CN110646824B - Method for realizing motion trail drift point filtering calculation in multiple positioning modes - Google Patents
Method for realizing motion trail drift point filtering calculation in multiple positioning modes Download PDFInfo
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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
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
A method for realizing motion trail drift point filtering calculation by multiple positioning modes comprises the following steps: terminal data acquisition and reporting: the method comprises the steps that a vehicle-mounted terminal of an automobile sends a plurality of groups of positioning data packets to a server in a timing manner to reduce uploading frequency, and the terminal data packets are divided into a motion state and a stop state; the server collects a plurality of groups of positioning data packet data at regular time, performs data cleaning treatment, de-duplicated the received repeated data packet, and divides the position coordinates into stop coordinates and movement points; and filtering the motion state track drift point and the stop state track drift point respectively. According to the method, data are collected through the software automobile positioning terminal, the terminal is mainly in a GPS positioning mode, WIFI positioning and base station positioning are used as a supplementary positioning mode when GPS positioning cannot be obtained, the collected data are subjected to data cleaning through the service cloud platform, drift points are filtered out through different algorithms of static position points and dynamic position points, and finally relatively accurate track coordinates of the vehicle are presented on a map.
Description
Technical Field
The application relates to the technical field of positioning, in particular to a calculation method for realizing motion trail drift point filtering in multiple positioning modes.
Background
The GPS automobile-mounted terminal equipment has certain positioning errors due to the influence of the inside and the outside in the process, and in practical application, longitude and latitude coordinates acquired by the terminal drift in a specific application scene, so that various reasons are generated, such as cloudy days, dense buildings, shielding and the like.
The vehicle can not be positioned when being simply positioned by the GPS in urban canyons, shielded or parked in the basement, so that the problem of vehicle tracking is solved by adopting various positioning modes. The GPS is preferably adopted as the main WiFi positioning for assistance under the vehicle movement condition, the GPS is preferably adopted as the main WiFi positioning for assistance after the vehicle stops, and the position is acquired through a base station positioning mode when the GPS and the GPS cannot be positioned.
At present, the precision of GPS positioning terminal hardware equipment is provided, so that the phenomenon of position drift is reduced or improved, the cost is high, and the effect is general. WiFi positioning, and particularly base station positioning, has a relatively large error.
In general, only a GPS positioning mode is used, and in places where GPS signals cannot cover, incomplete tracks appear, and the relative integrity of the positions is guaranteed by supplementing WiFi and base station positioning modes, but the deviation of WiFi positioning and base station positioning is larger, particularly the deviation of base station positioning is more obvious, and some drift points can be generated when a terminal moves or is stationary.
Disclosure of Invention
In order to solve the problems, a method for realizing the filtering calculation of the motion trail drift point in a plurality of positioning modes is provided.
A method for realizing motion trail drift point filtering calculation by multiple positioning modes comprises the following steps of
S1: terminal data acquisition and reporting: the vehicle-mounted terminal of the automobile sends a plurality of groups of positioning data packets to the server, and the terminal data packets are divided into a motion state and a stop state;
s2: the server collects a plurality of groups of positioning data packet data at regular time, performs data cleaning treatment, de-duplicated the received repeated data packet, and divides the position coordinates into stop coordinates and movement points;
the positioning of the terminal in the motion state comprises GPS positioning and WiFi positioning, wherein the GPS positioning is mainly used, and the WiFi auxiliary positioning is performed when the GPS cannot be positioned; the positioning in the stop state comprises GPS positioning, wiFi positioning and base station positioning; if the uploaded terminal data packet is the motion state information of each positioning point marked by the GPS position packet, the GPS motion state information at least comprises positioning time information, speed information, coordinate information and moving azimuth angle information; if the uploading is a WiFi positioning request packet, requesting to acquire positioning coordinates from a Goldde interface according to the MAC address; if the uploading data packet is a base station request, the base station positioning coordinate is requested to be acquired from an operator.
In the step S2, the data cleaning process includes the following steps:
the filtering terminal repeatedly uploads data and de-duplicated the data of the same coordinate point at the same time;
reordering the data in chronological order;
and distinguishing the stop state position coordinate point from the motion state position coordinate point.
The motion state track drift point filtering comprises the following steps:
acquiring a coordinate point of a motion track in continuous time between two rest points;
calculating a distance average value M, an average speed V and a distance standard deviation S among the coordinate points;
check and mark outliers: detecting a distance D between two points point by point, if D is greater than M+2S, marking the distance D as an abnormal point, otherwise, recording the abnormal point in a reasonable range, and recording the sequence in the set of track coordinate points;
first abnormal point offset judgment: judging whether the abnormal point is a first packet coordinate point, if so, continuously judging N points from a second point, wherein N is equal to the first packet>5, detecting whether the distance D between every two points is within a reasonable range or not point by point according to the speed and the direction angle of each point respectively, and if the distance D between the two points is larger than 2 times of the average speed of the two points multiplied by the time interval, the distance D is not within the reasonable range, namely the distance D>2（10（V i +V i+1 ) (2) acquisition interval of 10 seconds, V i Represents the speed of the ith point, V i+1 Indicating the speed of the i+1th point. If the second abnormal point is found, marking the first point and the second abnormal point as drift points, detecting N points point by point after the second abnormal point until no abnormal point is foundThe first point is marked as a drift point;
and (3) judging the deviation of the position points in the track: selecting N points (N > 5) on two sides of the abnormal point, and detecting whether the distance D between the two points is in a reasonable range or not point by point according to the speed and the direction angle of each point; if abnormality exists between the i and the i+1 points, drift points are marked between the abnormal point and the i+1 points; if not, marking as normal; .
The stop-state trajectory drift point filtering includes the steps of:
acquiring a stopping coordinate point of stopping the vehicle, judging the coordinate type, if the coordinate type is GPS positioning coordinates, reporting a plurality of stopping points by the acquisition terminal, and outputting a central point through an aggregation algorithm as an effective stopping point coordinate; if the positioning is WiFi positioning: when the GPS signal cannot be acquired, the WiFi auxiliary positioning is prioritized, and the WiFi positioning is an effective stopping coordinate point; if the base station is located: when GPS and WiFi positioning cannot be acquired, the base station assists in positioning, judges the position names of the last N effective coordinate points in the inverse geocoding, estimates a path according to AOI semantics, estimates a last stopping point according to semantics, and outputs the coordinate positions after the inverse geocoding.
A readable storage medium having stored thereon an executable program which when executed by a processor performs the steps of the method.
An electronic device, comprising:
a memory having an executable program stored thereon;
a processor for executing the executable program in the memory to implement the steps of the method.
The application has the beneficial effects that: the method performs segmentation grouping and clustering analysis on the original motion trail, and then analyzes and filters data of suspicious points by positioning type, motion time, motion direction and analysis motion trend, so that drift points are filtered out to obtain a relatively smooth motion trail. The GPS positioning drift and inaccurate position during WiFi and base station auxiliary positioning are solved, and the track deviation jump problem is revised, so that the real vehicle running track is displayed more effectively.
Drawings
FIG. 1 is a frame diagram showing a complete track on a map in a number of positioning modes.
Detailed Description
The application will be described in further detail with reference to the drawings and the detailed description.
A method for realizing motion trail drift point filtering calculation by multiple positioning modes comprises the following steps:
s1: terminal data acquisition and reporting: the method comprises the steps that a vehicle-mounted terminal of an automobile sends a plurality of groups of positioning data packets to a server in a timing manner to reduce uploading frequency, and the terminal data packets are divided into a motion state and a stop state;
s2: the server collects a plurality of groups of positioning data packet data at regular time, performs data cleaning treatment, de-duplicated the received repeated data packet, and divides the position coordinates into stop coordinates and movement points;
s3: and filtering the motion state track drift point and the stop state track drift point respectively.
The positioning of the terminal in the motion state comprises GPS positioning and WiFi positioning, wherein the GPS positioning is mainly used, and the WiFi auxiliary positioning is performed when the GPS cannot be positioned; the positioning in the stop state comprises GPS positioning, wiFi positioning and base station positioning; if the uploaded terminal data packet is the motion state information of each positioning point marked by the GPS position packet, the GPS motion state information at least comprises positioning time information, speed information, coordinate information and moving azimuth angle information; if the uploading is a WiFi positioning request packet, requesting to acquire positioning coordinates from a Goldde interface according to the MAC address; if the uploading data packet is a base station request, the base station positioning coordinate is requested to be acquired from an operator.
The network retransmission mechanism server receives the repeated data packet, firstly, the repeated data packet is de-duplicated, coordinates in the position packet are arranged according to time sequence to remove repeated points, and the data can be classified and the position coordinates are divided into stop coordinates and movement points due to non-real-time and calculation. The data cleaning process specifically comprises the following steps:
the filtering terminal repeatedly uploads data and de-duplicated the data of the same coordinate point at the same time;
reordering the data in chronological order;
and distinguishing the stop state position coordinate point from the motion state position coordinate point according to the motion state of the position packet mark reported by the terminal, wherein 0 is the stop state and 1 is the motion state.
The motion state track drift point filtering comprises the following steps:
acquiring a coordinate point of a motion track in continuous time between two rest points;
calculating a distance average value M, an average speed V and a distance standard deviation S among the coordinate points;
check and mark outliers: detecting a distance D between two points point by point, if D > M+2S is marked as an abnormal point, recording the abnormal point, and recording the sequence in the set of track coordinate points;
first abnormal point offset judgment: judging whether the abnormal point is the first packet coordinate point, if the abnormal point is the first packet, continuously judging N points (N>5, the acquisition interval is 10 seconds), detecting whether the distance D between every two points is in a reasonable range or not point by point according to the speed and the direction angle of each point, and if the distance D between the two points is larger than 2 times of the average speed of the two points multiplied by the time interval, the distance D is not in the reasonable range, namely D>2（10（V i +V i+1 ) (2) acquisition interval of 10 seconds, V i Represents the speed of the ith point, V i+1 Indicating the speed of the i+1th point. If the second abnormal point is found, marking the first point and the second abnormal point as drift points, detecting N points point by point after the second abnormal point is found, and marking the first point as drift points until no abnormal point is found;
and (3) judging the deviation of the position points in the track: selecting N points (N > 5) on two sides of the abnormal point, and detecting whether the distance D between the two points is in a reasonable range or not point by point according to the speed and the direction angle of each point; if abnormality exists between the i and the i+1 points, drift points are marked between the abnormal point and the i+1 points; if not, the mark is normal.
The stop-state trajectory drift point filtering includes the steps of:
acquiring a stopping coordinate point of stopping the vehicle, judging the coordinate type, if the coordinate type is GPS positioning coordinates, reporting a plurality of stopping points by the acquisition terminal, and outputting a central point through an aggregation algorithm as an effective stopping point coordinate; if the positioning is WiFi positioning: when the GPS signal cannot be acquired, the WiFi auxiliary positioning is prioritized, and the WiFi positioning is an effective stopping coordinate point; if the base station is located: and when the GPS and WiFi positioning cannot be acquired, the base station assists in positioning, judges the position names of the last N effective coordinate points in the inverse geocoding, calculates a path according to AOI semantics, predicts a final stopping point (for example, a commercial parking lot and a residential parking lot) according to semantics, and outputs the coordinate positions after the inverse geocoding.
According to the method, data are collected through the software automobile positioning terminal, the terminal is mainly in a GPS positioning mode, WIFI positioning and base station positioning are used as a supplementary positioning mode when GPS positioning cannot be obtained, the collected data are subjected to data cleaning through the service cloud platform, drift points are filtered out through different algorithms of static position points and dynamic position points, and finally relatively accurate track coordinates of the vehicle are presented on a map.
The foregoing is merely a preferred embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that several changes and modifications can be made without departing from the general inventive concept, and these should also be regarded as the scope of the application.
Claims (5)
1. A method for realizing the filtering calculation of a motion trail drift point by a plurality of positioning modes is characterized by comprising the following steps: comprises the following steps
S1: terminal data acquisition and reporting: the vehicle-mounted terminal of the automobile sends a plurality of groups of positioning data packets to the server, and the terminal data packets are divided into a motion state and a stop state;
s2: the server collects a plurality of groups of positioning data packet data at regular time, performs data cleaning treatment, de-duplicated the received repeated data packet, and divides the position coordinates into stop coordinates and movement points;
s3: filtering the motion state track drift point and the stop state track drift point respectively;
the motion state track drift point filtering comprises the following steps:
acquiring a coordinate point of a motion track in continuous time between two rest points;
calculating a distance average value M, an average speed V and a distance standard deviation S among the coordinate points;
check and mark outliers: detecting a distance D between two points point by point, if D is greater than M+2S, marking the distance D as an abnormal point, otherwise, recording the abnormal point in a reasonable range, and recording the sequence of the abnormal point in the set of track coordinate points;
first abnormal point offset judgment: judging whether the abnormal point is a first packet coordinate point, if so, continuously judging N points from a second point, wherein N is equal to the first packet>5, detecting whether the distance D between every two points is within a reasonable range or not point by point according to the speed and the direction angle of each point respectively, and if the distance D between the two points is larger than 2 times of the average speed of the two points multiplied by the time interval, the distance D is not within the reasonable range, namely the distance D>2（10（V i +V i+1 ) (2) acquisition interval of 10 seconds, V i Represents the speed of the ith point, V i+1 Indicating the speed of the i+1th point;
if the second abnormal point is abnormal again, marking the first point and the second abnormal point as drift points, detecting N points point by point after the second abnormal point is abnormal again, and marking the first point as the drift point until no abnormal point is found;
and (3) judging the deviation of the position points in the track: selecting N points on two sides of the abnormal point, wherein N is more than 5, and detecting whether the distance D between the two points is in a reasonable range or not point by point according to the speed and the direction angle of each point; if abnormality exists between the i and the i+1 points, marking the points between the abnormal point and the i+1 points as drift points; if not, marking as normal;
the stop-state trajectory drift point filtering includes the steps of:
acquiring a stopping coordinate point of stopping the vehicle, judging the coordinate type, if the coordinate type is GPS positioning coordinates, reporting a plurality of stopping points by the acquisition terminal, and outputting a central point through an aggregation algorithm as an effective stopping point coordinate; if the positioning is WiFi positioning: when the GPS signal cannot be acquired, the WiFi auxiliary positioning is prioritized, and the WiFi positioning is an effective stopping coordinate point; if the base station is located: when GPS and WiFi positioning cannot be acquired, the base station assists in positioning, judges the position names of the last N effective coordinate points in the inverse geocoding, estimates a path according to AOI semantics, estimates a last stopping point according to semantics, and outputs the coordinate positions after the inverse geocoding.
2. The method for realizing the motion trail drift point filtering calculation by using a plurality of positioning modes according to claim 1, which is characterized in that: the positioning of the terminal in the motion state comprises GPS positioning and WiFi positioning, wherein the GPS positioning is mainly used, and the WiFi auxiliary positioning is performed when the GPS cannot be positioned; the positioning in the stopping state comprises GPS positioning, WIFI positioning and base station positioning; if the uploaded terminal data packet is the motion state information of each positioning point marked by the GPS position packet, the GPS motion state information at least comprises positioning time information, speed information, coordinate information and moving azimuth angle information; if the uploading is a WiFi positioning request packet, requesting to acquire positioning coordinates from a Goldde interface according to the MAC address; if the uploading data packet is a base station request, the base station positioning coordinate is requested to be acquired from an operator.
3. The method for realizing the motion trail drift point filtering calculation by using a plurality of positioning modes according to claim 1, which is characterized in that: in the step S2, the data cleaning process includes the following steps:
the filtering terminal repeatedly uploads data and de-duplicated the data of the same coordinate point at the same time;
reordering the data in chronological order;
and distinguishing the stop state position coordinate point from the motion state position coordinate point.
4. A readable storage medium having stored thereon an executable program, which when executed by a processor, implements the steps of the method of any of claims 1-3.
5. An electronic device, comprising:
a memory having an executable program stored thereon;
a processor for executing the executable program in the memory to implement the steps of the method of any one of claims 1-3.
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