CN106997419B - Road acquires opposite offset deviation polarization state and divides equally correcting method and device - Google Patents
Road acquires opposite offset deviation polarization state and divides equally correcting method and device Download PDFInfo
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- CN106997419B CN106997419B CN201610045035.6A CN201610045035A CN106997419B CN 106997419 B CN106997419 B CN 106997419B CN 201610045035 A CN201610045035 A CN 201610045035A CN 106997419 B CN106997419 B CN 106997419B
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- G16Z99/00—Subject matter not provided for in other main groups of this subclass
Abstract
The present invention, which discloses a kind of road and acquires opposite offset deviation polarization state, divides equally correction method and device, the target position for the position that the method first obtains the beginning and end current location of offset line and needs are corrected to；According to the current location and the target position, the vector shift amount of the beginning and end is calculated；For each offset point n, calculate separately offset point n to starting point mileageWith the mileage for arriving terminalAccording to the vector shift amount of beginning and end, andWith the mileage for arriving terminalThe vector shift amount of each offset point n of weighted calculation；The current location of offset point n and the vector shift amount of offset point n, the target position after the offset point n movement is calculated.The present invention can either preferably move offset point, and can guarantee the actual acquisition curvature gradient precision of each offset point, and greatly reduce the mobile workload of offset point.
Description
Technical field
This application involves geographic survey calculating fields, specifically, being related to a kind of road acquires opposite offset deviation polarization state
Respectively correcting method and device.
Background technique
With the development of intellectual technology, smart city, wisdom traffic etc. more and more enters our life.Example
Such as, traffic information collecting system (Traffic Information Collecting System) is to utilize to be mounted on road
The magnitude of traffic flow, running speed, control information, road are carried out with the traffic information collecting system (sensor, camera etc.) on vehicle
The Dynamic Information Gatherings such as road situation, parking lot, weather, processing and publication become an important composition in intelligent transportation system
Part.In another example advanced driving ancillary technique (i.e. ADAS) i.e. active safety technologies, it is a kind of Senior Officer's auxiliary system
System, the whole active safety auxiliary system for helping driver in vehicle travel process.ADAS system is most widely used at this stage
Three big technologies are adaptive cruise control system (ACC), Lane Departure Warning System (LDW) and automatic emergency brake system
(AEB).It is important that i.e. road acquires in ADAS system.
Road acquisition is a job important in intelligent transportation, and the error of actual acquisition is that all roads acquire industries all
It can encounter.Relative error between one acquisition consecutive points is very little, almost be can be ignored, but same for road
The homogeneous different moments of one mounting point or not homogeneous, the error even between different acquisition vehicle may be very big.Separate sources
Acquisition data, since its collecting vehicle may travel on different lanes, then Acquisition Error can be more the case where appearance
Generally.Therefore, the data that the data for different sources or different acquisition mode obtain, so that being practically in same point
Different acquisition coordinate adjustment to same point on, be a major issue needing to solve in road acquisition.
Using correction one by one and partial dot mainly is deleted for the bias correction in road acquisition in the prior art, after mobile
Difference corrects two methods.
For correcting one by one, manual method is mainly taken, mobile move is put in order for shape.Its advantage is that can
The quasiprimitive shape of mould, keeps the specification of shape, the curvature gradient precision for keeping actual acquisition to arrive to a certain extent, but this method
Since completely by hand, one side heavy workload, on the other hand mobile effect depends on the people of operation, and the movement of different people is ripe
It is different to practice degree, obtained result is also different, and manual method carries out mobile adjustment and do not standardize explicitly.
For deleting partial dot, difference is corrected after movement, and this method is first to delete a part of shape point before mobile, then
It directly deviates, interpolation goes out intermediate shape point again after movement.The mobile point negligible amounts of this method, but due to having lacked portion
The point divided, and generated only with the method for interpolation, it cannot be guaranteed that the shape point that interpolation generates as original shape point, has
There is the actual acquisition curvature gradient, reduces the precision of the calculating for the gradient curvature to be carried out in the future.
Therefore, a kind of method for correcting error of shape point how is obtained, workload can either be reduced, and can guarantee reality
Acquisition precision, the technical issues of becoming prior art urgent need to resolve.
Summary of the invention
In view of this, the present invention proposes that a kind of road acquires opposite offset deviation polarization state and divides equally correcting method and device, energy
Enough so that road acquisition shape point can either be carried out automatically with respect to the correction of offset deviation, artificial workload is reduced, is improved efficiency,
Road can rectify a deviation again after has actual acquisition curvature gradient precision.
To achieve this purpose, the present invention adopts the following technical scheme:
On the one hand, the present invention proposes that a kind of road acquires opposite offset deviation polarization state and divides equally correcting method, and this method includes
Following steps:
Terminus position acquisition step S110: the beginning and end of offset line is obtained, and obtains the beginning and end
Current location, and the target position of position for needing to be corrected to；
Terminus offset calculates step S120: according to the current location and the target position, calculating the starting point
With the vector shift amount of terminal；
Offset point is to terminus mileage calculation step S130: for each offset point n in the offset line, calculating separately
Mileage of the offset point n to the starting pointWith the mileage for arriving the terminal
Offset point vector shift amount calculates step S140: according to the vector shift amount of the beginning and end and described
Mileage of the offset point n to the starting pointWith the mileage for arriving the terminalThe vector shift of each offset point n of weighted calculation
Amount；
Offset point coordinates of targets calculates step S150: according to the current location of the offset point n and the offset point n
Vector shift amount, the target position after the offset point n movement is calculated.
Optionally, by coordinate representation, the vector shift amount is three-dimensional inclined for the current location and the target position
Shifting amount.
Optionally, the 3-D migration amount of the starting point are as follows:
Wherein,WithFor the coordinates of targets of starting point,WithFor working as starting point
Preceding coordinate；
The 3-D migration amount of the terminal are as follows:
Wherein,WithFor the coordinates of targets of terminal,WithFor working as terminal
Preceding coordinate.
Optionally, it is calculated in step S140 in offset point vector shift amount, the vector shift amount of each offset point n is logical
Following formula is crossed to be calculated:
Wherein, S is the total kilometrage of entire offset line.
Optionally, it is calculated in step S150 in offset point coordinates of targets, the coordinates of targets of offset point n passes through following formula meter
It obtains:
Wherein,WithFor the changing coordinates of offset point n,WithFor offset point n
Coordinates of targets.
Optionally, mileage of the offset point n to the starting pointWith the mileage of the terminalCalculation method packet
It includes: setting 0 for the serial number of starting point, set N for terminal, the n-th point of distance apart from previous point isApart from next
The distance of a offset point isThen for offset point n apart from starting point mileageApart from terminal mileage
To realize the above method, opposite offset deviation polarization state is acquired the invention also discloses a kind of road and divides equally correction dress
It sets, including such as lower unit:
Terminus position acquisition unit for obtaining the beginning and end of offset line, and obtains the beginning and end
Current location, and the target position of position for needing to be corrected to；
Terminus offset computation unit, for calculating the starting point according to the current location and the target position
With the vector shift amount of terminal；
Offset point is to terminus mileage calculation unit, for calculating separately for each offset point n in the offset line
Mileage of the offset point n to the starting pointWith the mileage of the terminal
Offset point vector shift amount computing unit, for according to the vector shift amount of the beginning and end and described
Mileage of the offset point n to the starting pointWith the mileage of the terminalThe vector shift amount of each offset point n of weighted calculation；
Offset point coordinates of targets computing unit, for according to the current location of the offset point n and the offset point n
Vector shift amount, the target position after the offset point n movement is calculated.
Optionally, by coordinate representation, the vector shift amount is three-dimensional inclined for the current location and the target position
Shifting amount；
The 3-D migration amount of the starting point are as follows:
Wherein,WithFor the coordinates of targets of starting point,WithFor working as starting point
Preceding coordinate；
The 3-D migration amount of the terminal are as follows:
Wherein,WithFor the coordinates of targets of terminal,WithFor working as terminal
Preceding coordinate.
Optionally, in offset point vector shift amount computing unit, the vector shift amount of each offset point n is by such as
Lower formula is calculated:
Wherein, S is the total kilometrage of entire offset line；
In offset point coordinates of targets computing unit, the coordinates of targets of offset point n is calculated by following formula:
Wherein,WithFor the changing coordinates of offset point n,WithFor offset point
The coordinates of targets of n.
Optionally, the offset point is further used for terminus mileage calculation unit: 0 is set by the serial number of starting point,
N is set by terminal, the n-th point of distance apart from previous point isDistance apart from next offset point isThen
For offset point n apart from starting point mileageApart from terminal mileage
Therefore, the present invention calculates separately out the current location of the beginning and end of offset line relative to the target position after correction
The vector shift amount set, the offset of each point in offset line will receive the influence of the offset size of beginning and end, will
The vector shift amount of beginning and end is utilized with being weighted and averaged apart from beginning and end position, to be calculated every
The vector shift amount of a offset point can either preferably move offset point, and can guarantee that the actual acquisition of each offset point is bent
Rate gradient precision, and greatly reduce the mobile workload of offset point.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the flow diagram that the road of the embodiment of the present invention acquires that opposite offset deviation polarization state divides equally correcting method；
Fig. 2 is showing for the lane departure correction divided equally after correcting method using the embodiment of the present invention with respect to offset deviation polarization state
It is intended to；
Fig. 3 is the composition block diagram that the road of the embodiment of the present invention acquires that opposite offset deviation polarization state divides equally correcting device.
Specific embodiment
As used some vocabulary to censure specific components in the specification and claims.Those skilled in the art answer
It is understood that hardware manufacturer may call the same component with different nouns.This specification and claims are not with name
The difference of title is as the mode for distinguishing component, but with the difference of component functionally as the criterion of differentiation.Such as logical
The "comprising" of piece specification and claim mentioned in is an open language, therefore should be construed to " include but do not limit
In "." substantially " refer within the acceptable error range, those skilled in the art can within a certain error range solve described in
Technical problem basically reaches the technical effect.Specification subsequent descriptions are to implement the better embodiment of the application, so described
Description is being not intended to limit the scope of the present application for the purpose of the rule for illustrating the application.Protection scope of the present invention
As defined by the appended claims.
The principle of the present embodiment is: calculate separately out offset line beginning and end current location relative to correction after
Target position vector shift amount, the offset of each point in offset line will receive the offset size of beginning and end
It influences, and the influence is with the difference apart from beginning and end position, it is also different by being influenced.For example, very with starting point
Close point, offset are influenced by the vector shift amount of starting point substantially, the point very close apart from terminal, and offset is basic
Vector shift amount by terminal is influenced, and the vector shift amount of beginning and end is utilized with apart from beginning and end position
Be weighted and averaged, so that the vector shift amount of each offset point be calculated, can either preferably move offset point, and energy
Enough guarantee the actual acquisition curvature gradient precision of each offset point.
Referring to Fig. 1, the process signal of correcting method is divided equally for the opposite offset deviation polarization state of road acquisition of the present embodiment
Figure, this method comprises the following steps:
Terminus position acquisition step S110: the beginning and end of offset line is obtained, and obtains the beginning and end
Current location, and the target position of position for needing to be corrected to；
Terminus offset calculates step S120: according to the current location and the target position, calculating the starting point
With the vector shift amount of terminal；
Offset point is to terminus mileage calculation step S130: for each offset point n in the offset line, calculating separately
Mileage of the offset point n to the starting pointWith the mileage for arriving the terminal
Offset point vector shift amount calculates step S140: according to the vector shift amount of the beginning and end and described
Mileage of the offset point n to the starting pointWith the mileage for arriving the terminalThe vector shift of each offset point n of weighted calculation
Amount；
Offset point coordinates of targets calculates step S150: according to the current location of the offset point n and the offset point n
Vector shift amount, the target position after the offset point n movement is calculated.
In the present embodiment, using the method for normal curve, the current location of the beginning and end of offset line is calculated separately out
Relative to the vector shift amount of the target position after correction, the coordinate that road acquires respectively is corrected, so that road
When correcting offset, additionally it is possible to keep the road curvature gradient, can either preferably move offset point in this way, and can guarantee each
The actual acquisition curvature gradient precision of offset point, and greatly reduce the mobile workload of offset point.
Optionally, by coordinate representation, the vector shift amount is three-dimensional inclined for the current location and the target position
Shifting amount.
Further, the 3-D migration amount of the starting point are as follows:
Wherein,WithFor the coordinates of targets of starting point,WithFor working as starting point
Preceding coordinate；
The 3-D migration amount of the terminal are as follows:
Wherein,WithFor the coordinates of targets of terminal,WithFor working as terminal
Preceding coordinate；
It is calculated in step S140 in offset point vector shift amount, the vector shift amount of each offset point n passes through as follows
Formula is calculated:
Wherein, S is the total kilometrage of entire offset line.
In turn, it is calculated in step S150 in offset point coordinates of targets, the coordinates of targets of offset point n is calculated by following formula
It obtains:
Wherein,WithFor the changing coordinates of offset point n,WithFor offset point
The coordinates of targets of n.
Still optionally further, mileage of the offset point n to the starting pointWith the mileage of the terminalCalculating
Method includes: to set 0 for the serial number of starting point, sets N for terminal, the n-th point of distance apart from previous point isAway from
It is with a distance from next offset pointThen for offset point n apart from starting point mileageApart from terminal mileageTotal kilometrageOr
Therefore, which is divided into X, the offset of tri- different dimensions of Y, Z, wherein partially for the vector shift amount of offset point
Offset of the offset point near line starting point end in each dimension is moved according to normal distribution, is distributed to one by one partially from being up to 0
Move the end of line, i.e., referring to vector shift amount calculation formula, the distance apart from starting point of the offset point near starting point endSubstantially
It is zero, thenIt is substantially zeroed, then the offset of the part substantially byIt determines, likewise, near destination terminal
Offset of the offset point in each dimension join according to normal distribution from 0 starting point for being distributed to offset line one by one is up to
See vector shift amount calculation formula, the distance apart from terminal of the offset point near destination terminalIt is substantially zeroed, thenIt is substantially zeroed, then the offset of the part substantially byIt determines.And its other than beginning and end
He puts is influenced by the different degrees of of beginning and end offset simultaneously according to position, and three dimensions calculate separately.
In this way, making each offset point receive the combined influence of beginning and end, so that above-mentioned offset point is maintaining original shape
Seamless connection is realized substantially with original road on the basis of shape trend.
Embodiment 1:
Referring to fig. 2, the present embodiment obtains one group of data from different data acquisition sides, but in data acquisition side acquisition specification
Lane and legacy data specification it is inconsistent, add Acquisition Error, in the data fusion with the two, what data deviation had
10 meters or more are reached.Wherein, five-pointed star is deviation point, and dot is the point after correcting.This implementation is respectively adopted in above-mentioned data
The method of example, manual method and deletion partial dot, difference is corrected after movement.
It can be found that data mount completely after correcting using the calculation method of the present embodiment, by artificial screening, do not find
The unreasonable and strange data of shape of fusion mounting deform maximum position after the curvature gradient calculates verifying, Curvature varying and
Slope change, all well below Acquisition Error, and time-consuming substantially reduces.In the case where reaching situation identical with manual method, when
Between greatly shorten；Compared to partial dot is deleted, difference is corrected after movement, 50% or more time shortening, the difference of the curvature gradient, with
And artificial screening number of non-compliances substantially reduces.
Embodiment 2:
Using the method for the present embodiment, fusion docking is carried out to the data that different data acquisition sides obtains, as a result as follows:
It can be seen that being obtained since the present embodiment can carry out Continuous plus, no compared to using the method manually moved
Dependent on artificial.Therefore, an artificial working time was reduced to nine minutes from most six days, mounting effect and artificial identical.
Relative to, partial dot, the method that difference is corrected after movement are deleted, the working time reduces by 50% or more, and mounting effect substantially improves,
The points contrast effect for the coordinate shift adopted in fact with hitching position is best, does not need individually to carry out curvature and gradient adjustment work, right
At least reduce by 1 man day in the workload of curvature and gradient adjustment work thereafter.
The above various embodiments divides equally correcting method to the opposite offset deviation polarization state of road acquisition and has carried out exemplary illustration, because
, to realize the above method, the present embodiment, which also discloses a kind of road and acquires opposite offset deviation polarization state, divides equally correcting device for this, should
Device includes such as lower unit:
Terminus position acquisition unit 210 is used to obtain the beginning and end of offset line, and obtains the beginning and end
Current location, and the target position of position for needing to be corrected to；
Terminus offset computation unit 220 is used to calculate described rise according to the current location and the target position
The vector shift amount of point and terminal；
Offset point is used to count each offset point n in the offset line respectively to terminus mileage calculation unit 230
Calculate the offset point n to the starting point mileageWith the mileage of the terminal
Offset point vector shift amount computing unit 240 is used for the vector shift amount according to the beginning and end, Yi Jisuo
State offset point n to the starting point mileageWith the mileage of the terminalThe vector shift of each offset point n of weighted calculation
Amount；
Offset point coordinates of targets computing unit 250 is used for current location and the offset point n according to the offset point n
Vector shift amount, be calculated the offset point n it is mobile after target position.
Optionally, by coordinate representation, the vector shift amount is three-dimensional inclined for the current location and the target position
Shifting amount.
The 3-D migration amount of the starting point are as follows:
Wherein,WithFor the coordinates of targets of starting point,WithFor working as starting point
Preceding coordinate；
The 3-D migration amount of the terminal are as follows:
Wherein,WithFor the coordinates of targets of terminal,WithFor working as terminal
Preceding coordinate.
In offset point vector shift amount computing unit 240, the vector shift amount of each offset point n passes through following public
Formula is calculated:
Wherein, S is the total kilometrage of entire offset line.
In offset point coordinates of targets computing unit 250, the coordinates of targets of offset point n is calculated by following formula:
Wherein,WithFor the changing coordinates of offset point n,WithFor offset point
The coordinates of targets of n.
The offset point is further used for setting 0 for the serial number of starting point to terminus mileage calculation unit, and terminal is set
It is set to N, the n-th point of distance apart from previous point isDistance apart from next offset point isThen for offset
Point n is apart from starting point mileageApart from terminal mileage
Therefore, the present embodiment calculates separately out the current location of the beginning and end of offset line relative to the target after correction
The vector shift amount of position, the offset of each point in offset line will receive the influence of the offset size of beginning and end,
The vector shift amount of beginning and end is utilized with being weighted and averaged apart from beginning and end position, to be calculated
The vector shift amount of each offset point can either preferably move offset point, and can guarantee the actual acquisition of each offset point
Curvature gradient precision, and greatly reduce the mobile workload of offset point.
Obviously, it will be understood by those skilled in the art that each unit of above-mentioned the present embodiment or each step can be with general
Computing device realize that they can be concentrated on single computing device, optionally, they can be held with computer installation
Capable program code is realized, is performed by computing device so as to be stored in storage device, or by they
It is fabricated to each integrated circuit modules respectively, or makes multiple modules or steps in them to single integrated circuit module
To realize.In this way, the present embodiment is not limited to the combination of any specific hardware and software.This has shown and described in above description
Several alternative embodiments of application, but as previously described, it should be understood that the application is not limited to forms disclosed herein, and is not answered
Regard excluding other embodiments as, and can be used for other combinations, modifications, and environments, and can be in invention described herein
In contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And what those skilled in the art were carried out changes
Dynamic and variation does not depart from spirit and scope, then all should be within the scope of protection of the appended claims of this application.
Claims (10)
1. a kind of road, which acquires opposite offset deviation polarization state, divides equally correcting method characterized by comprising
The beginning and end of offset line is obtained, and obtains the current location of the beginning and end, and the mesh for needing to be corrected to
Cursor position；
According to the current location and the target position, the vector shift amount of the beginning and end is calculated；
To it is described offset line in each offset point n, calculate separately the offset point n to the starting point mileageWith to institute
State the mileage of terminal
According to the mileage of the vector shift amount of the beginning and end and the offset point n to the starting pointIt is described with arriving
The mileage of terminalThe vector shift amount of each offset point n of weighted calculation；
According to the vector shift amount of the current location of the offset point n and the offset point n, the offset point n is calculated and moves
Target position after dynamic.
2. road according to claim 1, which acquires opposite offset deviation polarization state, divides equally correcting method, it is characterised in that:
By coordinate representation, the vector shift amount is 3-D migration amount for the current location and the target position.
3. road according to claim 2, which acquires opposite offset deviation polarization state, divides equally correcting method, it is characterised in that:
The 3-D migration amount of the starting point are as follows:
Wherein,WithFor the coordinates of targets of starting point,WithFor the current seat of starting point
Mark；
The 3-D migration amount of the terminal are as follows:
Wherein,WithFor the coordinates of targets of terminal,WithFor the current seat of terminal
Mark.
4. road according to claim 3, which acquires opposite offset deviation polarization state, divides equally correcting method, which is characterized in that described
The vector shift amount of each offset point n is calculated by following formula:
Wherein, S is the total kilometrage of entire offset line.
5. road according to claim 4, which acquires opposite offset deviation polarization state, divides equally correcting method, which is characterized in that offset
The coordinates of targets of point n is calculated by following formula:
Wherein,WithFor the changing coordinates of offset point n,WithFor offset point n's
Coordinates of targets.
6. road according to any one of claims 1 to 5, which acquires opposite offset deviation polarization state, divides equally correcting method, feature
It is, the mileage of the offset point n to the starting pointWith the mileage of the terminalCalculation method include:
0 is set by the serial number of starting point, sets N for terminal, the n-th point of distance apart from previous point isApart from next
The distance of a offset point isThen for offset point n apart from starting point mileageApart from terminal mileage
7. a kind of road, which acquires opposite offset deviation polarization state, divides equally correcting device characterized by comprising
Terminus position acquisition unit for obtaining the beginning and end of offset line, and obtains the current of the beginning and end
Position, and the target position of position for needing to be corrected to；
Terminus offset computation unit: for calculating the starting point and end according to the current location and the target position
The vector shift amount of point；
Offset point is to terminus mileage calculation unit, for calculating separately described inclined to each offset point n in the offset line
Mileage of the shifting point n to the starting pointWith the mileage of the terminal
Offset point vector shift amount computing unit, for the vector shift amount and the offset according to the beginning and end
Mileage of the point n to the starting pointWith the mileage of the terminalThe vector shift amount of each offset point n of weighted calculation；
Offset point coordinates of targets computing unit, for according to the current location of the offset point n and the vector of the offset point n
Offset, the target position after the offset point n movement is calculated.
8. road according to claim 7, which acquires opposite offset deviation polarization state, divides equally correcting device, it is characterised in that:
By coordinate representation, the vector shift amount is 3-D migration amount for the current location and the target position；
The 3-D migration amount of the starting point are as follows:
Wherein,WithFor the coordinates of targets of starting point,WithFor the current seat of starting point
Mark；
The 3-D migration amount of the terminal are as follows:
Wherein,WithFor the coordinates of targets of terminal,WithFor the current seat of terminal
Mark.
9. road according to claim 8, which acquires opposite offset deviation polarization state, divides equally correcting device, it is characterised in that:
In offset point vector shift amount computing unit, the vector shift amount of each offset point n is calculated by following formula
It obtains:
Wherein, S is the total kilometrage of entire offset line；
In offset point coordinates of targets computing unit, the coordinates of targets of offset point n is calculated by following formula:
Wherein,WithFor the changing coordinates of offset point n,WithFor offset point n's
Coordinates of targets.
10. road according to any one of claims 7 to 9, which acquires opposite offset deviation polarization state, divides equally correcting device, special
Sign is that offset point is further used for terminus mileage calculation unit:
0 is set by the serial number of starting point, sets N for terminal, the n-th point of distance apart from previous point isApart from next
The distance of a offset point isThen for offset point n apart from starting point mileageApart from terminal mileage
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| CN201610045035.6A CN106997419B (en) | 2016-01-22 | 2016-01-22 | Road acquires opposite offset deviation polarization state and divides equally correcting method and device |
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| EP0747669B1 (en) * | 1995-06-09 | 2003-02-26 | Xanavi Informatics Corporation | Current position calculating device |
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| CN104575075A (en) * | 2015-01-14 | 2015-04-29 | 合肥革绿信息科技有限公司 | City road network vehicle coordinate correcting method and device based on plough satellite |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0747669B1 (en) * | 1995-06-09 | 2003-02-26 | Xanavi Informatics Corporation | Current position calculating device |
| CN101334288A (en) * | 2008-08-07 | 2008-12-31 | 北京工业大学 | Public transport bus exact stop method based on standard line matching |
| CN104575075A (en) * | 2015-01-14 | 2015-04-29 | 合肥革绿信息科技有限公司 | City road network vehicle coordinate correcting method and device based on plough satellite |
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