CN110211459B - Examination item rechecking method and device, processing terminal and storage medium - Google Patents
Examination item rechecking method and device, processing terminal and storage medium Download PDFInfo
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- CN110211459B CN110211459B CN201910508892.9A CN201910508892A CN110211459B CN 110211459 B CN110211459 B CN 110211459B CN 201910508892 A CN201910508892 A CN 201910508892A CN 110211459 B CN110211459 B CN 110211459B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/16—Control of vehicles or other craft
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Abstract
The application provides an examination item review method, an examination item review device, a processing terminal and a storage medium, wherein the method comprises the following steps: when a satellite is connected with satellite positioning equipment, acquiring position data of the satellite positioning equipment when the satellite positioning equipment passes through a point to be measured representing the size of a vehicle test field through the satellite positioning equipment; when the satellite is disconnected with the satellite positioning equipment, position data of the satellite positioning equipment passing through the point to be measured is obtained through an inertial sensor; wherein the inertial sensor and the satellite positioning device move synchronously; determining the size of the examination field based on the position data corresponding to each point to be tested; and when the difference value between the size of the examination field and the preset field size meets a first preset condition, determining that the examination field is qualified. By the method, when the satellite is disconnected with the satellite positioning equipment, whether the site is qualified or not can be determined quickly and accurately.
Description
Technical Field
The application relates to the technical field of motor vehicle driver examination, in particular to an examination item review method, an examination item review device, an examination item review processing terminal and a storage medium.
Background
In the process of testing a driver of a motor vehicle, project parameters in a testing field are key parameters for testing judgment, and the testing field needs to be rechecked and checked in order to ensure the accuracy, objectivity and fairness of the test.
In the existing field rechecking technology, a large number of workers are generally required to carry out tape-length measurement on an examination field, and the rechecking efficiency and the measurement accuracy are lower.
Disclosure of Invention
In view of this, an object of the embodiments of the present application is to provide an examination item review method, an examination item review device, a processing terminal, and a storage medium, so as to improve review efficiency and measurement accuracy.
In a first aspect, an embodiment of the present application provides an examination item review method, where the method includes: when a satellite is connected with satellite positioning equipment, acquiring position data of the satellite positioning equipment when the satellite positioning equipment passes through a point to be measured representing the size of a vehicle test field through the satellite positioning equipment; when the satellite is disconnected with the satellite positioning equipment, position data of the satellite positioning equipment passing through the point to be measured is obtained through an inertial sensor; wherein the inertial sensor and the satellite positioning device move synchronously; determining the size of the examination field based on the position data corresponding to each point to be tested; and when the difference value between the size of the examination field and the preset field size meets a first preset condition, determining that the examination field is qualified.
In the implementation process, because the satellite positioning technology has high precision, when the satellite positioning equipment is in communication connection with a satellite, the satellite positioning equipment is used for acquiring the position data of the satellite positioning equipment when the satellite positioning equipment passes through a point to be measured, however, when a satellite signal is shielded, the satellite positioning equipment cannot acquire the position data of the point to be measured, and the satellite positioning equipment has limitations, so that when the satellite signal is shielded, the position data of the satellite positioning equipment when the satellite positioning equipment passes through the point to be measured is acquired through an inertial sensor; the inertial sensor and the satellite positioning equipment move synchronously, so that the examination site size can be rapidly and accurately determined when the satellite is disconnected with the satellite positioning equipment in the mode, and then whether the site is qualified or not is rapidly and accurately determined based on the difference value between the examination site size and the preset site size.
In a possible design based on the first aspect, the acquiring, by the satellite positioning device, position data of the satellite positioning device when passing through a point to be measured that characterizes a size of a vehicle test field includes: acquiring a position signal representing the satellite positioning equipment when the satellite positioning equipment passes through the point to be measured by the satellite positioning equipment; analyzing the position signal, and determining a first protocol corresponding to the satellite positioning equipment; determining a first data format corresponding to the first protocol based on a pre-stored correspondence between the protocol and the data format; and acquiring the position data of the satellite positioning equipment when the satellite positioning equipment passes through the point to be measured based on the position signal and the first data format.
In the implementation process, since different satellite positioning devices may follow different protocols, data formats of data sent by different satellite positioning devices are different, and therefore, by establishing a correspondence between a protocol and a data format in advance, after a position signal sent by a satellite positioning device is analyzed and a first protocol corresponding to the satellite positioning device is acquired, position data of the satellite positioning device when the satellite positioning device passes through a point to be measured is acquired based on the position signal and the first data format.
Based on the first aspect, in a possible design, the determining the size of the examination site based on the position data corresponding to each point to be measured includes: acquiring an included angle between a plane where each point to be measured is located and a horizontal plane through the inertial sensor; and determining the size of the examination field based on the position data and the included angle corresponding to each point to be tested.
In the implementation process, when the included angle between the plane of the point to be measured of the examination field and the horizontal plane is not zero, if the field size is calculated by using the space coordinate data in the position data of the point to be measured, which is acquired by the satellite positioning equipment, a large measurement error exists in the field size, so that the included angle between the plane of each point to be measured and the horizontal plane is acquired by the inertial sensor; and determining the size of the examination field based on the position data and the included angle corresponding to each point to be measured, fully considering the condition that the included angle is not zero, and improving the measurement precision of the field size.
Based on the first aspect, in a possible design, the determining the size of the examination site based on the position data corresponding to each point to be measured includes: for each point to be measured, when the position data corresponding to the point to be measured is multiple, determining a first average value of the multiple position data corresponding to the point to be measured; determining a plurality of first position data of which the difference value with the first mean value meets a second preset condition from the plurality of position data; determining a second mean of a plurality of the first location data; and determining the size of the examination field based on the second average value corresponding to each point to be detected.
In the implementation process, if only one piece of position data is acquired for each point to be measured, the estimation accuracy is not high, so that in order to improve the estimation accuracy, a plurality of pieces of position data corresponding to the point to be measured are acquired for each point to be measured, however, if the average value of the plurality of pieces of position data corresponding to the point to be measured is directly taken as the final position data corresponding to the point to be measured, the estimation accuracy is low when position data with large errors exist in the plurality of pieces of position data corresponding to the point to be measured, and therefore, in order to overcome the problems, the first average value of the plurality of pieces of position data corresponding to the point to be measured is determined; determining a plurality of first position data of which the difference value with the first mean value meets a second preset condition from the plurality of position data, then excluding the position data with larger deviation with the first mean value, and determining a second mean value of the plurality of first position data; and determining the size of the examination field based on the second average value corresponding to each point to be measured, so that the estimation precision is improved.
Based on the first aspect, in a possible design, the determining the size of the examination site based on the position data corresponding to each point to be measured includes: generating the test field graph based on the position data corresponding to each point to be tested; determining the size of the examination site based on the examination site graph.
In the implementation process, the examination field graph is generated based on the position data corresponding to each point to be detected; determining the size of the examination site based on the examination site graph. Through the mode, the sizes of all parts on the test site can be more intuitively known.
In a possible design based on the first aspect, the method further includes: acquiring, by the satellite positioning device, position data of the satellite positioning device when passing through a proxel representing a size of an examination vehicle; determining a size for the test vehicle based on location data corresponding to a plurality of the projection points; and when the difference value between the size of the test vehicle and the preset vehicle size meets a third preset condition, determining that the test vehicle is qualified.
In the implementation process, in order to reduce the difficulty of the motor vehicle test and improve the passing rate of the test, a vehicle provider of the motor vehicle test usually modifies the model parameters of the test vehicle, so that in order to avoid the above situation, the test vehicle needs to be rechecked, and the satellite positioning device obtains the position data of the satellite positioning device when passing through a projection point representing the size of the test vehicle; and determining the size of the vehicle for examination based on the position data corresponding to the plurality of projection points, and determining that the vehicle for examination is qualified when the difference value between the size of the vehicle for examination and the preset vehicle size meets a third preset condition.
In a possible design according to the first aspect, the determining the size for the test vehicle based on the position data corresponding to the plurality of projection points comprises: when the satellite is disconnected from the satellite positioning equipment, acquiring position data of the satellite positioning equipment when the satellite passes through the projection point through the inertial sensor; wherein the inertial sensor and the satellite positioning device move synchronously; determining a size for the test vehicle based on the location data corresponding to the plurality of projection points.
In the implementation process, although the positioning accuracy of the satellite positioning device is high, the satellite positioning device cannot position the projection points when being disconnected from the satellite, so in order to realize positioning of each projection point while ensuring the positioning accuracy, when the satellite is disconnected from the satellite positioning device, the inertial sensor acquires the position data of the satellite positioning device when passing through the projection points; the inertial sensor and the satellite positioning equipment move synchronously, then position data corresponding to each projection point are accurately obtained, and the size of the examination vehicle is accurately determined based on the position data corresponding to the plurality of projection points.
In a second aspect, an embodiment of the present application provides an examination item review device, including: the vehicle test system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring position data of a satellite positioning device when the satellite is connected with the satellite positioning device and the satellite positioning device passes through a point to be tested which represents the size of a vehicle test field; the second acquisition unit is used for acquiring position data of the satellite positioning equipment when the satellite is disconnected with the satellite positioning equipment and the satellite positioning equipment passes through the point to be measured through an inertial sensor; wherein the inertial sensor and the satellite positioning device move synchronously; the field size determining unit is used for determining the size of the examination field based on the position data corresponding to each point to be detected; and the rechecking unit is used for determining that the examination field is qualified when the difference value between the size of the examination field and the preset field size meets a first preset condition.
Based on the second aspect, in a possible design, the first obtaining unit is further configured to obtain, by the satellite positioning apparatus, a position signal representing the satellite positioning apparatus when passing through the point to be measured; analyzing the position signal, and determining a first protocol corresponding to the satellite positioning equipment; determining a first data format corresponding to the first protocol based on a pre-stored correspondence between the protocol and the data format; and the device is used for acquiring the position data of the satellite positioning equipment when passing through the point to be measured based on the position signal and the first data format.
Based on the second aspect, in a possible design, the site size determining unit is further configured to obtain, by the inertial sensor, an included angle between a plane where each point to be measured is located and a horizontal plane; and the size of the examination field is determined based on the position data and the included angle corresponding to each point to be detected.
Based on the second aspect, in a possible design, the site size determining unit is further configured to determine, for each point to be measured, when there are a plurality of position data corresponding to the point to be measured, a first average value of the plurality of position data corresponding to the point to be measured; determining a plurality of first position data of which the difference value with the first mean value meets a second preset condition from the plurality of position data; determining a second mean of a plurality of the first location data; and the size of the examination field is determined based on the second average value corresponding to each point to be detected.
Based on the second aspect, in a possible design, the site size determining unit is further configured to generate the test site graph based on the position data corresponding to each point to be measured; and a graphic for the test site that determines the dimensions of the test site.
Based on the second aspect, in one possible design, the apparatus further includes: a third acquisition unit, configured to acquire, by the satellite positioning device, position data of the satellite positioning device when passing through a projection point representing a size of an examination vehicle; a vehicle size determination unit configured to determine a size for the test vehicle based on position data corresponding to a plurality of the projection points; and the vehicle rechecking unit is used for determining that the test vehicle is qualified when the difference value between the size of the test vehicle and the preset vehicle size meets a third preset condition.
Based on the second aspect, in a possible design, the vehicle size determination unit is further configured to acquire, by the inertial sensor, position data of the satellite positioning device when passing through the projection point when the satellite is disconnected from the satellite positioning device; wherein the inertial sensor and the satellite positioning device move synchronously; and means for determining a size for the test vehicle based on the location data corresponding to the plurality of projection points.
In a third aspect, an embodiment of the present application provides a processing terminal, including a processor and a memory connected to the processor, where the memory stores a computer program, and when the computer program is executed by the processor, the processing terminal is caused to execute the method of the first aspect.
In a fourth aspect, an embodiment of the present application provides a storage medium, in which a computer program is stored, and when the computer program runs on a computer, the computer is caused to execute the method of the first aspect.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of an examination item review system according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a processing terminal according to an embodiment of the present application.
Fig. 3 is a flowchart of an examination item review method according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a vehicle testing field according to an embodiment of the present application.
Fig. 5 is a schematic view of another vehicle testing field provided in the embodiments of the present application.
Fig. 6 is a schematic structural diagram of an examination item review device according to an embodiment of the present application.
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Examples
Referring to fig. 1, fig. 1 is a system 20 for reviewing examination items according to an embodiment of the present disclosure, the system including: the system comprises a satellite positioning device 202, an inertial sensor 203, a reference station 201 and a processing terminal 100, wherein the satellite positioning device 202 is connected with the inertial sensor 203, the reference station 201 is arranged at a known position near a vehicle examination field, when the size of the vehicle examination field needs to be measured, the satellite positioning device 202 and the inertial sensor 203 are arranged on a point to be measured representing the size of the vehicle examination field, an inertial sensor 203 interface is arranged on the satellite positioning device 202, the inertial sensor 203 is in communication connection with the satellite positioning device 202 through the inertial sensor 203 interface, the satellite positioning device 202 and the inertial sensor 203 synchronously move among a plurality of points to be measured, the processing terminal 100 is respectively connected with the satellite positioning device 202 and the inertial sensor 203, the reference station 201 is connected with the satellite positioning device 202, and the satellite positioning device 202 and the reference station 201 are respectively in communication connection with a satellite, the processing terminal 100 is configured to execute the steps of the examination item review method provided in this embodiment of the application, so as to obtain position data of a point to be tested representing the size of a vehicle examination field and position data of a projection representing the size of an examination vehicle from the satellite positioning device 202 and the inertial sensor 203, determine the size of the examination field based on the position data corresponding to each point to be tested, and determine that the examination field is qualified when a difference value between the size of the examination field and a preset field size satisfies a first preset condition.
In the vehicle test field, please refer to the driving skill test system of the field in section 3 of the general technical conditions of the motor vehicle driver test system for the definition of the point to be tested.
The processing terminal 100 may be a Personal Computer (PC), a tablet PC, a smart phone, a Personal Digital Assistant (PDA), or the like.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a processing terminal 100 according to an embodiment of the present disclosure, where the processing terminal 100 may include: a memory 102, a processor 101, a communication interface 103, and a communication bus for enabling connection communication of these components.
The Memory 102 is configured to store position data of a point to be tested representing a size of a vehicle test field, position data of a projection point representing a size of a vehicle test field, a preset field size, a preset vehicle size, and various data such as a computer program instruction corresponding to the field rechecking method and apparatus provided in the embodiment of the present application, where the Memory 102 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor 101 is configured to execute the steps of the examination item review method provided by the embodiment of the present application when reading and executing the computer program instructions stored in the memory.
The processor 101 may be an integrated circuit chip having signal processing capability. The Processor 101 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The communication interface 103 may be any device, such as a transceiver, for transmitting the result of the review test to a user terminal communicatively connected to the processing terminal 100 for display.
Referring to fig. 3, fig. 3 is a flowchart of an examination item review method according to an embodiment of the present application, the method is applied to the examination item review system 20 shown in fig. 1, and the flowchart of fig. 3 is described in detail below, where the method includes:
s100: when a satellite is connected to the satellite positioning device 202, position data of the satellite positioning device 202 when passing through a point to be measured which represents the size of the vehicle test field is acquired by the satellite positioning device 202.
S200: when the satellite is disconnected from the satellite positioning equipment 202, acquiring position data of the satellite positioning equipment 202 when the satellite passes through the point to be measured through an inertial sensor 203; wherein the inertial sensor 203 and the satellite positioning device 202 move synchronously.
S300: and determining the size of the examination field based on the position data corresponding to each point to be tested.
S400: and when the difference value between the size of the examination field and the preset field size meets a first preset condition, determining that the examination field is qualified.
In the examination of the driving school of the motor vehicle, the provider of the examination site of the motor vehicle usually carries out the non-compliant construction of the examination site so as to reduce the difficulty of the motor vehicle examination and improve the passing rate of the examination, therefore, the examination site of the motor vehicle needs to be rechecked in order to avoid the above situation. However, in the existing field rechecking technology, a large number of workers are generally required to perform the tape-out measurement in a vehicle test field, and the rechecking efficiency and the measurement accuracy are low.
Since the positioning accuracy of the Real-time kinematic (RTK) carrier-phase differential technique is relatively high, in one possible implementation, S100 may be implemented as follows: when the satellite is connected with the satellite positioning device 202 and the reference station 201 respectively, the reference station 201 and the satellite positioning device 202 receive signals transmitted by the same satellite at the same time, the reference station 201 acquires and transmits differential data to the satellite positioning device 202 based on a first positioning signal which is acquired from the satellite and represents the position of the reference station 201 and preset position data of the reference station 201, and the satellite positioning device 202 acquires and transmits the position data of the satellite positioning device 202 when the satellite positioning device 202 passes through a point to be measured to the processing terminal 100 based on a second positioning signal which is acquired from the satellite and represents the position of the satellite positioning device 202 when the satellite positioning device 202 passes through the point to be measured and the differential data. Since the position data sent by the satellite to the satellite positioning device 202 is latitude and longitude data, the satellite positioning device 202 needs to convert the latitude and longitude data into east, north, and sky coordinate data, and the coordinate conversion method is the prior art, and thus is not described any further.
Since the protocols used by different satellite positioning devices 202 may be different, which in turn causes different data formats to be used by different satellite positioning devices 202 when transmitting signals, for different satellite positioning devices 202, in order to be able to extract position data from signals transmitted by the satellite positioning devices 202, as an embodiment, S100 includes:
a position signal characterizing the satellite positioning device 202 as it passes the point to be measured is acquired by the satellite positioning device 202.
When the satellite positioning device 202 obtains the position data representing that the satellite positioning device 202 passes through the point to be measured, based on the first data format and the first protocol corresponding to the satellite positioning device 202, a position signal containing the position data corresponding to the point to be measured is sent to a processing terminal.
The position signal is parsed to determine a first protocol corresponding to the satellite positioning device 202.
And analyzing the position signal, and acquiring the name of the first protocol corresponding to the satellite positioning equipment 202 from the analyzed data.
And determining a first data format corresponding to the first protocol based on the corresponding relation between the pre-stored protocol and the data format.
As an embodiment, in order to be able to quickly identify the data format of the position signal when acquiring the position signal sent by the satellite positioning device 202, a correspondence between the protocol and the data format is established in advance and stored in the memory of the processing terminal, and after acquiring the first protocol, the first data format corresponding to the first protocol may be determined from the correspondence between the protocol and the data format stored in advance. Based on the position signal and the first data format, position data of the satellite positioning device 202 when passing through the point to be measured is obtained.
After the position signal is analyzed, position data and other data including the position of the satellite positioning device 202 when passing through the point to be measured are obtained, and then, based on the first data format, position data corresponding to the point to be measured is quickly and accurately obtained from the analyzed data.
S200: when the satellite is disconnected from the satellite positioning equipment 202, acquiring position data of the satellite positioning equipment 202 when the satellite passes through the point to be measured through an inertial sensor 203; wherein the inertial sensor 203 and the satellite positioning device 202 move synchronously.
In an actual measurement process, when a satellite signal is blocked, the satellite positioning device 202 is disconnected from the satellite, which in turn causes that the satellite positioning device 202 cannot acquire the position data corresponding to the point to be measured when passing through the point to be measured, and therefore, in one possible implementation, S200 may be implemented in such a way that, when the satellite is disconnected from the satellite positioning device 202, the inertial sensor 203 acquires the position data of the satellite positioning device 202 when passing through the point to be measured based on the latest position data acquired from the satellite positioning device 202.
For example, when the satellite positioning device 202 passes through a point to be measured, the satellite positioning device 202 is in a connected state with a satellite, the satellite positioning device 202 sends position data corresponding to the point to be measured to the inertial sensor 203, the inertial sensor 203 updates the current position data by using the position data corresponding to the point to be measured, which is acquired from the satellite positioning device 202, and when the satellite positioning device 202 passes through b point to be measured, the satellite positioning device 202 is in a disconnected state with the satellite, and at this time, the inertial sensor 203 acquires the position data corresponding to the point to be measured b based on the distance between the point to be measured and the point to be measured b and the position data corresponding to the point to be measured, which is acquired from the satellite positioning device 202.
S300: and determining the size of the examination field based on the position data corresponding to each point to be tested.
When an included angle between a plane where a point to be measured of an examination site is located and a horizontal plane is not zero, if a site size is calculated by using sky coordinate data in position data of the point to be measured acquired by the satellite positioning device 202, a large measurement error may occur in the site size, and therefore, as an embodiment, S300 includes: a1 and a 2.
A1: and acquiring the included angle between the plane of each point to be measured and the horizontal plane through the inertial sensor 203.
When the inertial sensor 203 moves to the point to be measured, the inertial sensor 203 acquires an included angle between a plane where the point to be measured is located and a horizontal plane, and sends the included angle to the processing terminal 100.
A2: and determining the size of the examination field based on the position data and the included angle corresponding to each point to be tested.
The method comprises the steps of determining the projection distance of two adjacent points to be measured on a horizontal plane based on east coordinates and north coordinates of the two adjacent points to be measured, determining cosine values corresponding to the two adjacent points to be measured based on the included angle between the two adjacent points to be measured, and taking the quotient of the projection distance corresponding to the two adjacent points to be measured and the cosine values as the distance between the two adjacent points to be measured.
For example, referring to fig. 4, as shown in fig. 4, when an included angle between a connecting line between a point a to be measured and a point B to be measured and a horizontal plane is θ, a projection point of the point a to be measured on the horizontal plane is a ', a projection point of the point B to be measured on the horizontal plane is B', and a projection distance (i.e., a distance between a 'and B') L between the point a to be measured and the point B to be measured on the horizontal plane is determined based on an east coordinate and a north coordinate of the point a to be measured, and the east coordinate and the north coordinate of the point B to be measuredA'B'And determining cosine values cos theta corresponding to the point A to be measured and the point B to be measured based on
Determining the distance L between the point A to be measured and the point B to be measuredAB。
In order to improve the estimation accuracy, S300 includes, as another embodiment, that the estimation accuracy is not high if only one position data is acquired for each point to be measured: b1, B2, B3 and B4.
B1: and determining a first average value of a plurality of position data corresponding to each point to be measured when the position data corresponding to the point to be measured are a plurality.
For each point to be measured, the satellite positioning device 202 and the inertial sensor 203 are used to obtain a plurality of position data corresponding to the point to be measured, the plurality of position data corresponding to the point to be measured are averaged, and a first average value of the plurality of position data corresponding to the point to be measured is determined.
B2: and determining a plurality of first position data of which the difference value with the first mean value meets a second preset condition from the plurality of position data.
If the average value of the plurality of position data corresponding to the point to be measured is directly taken as the final position data corresponding to the point to be measured, the estimation accuracy is low when position data with large errors exist in the plurality of position data corresponding to the point to be measured, therefore, in order to overcome the problems, the absolute value of the difference value between each position data in the plurality of position data and the first average value is determined, when the absolute value of the difference value is greater than a second preset difference value, the position data corresponding to the absolute value of the difference value is removed from the plurality of position data, when the absolute value of the difference value is less than or equal to the second preset difference value, the position data corresponding to the absolute value of the difference value is taken as the first position data corresponding to the point to be measured, wherein the second preset difference value is an empirical value, and therefore, the value range of the second preset difference value is 0.5cm-1cm, wherein the second preset difference value may be 0.5cm, 0.6cm, 0.7cm, 1cm, and the like.
B3: a second mean of a plurality of the first location data is determined.
And aiming at each point to be measured, when a plurality of first position data corresponding to the point to be measured are obtained, averaging the first position data, and determining a second average value corresponding to the point to be measured.
B4: and determining the size of the examination field based on the second average value corresponding to each point to be detected.
And determining the size of the examination field based on the difference value of the second mean values corresponding to two adjacent points to be measured when the second mean value corresponding to the point to be measured is obtained for each point to be measured.
For example, referring to fig. 5, as shown in fig. 5, 8 points to be tested are arranged on a vehicle test site, and based on a second average value corresponding to each point to be tested, the distance between point 1 to be tested and point 2 to be tested, the distance between point 2 to be tested and point 3 to be tested, the distance between point 3 to be tested and point 4 to be tested, the distance between point 3 to be tested and point 6 to be tested, the distance between point 4 to be tested and point 5 to be tested, the distance between point 5 to be tested and point 6 to be tested, the distance between point 6 to be tested and point 7 to be tested, the distance between point 7 to be tested and point 8 to be tested, and the distance between point 8 to be tested and point 1 to be tested are calculated respectively to determine the size of the test site.
In order to more intuitively understand the shape of the vehicle test site and the size of various places on the test site, S300 includes, as another embodiment: c1 and C2.
C1: and generating the test field graph based on the position data corresponding to each point to be tested.
After the position data corresponding to each point to be tested is obtained, line segments used for connecting two adjacent points to be tested are generated based on the two adjacent position data to be tested, and then the test field graph is generated.
C2: determining the size of the examination site based on the examination site graph.
And determining the distance between the adjacent points to be measured based on the position data of the adjacent points to be measured in the test field graph, and then determining the size of the test field based on the distance between the adjacent points to be measured.
S400: and when the difference value between the size of the examination field and the preset field size meets a first preset condition, determining that the examination field is qualified.
When the absolute value of the difference between the length of any two adjacent line segments of the points to be tested and the preset field size is smaller than or equal to a first preset difference, the examination field is determined to be qualified, the first preset difference is set according to the industry requirement, the difference between the length of the line segments of the adjacent points to be tested and the preset field size is qualified within the range of +/-1 cm, and therefore the value range of the first preset difference is from-1 cm to +1 cm.
As an embodiment, after S400, the method further includes:
and when the difference value between the size of the examination field and the preset field size does not meet a first preset condition, determining that the examination field is unqualified.
And when a line segment with the length difference from the preset field size larger than a first preset difference exists in line segments of any two adjacent points to be tested, determining that the examination field is unqualified.
The color of the line segment which does not meet the first preset condition on the examination site graph is set to be bright warning color, such as orange, the color of the line segment which meets the first preset condition on the examination site graph is set to be gray, wherein the pattern of the line segment which does not meet the first preset condition on the examination site graph is different from the pattern of the line segment which meets the first preset condition, so that a user can conveniently and quickly determine an area which does not meet the first preset condition.
In order to reduce the difficulty of the motor vehicle test and improve the passing rate of the test, a vehicle provider of the motor vehicle test usually modifies the model parameters of the vehicle under test, and therefore, in order to avoid the above situation, the vehicle provider needs to review the model of the vehicle under test, and as an embodiment, the method further includes: d1, D2 and D3.
D1: position data of the satellite positioning device 202 when passing through a proxel characterizing the size of the test vehicle is acquired by the satellite positioning device 202.
A plurality of test points for representing the size of the vehicle are selected on the test vehicle, and since the satellite positioning device 202 is convenient to place on the test vehicle, the satellite positioning device 202 is placed on projection points of the plurality of test points on the horizontal plane, and when the satellite positioning device 202 is connected with a satellite, the satellite positioning device 202 obtains position data of the satellite positioning device 202 when the satellite positioning device 202 passes through the projection points representing the size of the test vehicle, wherein the way of obtaining the position data of the satellite positioning device 202 when the satellite positioning device 202 passes through the projection points representing the size of the test vehicle is the same as that of S100, and therefore, the details are not repeated.
When the size of the vehicle to be tested is measured, please refer to the driving skill testing system of the site in the 3 rd part of the general technical conditions of the motor vehicle driver testing system for the definition of the test points.
D2: determining a size for the test vehicle based on the location data corresponding to the plurality of projection points.
In one possible embodiment, D2 may be implemented by determining a distance between proxels characterizing a size of the test vehicle based on location data corresponding to a plurality of the proxels, and then determining the size of the test vehicle based on the distance between the proxels.
As another embodiment, D2 includes:
acquiring position data of the satellite positioning device 202 when passing the projection point through the inertial sensor 203 while the satellite is disconnected from the satellite positioning device 202; wherein the inertial sensor 203 and the satellite positioning device 202 move synchronously; determining the size of the vehicle for examination based on the position data corresponding to the plurality of projection points, and when the satellite is disconnected from the satellite positioning device 202, acquiring the position data of the satellite positioning device 202 when the satellite passes through the projection points through the inertial sensor 203 in the same manner as S200, which is not described again.
As another embodiment, D2 includes:
after the position data corresponding to each projection point is obtained, a line segment for connecting the two adjacent projection points is generated based on the position data of the two adjacent projection points, and then the test vehicle graph is generated.
Determining a distance between the proxels characterizing a vehicle size based on the location data of the proxels in the test vehicle graphic, and then determining the size of the test vehicle based on the distance between the proxels.
As another embodiment, D2 includes:
and for each projection point, when the position data corresponding to the projection point is multiple, determining a third average value of the multiple position data corresponding to the projection point.
And determining a plurality of second position data, the difference value of which with the third mean value meets a fourth preset condition, from the plurality of position data corresponding to the projection point.
Determining an absolute value of a difference between each of the plurality of position data and the third mean value, when the absolute value of the difference is greater than a fourth preset difference, removing the position data corresponding to the absolute value of the difference from the plurality of position data corresponding to the projection point, and when the absolute value of the difference is less than or equal to the fourth preset difference, using the position data corresponding to the absolute value of the difference as second position data corresponding to the projection point, wherein the value range of the fourth preset difference is 0.5cm-1cm, the fourth preset difference can be a positive number such as 0.5cm, 0.7cm, 1cm, and the like, and the fourth preset difference is an empirical value.
A fourth mean of a plurality of the second location data is determined.
Determining the size of the test vehicle based on the fourth mean value corresponding to each projection point.
D3: and when the difference value between the size of the test vehicle and the preset vehicle size meets a third preset condition, determining that the test vehicle is qualified.
When the absolute values of the differences between the lengths of the line segments between the projection points representing the sizes of the vehicles and the preset sizes of the vehicles are less than or equal to a third preset difference, the vehicles to be tested are determined to be qualified, wherein the third preset difference is set according to industry requirements, and when the absolute values of the differences between the lengths of the line segments between the projection points representing the sizes of the vehicles and the preset sizes of the vehicles are less than or equal to 2cm, the vehicles to be tested are determined to be qualified, so that the value range of the third preset difference is 0cm-2cm, wherein the third preset difference can be 1cm, 1.5cm, 2cm and the like.
Referring to fig. 6, fig. 6 is a block diagram illustrating an examination item reviewing device 400 according to an embodiment of the present disclosure. The block diagram of fig. 6 will be explained, and the apparatus shown comprises:
a first obtaining unit 410, configured to obtain, by the satellite positioning device 202, position data of the satellite positioning device 202 when passing through a point to be measured that represents a size of a vehicle test field when a satellite is connected to the satellite positioning device 202.
A second obtaining unit 420, configured to obtain, through the inertial sensor 203, position data of the satellite positioning apparatus 202 when the satellite is disconnected from the satellite positioning apparatus 202; wherein the inertial sensor 203 and the satellite positioning device 202 move synchronously.
A site size determining unit 430, configured to determine the size of the examination site based on the position data corresponding to each point to be measured.
And the rechecking unit 440 is configured to determine that the examination site is qualified when a difference between the size of the examination site and a preset site size meets a first preset condition.
As an embodiment, the first obtaining unit 410 is further configured to obtain, by the satellite positioning apparatus 202, a position signal representing that the satellite positioning apparatus 202 passes through the point to be measured; analyzing the position signal, and determining a first protocol corresponding to the satellite positioning device 202; determining a first data format corresponding to the first protocol based on a pre-stored correspondence between the protocol and the data format; and for acquiring position data of the satellite positioning device 202 as it passes the point to be measured, based on the position signal and the first data format.
As an implementation manner, the site size determining unit 430 is further configured to obtain, by using the inertial sensor 203, an included angle between a plane where each of the points to be measured is located and a horizontal plane; and the size of the examination field is determined based on the position data and the included angle corresponding to each point to be detected.
As an embodiment, the site size determining unit 430 is further configured to determine, for each point to be measured, when there are a plurality of position data corresponding to the point to be measured, a first average value of the plurality of position data corresponding to the point to be measured; determining a plurality of first position data of which the difference value with the first mean value meets a second preset condition from the plurality of position data; determining a second mean of a plurality of the first location data; and the size of the examination field is determined based on the second average value corresponding to each point to be detected.
As an embodiment, the site size determining unit 430 is further configured to generate the test site graph based on the position data corresponding to each point to be measured; and a graphic for the test site that determines the dimensions of the test site.
As an embodiment, the apparatus further comprises: a third acquisition unit configured to acquire, by the satellite positioning device 202, position data of the satellite positioning device 202 when passing through a projection point representing a size of the test vehicle; a vehicle size determination unit configured to determine a size for the test vehicle based on position data corresponding to a plurality of the projection points; and the vehicle rechecking unit is used for determining that the test vehicle is qualified when the difference value between the size of the test vehicle and the preset vehicle size meets a third preset condition.
As an embodiment, the vehicle size determination unit is further configured to acquire, by the inertial sensor 203, position data of the satellite positioning device 202 when the satellite is disconnected from the satellite positioning device 202 when passing through the projection point; wherein the inertial sensor 203 and the satellite positioning device 202 move synchronously; and means for determining a size for the test vehicle based on the location data corresponding to the plurality of projection points.
Please refer to the content described in the embodiment shown in fig. 3 for the process of implementing each function by each functional unit in this embodiment, which is not described herein again.
In addition, a storage medium is provided in an embodiment of the present application, and a computer program is stored in the storage medium, and when the computer program runs on a computer, the computer is caused to execute the method provided in any embodiment of the present application.
To sum up, the examination item review method, the examination item review device, the examination item review processing terminal and the storage medium provided by the embodiments of the present application include: when a satellite is connected with a satellite positioning device 202, acquiring position data of the satellite positioning device 202 when the satellite positioning device 202 passes through a point to be measured representing the size of a vehicle test field through the satellite positioning device 202; when the satellite is disconnected from the satellite positioning equipment 202, acquiring position data of the satellite positioning equipment 202 when the satellite passes through the point to be measured through an inertial sensor 203; wherein the inertial sensor 203 and the satellite positioning device 202 move synchronously; determining the size of the examination field based on the position data corresponding to each point to be tested; and when the difference value between the size of the examination field and the preset field size meets a first preset condition, determining that the examination field is qualified. By the mode, when the satellite is disconnected from the satellite positioning equipment 202, the examination site size can be rapidly and accurately determined, and then whether the site is qualified or not is rapidly and accurately determined based on the difference value between the examination site size and the preset site size.
In the embodiments provided in the present application, it should be understood that the devices and methods set forth may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based devices that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
Claims (10)
1. A method of reviewing an examination item, the method comprising:
when a satellite is connected with satellite positioning equipment, acquiring position data of the satellite positioning equipment when the satellite positioning equipment passes through a point to be measured representing the size of a vehicle test field through the satellite positioning equipment;
when the satellite is disconnected with the satellite positioning equipment, position data of the satellite positioning equipment passing through the point to be measured is obtained through an inertial sensor; wherein the inertial sensor and the satellite positioning device move synchronously;
determining the size of the examination field based on the position data corresponding to each point to be tested;
when the difference value between the size of the examination field and the preset field size meets a first preset condition, determining that the examination field is qualified;
the method for acquiring the position data of the satellite positioning equipment when the satellite positioning equipment passes through the point to be measured by the inertial sensor comprises the following steps: and the inertial sensor acquires the position data of the satellite positioning equipment when passing through the point to be measured based on the latest position data acquired from the satellite positioning equipment.
2. The method according to claim 1, wherein the acquiring, by the satellite positioning device, position data of the satellite positioning device when passing a point to be measured representing a size of a vehicle test field comprises:
acquiring a position signal representing the satellite positioning equipment when the satellite positioning equipment passes through the point to be measured by the satellite positioning equipment;
analyzing the position signal, and determining a first protocol corresponding to the satellite positioning equipment;
determining a first data format corresponding to the first protocol based on a pre-stored correspondence between the protocol and the data format;
and acquiring the position data of the satellite positioning equipment when the satellite positioning equipment passes through the point to be measured based on the position signal and the first data format.
3. The method of claim 1, wherein determining the size of the examination site based on the location data corresponding to each point to be tested comprises:
acquiring an included angle between a plane where each point to be measured is located and a horizontal plane through the inertial sensor;
and determining the size of the examination field based on the position data and the included angle corresponding to each point to be tested.
4. The method of claim 1, wherein determining the size of the examination site based on the location data corresponding to each point to be tested comprises:
for each point to be measured, when the position data corresponding to the point to be measured is multiple, determining a first average value of the multiple position data corresponding to the point to be measured;
determining a plurality of first position data of which the difference value with the first mean value meets a second preset condition from the plurality of position data;
determining a second mean of a plurality of the first location data;
and determining the size of the examination field based on the second average value corresponding to each point to be detected.
5. The method of claim 1, wherein determining the size of the examination site based on the location data corresponding to each point to be measured comprises:
generating the test field graph based on the position data corresponding to each point to be tested;
determining the size of the examination site based on the examination site graph.
6. The method of claim 1, further comprising:
acquiring, by the satellite positioning device, position data of the satellite positioning device when passing through a proxel representing a size of an examination vehicle;
determining a size for the test vehicle based on location data corresponding to a plurality of the projection points;
and when the difference value between the size of the test vehicle and the preset vehicle size meets a third preset condition, determining that the test vehicle is qualified.
7. The method of claim 6, wherein determining the size for the test vehicle based on the location data corresponding to the plurality of projection points comprises:
when the satellite is disconnected from the satellite positioning equipment, acquiring position data of the satellite positioning equipment when the satellite passes through the projection point through the inertial sensor; wherein the inertial sensor and the satellite positioning device move synchronously;
determining a size for the test vehicle based on the location data corresponding to the plurality of projection points.
8. An examination item review device, the device comprising:
the vehicle test system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring position data of a satellite positioning device when the satellite is connected with the satellite positioning device and the satellite positioning device passes through a point to be tested which represents the size of a vehicle test field;
the second acquisition unit is used for acquiring position data of the satellite positioning equipment when the satellite is disconnected with the satellite positioning equipment and the satellite positioning equipment passes through the point to be measured through an inertial sensor; wherein the inertial sensor and the satellite positioning device move synchronously;
the field size determining unit is used for determining the size of the examination field based on the position data corresponding to each point to be detected;
the examination site rechecking unit is used for determining that the examination site is qualified when the difference value between the size of the examination site and the preset site size meets a first preset condition;
the method for acquiring the position data of the satellite positioning equipment when the satellite positioning equipment passes through the point to be measured by the inertial sensor comprises the following steps: and the inertial sensor acquires the position data of the satellite positioning equipment when passing through the point to be measured based on the latest position data acquired from the satellite positioning equipment.
9. A processing terminal comprising a memory and a processor, the memory having stored therein computer program instructions, wherein the computer program instructions, when read and executed by the processor, perform the steps of the method according to any one of claims 1 to 7.
10. A storage medium having stored thereon computer program instructions which, when read and executed by a computer, perform the steps of the method according to any one of claims 1 to 7.
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| CN111564088B (en) * | 2020-03-06 | 2022-02-01 | 公安部交通管理科学研究所 | Satellite positioning-based motor vehicle driver examination item rapid rechecking method |
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