CN109218970B - Correction method of positioning information - Google Patents

Correction method of positioning information Download PDF

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CN109218970B
CN109218970B CN201811332414.9A CN201811332414A CN109218970B CN 109218970 B CN109218970 B CN 109218970B CN 201811332414 A CN201811332414 A CN 201811332414A CN 109218970 B CN109218970 B CN 109218970B
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positioning
road
point
points
target road
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CN109218970A (en
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赵威
吴伟东
孙绍辉
赵琳
曹勇
张雪松
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Hongfujin Precision Industry Shenzhen Co Ltd
State Grid Corp of China SGCC
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Hongfujin Precision Industry Shenzhen Co Ltd
State Grid Corp of China SGCC
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

A correction method of positioning information belongs to the technical field of positioning. The mobile phone parking system aims to solve the problems that the travel time of a user is wasted and the power energy is wasted due to the fact that positioning information is displayed wrongly when a mobile phone is parked due to positioning errors. The method comprises the steps of establishing a corresponding relation between positioning data of positioning points and a map, and respectively calculating position vectors of two adjacent positioning points in a numbering sequence according to the numbering sequence after outliers are eliminated; then calculating the sum of the distances from the positioning point to one side of the road in the map; determining the distance and the minimum value in each road edge, and determining a target road side and a target road; projecting the position vectors of two adjacent positioning points in the obtained numbering sequence to the edge of the target road, wherein the position vectors of the two adjacent positioning points form two directions on the edge of the target road at the moment, and the direction of the vector number which is more towards one direction is taken as a positive direction; and correcting the positioning data by taking the positive direction as a reference. The method is suitable for correcting the positioning information in the software such as mobile phone taxi appointment and the like.

Description

Correction method of positioning information
Technical Field
The invention belongs to the technical field of positioning, and particularly relates to a method for correcting positioning information.
Background
Many countries now also have their own satellite navigation systems. The GPS global satellite positioning navigation system is widely applied to various positioning services, the civil GPS can also achieve the positioning accuracy of about ten meters in about 2000 years, and the general civil GPS can achieve the positioning accuracy of several meters along with the development of the positioning technology. With the improvement and development of the Beidou navigation and positioning satellite technology in China, the Beidou navigation and positioning are widely applied, and the civil Beidou navigation and positioning precision can also reach the positioning precision of tens of meters, even several meters.
At present, a positioning navigation system becomes one of common tools in our daily life, and a lot of mobile phone software based on positioning brings great convenience to our life, for example, a lot of mobile phone taxi taking and taxi booking software bring great convenience to our daily trip. Although these taxi-taking and taxi-booking software rely on various positioning systems that have been able to meet basic requirements; however, the current positioning accuracy still causes inconvenience to our lives, for example, if a user makes a car appointment with mobile phone software on one side of a road, if the positioning data is displayed on the car appointment software on the other side of the road due to deviation of the positioning accuracy, a trip trouble is caused. Moreover, the current mobile phone car booking software often has the error condition caused by the positioning accuracy error, and most of the current mobile phone car booking software cannot mark positioning points at any position on a mobile phone map, for example, a certain car booking software can only adjust a rough position on the map, and the situation of positioning at the other side of a road often occurs. The positioning information displayed on the mobile phone of the order receiver is also displayed on the other side of the road, so that the user is received by taking the other side of the road as a destination, namely the other side of the road in the driving direction of the vehicle, when the user is found to be opposite to the road when reaching the positioning point, the user can only walk to the opposite side of the road from the side where the user actually is positioned to take a car, or the vehicle reaches the opposite side of the road from the side where the vehicle is positioned to the opposite side of the road to the user, whichever is very inconvenient, especially when the user is caused by subjective intention or provided with a guardrail or the user is inconvenient to move to the opposite side of the road with articles, and the user can only drive the vehicle to the opposite side of the road where the vehicle is positioned by the order receiver, once the vehicle is in a section where the turning is forbidden (provided with a strict turning sign or without a turning sign line) or provided with the guardrail in, if the guardrail is met or the section of road where the U-turn is forbidden is long, the user needs to go around for a long distance, so that not only is the time delayed, but also power energy is wasted, and the order receiving cost of the order receiver is increased.
Even the order receiver may be on the same side of the road as the actual position of the user before receiving the order, or the order receiver can directly reach the actual position of the user by turning right before the order receiver moves forward.
The existing positioning technology improves the positioning precision and reduces errors through various means, the situation caused by small errors is not considered, even if the precision is high, errors still exist, even if the errors are 3-5m, the situation is possibly caused, and inconvenience is brought to a user in a trip. Meanwhile, the positioning error causes inconvenience to other fields using the positioning information as a destination.
Disclosure of Invention
The invention aims to solve the problems of wasting the travel time of a user and wasting power energy caused by the error display of the positioning information when a mobile phone is parked due to the positioning error.
A method for correcting positioning information comprises the following steps:
acquiring positioning data of positioning points of a user in real time, and establishing a corresponding relation between the positioning data of the positioning points and a map;
processing the collected positioning data of a plurality of continuous positioning points, removing outliers, using the remaining N positioning points as the determined N positioning points, and numbering the N positioning points according to a collection sequence;
respectively calculating the position vectors of two positioning points adjacent to the numbering sequence according to the numbering sequence;
step two, displaying the positioning data of N continuous positioning points on the map, respectively making vertical lines from the N positioning points to the edge of each road in the map, and respectively calculating the distance from the positioning points to the edge of each road in the mapThen calculating the sum of the vertical lines of each positioning point corresponding to one edge
Figure BDA0001860378660000021
Wherein i represents a positioning point, j represents a serial number corresponding to the edge of each road on the map, and XijThe length of a perpendicular line from the positioning point i to the side j of the road, namely the distance, is represented;
step three, respectively comparing the H corresponding to the edges of each road, and determining the minimum value H in the HminAnd is combined with HminThe corresponding edge is used as the target road side of the positioning point, and the road is determined as the target road;
projecting the position vectors of two adjacent positioning points in the numbering sequence obtained in the step one to the edge of the target road, wherein the position vectors of the two adjacent positioning points form two directions on the edge of the target road at the moment, and the direction of the vector number which is more towards one direction is the positive direction;
and correcting the positioning data on the corresponding target road in the map by taking the right side of the target road as the positioning correction side along the positive direction.
Further, the process of correcting the positioning data includes the following steps:
aiming at the N positioning points, making a minimum external rectangle of the N positioning points, and taking the center of the minimum external rectangle as the positioning point to be corrected; and taking the right side of the target road as a reference edge along the positive direction, drawing a perpendicular line from the positioning point to be corrected to the reference edge to obtain an intersection point, and taking the intersection point as a corrected positioning point.
Or the process of correcting the positioning data comprises the following steps:
taking the right side of the road as a reference side along the positive direction; and drawing a perpendicular line from the last positioning point in the N positioning points to the reference edge to obtain an intersection point, and making a semicircle on the right side of the reference edge along the positive direction by taking the intersection point as the center of a circle and taking the R as the radius, for example, taking the semicircle as a correction area for positioning.
Further, the value of N ranges from 5 to 8.
The invention has the following effects:
the method mainly aims at the user end (use end) of the mobile phone car booking software, so that the whole correction process can be only written into the user end and can be performed at the use end, and then the corrected positioning data is sent to the connection end. At present, most mobile phone car booking software also adopts two development schemes, which respectively provide services, one is only for user side software downloaded by a user, and the other is for a terminal (one terminal used by a driver) for providing the services. If the development mode is adopted, the corresponding program of the invention is only written in the user terminal, thus effectively controlling the software size of the order receiving user terminal, saving the installation space relatively, being beneficial to targeted maintenance and upgrade, avoiding the trouble that all users need to maintain and upgrade, and reducing the load pressure for the server terminal.
Still another development mode is a development mode aiming at integration of the user side and the single receiving side. The corresponding program of the invention can also be written in the system integrating the user terminal and the single receiving terminal, thus avoiding the trouble of writing codes by dividing the software into different terminals and being beneficial to reducing the development cost; the method only needs to carry out mode identification when one end is used as a user, and the data is corrected by the method of the invention when the user is identified as a used user end, and then the corrected positioning data is sent to the receiving end.
Although the invention can not completely eliminate the positioning error, the invention can reduce the situation that the positioning information is positioned opposite to the road by more than 90 percent, thereby ensuring that a driver at the end of the connection knows exactly which side of the road the user is on, selecting a convenient route to connect the user, avoiding the problems existing in the background technology, saving the time of the user and the time of the driver, simultaneously ensuring that the driver does not face the situation that the user needs to detour for a long distance, saving the power consumption and reducing the cost.
Drawings
FIG. 1 is a schematic diagram of a plurality of anchor points including outliers;
FIG. 2 is a schematic diagram of N anchor points that may appear on both sides of a road;
FIG. 3 is a diagram illustrating a minimum bounding rectangle of N anchor points according to a second embodiment;
fig. 4 is a schematic diagram of a correction region in the third embodiment.
Detailed Description
The first embodiment is as follows:
a method for correcting positioning information comprises the following steps:
acquiring positioning data of positioning points of a user in real time, wherein the positioning data of the positioning points can be acquired under the condition that the positioning precision error range is small or under the condition that the positioning precision error range is large, and establishing a corresponding relation between the positioning data of the positioning points and a map; the map also contains positioning information in the positioning system, for example, the position and the size of a building or a road on the map are provided with position information and scale information, and the spatial position and the size of the building or the road in the real world are reflected; the time interval of the collected data can be determined and adjusted according to the actual situation, and the sampling interval can be selected from 5 to 10 times/second;
processing the collected positioning data of a plurality of continuous positioning points, removing outliers by using the existing judging and processing method of rough errors and outliers, using the remaining N positioning points as the determined N positioning points, and numbering the N positioning points according to the collection sequence; as shown in fig. 1, the outliers are E and F, and the anchor points left after the outliers are removed are A, B, C, D, G; in practice, the 5 points can be respectively recorded as A, B, C, D, E (or 1, 2, 3, 4, 5), but since E and F are outliers in the figure, they are also recorded as A, B, C, D, G for the sake of clarity of the label, and do not affect the acquisition order, which is A, B, C, D, G.
For convenience of representation, the positions of the points can be clearly seen, and the positioning points are shown as circles in fig. 1 to 4, but the corresponding positioning points are actually the centers of the circles, and all operations are performed with the centers of the circles as the positioning points.
Positioning information all contains certain error, because each time gather the location data the time can all lead to its error to be changed because of various factors, some errors are great, some errors are less, can keep the less and not much point that differs of error relatively through the operation of rejecting the outlier, rejected because the great and outlier condition that leads to of error, can effectually guarantee that whole scheme is the relative error condition of little difference (the error at this moment generally can not be too big). Through tests, the outlier points are removed, so that the situation that most points are on one side of the center line of the road and few points are on the other side of the center line of the road can be effectively prevented. However, if the error of the positioning data is relatively large and the errors of the positioning points are relatively close to each other, there is a possibility that the positioning points are positioned on the other side of the road at the actual position several times continuously.
Respectively calculating the position vectors of two positioning points adjacent to the numbering sequence according to the numbering sequence;
step two, displaying the positioning data of the continuous N positioning points on the map, respectively making vertical lines from the N positioning points to the edge of each road in the map, respectively calculating the distance from the positioning points to the edge of each road in the map, and then calculating the sum of the vertical lines of each positioning point corresponding to one edge
Figure BDA0001860378660000041
Wherein i represents a positioning point, j represents a serial number corresponding to the edge of each road on the map, and XijThe length of a perpendicular line from the positioning point i to the side j of the road, namely the distance, is represented;
for example, the reference point A, B, C, D, G shown in fig. 1 is only five reference points marked in fig. 1, and the reference points are perpendicular lines to one side of two roads, and actually, the reference points may be perpendicular lines to the other two sides of the two roads, which are not shown in the drawing. Respectively calculating the value of each point to the edge of the road, and calculating
Figure BDA0001860378660000051
i ═ a, B, C, D, G, where point a is on an edge, point a is to that edgeThe distance is 0.
Step three, respectively comparing the H corresponding to the edges of each road, and determining the minimum value H in the HminAnd is combined with HminThe corresponding edge is used as the target road side of the positioning point, and the road is determined as the target road;
projecting the position vectors of two adjacent positioning points in the numbering sequence obtained in the step one to the edge of the target road, wherein the position vectors of the two adjacent positioning points form two directions on the edge of the target road at the moment, and the direction of the vector number which is more towards one direction is the positive direction;
on a corresponding target road in the map, the positioning data is corrected in a positive direction (the positive direction is taken as a forward direction) with the right side of the target road as a positioning correction side.
As shown in fig. 2, by taking edge No. 1 in fig. 2 as the road side of the target road and 5 positioning points as an example, the direction from the positioning point a to the positioning point B is upward, the direction from the positioning point B to the positioning point C is upward, the direction from the positioning point C to the positioning point D is downward, the direction from the positioning point D to the positioning point D is upward, the upward direction is greater than the downward direction, and the upward direction is the positive direction. In practice, the more anchor point data, the more accurate this discrimination. Here A, B, C, D, G is the location where error is allowed.
According to the actual car-booking behavior analysis of the user, the situation that the number of vectors in two directions on the target road side is equal does not exist, because one person can move in the approximate direction of the destination (even if the movement is small), the error does not occur in the overall direction generally, and all vector directions or most vector directions are not wrong even though accidental data errors occur. According to the actual data condition analysis, the rule is met. So the same is true even for the case that the positioning deviation is large, but the positioning points are relatively concentrated, assuming that the real position of the user is on the side of side 1, but due to the positioning error, the positioning data is displayed on the side of side 2, which is exemplified by side 2 as the target road side and 5 positioning points in fig. 2, the direction of the vector projection target road side from the positioning point a1 to the positioning point B1 (side 2) is upward, the direction of the vector projection target road side from the positioning point B1 to the positioning point C1 (side 2) is upward, the direction of the vector projection target road side from the positioning point C1 to the positioning point D1 (side 2) is upward, the direction of the vector projection target road side from the positioning point D1 to the positioning point G1 (side 2) is downward (due to the relatively large error of D1, the positions of a1, B1, C1, D1, and G1 are different from A, B, C, D, G, but does not affect the determination of the direction as a whole), the upward direction is more than the downward direction, and the upward direction is taken as the positive direction. It can be seen that the determination of the direction is not affected even if the positioning data is displayed on the opposite side of the road from the real position, so that the direction is upward regardless of which side of the road the positioning data is located on. Once the direction is determined to be upward, its positioning data can naturally be corrected to the right side of the road, i.e. to the side of side 1.
The second embodiment is as follows:
the process of correcting the positioning data according to the present embodiment includes the following steps:
aiming at the N positioning points, making a minimum external rectangle of the N positioning points, and taking the center of the minimum external rectangle as the positioning point to be corrected; in the positive direction, the right side of the target road is taken as a reference side, and a perpendicular line is drawn from the positioning point to be corrected to the reference side to obtain an intersection point, as shown by W or W1 shown in fig. 3, and the intersection point is taken as a corrected positioning point.
Other steps are the same as those in the first embodiment.
In this modification method, although the modified point is not a real positioning point, it is on the same side of the real positioning point, and the actual error with the real positioning point is not large, so that it is more suitable for the waiting situation where the user does not move much. Meanwhile, the data corresponding to the embodiment is simple to calculate, the algorithm implanted into the map positioning software is simple and easy to implement, and the requirement on hardware is relatively low. The embodiment can reduce the situation that the positioning information is positioned on the opposite side of the road by more than 90 percent in error,
the third concrete implementation mode:
the process of correcting the positioning data according to the present embodiment includes the following steps:
taking the right side of the road as a reference side along the positive direction; and drawing a perpendicular line from the last positioning point in the N positioning points to the reference edge to obtain an intersection point, and making a semicircle on the right side of the reference edge in the positive direction by taking the intersection point as the center of a circle and R as the radius, wherein the semicircle is shown as a semicircle Q shown in figure 4 and is used as a correction area for positioning.
Other steps are the same as those in the first embodiment.
In the correction mode, although the method provides a correction area which is not a real positioning point, the correction area is on the same side of the real positioning point, and the probability that the correction area contains the real positioning point can reach more than 85%, so that the method is suitable for waiting conditions corresponding to various movement conditions (large or small movement) of a user. Although the algorithm of this embodiment is slightly more complicated than that of the second embodiment, the positioning correction area includes a range of the real positioning data, which is more accurate.
The fourth concrete implementation mode:
the value range of R in this embodiment is 1 meter to 10 meters.
The other steps are the same as those in the third embodiment.
The fifth concrete implementation mode:
the value range of R in this embodiment is 3 m to 5 m.
The other steps are the same as those in the fourth embodiment.
The sixth specific implementation mode:
the value of N ranges from 5 to 8. Within a certain numerical range (generally 10-15 positioning points), the larger the value of N is, the more accurate the relative result is, but the computation amount increases with the increase of the positioning points, so as to increase the burden of the CPU, and occupy more memory space, thereby affecting other programs running simultaneously, especially for devices with lower configuration, which may cause the blockage of the mobile phone. When the value of N exceeds a certain numerical range, the accuracy of the operation result is not obviously improved, and the burden of a system and hardware is increased. However, the accuracy is not enough when the data of the positioning point is too little, so that the invention selects N to be 5-8, can ensure the correction accuracy in the interval range, does not occupy excessive hardware resources, and can smoothly run the RAM with the mobile phone of 1G as proved by experiments.
The other steps are the same as those in one of the first to fifth embodiments.

Claims (6)

1. A method for correcting positioning information is characterized by comprising the following steps:
acquiring positioning data of positioning points of a user in real time, and establishing a corresponding relation between the positioning data of the positioning points and a map;
processing the collected positioning data of a plurality of continuous positioning points, removing outliers, using the remaining N positioning points as the determined N positioning points, and numbering the N positioning points according to a collection sequence;
respectively calculating the position vectors of two positioning points adjacent to the numbering sequence according to the numbering sequence;
step two, displaying the positioning data of the continuous N positioning points on the map, respectively making vertical lines from the N positioning points to the edge of each road in the map, respectively calculating the distance from the positioning points to the edge of each road in the map, and then calculating the sum of the vertical lines of each positioning point corresponding to one edge
Figure FDA0002450699940000011
Wherein i represents a positioning point, j represents a serial number corresponding to the edge of each road on the map, and XijThe length of a perpendicular line from the positioning point i to the side j of the road, namely the distance, is represented;
step three, respectively comparing the H corresponding to the edges of each road, and determining the minimum value H in the HminAnd is combined with HminThe corresponding edge is used as the target road side of the positioning point, and the road is determined as the target road;
projecting the position vectors of two adjacent positioning points in the numbering sequence obtained in the step one to the edge of the target road, wherein the position vectors of the two adjacent positioning points form two directions on the edge of the target road at the moment, and the direction of the vector number which is more towards one direction is the positive direction;
assuming that the real position of the user is on one side of the No. 1 side, due to positioning errors, the positioning data is displayed on one side of the No. 2 side, and the No. 2 side is the side of the target road; the direction of the vector projection target road side from the A1 locating point to the B1 locating point is upward, the direction of the vector projection target road side from the B1 locating point to the C1 locating point is upward, the direction of the vector projection target road side from the C1 locating point to the D1 locating point is upward, the direction of the vector projection target road side from the D1 locating point to the G1 locating point is downward, the upward direction is more than the downward direction, and the upward direction is taken as the positive direction; the direction is determined to be upward, and the positioning data is corrected to the right side of the road, namely the side of the No. 1 side;
and correcting the positioning data on the corresponding target road in the map by taking the right side of the target road as the positioning correction side along the positive direction.
2. The method for correcting positioning information according to claim 1, wherein the process of correcting the positioning data comprises the following steps:
aiming at the N positioning points, making a minimum external rectangle of the N positioning points, and taking the center of the minimum external rectangle as the positioning point to be corrected; and taking the right side of the target road as a reference edge along the positive direction, drawing a perpendicular line from the positioning point to be corrected to the reference edge to obtain an intersection point, and taking the intersection point as a corrected positioning point.
3. The method for correcting positioning information according to claim 1, wherein the process of correcting the positioning data comprises the following steps:
taking the right side of the road as a reference side along the positive direction; and drawing a perpendicular line from the last positioning point in the N positioning points to the reference edge to obtain an intersection point, and making a semicircle on the right side of the reference edge along the positive direction by taking the intersection point as the center of a circle and taking the R as the radius to serve as a correction area for positioning.
4. The method according to claim 3, wherein the value of R ranges from 1 meter to 10 meters.
5. The method of claim 4, wherein the value of R ranges from 3 meters to 5 meters.
6. The method according to one of claims 1 to 5, wherein the value of N ranges from 5 to 8.
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