CN107515413A - A kind of GPS drift filter methods and the intelligent watch based on intelligent watch - Google Patents
A kind of GPS drift filter methods and the intelligent watch based on intelligent watch Download PDFInfo
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- CN107515413A CN107515413A CN201710702418.0A CN201710702418A CN107515413A CN 107515413 A CN107515413 A CN 107515413A CN 201710702418 A CN201710702418 A CN 201710702418A CN 107515413 A CN107515413 A CN 107515413A
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- gps
- speed
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- drift
- wearer
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- 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
- G01S19/52—Determining velocity
Abstract
The invention discloses a kind of GPS drift filter methods and the intelligent watch based on intelligent watch, it is related to Intelligent worn device field.GPS drift filter methods include：Gps data sampling is carried out by the cycle；The motor message obtained according to intelligent watch, whether the gps data for judging present sample is drift data；If so, giving up the gps data of the present sample, the real-time speed of wearer is determined according to the motor message.The motor message that the present invention collects according to intelligent watch filters to GPS track, and thus calculate the real-time speed of wearer, because the data of intelligent watch illustrate the real motion state of wearer, the GPS track after filtering can be made closer to real trace, the exercise data of wearer also can fully be combined with GPS track, obtain precision higher track, speed and mileage information.
Description
Technical field
The present invention relates to Intelligent worn device field, more particularly to a kind of GPS drift filter methods based on intelligent watch
With the intelligent watch.
Background technology
At present, in field of intelligent wear, it can consider whether GPS drifts about when generating GPS track, generally by displacement, speed
Degree, acceleration, azimuthal variation and dilution of precision judge whether drift phenomenon, however, it is determined that when then giving up this for drift
The GPS information at quarter, do not continue to increase mileage, and speed is zeroed.Following two problems can be caused by so doing：First, believe in GPS
In the case of number weak, part drift orbit is sufficiently close to real trace, and GPS is filtered according to the method for prior art
DeGrain；Second, occurring drift during exercise is, if by speed zero setting, real-time speed, which will be shown, to make a mistake, to
The motion state monitoring at family also can be inaccurate, and the track that ultimately results in obtain, mileage, velocity accuracy are relatively low.
The content of the invention
It is an object of the invention to propose a kind of GPS drift filter methods and the intelligent watch based on intelligent watch, energy
The fortune work(situation of intelligent watch wearer is enough combined, drift filtering is carried out to GPS track, makes GPS track closer to real trace.
To use following technical scheme up to this purpose, the present invention：
On the one hand, the present invention provides a kind of GPS drift filter methods based on intelligent watch, including：
Gps data sampling is carried out by the cycle；
The motor message obtained according to intelligent watch, whether the gps data for judging present sample is drift data；
If so, giving up the gps data of the present sample, the real-time speed of wearer is determined according to the motor message.
Further, the motor message obtained according to intelligent watch, whether the gps data for judging present sample is drift number
According to before, in addition to：
The gps data and the gps data of last sampling of present sample are analyzed, obtains displacement, speed, the acceleration of wearer
Degree and azimuthal variation amount；
By the displacement, the speed, the acceleration and the azimuthal variation amount compared with preset standard, judge to work as
Whether the gps data of preceding sampling is drift data；
If so, giving up the gps data of the present sample, the real-time speed of wearer is determined according to the motor message；
Otherwise, the motor message obtained according to intelligent watch, whether the gps data for judging the present sample is drift number
According to.
Wherein, the motor message obtained according to intelligent watch, judges whether the gps data is drift data, including：
The motor message obtained according to intelligent watch determines the state of wearer；
If inactive state, and the speed and/or the displacement are not zero, then the gps data for judging present sample is
Drift data；
Accordingly, the real-time speed of wearer is determined according to the motor message, is specially：The real-time speed is put
Zero.
Wherein, the motor message obtained according to intelligent watch, judges whether the gps data is drift data, including：
The motor message obtained according to intelligent watch determines the state of wearer；
If mobile status, then the type of sports of wearer is identified, the type of sports is including counting step type and meter speed type；
Reference velocity is calculated according to type of sports；
If the speed, beyond error range is preset, judges the gps data of present sample compared with the reference velocity
For drift data；
Accordingly, the real-time speed of wearer is determined according to the motor message, is specially：The real-time speed is configured to
The reference velocity.
Specifically, reference velocity is calculated according to type of sports, including：
When type of sports is counts step type, reference velocity is calculated according to the cadence of wearer and stride；
When type of sports is meter speed type, the speed that is analyzed according to the gps data of the non-drift sampled, wearer is set
Reference velocity.
Further, after the real-time speed that wearer is determined according to the motor message, in addition to：
Position corresponding to the gps data of two neighboring non-drift is connected to form GPS track with straight line.
On the other hand, the present invention provides a kind of intelligent watch, including GPS module, nine axle sensors and processor, wherein：
The GPS module is used to carry out gps data sampling by the cycle；
Nine axle sensor is used for the motor message for obtaining wearer；
The processor is used to judge whether the gps data of present sample is drift data, described is currently adopted if so, giving up
The gps data of sample, the real-time speed of wearer is determined according to the motor message.
Wherein, the processor includes：Drift about filter element and speed configuration unit；
The drift filter element is used for：
In the motor message obtained according to intelligent watch, before whether the gps data for judging present sample is drift data,
The gps data and the gps data of last sampling of present sample are analyzed, obtains displacement, speed, acceleration and the orientation of wearer
Angle variable quantity；
By the displacement, the speed, the acceleration and the azimuthal variation amount compared with preset standard, judge to work as
Whether the gps data of preceding sampling is drift data；
If so, give up the gps data of the present sample；
Otherwise, the motor message obtained according to intelligent watch, whether the gps data for judging the present sample is drift number
According to；
The speed configuration unit is used for the real-time speed that wearer is determined according to the motor message.
Further, the processor also includes：Move recognition unit；
The motion recognition unit be used for according to the motor message that intelligent watch obtains determine wearer for inactive state or
Mobile status；If mobile status, then the type of sports of wearer is identified, the type of sports is including counting step type and meter speed type；
Reference velocity is calculated according to type of sports；
The drift filter element is used for, and if inactive state, and the speed and/or the displacement are not zero, then sentence
The gps data of disconnected present sample is drift data；
Accordingly, the speed configuration unit is used for the real-time speed zero setting；
The drift filter element is additionally operable to, and if mobile status, and the speed exceeds compared with the reference velocity
Default error range, then judge the gps data of present sample for drift data；
Accordingly, the speed configuration unit is additionally operable to the real-time speed and is configured to the reference velocity.
Wherein, the motion recognition unit is specifically used for：
When type of sports is counts step type, reference velocity is calculated according to the cadence of wearer and stride；
When type of sports is meter speed type, the speed that is analyzed according to the gps data of the non-drift sampled, wearer is set
Reference velocity.
Further, the processor also includes：Track fitting unit, for determining to wear according to the motor message
After the real-time speed of person,
Position corresponding to the gps data of two neighboring non-drift is connected to form GPS track with straight line.
Beneficial effects of the present invention are：
The motor message that the present invention collects according to intelligent watch filters to GPS track, and thus calculates and wear
The real-time speed of person, because the data of intelligent watch illustrate the real motion state of wearer, the GPS track after filtering can be made
Closer to real trace, the exercise data of wearer also can fully be combined with GPS track, obtain the higher track of precision, speed
Degree and mileage information.
Brief description of the drawings
Fig. 1 is the flow chart for the GPS drift filter methods that the embodiment of the present invention one provides.
Fig. 2 is the flow chart for the GPS drift filter methods that the embodiment of the present invention two provides.
Fig. 3 is the structural representation for the intelligent watch that the embodiment of the present invention three provides.
Embodiment
For make present invention solves the technical problem that, the technical scheme that uses and the technique effect that reaches it is clearer, below
The technical scheme of the embodiment of the present invention will be described in further detail with reference to accompanying drawing, it is clear that described embodiment is only
It is part of the embodiment of the present invention, rather than whole embodiments.
Embodiment one
The present embodiment provide it is a kind of based on intelligent watch GPS drift filter method, this method by a kind of intelligent watch Lai
Perform, the intelligent watch is made up of corresponding software module and hardware.
Fig. 1 is the flow chart for the GPS drift filter methods that the embodiment of the present invention one provides.As shown in figure 1, the GPS drifts about
Filter method comprises the following steps：
S11, gps data sampling is carried out by the cycle.
GPS module is according to default frequency acquisition gps data, to ensure the continuous of track, the present embodiment according to 1Hz frequency
Rate is sampled.
S12, the motor message obtained according to intelligent watch, whether the gps data for judging present sample is drift data；If
It is to perform step S13, otherwise, performs step S14.
First, the gps data and the gps data of last sampling of present sample are analyzed, obtains displacement, the speed of wearer
Degree, acceleration and azimuthal variation amount.
Secondly, the three axis accelerometer of intelligent watch is with the motor message of 25Hz frequency acquisition wearer, to the fortune
Dynamic signal is analyzed, and obtains the information such as step number, cadence, signal amplitude, equipment posture, and with the state of this determination wearer,
Including inactive state and mobile status.
Wearer is determined by whether there is step number generation in certain time period, or by the fluctuating size of motor message
Whether move.For example, there is no new step number to produce in 2s, when the variance of motor message is less than certain threshold values, judge at wearer
In inactive state, otherwise it is mobile status.
If inactive state, and analyze the speed that gps data obtains and/or the displacement is not zero, then judge to work as
The gps data of preceding sampling is drift data, performs step S13.
If mobile status, then the type of sports of wearer is identified, the type of sports is including counting step type and meter speed type, meter
The motion of step type includes walking, running, footrace etc., and the motion of meter speed type is mainly ridden.
Reference velocity is calculated according to type of sports, including：Type of sports for meter step type when, according to the cadence of wearer and
Stride calculates reference velocity；When type of sports is meter speed type, the speed that is analyzed according to the gps data of the non-drift sampled
(continuing to use original speed), the reference velocity of wearer is set.
In addition, the reference velocity of the different type of sports can be also obtained by the historical data of the wearer.
Under mobile status, if the speed is currently adopted compared with the reference velocity beyond default error range, judgement
The gps data of sample is drift data, performs step S13.
For example, default error range is arranged to reference velocity ± 50%, it is if the speed is not in this range, i.e., described
Speed is substantially not belonging to the suitable speed of corresponding type of sports, then judges the gps data for drift data.
S13, give up the gps data of the present sample, the real-time speed of wearer is determined according to the motor message.
Give up the gps data of present sample, do not consider the sampling when generating GPS track.
Under inactive state, by the real-time speed zero setting of wearer；Under mobile status, the real-time speed is configured to the ginseng
Speed is examined, reference velocity is to be calculated in step S12 according to motor message.
S14, GPS track is generated according to the gps data.
When gps data is non-drift data, analyzed according to step S12 obtain the longitude and latitude of wearer, displacement, speed plus
The information such as speed and azimuthal variation amount generates GPS track.
The present embodiment is filtered by the motor message of intelligent watch wearer to gps data, according to motion state and
Type of sports analyzes the reasonability of gps data, so as to filter out those close to the drift data of real trace, overcomes in the prior art
The precision problem of GPS filterings, makes the GPS track that finally gives also more accurate closer to real trace, the exercise data of wearer.
Embodiment two
The present embodiment is improved on the basis of above-described embodiment, and gps data is being carried out precisely according to motor message
Before filtering, first gps data is tentatively filtered, for some gps datas, can not have to accurately calculate just judge
Whether it drifts about.Only the step of increase, is described in detail for the present embodiment, and unaccounted step is corresponding to above-described embodiment
Step is identical.
Fig. 2 is the flow chart for the GPS drift filter methods that the embodiment of the present invention two provides.As shown in Fig. 2 the GPS drifts about
Filter method comprises the following steps：
S21, gps data sampling is carried out by the cycle.
S22, analyze the gps data of present sample and the gps data of last sampling, obtain the displacement of wearer, speed,
Acceleration and azimuthal variation amount.
S23, by the displacement, the speed, the acceleration and the azimuthal variation amount compared with preset standard, sentence
Whether the gps data of disconnected present sample is drift data, if so, performing step S25, otherwise, performs step S24.
In the present embodiment, the preset standard is arranged to：Displacement is less than 50m, and speed is less than 130km/h, and acceleration is less than
4m/s2, azimuth changes in 6 seconds is less than 360 degree.Any one of conditions above is unsatisfactory for, and judges gps data for drift data.It is real
In the application of border, preset standard can be adjusted according to sample frequency, filtering accuracy requirement etc..
If may determine that as drift data herein, step S25 can be jumped directly to, it is not necessary to use motor message again
Filtered.If being judged as non-drift data herein, filtered according to step S24 is further.
S24, the motor message obtained according to intelligent watch, whether the gps data for judging present sample is drift data；If
It is to perform step S25, otherwise, performs step S26.
S25, give up the gps data of the present sample, the real-time speed of wearer is determined according to the motor message.
S26, GPS track is generated according to the gps data.
When two adjacent gps datas are non-drift data, the position of wearer is determined according to gps data, so as to
To GPS track.
When drift data occur and being rejected, position corresponding to the gps data of two neighboring non-drift is connected with straight line
Form GPS track.The gps data of two neighboring non-drift includes the terminal of the preceding paragraph track and the starting point of next section of track,
The time that drift occurs is generally shorter, therefore the terminal of the preceding paragraph track is connected with the starting point straight line of this section of track.
But once be judged as drifting about or stop, then need to obtain the gps data weight of non-drift by searching for GPS
Newly-generated track starting point.
Judged using above-mentioned steps S24 static in the present embodiment, or judge to stop in the following way：Present sample
Compared with the sampling before 4s, displacement is judged as stopping less than 2m；Or continuous 2s speed is judged as stopping less than 0.5m/s；Side
Parallactic angle changes in 6 seconds and is judged as stopping more than 360 degree.When stopping, track starting point is generated according to gps data, distance is accumulative,
Track does not increase, speed zero setting.Only into mobile status meet certain time length requirement when, just can accumulation distance, generate track,
Configure real-time speed.
The present embodiment first carries out preliminary mistake before to gps data precisely filter according to motor message to gps data
Filter, for some gps datas, it can not have to accurately calculate just can judge whether it drifts about, reduce data processing amount, and
Also the GPS track close to actual conditions can be generated when drifting about.
Embodiment three
The present embodiment provides a kind of intelligent watch, for performing the GPS drift filter methods described in above-described embodiment.The intelligence
Energy wrist-watch includes necessary hardware and software module, solves identical technical problem with above-described embodiment, reaches identical technology
Effect.
Fig. 3 is the structural representation for the intelligent watch that the embodiment of the present invention three provides.As shown in figure 3, the intelligent watch bag
Include GPS module 31, nine axle sensors 33 and processor 32.
Wherein：
The GPS module 31 is used to carry out gps data sampling by the cycle.
Nine axle sensor 33 is used for the motor message for obtaining wearer.
The processor 32 is used to judge whether the gps data of present sample to be drift data, if so, giving up described current
The gps data of sampling, the real-time speed of wearer is determined according to the motor message.
Wherein, the processor 32 includes：Drift about filter element 321 and speed configuration unit 322.
The drift filter element 321 is used for：
In the motor message obtained according to intelligent watch, before whether the gps data for judging present sample is drift data,
The gps data and the gps data of last sampling of present sample are analyzed, obtains displacement, speed, acceleration and the orientation of wearer
Angle variable quantity；
By the displacement, the speed, the acceleration and the azimuthal variation amount compared with preset standard, judge to work as
Whether the gps data of preceding sampling is drift data；
If so, give up the gps data of the present sample；Otherwise, the motor message obtained according to intelligent watch, judges institute
Whether the gps data for stating present sample is drift data.
The speed configuration unit 322 is used for the real-time speed that wearer is determined according to the motor message.
Further, the processor 32 also includes：Move recognition unit 324.
The motion recognition unit 324 is used to determine that wearer is inactive state according to the motor message that intelligent watch obtains
Or mobile status；If mobile status, then the type of sports of wearer is identified, the type of sports is including counting step type and meter speed
Type；Reference velocity is calculated according to type of sports.
The drift filter element 321 is used for, and if inactive state, and the speed and/or the displacement are not zero, then
Judge the gps data of present sample for drift data；Accordingly, the speed configuration unit 322 is used for the real-time speed
Zero setting.
The drift filter element 321 is additionally operable to, and if mobile status, and the speed surpasses compared with the reference velocity
Go out default error range, then judge the gps data of present sample for drift data；Accordingly, the speed configuration unit 322 is gone back
The reference velocity is configured to for the real-time speed.
Wherein, the motion recognition unit 324 is specifically used for：
When type of sports is counts step type, reference velocity is calculated according to the cadence of wearer and stride；Type of sports is meter speed
During type, the speed that is analyzed according to the gps data of the non-drift sampled, the reference velocity of wearer is set.
Further, the processor 32 also includes：Track fitting unit 323, for true according to the motor message
After the real-time speed for determining wearer, position corresponding to the gps data of two neighboring non-drift is connected to form GPS rails with straight line
Mark.
The present embodiment first carries out preliminary filtering to gps data and excludes drift data, further according to the fortune of intelligent watch wearer
Dynamic data are further filtered to GPS track, GPS track is more pasted closer to real trace, the exercise data of wearer
Nearly actual conditions, so as to obtain the higher track of precision, speed and mileage information.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel would not require any inventive effort the other embodiments that can associate the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (11)
- A kind of 1. GPS drift filter methods based on intelligent watch, it is characterised in that：Gps data sampling is carried out by the cycle；The motor message obtained according to intelligent watch, whether the gps data for judging present sample is drift data；If so, giving up the gps data of the present sample, the real-time speed of wearer is determined according to the motor message.
- The filter method 2. GPS according to claim 1 drifts about, it is characterised in that the motion obtained according to intelligent watch is believed Number, before whether the gps data for judging present sample is drift data, in addition to：Analyze the gps data and the gps data of last sampling of present sample, obtain the displacement of wearer, speed, acceleration and Azimuthal variation amount；By the displacement, the speed, the acceleration and the azimuthal variation amount compared with preset standard, judgement is currently adopted Whether the gps data of sample is drift data；If so, giving up the gps data of the present sample, the real-time speed of wearer is determined according to the motor message；Otherwise, the motor message obtained according to intelligent watch, whether the gps data for judging the present sample is drift data.
- The filter method 3. GPS according to claim 2 drifts about, it is characterised in that the motion obtained according to intelligent watch is believed Number, judge whether the gps data is drift data, including：The motor message obtained according to intelligent watch determines the state of wearer；If inactive state, and the speed and/or the displacement are not zero, then judge the gps data of present sample for drift Data；Accordingly, the real-time speed of wearer is determined according to the motor message, is specially：By the real-time speed zero setting.
- The filter method 4. GPS according to claim 2 drifts about, it is characterised in that the motion obtained according to intelligent watch is believed Number, judge whether the gps data is drift data, including：The motor message obtained according to intelligent watch determines the state of wearer；If mobile status, then the type of sports of wearer is identified, the type of sports is including counting step type and meter speed type；Reference velocity is calculated according to type of sports；If the speed, beyond default error range, judges the gps data of present sample for drift compared with the reference velocity Move data；Accordingly, the real-time speed of wearer is determined according to the motor message, is specially：The real-time speed is configured to described Reference velocity.
- The filter method 5. GPS according to claim 4 drifts about, it is characterised in that reference velocity is calculated according to type of sports, Including：When type of sports is counts step type, reference velocity is calculated according to the cadence of wearer and stride；When type of sports is meter speed type, the speed that is analyzed according to the gps data of the non-drift sampled, the ginseng of wearer is set Examine speed.
- The filter method 6. GPS according to claim 1 drifts about, it is characterised in that determine to wear according to the motor message After the real-time speed of person, in addition to：Position corresponding to the gps data of two neighboring non-drift is connected to form GPS track with straight line.
- 7. a kind of intelligent watch, including GPS module, nine axle sensors and processor, it is characterised in that：The GPS module is used to carry out gps data sampling by the cycle；Nine axle sensor is used for the motor message for obtaining wearer；The processor is used to judge whether the gps data of present sample to be drift data, if so, giving up the present sample Gps data, the real-time speed of wearer is determined according to the motor message.
- 8. intelligent watch according to claim 7, it is characterised in that the processor includes：Drift filter element and speed Spend dispensing unit；The drift filter element is used for：In the motor message obtained according to intelligent watch, before whether the gps data for judging present sample is drift data, analysis The gps data of present sample and the gps data of last sampling, displacement, speed, acceleration and the azimuth for obtaining wearer become Change amount；By the displacement, the speed, the acceleration and the azimuthal variation amount compared with preset standard, judgement is currently adopted Whether the gps data of sample is drift data；If so, give up the gps data of the present sample；Otherwise, the motor message obtained according to intelligent watch, whether the gps data for judging the present sample is drift data；The speed configuration unit is used for the real-time speed that wearer is determined according to the motor message.
- 9. intelligent watch according to claim 8, it is characterised in that the processor also includes：Move recognition unit；The motion recognition unit is used to determine that wearer is inactive state or movement according to the motor message that intelligent watch obtains State；If mobile status, then the type of sports of wearer is identified, the type of sports is including counting step type and meter speed type；According to Type of sports calculates reference velocity；The drift filter element is used for, and if inactive state, and the speed and/or the displacement are not zero, then judges to work as The gps data of preceding sampling is drift data；Accordingly, the speed configuration unit is used for the real-time speed zero setting；The drift filter element is additionally operable to, if mobile status, and the speed with the reference velocity compared with beyond presetting Error range, then judge the gps data of present sample for drift data；Accordingly, the speed configuration unit is additionally operable to the real-time speed and is configured to the reference velocity.
- 10. intelligent watch according to claim 9, it is characterised in that the motion recognition unit is specifically used for：When type of sports is counts step type, reference velocity is calculated according to the cadence of wearer and stride；When type of sports is meter speed type, the speed that is analyzed according to the gps data of the non-drift sampled, the ginseng of wearer is set Examine speed.
- 11. intelligent watch according to claim 7, it is characterised in that the processor also includes：Track fitting unit, For after the real-time speed of wearer is determined according to the motor message,Position corresponding to the gps data of two neighboring non-drift is connected to form GPS track with straight line.
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| CN201710702418.0A CN107515413A (en) | 2017-08-16 | 2017-08-16 | A kind of GPS drift filter methods and the intelligent watch based on intelligent watch |
| PCT/CN2017/109858 WO2019033587A1 (en) | 2017-08-16 | 2017-11-08 | Smart watch-based gps drifting filtering method, and smart watch |
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| CN201710702418.0A CN107515413A (en) | 2017-08-16 | 2017-08-16 | A kind of GPS drift filter methods and the intelligent watch based on intelligent watch |
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| CN110646824A (en) * | 2019-09-30 | 2020-01-03 | 郑州威科姆华大北斗导航科技有限公司 | Method for realizing motion trail drift point filtering calculation in multiple positioning modes |
| CN111399000A (en) * | 2020-04-08 | 2020-07-10 | 广州通达汽车电气股份有限公司 | GPS drift filtering method, state switching method of GPS terminal and switching equipment |
| CN112346095A (en) * | 2020-10-29 | 2021-02-09 | 广东小天才科技有限公司 | Method and device for judging whether user is in fast moving state and intelligent wearable device |
| CN113655506A (en) * | 2021-09-13 | 2021-11-16 | 深圳市有方科技股份有限公司 | GPS data processing method and terminal equipment |
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| CN109407123A (en) * | 2018-09-29 | 2019-03-01 | 深圳市口袋网络科技有限公司 | A kind of information processing method, terminal and computer readable storage medium |
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| CN110646824B (en) * | 2019-09-30 | 2023-09-05 | 郑州威科姆华大北斗导航科技有限公司 | Method for realizing motion trail drift point filtering calculation in multiple positioning modes |
| CN111399000A (en) * | 2020-04-08 | 2020-07-10 | 广州通达汽车电气股份有限公司 | GPS drift filtering method, state switching method of GPS terminal and switching equipment |
| CN112346095A (en) * | 2020-10-29 | 2021-02-09 | 广东小天才科技有限公司 | Method and device for judging whether user is in fast moving state and intelligent wearable device |
| CN113655506A (en) * | 2021-09-13 | 2021-11-16 | 深圳市有方科技股份有限公司 | GPS data processing method and terminal equipment |
| CN113791437A (en) * | 2021-09-17 | 2021-12-14 | 深圳摩吉智行科技有限公司 | Method and device for filtering fixed-point drift data and computer readable storage medium |
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