CN111766617A - Method and system for reconstructing motion trail based on mobile platform - Google Patents
Method and system for reconstructing motion trail based on mobile platform Download PDFInfo
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- CN111766617A CN111766617A CN202010912499.9A CN202010912499A CN111766617A CN 111766617 A CN111766617 A CN 111766617A CN 202010912499 A CN202010912499 A CN 202010912499A CN 111766617 A CN111766617 A CN 111766617A
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- 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
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Abstract
The invention discloses a method and a system for reconstructing a motion trail based on a mobile platform, wherein the method comprises the following steps: acquiring a current track point through a satellite positioning system; judging whether the current track point is effective according to the historical track points: if the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map; if the current track point is invalid, the current track point is discarded or used as the starting point of another motion track. The invention aims to provide a method and a system for reconstructing a motion track based on a mobile platform, which are used for screening, optimizing and filtering useless position information data of acquired track information, sorting the time sequence of the track data, and screening elegant and pulled track points, so that the track display of a user is smooth, regular, accurate and coherent.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a method and a system for reconstructing a motion trail based on a mobile platform.
Background
The global positioning system is a system for real-time positioning and navigation in the global scope by using positioning satellites. The navigation information such as low-cost and high-precision three-dimensional position, speed, precise timing and the like can be provided for global users. Satellite positioning technology is now widely used in various fields, for example: measurement, transportation, rescue, agriculture, military industry and the like.
In the field of mobile GIS, in the working operation of water, electricity, gas and other pipe network systems, mobile equipment with satellite positioning is used for positioning geographic position information. When the position information is obtained, the obtained positioning information is generally transmitted to a background server in a mode of continuously uploading for a plurality of times at a certain time interval, the server sorts, analyzes and counts the collected data, and finally the position track of the positioning terminal is displayed on a map by the obtained position information.
When the mobile device uses the satellite positioning system to acquire the geographic position information, the positioning accuracy needs to be improved by one of the three elements of the mobile phone, the mobile phone base station and the mobile phone network, or by combining the three elements, for example, when the positioning chip cannot be used indoors due to shielded satellite signals, the mobile phone base station and the network need to be used to acquire the positioning. Even outdoors, some places cause deviation and drift of the position information of the positioning due to factors of altitude or climate.
Therefore, when the trajectory information of the user is continuously collected, the situations of discontinuous motion trajectories, interruptions, stretching of position information at a plurality of non-adjacent positions in a short time, and the like can occur. The existing positioning track has the situations of position point missing and position point drifting, and a plurality of disordered and disordered position point data can be generated on the final track, and the data can cause the whole motion track to be disordered and can confuse the time sequence, the moving direction and the moving direction of the whole track process.
Disclosure of Invention
The invention aims to provide a method for reconstructing a motion track based on a mobile platform, which is used for screening and optimizing the acquired track information. Useless position information data are filtered, the time sequence of the track data is arranged, and elegant and pulled track points are screened, so that the track display of a user is smooth, regular, accurate and coherent.
The invention is realized by the following technical scheme:
a method for reconstructing a motion trail based on a mobile platform comprises the following steps:
s1: acquiring a current track point through a satellite positioning system;
s2: judging whether the current track point is effective according to the historical track point:
if the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map;
and if the current track point is invalid, the current track point is discarded or used as the starting point of the other motion track.
Further, the S2 includes the following sub-steps:
acquiring the time interval between the current track point and the historical track point and the positioning precision of the current track point;
and judging the time interval and the positioning precision:
if the time interval is smaller than or equal to a time interval threshold value and the positioning precision is smaller than or equal to a positioning precision threshold value, judging that the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map;
if the time interval is greater than the time interval threshold value and the positioning precision is less than or equal to the positioning precision threshold value, judging that the current track point is invalid, and taking the current track point as the starting point of the other motion track;
otherwise, judging that the current track point is invalid, and discarding the current track point.
And further, a detection step is included after the step S2, where the detection step is used to detect whether the current track point is the same as the historical track point in terms of longitude and latitude and the positioning time, and if the current track point is the same as the historical track point in terms of longitude and latitude and the positioning time, the current track point is discarded.
Further, the detecting step further includes a determining step, and the determining step is used for determining whether the current track point drifts or pulls.
Further, the determination method in the determination step is:
obtaining the distance and the interval time between the current track point and the historical track point;
acquiring a speed value according to the distance and the interval time;
and judging the speed value and a speed threshold value, and if the speed value is greater than the speed threshold value, judging that the current track point drifts or is dragged.
A system based on the reconstruction of a motion trail of a mobile platform comprises an acquisition module, a judgment module and an output module;
the acquisition module is used for acquiring the current track point through a satellite positioning system;
the judging module is used for judging whether the current track point is effective according to the historical track point:
if the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map;
and if the current track point is invalid, the current track point is discarded or used as the starting point of the other motion track.
Further, the judging module comprises the following processing procedures:
acquiring the time interval between the current track point and the historical track point and the positioning precision of the current track point;
and judging the time interval and the positioning precision:
if the time interval is smaller than or equal to a time interval threshold value and the positioning precision is smaller than or equal to a positioning precision threshold value, judging that the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map;
if the time interval is greater than the time interval threshold value and the positioning precision is less than or equal to the positioning precision threshold value, judging that the current track point is invalid, and taking the current track point as the starting point of the other motion track;
otherwise, judging that the current track point is invalid, and discarding the current track point.
And the detection module is used for detecting whether the longitude and latitude and the positioning time of the current track point are the same as those of the historical track point, and if the longitude and latitude and the positioning time of the current track point are the same as those of the historical track point, discarding the current track point.
And further, the system also comprises a judging module, wherein the judging module is used for judging whether the current track point drifts or pulls.
Further, the determination method of the determination module is as follows:
obtaining the distance and the interval time between the current track point and the historical track point;
acquiring a speed value according to the distance and the interval time;
and judging the speed value and a speed threshold value, and if the speed value is greater than the speed threshold value, judging that the current track point drifts or is dragged.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the optimization and the screening of the track points are carried out in the process of adopting the track, the data is timely, and the performance is not influenced;
2. the data are more accurate by screening in a way of track point storage and comparison of a plurality of historical track points, and the final screening result is stable and effective;
3. the screening and the storage of the track can conveniently obtain the final result under the preset condition, and the method is simple and effective;
4. the current track points are screened and removed, other historical data cannot be influenced, and all subsequent data errors caused by errors of one point cannot be caused.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
A method for reconstructing a motion trajectory based on a mobile platform, comprising the following steps, as shown in fig. 1:
s1: acquiring a current track point through a satellite positioning system;
the historical track point is the last effective track point before the current track point is obtained, and the first historical track point is the effective track point by default.
S2: judging whether the current track point is effective according to the historical track points:
if the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map;
if the current track point is invalid, the current track point is discarded or used as the starting point of another motion track.
When the mobile device is in the process of collecting the geographic position information by using the satellite positioning system, the position information of the positioning has deviation or drift due to some external factors. Therefore, when the mobile device continuously collects the track information of the user, the situation that the motion track is not consistent, interrupted or the position information is stretched in a plurality of non-adjacent positions in a short time can be generated. Therefore, the motion track is very messy, and the time sequence, the moving direction and the moving direction of the whole track process are mixed up.
Therefore, in the scheme, each acquired track point and valid data are screened and judged, and invalid position information data are filtered. And (4) sorting the time sequence of the track data, and screening the elegant and pulled track points so as to ensure the accuracy and precision of the final position point. And finally, displaying the walking track of the user through the screened track points, so that the track display of the user is smooth, regular and accurate.
The mobile platform in the application document includes a mobile device using Android, IOS, webOS and other systems as operating systems.
Specifically, in this embodiment, the specific step of determining whether the current track point is valid through the historical track point is as follows:
and acquiring the time interval between the current track point and the historical track point and the positioning precision of the current track point. The positioning accuracy refers to the positioning accuracy of a Beidou positioning system, a global positioning system, a Russian GLONASS positioning system or other positioning systems when the current track point is positioned.
And (3) judging the time interval and the positioning precision:
if the time interval is smaller than or equal to the time interval threshold value and the positioning precision is smaller than or equal to the positioning precision threshold value, the current track point is effective, a motion track is constructed according to the historical track point and the current track point, and the motion track is displayed on a map;
if the time interval is larger than the time interval threshold value and the positioning precision is smaller than or equal to the positioning precision threshold value, the current track point is invalid and is used as the starting point of another motion track;
otherwise, judging that the current track point is invalid, and discarding the current track point.
The greater the positioning accuracy, the greater the probability of the locus point drifting. Therefore, after a plurality of researches and experiments, the positioning accuracy threshold value is obtained by the applicant according to a plurality of data arrangement in the past, wherein the value range of the positioning accuracy threshold value is 0-200 m. Namely: if the positioning accuracy of the current track point exceeds the range of 200 meters, the current track point deviates; and if the positioning accuracy of the currently positioned track point does not exceed the range of 200 meters, the current track point does not deviate. The trace points where the drift occurs do not reflect the actual motion trajectory, and therefore, in the present application, the points where the drift occurs are discarded.
In addition, it is worth explaining that the time interval threshold and the positioning accuracy threshold in the present application document may be set according to the motion trajectory accuracy of the actual requirement, and if the motion trajectory accurately reflects the actual route, the smaller the time interval threshold and the positioning accuracy threshold, the better the time interval threshold and the positioning accuracy threshold should be. However, in order to more accurately judge whether the current track point is used as a point on the current motion track or a starting point on another motion track, the time interval and the positioning precision threshold value cannot be too small, otherwise, the distinction is not easy, and the inventor finds that the obtained motion track is more accurate when the time interval is within 2min-8min and the positioning precision threshold value is within 100m-200m after a plurality of tests.
Further, in order to avoid that the same track point is repeatedly displayed on the map and the smoothness of the movement track is influenced, in the scheme, a detection step is further arranged, the detection step is used for detecting whether the longitude and latitude and the positioning time of the current track point are the same as those of the previous track point, and if the longitude and latitude and the positioning time of the current track point and the previous track point are the same, the user at the moment does not move but stays at the point. The current trace point is therefore discarded.
Furthermore, in the scheme, the position information of the positioning is deviated or drifted by considering the factors of the altitude or the climate, so that a judging step is further arranged in the scheme, and the judging step is used for judging whether the current track point drifts or is dragged.
Specifically, the distance and the interval time between the current track point and the historical track point are obtained, the speed value is obtained according to the distance and the interval time, if the speed value is larger than the speed value threshold value, the current track point drifts or is dragged, and the current track point is omitted.
In the scheme, whether the current track point drifts or not is judged by judging whether the speed of the current track point accords with the human walking rule or not. If the speed of the current track point accords with the walking rule of the human, judging that the current track point does not drift; and if the speed of the current track point does not accord with the walking rule of the human, judging that the current track point drifts. The standard for judging whether the walking rule of the human is met is as follows: whether the current speed of walking of the person exceeds 10 km/h. Because the walking speed of a normal person is not beyond the threshold value even during running or a special person with extremely strong physical strength. If this value is exceeded, a drift is indicated.
A system based on the reconstruction of a motion trail of a mobile platform comprises an acquisition module and a judgment module;
the acquisition module is used for acquiring the current track point through a satellite positioning system;
the judging module is used for judging whether the current track point is effective according to the historical track point:
if the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map;
if the current track point is invalid, the current track point is discarded or used as the starting point of another motion track.
Further, the judging module comprises the following processing procedures:
acquiring the time interval between the current track point and the historical track point and the positioning precision of the current track point;
and (3) judging the time interval and the positioning precision:
if the time interval is smaller than or equal to the time interval threshold value and the positioning precision is smaller than or equal to the positioning precision threshold value, the current track point is effective, a motion track is constructed according to the historical track point and the current track point, and the motion track is displayed on a map;
if the time interval is larger than the time interval threshold value and the positioning precision is smaller than or equal to the positioning precision threshold value, the current track point is invalid and is used as the starting point of another motion track;
otherwise, judging that the current track point is invalid, and discarding the current track point.
And the detection module is used for detecting whether the longitude and latitude and the positioning time of the current track point are the same as those of the historical track point, and if the longitude and latitude and the positioning time of the current track point and the historical track point are the same, discarding the current track point.
And further, the system also comprises a judging module, wherein the judging module is used for judging whether the current track point drifts or pulls.
Specifically, the determination method of the determination module is as follows:
obtaining the distance and the interval time between the current track point and the historical track point;
acquiring a speed value according to the distance and the interval time;
and judging the speed value and a speed threshold value, and if the speed value is greater than the speed threshold value, judging that the current track point drifts or is dragged.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for reconstructing a motion trail based on a mobile platform is characterized by comprising the following steps:
s1: acquiring a current track point through a satellite positioning system;
s2: judging whether the current track point is effective according to the historical track point:
if the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map;
and if the current track point is invalid, the current track point is discarded or used as the starting point of the other motion track.
2. The method for reconstructing motion trail based on mobile platform according to claim 1, wherein said S2 comprises the following sub-steps:
acquiring the time interval between the current track point and the historical track point and the positioning precision of the current track point;
and judging the time interval and the positioning precision:
if the time interval is smaller than or equal to a time interval threshold value and the positioning precision is smaller than or equal to a positioning precision threshold value, judging that the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map;
if the time interval is greater than the time interval threshold value and the positioning precision is less than or equal to the positioning precision threshold value, judging that the current track point is invalid, and taking the current track point as the starting point of the other motion track;
otherwise, judging that the current track point is invalid, and discarding the current track point.
3. The method according to claim 1 or 2, further comprising a detection step after S2, wherein the detection step is configured to detect whether the longitude and latitude and the positioning time of the current track point are the same as those of the historical track point, and if the longitude and latitude and the positioning time of the current track point are the same as those of the historical track point, discard the current track point.
4. The method according to claim 3, wherein the detecting step further comprises a determining step after the detecting step, and the determining step is used for determining whether the current trace point drifts or pulls.
5. The method according to claim 4, wherein the determination method in the determination step is:
obtaining the distance and the interval time between the current track point and the historical track point;
acquiring a speed value according to the distance and the interval time;
and judging the speed value and a speed threshold value, and if the speed value is greater than the speed threshold value, judging that the current track point drifts or is dragged.
6. A system based on the reconstruction of a motion trail of a mobile platform is characterized by comprising an acquisition module and a judgment module;
the acquisition module is used for acquiring the current track point through a satellite positioning system;
the judging module is used for judging whether the current track point is effective according to the historical track point:
if the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map;
and if the current track point is invalid, the current track point is discarded or used as the starting point of the other motion track.
7. The system for reconstructing motion trail based on mobile platform according to claim 6, wherein said judging module comprises the following processes:
acquiring the time interval between the current track point and the historical track point and the positioning precision of the current track point;
and judging the time interval and the positioning precision:
if the time interval is smaller than or equal to a time interval threshold value and the positioning precision is smaller than or equal to a positioning precision threshold value, judging that the current track point is effective, constructing a motion track according to the historical track point and the current track point, and displaying the motion track on a map;
if the time interval is greater than the time interval threshold value and the positioning precision is less than or equal to the positioning precision threshold value, judging that the current track point is invalid, and taking the current track point as the starting point of the other motion track;
otherwise, judging that the current track point is invalid, and discarding the current track point.
8. The system according to claim 6 or 7, further comprising a detection module, wherein the detection module is configured to detect whether the longitude and latitude and the positioning time of the current track point are the same as those of the historical track point, and discard the current track point if the longitude and latitude and the positioning time of the current track point are the same as those of the historical track point.
9. The system for reconstructing a motion trail based on a mobile platform according to claim 8, further comprising a determination module, wherein the determination module is configured to determine whether the current trajectory point drifts or pulls.
10. The system for reconstructing a motion trail based on a mobile platform according to claim 9, wherein the determination method of the determination module is as follows:
obtaining the distance and the interval time between the current track point and the historical track point;
acquiring a speed value according to the distance and the interval time;
and judging the speed value and a speed threshold value, and if the speed value is greater than the speed threshold value, judging that the current track point drifts or is dragged.
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Application publication date: 20201013 |