CN109870713A - A kind of GPS track curve generation method and device - Google Patents
A kind of GPS track curve generation method and device Download PDFInfo
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- CN109870713A CN109870713A CN201910018507.2A CN201910018507A CN109870713A CN 109870713 A CN109870713 A CN 109870713A CN 201910018507 A CN201910018507 A CN 201910018507A CN 109870713 A CN109870713 A CN 109870713A
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Abstract
The present invention provides a kind of GPS track curve generation method and device, and described method includes following steps: S1: grid dividing: by the coordinate plane of Web Mercator projected coordinate system be benchmark face, origin on the basis of point, create virtual grid；S2: tracing point acquisition: the tracing point after the effective tracing point obtained in real time and correction is collected in grid through screening；S3: curve generates: the GPS track point collected in grid is connected into line in real time.Described device includes grid dividing module, tracing point acquisition module and curve generation module.GPS track curve generation method of the invention be a kind of acquisition tracing point coordinate and to tracing point judge the geometric locus of screening online, Real-time Generation, combine specific rule that tracing point is acquired and screened in real time using the grid of division, the redundancy of the track data of upload is greatly reduced, the memory space of server is saved, while also ensuring the good display effect of geometric locus.
Description
Technical field
The invention belongs to GPS track technical field of data processing, and in particular to a kind of GPS track curve generation method and dress
It sets.
Background technique
Global positioning system (Global Positioning System, GPS) can be used to obtain positioning terminal in real time
Location information, the location information obtained each time is considered as a sampled point, believes comprising corresponding temporal information and position
Breath etc..Each sampled point is shown on map according to coordinate position, further according to time sequencing successively line, can be obtained
Whole historical track curve.
It is existing when obtaining position data using GPS system, by the interference of surrounding enviroment (such as water surface, high-lager building),
The tracing point and normal trace deviation distance of station acquisition equipment acquisition are big, and abnormal point is more in the track data of collection, generates
Geometric locus and actual path have obvious deviation；Station acquisition equipment is when some point or region stop for a long time, meeting
It causes to generate a large amount of repetition point near same point, causes the track data amount of transmission to increase at double, network transmission pressure adds
Greatly；In addition, a large amount of presence for repeating point also will cause disk storage and be multiplied, the inquiry and retrieval of later period track data are influenced
Efficiency.
Summary of the invention
In view of this, this method passes through selective acquisition trajectories the present invention provides a kind of GPS track curve generation method
Point overcomes defect existing in the prior art, and the present invention also provides a kind of GPS track curve generating means.
The present invention provides a kind of GPS track curve generation method, comprising the following steps:
S1, grid dividing: being benchmark face, point on the basis of origin by the coordinate plane of Web Mercator projected coordinate system,
Create virtual grid；
Further, the specific steps of the step S1 are as follows:
It is benchmark face, point on the basis of origin by the coordinate plane of Web Mercator projected coordinate system, according to fixed mesh
Size (GridSize) creates virtual grid, and the size of virtual grid is according to the civilian GPS positioning device accuracy rating of current mainstream
Preferably 5 to 10 meters, for any point P (x, y) in the Web Mercator projected coordinate system, corresponding grid number definition
For [x/GridSize] _ [y/GridSize], [] indicates rounding operation.
S2, tracing point acquisition: it obtains the GPS track point of current location in real time from GPS system, its coordinate is converted into Web
Mercator coordinate judges the GPS track point of current location for effective tracing point then in conjunction with the Web Mercator coordinate
Or effective tracing point is then retained in virtual grid, if abnormal rail by abnormal tracing point if effective tracing point through screening
Abnormal tracing point after correction is then retained in virtual grid by mark point through screening；
Further, the specific steps of the step S2 are as follows:
S21, it obtains current location GPS track point in real time from GPS system, and its coordinate is converted into Web Mercator and is sat
Mark；
S22, for current trace points, if its precision be better than the first given threshold, be determined as effective tracing point, further
Step S23 is executed, otherwise, executes step S25；
S23, for current trace points, judge in current grid whether existing tracing point, be associated with and recorded by tracing point
Grid number is realized, for any tracing point P (x, y), the grid number of locating grid is [x/GridSize] _ [y/
GridSize], if current trace points are collected in corresponding grid without tracing point in corresponding grid in current slot,
Otherwise, step S24 is executed；
S24, judge whether to adopt according to the time interval between previous sampled point existing in current trace points and grid
Collect current trace points, does not acquire current trace points if time interval is less than the second given threshold, otherwise, current trace points are adopted
Collect in corresponding grid；
S25, first judge whether have tracing point in corresponding grid in current slot, grid is not collected if having
In, otherwise according to the distance between continuous two tracing points and time difference calculating speed, if the speed is greater than third given threshold,
Determine current trace points then for abnormal tracing point, does not otherwise acquire current trace points to step S26；
S26, be more than for continuous abnormal point number the 4th given threshold abnormal tracing point, use Kalman filter pair
It is corrected, and the tracing point after then correcting returns to step S23, continuous abnormal according to the collection rule of effective tracing point
Point number does not collect in grid less than the tracing point of the 4th given threshold；
S27, for collecting effective tracing point in grid or the abnormal track after correction in step S23, S24, S26
Point is screened in real time, according to the GPS track point and its first two sampled point currently collected in grid, calculates three sampled points
Angle between two vectors of composition, if angle less than the 5th given threshold, removes the sampling in middle position within a grid
Point.
First given threshold be 10m, the second given threshold be 20 minutes, third given threshold be 120km/h, the 4th
Given threshold is 3, and the 5th given threshold is 15 degree.
S3, curve generate: the GPS track point collected in virtual grid in step S2 is connected into line in real time.
The present invention also provides a kind of GPS track curve generating means, including grid dividing module, tracing point acquisition module,
And curve generation module, in which:
Network division module: being benchmark face, point on the basis of origin by the coordinate plane of Web Mercator projected coordinate system,
Virtual grid is created according to given fixed mesh size (GridSize), sizing grid is according to the civilian GPS positioning of current mainstream
Equipment precision ranges preferably from 5 to 10 meters, corresponding for any point P (x, y) under Web Mercator projected coordinate system
Grid number is defined as [x/GridSize] _ [y/GridSize], and [] indicates rounding operation；
Tracing point acquisition module: for obtaining the GPS track point of current location in real time from GPS system, its coordinate is converted
For Web Mercator coordinate, current trace points are judged for effective tracing point or abnormal tracing point, by effective tracing point and school
Tracing point after just is retained in corresponding grid through screening；
Curve generation module: for the GPS track collected in grid point to be connected into line in real time.
Further, the tracing point acquisition module includes:
Effective tracing point judging unit: for judging whether current trace points are effective tracing point.If current trace points are smart
Degree is higher than the first given threshold, and without having tracing point in tracing point, or corresponding grid but current trace points and net in corresponding grid
Time interval in lattice between existing previous sampled point is greater than the second given threshold, then determines that current trace points are effective rail
Mark point；
Abnormal tracing point judging unit: for judging whether current trace points are abnormal tracing point.If current trace points
Precision is lower than the first given threshold, and is greater than third by the speed that the distance between continuous two tracing points and time difference calculate
Given threshold then determines current trace points for abnormal tracing point；
Abnormal tracing point corrects unit: for being more than the 4th setting threshold to continuous abnormal point number by Kalman filter
The abnormal tracing point of value is filtered correction；
Tracing point screening unit: for being carried out to the abnormal tracing point after the effective tracing point or correction collected in grid
Screening in real time is done vector variation to 3 tracing points continuous in current slot and is calculated, calculates two of 3 tracing points composition
Angle between vector, if angle less than the 5th given threshold, removes the tracing point in middle position within a grid.
Technical solution provided by the invention has the benefit that existing most of GPS track curve generation method
Be abnormal point filtering is carried out after obtaining all tracing point coordinates again, smoothing denoising, tracing point vacuate etc., and processing is final to obtain
Geometric locus, in contrast, GPS track curve generation method of the invention is a kind of acquisition tracing point coordinate and to tracing point
Judge that the geometric locus of screening is online, Real-time Generation, combines specific rule to tracing point using the grid of division
It is acquired and is screened in real time, the redundancy of the track data of upload is greatly reduced, save the memory space of server,
The good display effect of geometric locus is also ensured simultaneously.
Detailed description of the invention
Fig. 1 is the flow chart of GPS track curve generation method provided by the invention.
Fig. 2 is a kind of structural block diagram of GPS track curve generating means provided by the invention.
Fig. 3 is the flow chart of tracing point acquisition step provided by the invention.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
A kind of GPS track curve generation method is present embodiments provided, as shown in Figure 1, comprising steps of
S1, grid dividing step: being benchmark face, on the basis of origin by the coordinate plane of Web Mercator projected coordinate system
Point creates virtual grid；
Step S1's method particularly includes:
It is benchmark face, point (Web Mercator on the basis of origin by the coordinate plane of Web Mercator projected coordinate system
The origin of projected coordinate system is the intersection point in equator and the first meridian), it is created according to fixed mesh size (GridSize) virtual
Grid, the size of virtual grid are 510 meters, it is preferable that virtual grid is dimensioned to 5 meters, and Web Mercator is thrown
Any point P (x, y) under shadow coordinate system, corresponding grid number are defined as [x/GridSize] _ [y/GridSize], [] table
Show rounding operation.
S2, tracing point acquisition step: it obtains the GPS track point of current location in real time from GPS system, its coordinate is converted to
Web Mercator coordinate judges current trace points for effective tracing point or abnormal tracing point, by effective tracing point and correction
Abnormal tracing point afterwards is retained in virtual grid through screening；
Specifically, for the current trace points obtained in real time from GPS system, if its precision is better than 10m, front rail is worked as in judgement
Mark point is effective tracing point, further judges whether have tracing point in current grid.
It should be noted that being associated with by tracing point and recording grid number to realize whether have track in current grid
The judgement of point, for any tracing point P (x, y), the grid number of locating grid is denoted as [x/gridSize] _ [y/
gridSzie]。
It is no if collecting current trace points in corresponding grid without tracing point in corresponding grid in current slot
Then further determine whether that acquisition is worked as according to the time interval between previous sampled point existing in current trace points and grid
Otherwise current trace points are collected corresponding net if time interval did not acquired current trace points less than 20 minutes by preceding tracing point
In lattice.
If the precision of current trace points is lower than 10m, and is calculated by the distance between continuous two tracing points and time difference
Speed be greater than 120km/h, then it is assumed that current trace points are abnormal tracing point.
It is more than 3 abnormal tracing points for continuous abnormal point number, it is corrected using Kalman filter, so
The tracing point after correction is collected in grid according to the collection rule of above-mentioned effective tracing point afterwards.
It should be noted that non-abnormal tracing point lower for other positional accuracies, such as the point of current trace points
Precision is lower than lower than the positional accuracy for having tracing point or current trace points in corresponding grid in 10m and current slot
10m and 120km/h is less than by the speed that the distance of continuous point-to-point transmission and time difference calculate, not collected in grid；It is continuous different
Normal tracing point of the tracing point number less than 3, does not also collect in grid.
Abnormal tracing point after effective tracing point for collecting in grid or correction is screened in real time, according to currently adopting
Collect GPS track point in grid and the sampling of its first two, calculate three groups of samples at two vectors between angle, if
Angle then removes the sampled point in middle position less than 15 ° within a grid.
S3, curve generation step: the GPS track point collected in grid is connected into line in real time.
A kind of GPS track curve generating means are present embodiments provided, as shown in Fig. 2, including grid dividing module, track
Point acquisition module and curve generation module.
Network division module: being benchmark face, point on the basis of origin by the coordinate plane of Web Mercator projected coordinate system,
Virtual grid is created according to given fixed mesh size (GridSize), sizing grid is according to the civilian GPS positioning of current mainstream
Equipment precision ranges preferably from 5 to 10 meters, corresponding for any point P (x, y) under Web Mercator projected coordinate system
Grid number is defined as [x/GridSize] _ [y/GridSize], and [] indicates rounding operation；
Tracing point acquisition module: process is as shown in figure 3, be used to obtain the GPS track of current location in real time from GPS system
Its coordinate is converted to Web Mercator coordinate by point, judges that current trace points, will for effective tracing point or abnormal tracing point
Tracing point screening after effective tracing point and correction is retained in corresponding grid；
Curve generation module: for the GPS track collected in grid point to be connected into line in real time.
Specifically, the tracing point acquisition module further include:
Effective tracing point judging unit: for judging whether current trace points are effective tracing point.If current trace points are smart
Degree is higher than 10m, and in corresponding grid without have tracing point in tracing point, or corresponding grid but current trace points with it is existing in grid
Time interval between previous sampled point is greater than 20 minutes, then determines that current trace points are effective tracing point；
Abnormal tracing point judging unit: for judging whether current trace points are abnormal tracing point.If current trace points
Precision is lower than 10m, and is greater than 120km/h by the speed that the distance between continuous two tracing points and time difference calculate, then sentences
Current trace points are determined for abnormal tracing point；
Abnormal tracing point corrects unit: for being more than 3 exceptions to continuous abnormal point number by Kalman filter
Tracing point is filtered correction；
Tracing point screening unit: for being carried out to the abnormal tracing point after the effective tracing point or correction collected in grid
Screening in real time is done vector variation to 3 tracing points continuous in current slot and is calculated, calculates two of 3 tracing points composition
Angle between vector, if angle less than 15 degree, removes the tracing point in middle position within a grid.
Description through this embodiment, those skilled in the art can be understood that above-described embodiment method can borrow
Help software that the mode of required general hardware platform is added to realize, naturally it is also possible to which the former is by hardware, but in many cases
More preferably embodiment.Based on this understanding, technical solution of the present invention substantially tribute made to the prior art in other words
The part offered can be embodied in the form of software products, which is stored in a storage medium (such as
ROM/RAM, magnetic disk, CD) in, including some instructions use is so that a terminal device (can be mobile phone, computer, service
Device etc.) execute method described in the embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (9)
1. a kind of GPS track curve generation method, which comprises the following steps:
S1, grid dividing: being benchmark face, point on the basis of origin, creation by the coordinate plane of Web Mercator projected coordinate system
Virtual grid；
S2, tracing point acquisition: it obtains the GPS track point of current location in real time from GPS system, its coordinate is converted into Web
Mercator coordinate judges the GPS track point of current location for effective tracing point then in conjunction with the Web Mereator coordinate
Or effective tracing point is then retained in virtual grid, if abnormal rail by abnormal tracing point if effective tracing point through screening
Abnormal tracing point after correction is then retained in virtual grid by mark point through screening；
S3, curve generate: the GPS track point collected in virtual grid in step S2 is connected into line in real time.
2. a kind of GPS track curve generation method according to claim 1, which is characterized in that in step S1, creation is virtual
The process of grid are as follows: by the coordinate plane of Web Mercator projected coordinate system be benchmark face, point on the basis of origin, creation is virtual
Grid, the size of virtual grid are 5 to 10 meters, and the corresponding grid number in any point is by coordinate value and grid in the virtual grid
Size determines.
3. a kind of GPS track curve generation method according to claim 1, which is characterized in that step S2 specifically:
S21, the GPS track point for obtaining current location in real time from GPS system, and its coordinate is converted into WebMercator coordinate；
S22, for current trace points, if its precision be better than the first given threshold, be determined as effective tracing point, further execute
Otherwise step S23 executes step S25；
S23, for current trace points, if in current slot in corresponding grid have tracing point, further execute step
Otherwise S24 collects current trace points in corresponding grid；
S24, judge whether that acquisition is worked as according to the time interval between previous sampled point existing in current trace points and grid
Preceding tracing point does not acquire current trace points if time interval is less than the second given threshold, otherwise, current trace points is collected
In corresponding grid；
S25, first judge whether have tracing point in corresponding grid in current slot, do not collected in grid if having, it is no
Then sentenced according to the distance between continuous two tracing points and time difference calculating speed if the speed is greater than third given threshold
Current trace points are determined for abnormal tracing point, otherwise do not acquire current trace points to step S26；
S26, be more than for continuous abnormal point number the 4th given threshold abnormal tracing point, using Kalman filter to its into
Row correction, the tracing point after then correcting return to step S23, continuous abnormal point according to the collection rule of effective tracing point
Number does not collect in grid less than the tracing point of the 4th given threshold；
S27, it is clicked through for collecting effective tracing point in grid or the abnormal track after correction in step S23, S24, S26
Row screening in real time, according to the GPS track point that currently collects in grid and its first two sampled point, calculate three groups of samples at
Two vectors between angle, if angle less than the 5th given threshold, removes the sampled point in middle position within a grid.
4. a kind of GPS track curve generation method according to claim 3, which is characterized in that first given threshold
For 10m, second given threshold is 20 minutes.
5. a kind of GPS track curve generation method according to claim 3, which is characterized in that the third given threshold
For 120km/h, the 4th given threshold is 3, and the 5th given threshold is 15 degree.
6. a kind of GPS track curve generating means, which is characterized in that including grid dividing module, tracing point acquisition module and
Curve generation module, in which:
Network division module: being benchmark face, point on the basis of origin by the coordinate plane of Web Mercator projected coordinate system, according to
Given fixed mesh size creates virtual grid, and the sizing grid of virtual grid is 5 to 10 meters, any point in virtual grid
Corresponding grid number is determined by coordinate value and sizing grid；
Tracing point acquisition module: for obtaining the GPS track point of current location in real time from GPS system, its coordinate is converted into Web
Mercator coordinate judges current trace points for effective tracing point or abnormal tracing point, after effective tracing point and correction
Abnormal tracing point is retained in virtual grid through screening；
Curve generation module: for the GPS track collected in grid point to be connected into line in real time.
7. a kind of GPS track curve generating means according to claim 6, which is characterized in that the tracing point acquires mould
Block includes:
Effective tracing point judging unit: for judging whether current trace points are effective tracing point, if current trace points precision is excellent
In the first given threshold, and without having tracing point in tracing point, or corresponding grid but in current trace points and grid in corresponding grid
Time interval between existing previous sampled point is greater than the second given threshold, then determines that current trace points are effective track
Point；
Abnormal tracing point judging unit: for judging whether current trace points are abnormal tracing point, if the precision of current trace points
It is set lower than the first given threshold, and by the speed that the distance between continuous two tracing points and time difference calculate greater than third
Threshold value then determines current trace points for abnormal tracing point；
Abnormal tracing point corrects unit: for being more than the 4th given threshold to continuous abnormal point number by Kalman filter
Abnormal tracing point is filtered correction；
Tracing point screening unit: real-time for being carried out to the abnormal tracing point after the effective tracing point or correction collected in grid
Screening is done vector variation to 3 tracing points continuous in current slot and is calculated, calculates two vectors of 3 tracing points composition
Between angle, if angle less than the 5th given threshold, removes the tracing point in middle position within a grid.
8. a kind of GPS track curve generating means according to claim 7, which is characterized in that first given threshold
For 10m, second given threshold is 20 minutes.
9. a kind of GPS track curve generating means according to claim 7, which is characterized in that the third given threshold
For 120km/h, the 4th given threshold is 3, and the 5th given threshold is 15 degree.
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| CN110703289B (en) * | 2019-10-29 | 2021-07-06 | 杭州鸿泉物联网技术股份有限公司 | Track data reporting method and moving track restoring method |
| CN110703289A (en) * | 2019-10-29 | 2020-01-17 | 杭州鸿泉物联网技术股份有限公司 | Track data reporting method and moving track restoring method |
| CN111310070A (en) * | 2019-12-20 | 2020-06-19 | 东软集团股份有限公司 | Method and device for determining frequent trips, storage medium and electronic equipment |
| CN111310070B (en) * | 2019-12-20 | 2024-03-08 | 东软集团股份有限公司 | Method and device for determining frequent trips, storage medium and electronic equipment |
| CN111505681A (en) * | 2020-04-23 | 2020-08-07 | 上海普适导航科技股份有限公司 | Method and system for correcting rarefaction of positioning track |
| CN111654290A (en) * | 2020-04-24 | 2020-09-11 | 北京中交兴路车联网科技有限公司 | Method, device and equipment for compressing vehicle track data and storage medium |
| CN111654290B (en) * | 2020-04-24 | 2023-10-31 | 北京中交兴路车联网科技有限公司 | Method, device, equipment and storage medium for compressing vehicle track data |
| CN111640362A (en) * | 2020-06-01 | 2020-09-08 | 中国人民解放军63653部队 | Long-endurance track real-time display method |
| CN111784728B (en) * | 2020-06-29 | 2023-08-22 | 杭州海康威视数字技术股份有限公司 | Track processing method, device, equipment and storage medium |
| CN111784728A (en) * | 2020-06-29 | 2020-10-16 | 杭州海康威视数字技术股份有限公司 | Track processing method, device, equipment and storage medium |
| CN112394371A (en) * | 2020-11-03 | 2021-02-23 | 武汉光庭信息技术股份有限公司 | GPS analog signal generation method and device, electronic equipment and storage medium |
| CN112394371B (en) * | 2020-11-03 | 2024-04-12 | 武汉光庭信息技术股份有限公司 | GPS analog signal generation method and device, electronic equipment and storage medium |
| CN113077648A (en) * | 2021-02-03 | 2021-07-06 | 浙江浙大中控信息技术有限公司 | Method and system for predicting real-time station of public transport vehicle |
| CN113763743A (en) * | 2021-08-11 | 2021-12-07 | 杭州金通科技集团股份有限公司 | Bus automatic station reporting method and system based on GPS track acquisition |
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Denomination of invention: A GPS trajectory curve generation method and device Effective date of registration: 20230613 Granted publication date: 20210326 Pledgee: Wuhan area branch of Hubei pilot free trade zone of Bank of China Ltd. Pledgor: WUHAN ZHONGZHI HONGTU TECHNOLOGY CO.,LTD. Registration number: Y2023420000231 |