CN108270872A - Positioning track triangle hangs down away from vacuating method - Google Patents
Positioning track triangle hangs down away from vacuating method Download PDFInfo
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- CN108270872A CN108270872A CN201810096117.2A CN201810096117A CN108270872A CN 108270872 A CN108270872 A CN 108270872A CN 201810096117 A CN201810096117 A CN 201810096117A CN 108270872 A CN108270872 A CN 108270872A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 239000000284 extract Substances 0.000 claims abstract description 10
- 238000005457 optimization Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 abstract description 10
- 230000000750 progressive effect Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 9
- 239000000243 solution Substances 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000012895 dilution Substances 0.000 description 2
- 238000010790 dilution Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000009877 rendering Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of positioning track triangles to hang down away from method is vacuated, wherein setting threshold values as D, and judges that following steps include：A. included according to positioning dot sequency foundation：First anchor point, interfix point, the Triangle Module of tail anchor point simultaneously obtain triangle and hang down away from d；Judge that triangle hangs down away from d and threshold value D value sizes；B. after when d ＜ D values, first anchor point is constant, extracts interfix point, and progressive rear positioned in sequence point redefines interfix point and tail anchor point；Step A and B is repeated when d ＞ D values, retains all anchor points of current Triangle Module, and sets the tail anchor point of current Triangle Module as new first anchor point and repeats step A and B.So as to fulfill can rationally be vacuated to anchor point in the case where preferably keeping original positioning track consistency, to dilute location data, convenient for the transmission and application of the location data.
Description
Technical field
Method is vacuated the present invention relates to positioning track more particularly to is hung down the positioning track side of vacuating away from algorithm using triangle
Method.
Background technology
Global-positioning technology has been widely used in various fields at present, for live and production provide it is a variety of just
Profit, in the prior art in order to improve the accuracy of navigation, it will usually frequent record location point, although this measure is fixed to subsequently leading
The retrospect of position track provides point-device trajectory path, but what is perplexed therewith is since anchor point quantity can cause to determine too much
Position data drastically expand, and not only influence the network transmission efficiency of such data, while be also unfavorable for disengaging such positioning track number
According to equipment carry out rendering and show because this measure not only can show that very intensive point diagram is unfavorable for checking on map, simultaneously
Also it can increase equipment and calculate operating pressure, reduce program response speed, cause very bad usage experience.
And the prior art is to solve the above-mentioned problems, it is proposed that crossing anchor point vacuates scheme, the program is as shown in Figure 1, a is arrived
I points are the terminals of one section of track, and according to existing algorithm, the vertical range that can calculate intermediate each point to straight line ai is (in figure simple
Show wherein several points hang down away from) if when threshold value D more than or equal to d to straight line ai it is vertical away from when, between combination algorithm ad
Track can be rendered into air line distance as dotted line ad, significant error can be generated in this way, that is, lose intermediate details section.Its
It is secondary as shown in Figure 1, AB sections are significantly straight lines in figure, the anchor point also leaves too much in the evacuating algorithm of the prior art
It is not necessary to it can only increase the burden of hardware and software.Therefore the prior art can not ensure original positioning track consistency
In the case of reach preferable anchor point and vacuate effect.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of positioning track triangle and hangs down away from vacuating method, can be at least to realize
In the case of preferably keeping original positioning track consistency, anchor point is rationally vacuated, to dilute location data, convenient for this
The transmission and application of location data.
To achieve these goals, positioning track triangle provided by the invention hangs down includes away from the method for vacuating：Set threshold values as
D, and judge that following steps include：
A. included according to positioning dot sequency foundation：First anchor point, interfix point, the Triangle Module of tail anchor point simultaneously obtain triangle and hang down
Away from d；Judge that triangle hangs down away from d and threshold value D value sizes；
B. when d ＜ D values, first anchor point is constant, extracts interfix point, and progressive rear positioned in sequence point redefines centre and determines
Behind site and tail anchor point；Step A and B is repeated when d ＞ D values, retains all anchor points of current Triangle Module, and is set current
The tail anchor point of Triangle Module is new first anchor point and repeats step A and B.
Preferably, it further includes：Optimization threshold values is set as D1, maximum can continuously extract point value as MAX, and what is continuously extracted determines
Bit number of points are m, and are judged following steps：
C. when m exceeds MAX value ranges in step c, in the anchor point Triangle Module data area continuously extracted, D values are changed
For D1 values and step A and B are repeated, until m values are in the range of MAX values；Restore D values and repeat step A and B.
Preferably, step is further included：
D. each anchor point after vacuating is linked in sequence, forms positioning rail trace.
Preferably, the optimization threshold values D1 is less than threshold values D.
Preferably, the threshold values D is 6 to 15 meters.
Preferably, it is that positioning terminal uploads anchor point in unit interval T that the maximum, which can continuously extract point value MAX,
Quantity, and it is less than or equal to anchor point sum in T range.
Preferably, the unit interval T is 1-2 minutes.
On the other hand, the present invention still further provides a kind of positioning device, and which employs the positioning tracks three of the present invention
Angle is hung down disengages positioning track away from the method for vacuating.
On the other hand, the present invention still further provides a kind of pilotless automobile, and which employs the positioning rails of the present invention
Mark triangle hangs down carries out automatic cruising away from the method that vacuates.
On the other hand, the present invention still further provides a kind of unmanned plane, and which employs the positioning track triangles of the present invention
It hangs down and carries out automatic cruising away from the method that vacuates.
It is hung down by positioning track triangle provided by the invention away from method is vacuated, can preferably keep original positioning track consistent
In the case of property, anchor point is rationally vacuated, convenient for the transmission and application of the location data, so as to reduce transport stream
Amount reduces network transmission pressure and expense cost, and effectively reduces and rendering display anchor point mistake using the equipment of this method
To the consumption of hardware performance in journey, it is integrally improved customer experience.
By positioning device provided by the invention, location data network transmission pressure and expense cost can be effectively reduced,
And effectively consumption of the reduction using the equipment of this method during display anchor point is rendered to hardware performance, it is integrally improved visitor
It experiences at family.
By pilotless automobile provided by the invention, can route effectively be carried out according to the locating point data after dilution
Optimization and planning, to improve automatic cruising navigation performance.
By unmanned plane provided by the invention, can effectively according to the locating point data after dilution carry out route optimization and
Planning, to improve automatic cruising navigation performance.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
The attached drawing for forming the part of the application is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the Computing Principle schematic diagram using prior art evacuating algorithm；
Fig. 2 is the schematic diagram for not vacuating anchor point rationally using prior art evacuating algorithm；
Fig. 3 hangs down the schematic diagram rationally vacuated away from the method that vacuates for positioning track triangle using the present invention；
Fig. 4 is the schematic diagram that positioning track is omitted using prior art evacuating algorithm；
Fig. 5 hangs down for positioning track triangle using the present invention rationally remains the schematic diagram of positioning track away from the method that vacuates；
The positioning track triangle that Fig. 6 is the present invention hangs down the principle exemplary plot away from the method that vacuates；
Fig. 7 hangs down for the positioning track triangle of the present invention vacuates step schematic diagram away from the method that vacuates；
Fig. 8 hangs down for the positioning track triangle of the present invention vacuates Optimization Steps schematic diagram away from the method that vacuates.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to which those skilled in the art is made to be better understood from the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, in ordinary skill
Personnel do not make all other embodiments obtained under the premise of creative work, should all belong to the protection model of the present invention
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two ", " step A ", " step B " etc. may be the object for distinguishing similar, and be not necessarily used to describe specific sequence or
Precedence, concrete meaning should coordinate full text to explain, and not carry out specific limitation.It should be appreciated that the data used in this way are suitable
It can be interchanged in the case of, so that the embodiment of the present invention described herein can be with those in addition to illustrating or describing herein
Sequence in addition is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover non-exclusive
Comprising.
Positioning track triangle provided in an embodiment of the present invention hangs down away from the method that vacuates, and cardinal principle is, by setting one
Rational threshold value, ergodic data, formed triangle and ask calculation hang down away from, and and threshold value comparison, until finding logical point, by intermediate mistake
Journey point extracts.Below with reference to Fig. 1 to Fig. 8 concrete schemes that the present invention will be described in detail
Specific method is to set threshold values first as D, and carries out judging/calculating step, that is, is included：A. according to the record of anchor point
Sequence, which is established, to be included：Containing first anchor point, interfix point, tail anchor point, the triangle formed after this 3 lines（Theory is said
Bright form, not practical triangle）, wherein the anchor point record sequence, according to by route sequence from positioning starting point
To putting in order for locating endpoints, take this to be formed the Triangle Module in data and obtain triangle and hang down away from value d；And judge the triangle hang down away from
D and threshold value D value sizes；
Wherein threshold values D can be modified according to the road conditions of various regions and nations, the threshold values being suitble to sets itself,
And the present embodiment then preferably threshold values D for 6 to 15 meters to illustrate, but do not limited.
B. judge that, when the triangle hangs down away from value d ＜ threshold values D values, the first anchor point in the Triangle Module data is constant after,
But interfix point is extracted, and progressive rear positioned in sequence point redefines interfix point and tail anchor point, as shown in fig. 6, just
For beginning with 1,2,3 anchor point, 2 anchor points are then left out as the d ＜ D in the Triangle Module, and progressive follow-up anchor point 3,4 retains
First anchor point forms 1,3,4 anchor point Triangle Modules, and judge d whether ＜ D, and so on.
Step A and B is repeated afterwards when d ＞ D values, retains all anchor points of current Triangle Module, and set current Triangle Module
Tail anchor point be new first anchor point, for example as shown in fig. 6, with the Isosorbide-5-Nitrae, for 5 anchor points, the d in the Triangle Module
During ＞ D, then retain all Isosorbide-5-Nitraes, 5 anchor points, 5 anchor point of existing side by side is the first anchor point in next Triangle Module, and progressive follow-up
Positioned in sequence point forms new Triangle Module, and repeats step A and B.
Through the above scheme, it can significantly be compared refering to Fig. 2 Fig. 3, scheme using the present invention is produced compared with prior art
Raw positioning track point can be significantly diluted.In addition the solution of the present invention compares existing algorithm, is taken out on the basis of uniform threshold
Dilute is more thorough.
Following table is illustrated have been extracted 10 vehicles with different threshold values and vacuates comparison respectively.The smaller track of threshold value is finer.
According to upper table, comparison is vacuated by a large amount of tracks, the algorithm of the prior art averagely vacuates only rate 20%-
30%；And the solution of the present invention averagely vacuates rate in 40%-50%, hence it is evident that better than the prior art.
In addition it is noted that in another preferred embodiment of the invention, after vacuating
The consistency of positioning track and original positioning track prevents the situation that positioning track is lost from generating, therefore in the present embodiment, should
Positioning track triangle hangs down to be further comprised away from the method for vacuating：Optimization threshold values is set as D1, maximum can continuously extract point value and be
MAX, the anchor point quantity continuously extracted is m, and is judged following steps：
C. when m exceeds MAX value ranges in step c, such as according to step A and B judgement after, continuously having extracted can after m anchor point
The situation that positioning track lacks can be caused to generate, it is therefore desirable to set a maximum that can continuously extract point value and add for MAX
With limitation, such as when m is 3, anchor point【1,2,3,4,5】In【2,3,4】It is continuously extracted, at this point, then must be continuous at this
In the anchor point Triangle Module data area extracted, i.e.,【1,2,3】,【1,3,4】,【Isosorbide-5-Nitrae, 5】In these three Triangle Module data areas
It re-starts calculating to judge, that is, change D values as D1 values and repeats step A and B, preferred D1 values are D values wherein in the present embodiment
Half i.e. 3 to 7.5 meters until m values restore D values after being in the range of MAX values repeats step A and B, take this, can avoid after vacuating
Positioning track lose, while also can preferably keep the level vacuated.
Such as Fig. 4 to Fig. 5, current inventor provides the prior art and the solution of the present invention result of calculation comparison diagram are as follows：Fig. 4
For the prior art, Fig. 5 calculates gained for the present invention program, can significantly contrast, and position is enclosed using the AB of prior art
It will lack（Artwork has comparison color black and white that can not disengage, therefore is disengaged by AB circles）, and the solution of the present invention after vacuating still
It can so ensure that positioning track does not lack.
In addition, the maximum can continuously extract the value of point value MAX, uploaded in principle for positioning terminal in unit time T
The quantity of anchor point is 10 points/second as the positioning terminal uploads data frequency, and combines real data and verify that preferred T is 1 to 2
For minute, then 6-12 point can be at least obtained, and MAX values can then adjust in the range, and MAX values are necessarily less than and are equal to
Anchor point sum in the T range.
Wherein in another preferred embodiment, in order to more intuitively embody the positioning track that anchor point is indicated, this
The positioning track triangle of invention hangs down to be further comprised away from the method for vacuating：
D. each anchor point after vacuating is linked in sequence, forms positioning rail trace.Take this intuitively to show the positioning of history
Path line brings clearly positioning track after optimization, to greatly improve customer experience and check convenience for user.
On the other hand, the present invention still further provides a kind of positioning device, and which employs the positioning tracks three of the present invention
Angle is hung down disengages positioning track away from the method for vacuating, and takes this to provide the positioning track image after visual optimization, to improve client's body
It tests.
On the other hand, the present invention still further provides a kind of pilotless automobile, and which employs the positioning rails of the present invention
Mark triangle hangs down carries out automatic cruising away from the method that vacuates, according to scheme provided by the invention, can preferable optimum position track, reduction
Unpiloted localization examination point, preferable route optimization function is provided for automatic Pilot, avoids frequently carrying out positioning track
Point inspection, while path planning is simplified, effectively increase the reliability of unmanned destination navigation.
On the other hand, the present invention still further provides a kind of unmanned plane, and which employs the positioning track triangles of the present invention
It hangs down and carries out automatic cruising away from the method that vacuates, it, also can be so as to which follow-up repeated route track can be optimized according to history flight path
Clearly historical track line when unmanned plane positioning track traces is provided, while can be reduced and determined according to the scheme after present invention optimization
Position data volume convenient for unmanned plane wireless transmission, improves communication efficiency.
So as in conclusion hang down by positioning track triangle provided by the invention away from vacuating method, keep former preferable
In the case of having positioning track consistency, anchor point is rationally vacuated, convenient for the transmission and application of the location data, thus
Reduce transmission flow, reduce network transmission pressure and expense cost, and effectively reduce and rendered using the equipment of this method
It shows consumption of the anchor point in the process to hardware performance, is integrally improved customer experience.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of positioning track triangle hangs down away from vacuating method, it is characterised in that：Threshold values is set as D, and judges that following steps include：
A. included according to positioning dot sequency foundation：First anchor point, interfix point, the Triangle Module of tail anchor point simultaneously obtain triangle and hang down
Away from d；Judge that triangle hangs down away from d and threshold value D value sizes；B. when d ＜ D values, first anchor point is constant, extracts interfix point, and pass
After interfix point and tail anchor point being redefined into rear positioned in sequence point；Step A and B is repeated when d ＞ D values, retains and works as
All anchor points of first three angle mould, and set the tail anchor point of current Triangle Module as new first anchor point and repeat step A and B.
2. positioning track triangle according to claim 1 hangs down away from vacuating method, which is characterized in that further includes：Setting optimization
Threshold values is D1, and maximum can continuously extract point value as MAX, and the anchor point quantity continuously extracted is m, and is judged to walk as follows
Suddenly：
C. when m exceeds MAX value ranges in step c, in the anchor point Triangle Module data area continuously extracted, D values are changed
For D1 values and step A and B are repeated, until m values are in the range of MAX values；Restore D values and repeat step A and B.
3. positioning track triangle according to claim 1 or 2 hangs down away from vacuating method, which is characterized in that further includes step：D.
Each anchor point after vacuating is linked in sequence, forms positioning rail trace.
4. positioning track triangle according to claim 2 hangs down away from vacuating method, it is characterised in that：The optimization threshold values D1 is small
In threshold values D.
5. positioning track triangle according to claim 1 or 2 hangs down away from vacuating method, it is characterised in that：The threshold values D is 6
To 15 meters.
6. positioning track triangle according to claim 2 hangs down away from vacuating method, it is characterised in that：The maximum can continuously take out
Except point value MAX is, positioning terminal uploads the quantity of anchor point in unit interval T, and it is less than or equal to anchor point in the T range
Sum.
7. positioning track triangle according to claim 7 hangs down away from vacuating method, it is characterised in that：The unit interval T is
1-2 minutes.
8. a kind of positioning device, it is characterised in that：The positioning device uses positioning track three as claimed in claim 1 or 2
Angle is hung down disengages positioning track away from the method for vacuating.
9. a kind of pilotless automobile, it is characterised in that：The unmanned automobile uses positioning rail as claimed in claim 1 or 2
Mark triangle hangs down carries out automatic cruising away from the method that vacuates.
10. a kind of unmanned plane it is characterized in that：The unmanned plane is hung down using positioning track triangle as claimed in claim 1 or 2
Automatic cruising is carried out away from the method that vacuates.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810096117.2A CN108270872B (en) | 2018-01-31 | 2018-01-31 | Positioning track triangular vertical distance thinning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810096117.2A CN108270872B (en) | 2018-01-31 | 2018-01-31 | Positioning track triangular vertical distance thinning method |
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| CN108270872A true CN108270872A (en) | 2018-07-10 |
| CN108270872B CN108270872B (en) | 2020-11-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112907686A (en) * | 2021-02-09 | 2021-06-04 | 青海师范大学 | Cosine sag discrimination method, device and equipment for vector track compression |
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2018
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| CN101285878A (en) * | 2008-06-04 | 2008-10-15 | 中国海洋大学 | Wireless sensor network perpendicular intersection positioning algorithm |
| CN103839228A (en) * | 2012-11-23 | 2014-06-04 | 厦门雅迅网络股份有限公司 | Data rarefying and smooth processing method based on vector map |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112907686A (en) * | 2021-02-09 | 2021-06-04 | 青海师范大学 | Cosine sag discrimination method, device and equipment for vector track compression |
| CN112907686B (en) * | 2021-02-09 | 2021-12-14 | 青海师范大学 | Cosine sag discrimination method, device and equipment for vector track compression |
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| CN108270872B (en) | 2020-11-06 |
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Denomination of invention: The method of thinning out the triangle vertical distance of the positioning trajectory Effective date of registration: 20220810 Granted publication date: 20201106 Pledgee: Societe Generale Bank Co.,Ltd. Qingpu Branch of Shanghai Pledgor: SHANGHAI SHIHANG NETWORK TECHNOLOGY CO.,LTD. Registration number: Y2022980012276 |
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Denomination of invention: Triangular Vertical Distance Dilution Method for Positioning Trajectory Effective date of registration: 20231023 Granted publication date: 20201106 Pledgee: Societe Generale Bank Co.,Ltd. Qingpu Branch of Shanghai Pledgor: SHANGHAI SHIHANG NETWORK TECHNOLOGY CO.,LTD. Registration number: Y2023980061952 |
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