CN109344426A - A kind of data processing method, device and server - Google Patents
A kind of data processing method, device and server Download PDFInfo
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- CN109344426A CN109344426A CN201810916438.2A CN201810916438A CN109344426A CN 109344426 A CN109344426 A CN 109344426A CN 201810916438 A CN201810916438 A CN 201810916438A CN 109344426 A CN109344426 A CN 109344426A
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Abstract
The invention discloses a kind of data processing method, device and servers, which comprises determines the initial fitting track to fitting data sampled point, will initially be fitted track as fitting track to be corrected；The first error of fitting based on default error of fitting cost function calculation fitting track to be corrected；Shape disturbances processing in track is carried out to fitting track to be corrected；The second error of fitting based on the fitting track after the disturbance of default error of fitting cost function calculation；Judge the second error of fitting whether less than the first error of fitting；When the result judged is is, using the second error of fitting as the first error of fitting of the fitting track after disturbance, using the fitting track after disturbance as the processing of fitting track to be corrected execution track shape disturbances, until currently disturbance number reaches default disturbance number；Fitting track when being up to default disturbance number is fitted track as the target to fitting data sampled point.
Description
Technical field
The present invention relates to field of computer technology more particularly to a kind of data processing methods, device and server.
Background technique
Currently, track, which is modeled in the fields such as map of navigation electronic, motion simulation, extensive demand.Specifically, track
It (is that can believe the image that streetscape collecting vehicle or unmanned plane obtain with map of navigation electronic that modeling, which needs to acquire data,
Breath is as acquisition data), feature extraction needs to be fitted the data point of track from the data of acquisition, and is intended according to data point
It closes.
The certainty fitting algorithm using least square method side as principle is usually used in the prior art, specifically, with common
Three rank B-spline curves interpolation fittings for, may include: according to the length between data sampling point point all data samplings
Point carries out uniform resampling according to spacing, obtains uniform resampling data point.Then, least square method is based on from resampling
Data point determines control point (half that the number at control point is generally no greater than all data point numbers).Finally, based on determining
Control point carries out track fitting.The above-mentioned existing track fitting method that data point is carried out based on least square method mode is right
It is sensitive in the noise and damage comparison of acquisition data, it may appear that track deformation shake leads to the rail of the data sampling determined point
Mark error is larger.Accordingly, it is desirable to provide more reliable scheme.
Summary of the invention
The present invention provides a kind of data processing method, device and servers, and the fitting rail of data sampling point can be improved
The accuracy of mark.
In a first aspect, the present invention provides a kind of data processing methods, which comprises
The initial fitting track to fitting data sampled point is determined, using the initial fitting track as fitting rail to be corrected
Mark；
It is described default based on the first error of fitting of fitting to be corrected track described in default error of fitting cost function calculation
Actual path corresponding to the data sampling point that error of fitting cost function characterization fitting track and the fitting track are covered
Between difference；
Shape disturbances processing in track is carried out to the fitting track to be corrected, the fitting track after being disturbed；
The second error of fitting based on the fitting track after being disturbed described in default error of fitting cost function calculation；
Judge whether second error of fitting is less than first error of fitting；
When the result judged is is, intend second error of fitting as first of the fitting track after the disturbance
Error is closed, using the fitting track after the disturbance as fitting track to be corrected, execution track shape disturbances processing, until working as front rail
Mark shape disturbances number of processing reaches default disturbance number；
Fitting track when being up to default disturbance number is fitted track as the target to fitting data sampled point.
Second aspect provides a kind of data processing equipment, and described device includes:
Fitting track to be corrected determining module will be described for determining the initial fitting track to fitting data sampled point
Initial fitting track is as fitting track to be corrected；
First error of fitting computing module, for based on fitting rail to be corrected described in default error of fitting cost function calculation
The number that first error of fitting of mark, the default error of fitting cost function characterization fitting track and the fitting track are covered
According to the difference between actual path corresponding to sampled point；
Track shape disturbances processing module is obtained for carrying out the processing of track shape disturbances to the fitting track to be corrected
Fitting track after to disturbance；
Second error of fitting computing module, for based on the fitting after being disturbed described in default error of fitting cost function calculation
Second error of fitting of track；
First judgment module, for judging whether second error of fitting is less than first error of fitting；
First data processing module is intended when result for judging when the first judgment module is is by described second
First error of fitting of the error as the fitting track after the disturbance is closed, using the fitting track after the disturbance as to be corrected
It is fitted the processing of track execution track shape disturbances, until current track shape disturbances number of processing reaches default disturbance number；
It is fitted track determining module, for fitting track when being up to default disturbance number as described to fitting data
The target of sampled point is fitted track.
The third aspect provides a kind of data processing server, and the server includes processor and memory, described to deposit
Be stored at least one instruction, at least one section of program, code set or instruction set in reservoir, at least one instruction, it is described extremely
Few one section of program, the code set or instruction set are loaded by the processor and are executed to realize data as described in relation to the first aspect
Processing method.
Fourth aspect provides a kind of computer readable storage medium, and at least one finger is stored in the storage medium
Enable, at least one section of program, code set or instruction set, at least one instruction, at least one section of program, the code set or
Instruction set is loaded by processor and is executed to realize data processing method as described in relation to the first aspect.
Data processing method, device and server provided by the invention, have the following technical effect that
The present invention can carry out the processing of track shape disturbances constantly by treating the track to be fitted of fitting data sampled point
Adjustment fitting track, while being covered by characterization fitting track with the fitting track in the shape disturbances treatment process of track
Data sampling point corresponding to difference between actual path default error of fitting cost function it is current constantly to calculate
The error of fitting to be corrected for being fitted track receives current track shape when error of fitting is reduced after the processing of track shape disturbances
State disturbance treatment constantly reduces the difference between fitting track to be corrected and the true error of fitting of fitting data sampled point, mentions
The accuracy of the fitting track of high data sampling point.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology and advantage, below will be to implementation
Example or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is only some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow diagram of data processing method provided in an embodiment of the present invention；
Fig. 2 is that a kind of fitting track provided in an embodiment of the present invention is adopted with the data in the fitting track institute coverage area
The flow diagram of the degree of fitting of sampling point；
Fig. 3 be multistage provided by the invention fitting dog-leg path the first extended area and multistage sampling dog-leg path the
A kind of schematic diagram of two extended areas；
Fig. 4 is a kind of schematic diagram provided in an embodiment of the present invention that track division processing is carried out to fitting track；
Fig. 5 is a kind of schematic diagram provided in an embodiment of the present invention that track merging treatment is carried out to fitting track；
Fig. 6 is between piecewise fitting track adjacent in the movement provided in an embodiment of the present invention fitting track to be corrected
Tie point, after obtaining the disturbance fitting track a kind of schematic diagram；
Fig. 7 is every section of piecewise fitting track in fitting track to be corrected described in transverse shifting provided in an embodiment of the present invention
Control point, a kind of schematic diagram of the fitting track after obtaining the disturbance；
Fig. 8 is every section of piecewise fitting track in the longitudinal movement fitting track to be corrected provided in an embodiment of the present invention
Control point, a kind of schematic diagram of the fitting track after obtaining the disturbance；
Fig. 9 is the flow diagram of another data processing method provided in an embodiment of the present invention；
Figure 10 is the flow diagram of another data processing method provided in an embodiment of the present invention；
Figure 11 is a kind of structural schematic diagram of data processing equipment provided in an embodiment of the present invention；
Figure 12 is a kind of structural schematic diagram of server provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, product or server need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
The specific embodiment of data processing method of the invention introduced below, Fig. 1 are one kind provided in an embodiment of the present invention
The flow diagram of data processing method, present description provides the method operating procedures as described in embodiment or flow chart, but
It may include more or less operating procedure based on routine or without creative labor.The step of enumerating in embodiment is suitable
Sequence is only one of numerous step execution sequence mode, does not represent and unique executes sequence.System or clothes in practice
Device product be engaged in when executing, can be executed according to embodiment or method shown in the drawings sequence or it is parallel execute it is (such as parallel
The environment of processor or multiple threads).It is specific as shown in Figure 1, the method may include:
S101: the initial fitting track to fitting data sampled point is determined, using the initial fitting track as to be corrected
It is fitted track.
In this specification embodiment, described to fitting data sampled point may include the object for needing to carry out track fitting
Sampled point to fitting data sampled point may include image from the object comprising needing to carry out track fitting specifically, described
The data point of the object extracted in information.
In practical applications, the form of object is all kinds of, and an object generally requires multistage track to describe form, example
It may include multiple curvilinear paths such as road.Correspondingly, to the initial of fitting data sampled point described in this specification embodiment
Being fitted track may include multistage track interconnected.Multistage track interconnected can be the track of equal length,
It can be the track of different length.Specifically, determining the initial fitting rail to fitting data sampled point in this specification embodiment
Mark can include but is not limited to determine the initial fitting track to fitting data sampled point using randomization segmentation Bezier.
S103: the first error of fitting based on fitting to be corrected track described in default error of fitting cost function calculation.
In practical applications, it is fitted between track and the track of actual object and often has a certain difference, this explanation
It, can be based on the first error of fitting of fitting to be corrected track described in default error of fitting cost function calculation in book embodiment.
In this specification embodiment, the default error of fitting cost function can characterize fitting track and be covered with the fitting track
Data sampling point corresponding to difference between actual path.Specifically, when fitting track is covered with the fitting track
Data sampling point corresponding to difference between actual path it is bigger, the value of the default error of fitting cost function is bigger；
Conversely, when fitting track and the difference being fitted between actual path corresponding to the data sampling point that track is covered are got over
Small, the value of the default error of fitting cost function is smaller.
In specific embodiment, the default error of fitting cost function may include at least one following error of fitting shadow
Ring the factor:
1) degree of fitting of fitting track and the data sampling point in the fitting track institute coverage area.
In this specification embodiment, the fitting track and the data sampling point in the fitting track institute coverage area
Degree of fitting may include the fitting degree of characterization fitting track and the data sampling point in the fitting track institute coverage area
Numerical value.Specifically, as shown in Fig. 2, the fitting track and the data sampling point in the fitting track institute coverage area it is quasi-
Right includes being determined using following manner:
S201: carrying out broken line processing to the fitting track, obtains multistage fitting dog-leg path.
S203: multistage sampling dog-leg path is established based on the data sampling point in the fitting track institute coverage area；
S205: determine multistage fitting dog-leg path the first extended area and multistage sampling dog-leg path the
Two extended areas.
In this specification embodiment, the first extended area of the multistage fitting dog-leg path may include with the multistage
It is fitted in dog-leg path and extends region corresponding to the first preset length toward two sides centered on each broken line；The multistage sampling folding
Second extended area of line tracking may include being extended centered on each broken line in multistage sampling dog-leg path toward two sides
Region corresponding to second preset length.
In this specification embodiment, first preset length and second preset length can in conjunction with practical application into
Row setting guarantees that the first extended area is overlapped with the second extended area.In general, first preset length is equal to described second
Preset length.
Specifically, as shown in figure 3, Fig. 3 is the first extended area of multistage provided by the invention fitting dog-leg path and more
A kind of schematic diagram of second extended area of section sampling dog-leg path, wherein multistage broken line 301 is that multistage is fitted in dog-leg path
Broken line, multistage broken line 302 be multistage sample dog-leg path in broken line.Correspondingly, toward two sides centered on multistage broken line 301
Extending region corresponding to the first preset length is the first extended area 3011；It is extended centered on multistage broken line 302 toward two sides
Region corresponding to first preset length is the second extended area 3021.
S207: the registration of first extended area and second extended area is calculated.
In this specification embodiment, the registration of first extended area and second extended area may include
The area of the overlapping region of one extended area and second extended area accounts for first extended area and the second extended area
The ratio of area average.
S209: the ratio between the fitting path length and maximum allowable fitting path length is calculated.
In this specification embodiment, the maximum allowable fitting path length can be in conjunction with the reality of practical application fitting track
Border length is configured, and the data that the maximum allowable fitting path length fitting track is covered with the fitting track are adopted
Difference between actual path corresponding to sampling point is directly proportional.
S211: calculating the product between the registration and ratio, takes negative rear numerical value as the fitting product
The degree of fitting of track and the data sampling point in the fitting track institute coverage area.
In this specification embodiment, the registration, and fitting path length and maximum allowable fitting path length it
Between ratio with fitting track and the difference being fitted between actual path corresponding to the data sampling point that is covered of track at
Inverse ratio, i.e. registration, and fitting path length and it is maximum allowable fitting path length between ratio it is bigger, fitting track with
Difference between actual path corresponding to the data sampling point that fitting track is covered is smaller；Conversely, registration, and fitting
Ratio between path length and maximum allowable fitting path length is smaller, and fitting track is adopted with the data that track is covered are fitted
Difference between actual path corresponding to sampling point is bigger.It therefore, will be between registration and ratio in this specification embodiment
Product obtains product as the data sampling point in the fitting track and the fitting track institute coverage area multiplied by negative one
Degree of fitting, it is ensured that the degree of fitting and fitting rail of fitting track and the data sampling point in the fitting track institute coverage area
Difference between mark and actual path corresponding to the data sampling point that fitting track is covered is directly proportional.
2) it is fitted the number that tangential angle jump of the curve adjacent in track in junction is more than the jump of maximum allowable angle
Amount.
Specifically, in this specification embodiment, the quantity of the maximum allowable angle jump can in conjunction with practical application into
Row setting, in general, the quantity of the maximum allowable angle jump is covered with corresponding fitting track and the fitting track
Data sampling point corresponding to difference between actual path be inversely proportional.
3) it is fitted the quantity that curvature jump of the curve adjacent in track in junction is more than the jump of maximum allowable curvature.
Specifically, in this specification embodiment, the quantity of the maximum allowable curvature jump can in conjunction with practical application into
Row setting, in general, the quantity of the maximum allowable curvature jump is covered with corresponding fitting track and the fitting track
Data sampling point corresponding to difference between actual path be inversely proportional.
4) it is fitted the quantity that length of curve in track is more than the curve of maximum allowable length.
Specifically, the maximum allowable length can be configured in conjunction with practical application, generally in this specification embodiment
, reality corresponding to the data sampling point that the maximum allowable length is covered with corresponding fitting track and the fitting track
Difference between the track of border is inversely proportional.
In addition, it should be noted that, the value of any of the above-described error of fitting impact factor and the default error of fitting cost
The value of function is directly proportional.
In a specific embodiment, when the default error of fitting cost function include error of fitting influence because
The period of the day from 11 p.m. to 1 a.m, the default error of fitting cost function can be the function for including the error of fitting impact factor.
In another specific embodiment, when the default error of fitting cost function includes that multiple errors of fitting influence
Because of the period of the day from 11 p.m. to 1 a.m, the default error of fitting cost function may include being determined using following manner:
Obtain the weight coefficient of the multiple error of fitting impact factor；
Weight coefficient based on the multiple error of fitting impact factor carries out the multiple error of fitting impact factor
Weighted calculation obtains the default error of fitting cost function.
Specifically, the weight coefficient of each error of fitting impact factor characterizes the error of fitting impact factor to fitting rail
The influence degree of difference between actual path corresponding to the data sampling point that mark and the fitting track are covered.
Correspondingly, when needing the first fitting based on fitting to be corrected track described in default error of fitting cost function calculation
When error, the fitting that the default error of fitting cost function corresponding to the initial fitting track is included can be calculated and missed
Poor impact factor, and then the initial initial error of fitting for being fitted track is gone out based on default error of fitting cost function calculation.
S105: shape disturbances processing in track is carried out to the fitting track to be corrected, the fitting track after being disturbed.
Specifically, in this specification embodiment, it is described that shape disturbances processing in track is carried out to the fitting track to be corrected,
Fitting track after being disturbed may include using formula either in following:
1) division processing in track is carried out to every section of fitting track in the fitting track to be corrected, after obtaining the disturbance
Fitting track.
Specifically, as shown in figure 4, Fig. 4 is provided in an embodiment of the present invention to the division processing of fitting track progress track
A kind of schematic diagram realizes splitting operation split specifically, the fitting estimation of a certain segmentation is divided into two.
2) track merging treatment is carried out to the adjacent piecewise fitting track in the fitting track to be corrected, obtained described
Fitting track after disturbance.
Specifically, as shown in figure 5, Fig. 5 is provided in an embodiment of the present invention to fitting track progress track merging treatment
A kind of schematic diagram.Specifically, two adjacent piecewise fitting tracks are merged into one section of fitting track, union operation is realized
merge。
3) tie point between piecewise fitting track adjacent in the mobile fitting track to be corrected, obtains the disturbance
Fitting track afterwards.
Specifically, as shown in fig. 6, Fig. 6 is adjacent in the movement provided in an embodiment of the present invention fitting track to be corrected
Piecewise fitting track between tie point, after obtaining the disturbance fitting track a kind of schematic diagram.Specifically, mobile two
Tie point 600 among a adjacent piecewise fitting track is realized to piecewise fitting track adjacent in fitting track to be corrected
Between tie point moving operation slide.
4) control point to be corrected for being fitted every section of piecewise fitting track in track described in transverse shifting, after obtaining the disturbance
Fitting track.
Specifically, as shown in fig. 7, Fig. 7 is in fitting track to be corrected described in transverse shifting provided in an embodiment of the present invention
The control point of every section of piecewise fitting track, a kind of schematic diagram of the fitting track after obtaining the disturbance.Specifically, transverse shifting
The control point 700 of every section of piecewise fitting track is realized horizontal to the control point of every section of piecewise fitting track in fitting track to be corrected
To moving operation horizontal move.
5) control point for vertically moving every section of piecewise fitting track in the fitting track to be corrected, after obtaining the disturbance
Fitting track.
Specifically, as shown in figure 8, Fig. 8 is in the longitudinal movement fitting track to be corrected provided in an embodiment of the present invention
The control point of every section of piecewise fitting track, a kind of schematic diagram of the fitting track after obtaining the disturbance.Specifically, longitudinal movement
The control point 800 of every section of piecewise fitting track is realized vertical to the control point of every section of piecewise fitting track in fitting track to be corrected
To moving operation vertical move.
S107: the second error of fitting based on the fitting track after being disturbed described in default error of fitting cost function calculation.
This specification embodiment, the fitting track based on after being disturbed described in default error of fitting cost function calculation
Second error of fitting may refer to the correlation step that above-mentioned determination is initially fitted the initial error of fitting of track, no longer superfluous herein
It states.
In addition, it should be noted that, in this specification embodiment, first error of fitting may include currently need into
The fitting of fitting track before the current track shape disturbances processing of the fitting track to be corrected of row track shape disturbances processing misses
Difference.Correspondingly, second error of fitting may include the fitting rail to be corrected for currently needing to carry out track shape disturbances processing
Mark current track shape disturbances treated fitting track error of fitting.
S109: judge whether second error of fitting is less than first error of fitting.
In this specification embodiment, judge whether second error of fitting is less than first error of fitting and can pass through
Comparing the second error of fitting is determined with the mode of the numerical values recited of first error of fitting.
In further embodiments, judge whether second error of fitting is less than first error of fitting and can also lead to
Cross calculating using natural constant e as the exponential function (index is the difference that the second error of fitting subtracts the first error of fitting) at bottom whether
Mode more than or equal to 1 determines.Specifically, when using natural constant e as the exponential function at bottom, (index is that the second error of fitting subtracts
The difference of first error of fitting) be more than or equal to 1 when, second error of fitting be more than or equal to first error of fitting；Conversely,
When using natural constant e as the exponential function (index is the difference that the second error of fitting subtracts the first error of fitting) at bottom less than 1 when,
Second error of fitting is less than first error of fitting.
S111: when the result judged is is, using second error of fitting as the fitting track after the disturbance
First error of fitting, using the fitting track after the disturbance as the processing of fitting track to be corrected execution track shape disturbances, until
Current track shape disturbances number of processing reaches default disturbance number.
Specifically, using second error of fitting as the first error of fitting of the fitting track after the disturbance, by institute
After the fitting track after disturbing is stated as fitting track to be corrected, execution track shape disturbances processing, until current track form is disturbed
Dynamic number of processing reaches default disturbance number
Judge whether current track shape disturbances number of processing is less than default disturbance number；
When judging that current track shape disturbances number of processing is less than default disturbance number, to current to be corrected
It is fitted track execution track shape disturbances processing step.
Conversely, being executed when judging that current track shape disturbances number of processing is more than or equal to default disturbance number
Step S113.
Specifically, the default disturbance number may include the convergence rate based on the default error of fitting cost function
Determining perturbation iteration number.Specifically, available fitting track carries out the iterative processing of track shape disturbances, repeatedly
According to the change of the first error of fitting and the second error of fitting gone out with the default error of fitting cost function calculation when generation processing
Change amplitude determines the convergence rate of the default error of fitting cost function, when convergence rate reaches default convergence rate,
It can stop iteration, current the number of iterations can be used as the number of iterations of the default error of fitting cost function, correspondingly,
The number of iterations of default error of fitting cost function can be used as the default disturbance number.
S113: fitting track when being up to default disturbance number is fitted as the target to fitting data sampled point
Track.
The technical solution provided by above this specification embodiment is it is found that by treating fitting number in this specification embodiment
Track shape disturbances processing constantly adjustment fitting track is carried out according to the track to be fitted of sampled point, while at the shape disturbances of track
It is fitted between actual path corresponding to the data sampling point that track and the fitting track are covered during reason by characterization
The default error of fitting cost function of difference constantly calculate fitting track to be corrected after current track shape disturbances processing
Error of fitting receive current track shape disturbances processing when error of fitting is reduced, constantly reduce fitting track to be corrected
Difference between the true error of fitting of fitting data sampled point improves the accuracy of the fitting track of data sampling point.
The another specific embodiment of data processing method of the invention introduced below, Fig. 9 are provided in an embodiment of the present invention
The flow diagram of another data processing method, present description provides the methods as described in embodiment or flow chart to operate step
It suddenly, but based on routine or may include more or less operating procedure without creative labor.It is enumerated in embodiment
Sequence of steps is only one of numerous step execution sequence mode, does not represent and unique executes sequence.In practice be
When system or server product execute, (example can be executed according to embodiment or the execution of method shown in the drawings sequence or parallel
Such as parallel processor or the environment of multiple threads).It is specific as shown in figure 9, the method may include:
S901: the initial fitting track to fitting data sampled point is determined, using the initial fitting track as to be corrected
It is fitted track.
S903: the first error of fitting based on fitting to be corrected track described in default error of fitting cost function calculation, institute
State reality corresponding to the data sampling point that default error of fitting cost function characterization fitting track and the fitting track are covered
Difference between the track of border.
S905: shape disturbances processing in track is carried out to the fitting track to be corrected, the fitting track after being disturbed.
S907: the second error of fitting based on the fitting track after being disturbed described in default error of fitting cost function calculation.
S909: judge whether second error of fitting is less than first error of fitting.
S911: when the result judged is is, using second error of fitting as the fitting track after the disturbance
First error of fitting, using the fitting track after the disturbance as the processing of fitting track to be corrected execution track shape disturbances, until
Current track shape disturbances number of processing reaches default disturbance number.
S913: when the judgment result is no, judge whether that receiving current track form disturbs based on predetermined probabilities algorithm
Dynamic processing.
It is described to judge whether to receive at current track shape disturbances based on predetermined probabilities algorithm in this specification embodiment
Reason may include:
The random random number generated between 0 to 1；
Judge whether the random number is greater than or equal to using natural constant e the bottom of as, it is quasi- to subtract first with the second error of fitting
The difference for closing error is the exponential function of index；
When judging that the random number is greater than or equal to using natural constant e the bottom of as, it is quasi- to subtract first with the second error of fitting
When the difference for closing error is the exponential function of index, determines and receive current track shape disturbances processing.
When judge the random number be less than using natural constant e the bottom of as, the first error of fitting is subtracted with the second error of fitting
Difference when being the exponential function of index, determine and refuse current track shape disturbances processing.
S915: when judging to refuse current track shape disturbances processing, current fitting track to be corrected is executed
Track shape disturbances processing, until current track shape disturbances number of processing reaches default disturbance number.
In this specification embodiment, when judging to refuse current track shape disturbances processing, current is to be corrected quasi-
It is constant to close track, execution track shape disturbances processing, until current track shape disturbances number of processing reaches default disturbance number
May include:
Judge whether current track shape disturbances number of processing is less than default disturbance number；
When judging that current track shape disturbances number of processing is less than default disturbance number, to current to be corrected
It is fitted track execution track shape disturbances processing step.
Conversely, being executed when judging that current track shape disturbances number of processing is more than or equal to default disturbance number
Step S917.
S917: fitting track when being up to default disturbance number is fitted as the target to fitting data sampled point
Track.
In other embodiments as shown in Figure 10, the method can also include:
S919: when judging to receive current track shape disturbances processing, using second error of fitting as described in
First error of fitting of the fitting track after disturbance, executes rail for the fitting track after the disturbance as fitting track to be corrected
Mark shape disturbances processing, until current track shape disturbances number of processing reaches default disturbance number.
The technical solution provided by above this specification embodiment is it is found that by treating fitting number in this specification embodiment
Track shape disturbances processing constantly adjustment fitting track is carried out according to the track to be fitted of sampled point, while at the shape disturbances of track
It is fitted between actual path corresponding to the data sampling point that track and the fitting track are covered during reason by characterization
The default error of fitting cost function of difference constantly calculate fitting track to be corrected after current track shape disturbances processing
Error of fitting receive current track shape disturbances processing when error of fitting is reduced；When error of fitting increases, it is based on
Predetermined probabilities algorithm refusal when time the processing of track shape disturbances, and before reaching default disturbance number, constantly carry out currently to
The track shape disturbances processing of correction fitting track；Constantly reduce fitting track to be corrected and the true of fitting data sampled point is intended
The difference between error is closed, the accuracy of the fitting track of data sampling point is substantially increased.
The embodiment of the invention also provides a kind of data processing equipments, and as shown in figure 11, described device includes:
Fitting track to be corrected determining module 1101 is determined for the initial fitting rail to fitting data sampled point
Mark, using the initial fitting track as fitting track to be corrected；
First error of fitting computing module 1102 can be used for being based on described in default error of fitting cost function calculation to school
First error of fitting of positive fitting track, the default error of fitting cost function characterization fitting track and the fitting track institute
Difference between actual path corresponding to the data sampling point of covering；
Track shape disturbances processing module 1103 can be used for carrying out track shape disturbances to the fitting track to be corrected
Processing, the fitting track after being disturbed；
Second error of fitting computing module 1104 can be used for based on disturbance described in default error of fitting cost function calculation
Second error of fitting of fitting track afterwards；
First judgment module 1105, can be used for judging whether second error of fitting is less than first fitting and misses
Difference；
First data processing module 1106 can be used for when the result that the first judgment module judges is is, by institute
First error of fitting of second error of fitting as the fitting track after the disturbance is stated, the fitting track after the disturbance is made
It is handled for fitting track to be corrected execution track shape disturbances, until current track shape disturbances number of processing reaches default disturbance
Number；
Be fitted track determining module 1107, fitting track when can be used for being up to default disturbance number as it is described to
The target of fitting data sampled point is fitted track.
In another embodiment, described device can also include:
Second judgment module when the result for judging when the first judgment module is no, is based on predetermined probabilities algorithm
Judge whether to receive current track shape disturbances processing；
Second data processing module, for judging to refuse at current track shape disturbances when second judgment module
When reason, current fitting track execution track shape disturbances to be corrected are handled, until current track shape disturbances number of processing
Reach default disturbance number.
In another embodiment, described device further include:
Third data processing module, for judging to receive at current track shape disturbances when second judgment module
When reason, using second error of fitting as the first error of fitting of the fitting track after the disturbance, after the disturbance
Track is fitted as the processing of fitting track to be corrected execution track shape disturbances, until current track shape disturbances number of processing reaches
To default disturbance number.
In another embodiment, the default error of fitting cost function include following at least one error of fitting influence because
Son:
It is fitted the degree of fitting of track and the data sampling point in the fitting track institute coverage area；
It is fitted the quantity that tangential angle jump of the curve adjacent in track in junction is more than the jump of maximum allowable angle；
It is fitted the quantity that curvature jump of the curve adjacent in track in junction is more than the jump of maximum allowable curvature；
It is fitted the quantity that length of curve in track is more than the curve of maximum allowable length.
In another embodiment, when the default error of fitting cost function includes an error of fitting impact factor, institute
Stating default error of fitting cost function includes being determined using following units:
Cost function determination unit, for using the error of fitting impact factor as the default error of fitting cost letter
Number.
In another embodiment, when the default error of fitting cost function includes multiple error of fitting impact factors, institute
Stating default error of fitting cost function includes being determined using following units:
Weight coefficient unit, for obtaining the weight coefficient of the multiple error of fitting impact factor；
Weight calculation unit, for the weight coefficient based on the multiple error of fitting impact factor to the multiple fitting
Error impact factor is weighted, and obtains the default error of fitting cost function；
Wherein, the weight coefficient of each error of fitting impact factor characterizes the error of fitting impact factor to fitting track
The influence degree of difference between actual path corresponding to the data sampling point covered with the fitting track.
In another embodiment, the fitting of the fitting track and the data sampling point in the fitting track institute coverage area
Degree includes being determined using following units:
Broken line processing unit obtains multistage fitting dog-leg path for carrying out broken line processing to the fitting track；
Multistage sampling dog-leg path establishes unit, for based on the data sampling point in the fitting track institute coverage area
Establish multistage sampling dog-leg path；
Extended area determination unit, for determining the first extended area and the multistage of the multistage fitting dog-leg path
Sample the second extended area of dog-leg path；
Registration computing unit, for calculating the registration of first extended area and second extended area；
Lenth ratio computing unit, for calculating between the fitting path length and maximum allowable fitting path length
Ratio；
Product computing unit, for calculating the product between the registration and ratio；
Degree of fitting determination unit, for taking negative rear numerical value as the fitting track and the fitting track product
The degree of fitting of data sampling point in institute's coverage area.
In another embodiment, the track shape disturbances processing module includes:
Track divides processing unit, for carrying out track division to every section of fitting track in the fitting track to be corrected
Processing, the fitting track after obtaining the disturbance；
Or,
Track merge processing unit, for carrying out rail to the adjacent piecewise fitting track in the fitting track to be corrected
Mark merging treatment, the fitting track after obtaining the disturbance；
Or,
Tie point mobile unit, for moving the company between piecewise fitting track adjacent in the fitting track to be corrected
Contact, the fitting track after obtaining the disturbance；
Or,
Cross travel unit, the control for every section of piecewise fitting track in fitting to be corrected track described in transverse shifting
Point, the fitting track after obtaining the disturbance；
Or,
Unit is vertically moved, for vertically moving the control of every section of piecewise fitting track in the fitting track to be corrected
Point, the fitting track after obtaining the disturbance.
In another embodiment, the default disturbance number includes the convergence speed based on the default error of fitting cost function
Spend determining perturbation iteration number.
Apparatus and method embodiment in the Installation practice is based on similarly inventive concept.
The embodiment of the invention provides a kind of data processing server, which includes processor and storage
Device is stored at least one instruction, at least one section of program, code set or instruction set in the memory, at least one instruction, should
At least one section of program, the code set or instruction set is loaded by the processor and is executed to realize as above method embodiment is provided
Data processing method.
Embodiment of the method provided by the embodiment of the present invention can be in mobile terminal, terminal, server or class
As execute in arithmetic unit.For running on the server, Figure 12 is a kind of data processing provided in an embodiment of the present invention
The hardware block diagram of the server of method.As shown in figure 12, which can generate ratio because configuration or performance are different
Biggish difference may include one or more central processing units (Central Processing Units, CPU)
1210, memory 1230 for storing data, the storage of one or more storage application programs 1223 or data 1222
Medium 1220.Further, central processing unit 1210 can be set to communicate with storage medium 1220, on server 1200
Execute the series of instructions operation in storage medium 1220.Server 1200 can also include one or more power supplys
1260, one or more wired or wireless network interfaces 1250, one or more input/output interfaces 1240, and/
Or, one or more operating systems 1221.
Input/output interface 1240 can be used for receiving or sending data via a network.Above-mentioned network is specifically real
Example may include the wireless network that the communication providers of server 1200 provide.In an example, input/output interface 1240 wraps
A network adapter (Network Interface Controller, NIC) is included, base station and other network equipments can be passed through
It is connected so as to be communicated with internet.In an example, input/output interface 1240 can be radio frequency (Radio
Frequency, RF) module, it is used to wirelessly be communicated with internet.
It will appreciated by the skilled person that structure shown in Figure 12 is only to illustrate, above-mentioned electronics is not filled
The structure set causes to limit.For example, server 1200 may also include more perhaps less component or tool than shown in Figure 12
There is the configuration different from shown in Figure 12.
The embodiments of the present invention also provide a kind of storage medium, the storage medium be may be disposed among server to protect
It deposits for realizing relevant at least one instruction of data processing method a kind of in embodiment of the method, at least one section of program, code set
Or instruction set, this at least one instruction, at least one section of program, the code set or the instruction set loaded by the processor and executed with
Realize the data processing method that above method embodiment provides.
Optionally, in the present embodiment, above-mentioned storage medium can be located in multiple network servers of computer network
At least one network server.Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, only
Read memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), movement
The various media that can store program code such as hard disk, magnetic or disk.
The embodiment of the data processing method, device or the server that are provided by aforementioned present invention in the present invention as it can be seen that pass through
The track to be fitted for treating fitting data sampled point carries out track shape disturbances processing constantly adjustment fitting track, while in track
Reality corresponding to the data sampling point that track is covered is fitted with described by characterization fitting track in shape disturbances treatment process
The default error of fitting cost function of difference between the track of border constantly calculates after current track shape disturbances processing to school
The error of fitting of positive fitting track receives current track shape disturbances processing when error of fitting is reduced；Increase in error of fitting
Added-time, based on predetermined probabilities algorithm refusal when time the processing of track shape disturbances, and before reaching default disturbance number, constantly into
The track shape disturbances processing to be corrected for being fitted track before the trade；Constantly reduce fitting track to be corrected and fitting data sampled point
True error of fitting between difference, substantially increase data sampling point fitting track accuracy.
It should be understood that embodiments of the present invention sequencing is for illustration only, do not represent the advantages or disadvantages of the embodiments.
And above-mentioned this specification specific embodiment is described.Other embodiments are within the scope of the appended claims.One
In a little situations, the movement recorded in detail in the claims or step can be executed according to the sequence being different from embodiment and
Still desired result may be implemented.In addition, process depicted in the drawing not necessarily requires the particular order shown or company
Continuous sequence is just able to achieve desired result.In some embodiments, multitasking and parallel processing it is also possible or
It may be advantageous.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device and
For server example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to side
The part of method embodiment illustrates.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of data processing method, which is characterized in that the described method includes:
The initial fitting track to fitting data sampled point is determined, using the initial fitting track as fitting track to be corrected；
Based on the first error of fitting of fitting to be corrected track described in default error of fitting cost function calculation, the default fitting
Between actual path corresponding to the data sampling point that error cost function characterization fitting track and the fitting track are covered
Difference；
Shape disturbances processing in track is carried out to the fitting track to be corrected, the fitting track after being disturbed；
The second error of fitting based on the fitting track after being disturbed described in default error of fitting cost function calculation；
Judge whether second error of fitting is less than first error of fitting；
When the result judged is is, missed second error of fitting as the first fitting of the fitting track after the disturbance
Difference, using the fitting track after the disturbance as fitting track to be corrected, execution track shape disturbances processing, until current track shape
The number of state disturbance treatment reaches default disturbance number；
Fitting track when being up to default disturbance number is fitted track as the target to fitting data sampled point.
2. the method according to claim 1, wherein the method also includes:
When the judgment result is no, judge whether to receive current track shape disturbances processing based on predetermined probabilities algorithm；
When judging to refuse current track shape disturbances processing, current fitting track execution track form to be corrected is disturbed
Dynamic processing, until current track shape disturbances number of processing reaches default disturbance number.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
When judging to receive current track shape disturbances processing, using second error of fitting as quasi- after the disturbance
The first error of fitting for closing track, using the fitting track after the disturbance as fitting track to be corrected execution track shape disturbances
Processing, until current track shape disturbances number of processing reaches default disturbance number.
4. method according to any one of claims 1 to 3, which is characterized in that the default error of fitting cost function includes
At least one following error of fitting impact factor:
It is fitted the degree of fitting of track and the data sampling point in the fitting track institute coverage area；
It is fitted the quantity that tangential angle jump of the curve adjacent in track in junction is more than the jump of maximum allowable angle；
It is fitted the quantity that curvature jump of the curve adjacent in track in junction is more than the jump of maximum allowable curvature；
It is fitted the quantity that length of curve in track is more than the curve of maximum allowable length.
5. according to the method described in claim 4, it is characterized in that, when the default error of fitting cost function includes multiple quasi-
When closing error impact factor, the default error of fitting cost function includes being determined using following manner:
Obtain the weight coefficient of the multiple error of fitting impact factor；
Weight coefficient based on the multiple error of fitting impact factor is weighted the multiple error of fitting impact factor
It calculates, obtains the default error of fitting cost function；
Wherein, the weight coefficient of each error of fitting impact factor characterizes the error of fitting impact factor to fitting track and institute
State the influence degree of the difference between actual path corresponding to the data sampling point that fitting track is covered.
6. according to the method described in claim 4, it is characterized in that, the fitting track and the fitting track institute coverage area
The degree of fitting of interior data sampling point includes being determined using following manner:
Broken line processing is carried out to the fitting track, obtains multistage fitting dog-leg path；
Multistage sampling dog-leg path is established based on the data sampling point in the fitting track institute coverage area；
Determine the first extended area of the multistage fitting dog-leg path and the second expansion area of multistage sampling dog-leg path
Domain calculates the registration of first extended area and second extended area；Calculate the fitting path length and maximum
Allow the ratio being fitted between path length；
Calculate the product between the registration and ratio, using the product take it is negative after numerical value as the fitting track with it is described
It is fitted the degree of fitting of the data sampling point in track institute coverage area.
7. method according to any one of claims 1 to 3, which is characterized in that described to be carried out to the fitting track to be corrected
The processing of track shape disturbances, the fitting track after being disturbed includes:
Division processing in track is carried out to every section of fitting track in the fitting track to be corrected, the fitting after obtaining the disturbance
Track；
Or,
Track merging treatment is carried out to the adjacent piecewise fitting track in the fitting track to be corrected, after obtaining the disturbance
Fitting track；
Or,
Tie point in the mobile fitting track to be corrected between adjacent piecewise fitting track, it is quasi- after obtaining the disturbance
Close track；
Or,
The control point to be corrected for being fitted every section of piecewise fitting track in track, the fitting after obtaining the disturbance described in transverse shifting
Track；
Or,
Vertically move the control point of every section of piecewise fitting track in the fitting track to be corrected, the fitting after obtaining the disturbance
Track.
8. method according to any one of claims 1 to 3, which is characterized in that the default disturbance number includes based on described
The perturbation iteration number that the convergence rate of default error of fitting cost function determines.
9. a kind of data processing equipment, which is characterized in that described device includes:
Fitting track to be corrected determining module will be described initial for determining the initial fitting track to fitting data sampled point
Track is fitted as fitting track to be corrected；
First error of fitting computing module, for based on fitting to be corrected track described in default error of fitting cost function calculation
First error of fitting, the data that the default error of fitting cost function characterization fitting track is covered with the fitting track are adopted
Difference between actual path corresponding to sampling point；
Track shape disturbances processing module is disturbed for carrying out the processing of track shape disturbances to the fitting track to be corrected
Fitting track after dynamic；
Second error of fitting computing module, for based on the fitting track after being disturbed described in default error of fitting cost function calculation
The second error of fitting；
First judgment module, for judging whether second error of fitting is less than first error of fitting；
When result for judging when the first judgment module is is, second fitting is missed for first data processing module
First error of fitting of the difference as the fitting track after the disturbance, using the fitting track after the disturbance as fitting to be corrected
Track execution track shape disturbances processing, until current track shape disturbances number of processing reaches default disturbance number；
It is fitted track determining module, fitting track when for being up to default disturbance number is sampled as described to fitting data
The target of point is fitted track.
10. a kind of data processing server, which is characterized in that the server includes processor and memory, the memory
In be stored at least one instruction, at least one section of program, code set or instruction set, at least one instruction, described at least one
Duan Chengxu, the code set or instruction set are loaded by the processor and are executed as described in any of the claims 1 to 8 to realize
Data processing method.
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