and Manual definition's line walking path are initialized, line walking path and path space data are passed through into Euclidean
Distance mapping matching parallel with track progress, generates the line walking reference path L with driving directioni, wherein i=1,2 ..., n, n
For line walking reference path number；
(2) to line walking reference path LiThe building of buffer area is carried out, gridding is carried out to buffer area with horizon radius, segmentation is formed
Several grids；
(3) it obtains location data and cleaning compensation deals is carried out to location data, location data is mapped in grid, to every
The grid that line walking reference path has mapped covering carries out virtualization label, generator matrixWherein, k indicates kth vehicle, j
Indicate that j-th of grid, r are vehicle fleet, miFor line walking reference path LiOn grid sum, according to positioning data of vehicles whether
It maps in grid, matrix interior element is digitized；
(4) non-grid coverage data correlation degree δ is calculated, and Interpolation compensation is carried out to matrix using δ and obtains new matrix；
(5) new matrix is carried out or operation obtains line walking reference path LiCoverage rate pi；
(6) to forming practical patrol path after examination associated vehicle path interpolation compensation, and with line walking reference path LiCoverage rate
piIt is overlapped and average coverage rate is calculatedIt willWith pmIt is compared to obtain the result of appraisal, wherein pmFor preset covering
Rate threshold value.
2. a kind of duties line walking wire examination method based on location data according to claim 1, it is characterised in that: described
Path space data include road axis data, with directive road data, point position in space data and space block counts
According to using original road axis data as elementary path spatial data after initialization.
3. a kind of duties line walking wire examination method based on location data according to claim 1, it is characterised in that: the step
Suddenly (2) are to line walking reference path LiThe method for carrying out the building of buffer area are as follows: with line walking reference path LiFor reference, to line walking base
Quasi- path LiPoint-by-point to carry out vertical radiation, the radius of radiation is R, is radiated respectively along vertical direction, constructs reference path LiIt is slow
Rush area Ai；And according to reference path LiBearing mark buffer area direction；If encountering buffering area overlapping, the differentiation of buffer area with
The direction of label distinguishes.
4. a kind of duties line walking wire examination method based on location data according to claim 1, it is characterised in that: the step
Suddenly (2) carry out gridding to buffer area with horizon radius, and the method that segmentation forms several grids is as follows:
(a) by line walking reference path LiRespectively extend L outward along two endpoints and generate new reference path, and selects therein one
A endpoint is starting point, is that radius cut along reference path direction and acquires intersection point and be denoted as L using 2*Li1, wherein L is to cut
Cut radius；
(b) according to Li1Centered on point, using 2*L be radius along reference path direction cut obtain intersection point Li2；According to the method described above
It is iterated operation and acquires intersection point set in reference path, be denoted as { Lij, wherein i=1,2 ..., n；J=1,2 ...,
mi；
(c) on the basis of the point in gathering, vertical radiation is carried out to the point and generates grid lines, and indicia grid is Gij。
5. a kind of duties line walking wire examination method based on location data according to claim 1, it is characterised in that: the step
Suddenly the step of (3) handle the location data of acquisition is as follows:
1) to line walking reference path LiIt is traversed, successively obtains the location data of associated vehicle in examination time window, and according to only
One positioning identifier carries out classification and sums up, and according to time ascending sort, forms location data set { Ckt, wherein k=1,2 ... r；t
=1,2 ... q, k represent kth vehicle, and t represents t-th of time point, location data CktIt include unique positioning identifier, position longitude and latitude
Spend (xkt,ykt) and data acquisition time Tkt；
2) location data set { C is traversedkt, spatial accessibility verification is carried out to the position data of two points of time order and function, if empty
Between accessibility when being not reachable, filter location data；Otherwise retain location data；The spatial accessibility method of calibration is
By obtaining the speed of point-to-point transmission, judge whether in section [0, Vmax] in, the acquisition methods of speed are as follows:
Wherein VmaxFor speed reachability threshold, work as v > VmaxRepresentation space accessibility is not reach；
3) by Ck(t-1)And CktLocation data be mapped to reference path, if the mapping distance of location data and reference path is less than
It is then mapped when 2R (R is radiation radius), the mapping point in reference path is denoted as p respectivelyi(t-1)And pitAfter execute step
4)；When being greater than 2R, which is carried out to abandon processing, executes step 2)；
4) judge whether vehicle goes offline: to step 3) treated location data set Ckt, Δ t=Tkt-Tk(t-1)For the upper of data
Pass interval；If Δ t > 2Tm, wherein TmFor the time judgment threshold that goes offline, then determine that the vehicle goes offline, executes step 5)；Otherwise it holds
Row step 2)；
5) interception reference path is between point pi(t-1)With point pitThe spatial data of section, calculates its length, utilizes length combination Ck(t-1)
And CktBetween time interval obtain passage speedIf passage speedThen according toDistance obtain benchmark road
The point that point on diameter is repaired as compensation.
6. a kind of duties line walking wire examination method based on location data according to claim 5, it is characterised in that: the step
Suddenly (3) are traversing location data set CktIn all location datas after by location data matching network obtain digitlization matrix
Method it is as follows:
(A) location data is mapped to the line shortest distance by reference path L according to pointiOn, by reference path LiOn point where
Grid makees virtualization label, and generator matrixWherein k is represented and reference path LiAssociated kth vehicle, j represent jth
A grid, r are vehicle fleet, miFor line walking reference path LiOn grid sum；It is needed in this step to point to reference path
The shortest distance is constrained, and the shortest distance is constrained to less than 2*L, is abandoned to the location data more than or equal to 2*L；
(B) matrix of generation is digitized, maps point when kth vehicle exists on j-th of grid, then marks ak*jFor
1, otherwise it is labeled as 0.
7. a kind of duties line walking wire examination method based on location data according to claim 1, it is characterised in that: the step
Suddenly the formula of the non-grid coverage data correlation degree δ of (4) calculating is as follows:
Wherein: TfFor there are the data points of maximum time in the grid of data before grid coverage data time point non-in same direction；
TbFor there are the data points of minimum time in the grid of data after non-grid coverage data time point；TiFor the phase of non-grid coverage
The data point of adjacent grid, for calculating the spatial accessibility v in time window between adjacent meshi；T be compensate grid data when
Between point, pass through stepping TfAnd TbBetween time point acquired in, the serial number of grid where b and f are respectively represented；J represents current grid
Serial number；The center position for obtaining non-grid coverage is denoted as (x, y), and the adjacent data point for having data grids is denoted as (x respectivelyi,
yi), viThere is the speed put in data grids not cover data grids to adjacent；By calculating in time window between adjacent mesh
Spatial accessibility vi, finally to spatial accessibility and absolute accessibilityCorrelation degree obtain degree of association δ.
8. a kind of duties line walking wire examination method based on location data according to claim 1, it is characterised in that: the step
Suddenly it is to be higher than the matrix element of confidence interval to the degree of association that (4), which carry out the method that Interpolation compensation obtains new matrix to matrix using δ,
Element is directly repaired；Interpolation compensation is carried out to element of the degree of association in confidence interval, Interpolation compensation method is to extraction
MatrixThe data and labelled element value of middle row k are the interval between 1, when interval is less than W, then by the square in interval
Array element element is that the label of 0 value is to compensate, and generates new matrix, and wherein W is backoff interval threshold value.
9. a kind of duties line walking wire examination method based on location data according to claim 1, it is characterised in that: the step
Suddenly (5) the specific steps are by the 1st row in matrix respectively with row k carry out or operate, by result set replace the first row data, most
Afterwards according to marked in the first row data the ratio of the element for being and total number of grid as reference path LiOverlay capacity, total
Amount and coverage rate pi。
10. a kind of duties line walking wire examination method based on location data according to claim 1, it is characterised in that: described
Step (6) willWith pmIt is compared to obtain the result of appraisal to be specially to work asWhen, it indicates that the line walking task has been completed, marks
Remember that the result of appraisal are to complete, otherwise labeled as unfinished.
Priority Applications (1)
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| CN107154066B (en) * | 2017-06-27 | 2020-05-08 | 中国电子科技集团公司第五十四研究所 | Two-dimensional display method for patrol route of parallel line buffer area |
| CN107390248A (en) * | 2017-07-18 | 2017-11-24 | 广州有电信息科技有限公司 | Distribution O＆M makes an inspection tour the processing method and system of track data |
| CN108335377B (en) * | 2017-12-26 | 2021-04-02 | 武汉长江通信智联技术有限公司 | GIS technology-based automatic check method for road inspection vehicle service |
| CN108921386A (en) * | 2018-06-07 | 2018-11-30 | 国网上海市电力公司 | A kind of line walking efficiency automatic examination method for power-line patrolling |
| CN108829966B (en) * | 2018-06-07 | 2023-03-21 | 国网上海市电力公司 | Enhanced grid determination method for power line patrol system |
| CN109359880B (en) * | 2018-10-26 | 2021-10-22 | 江苏智通交通科技有限公司 | Urban road traffic duty police force deployment method |
| CN109615723B (en) * | 2018-11-30 | 2021-02-09 | 泰华智慧产业集团股份有限公司 | Automatic analysis method and system for patrol route coverage condition |
| CN111291143A (en) * | 2020-01-16 | 2020-06-16 | 深圳市华傲数据技术有限公司 | Grid data acquisition method and system |
| CN113945153A (en) * | 2020-07-16 | 2022-01-18 | 远景网格有限公司 | Method and device for determining distance and position by image tracking for automatic driving |
| CN112380459A (en) * | 2020-11-13 | 2021-02-19 | 北京市交通信息中心执法总队分中心 | Travel judgment method, device and equipment for tourist bus |
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