CN112116628A - Dynamic fitting method and device for marine ship track curve and storage medium - Google Patents
Dynamic fitting method and device for marine ship track curve and storage medium Download PDFInfo
- Publication number
- CN112116628A CN112116628A CN202010989113.4A CN202010989113A CN112116628A CN 112116628 A CN112116628 A CN 112116628A CN 202010989113 A CN202010989113 A CN 202010989113A CN 112116628 A CN112116628 A CN 112116628A
- Authority
- CN
- China
- Prior art keywords
- value
- determining
- position points
- position point
- points
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The application provides a dynamic fitting method, a dynamic fitting device and a storage medium for a marine ship track curve, wherein the method comprises the following steps: acquiring a ship track position point set; determining the judgment values of two adjacent position points, wherein the judgment values are the absolute values of the difference values of the estimated driving distance and the linear distance of the two adjacent position points; if the judgment value is larger than or equal to the first preset distance value, deleting the position point with later time; if the judgment value is greater than or equal to the second preset distance value and smaller than the first preset distance value, supplementing the position points between the two adjacent position points; determining the density of three adjacent position points, and deleting the middle position point if the density is greater than a preset density threshold; and fitting an orbit curve according to the processed position point collection. The difference between the track curve fitted by the method and the real track is small, and the real running track of the ship is conveniently monitored.
Description
Technical Field
The present application relates to the field of general image processing or generation technologies, and in particular, to a method and an apparatus for fitting a marine navigation trajectory, and a storage medium.
Background
When a ship navigates on the water surface, the track of the ship needs to be monitored so as to conveniently plan the course of the ship, give off a yaw alarm and the like, and ensure the navigation safety of the ship.
At present, the tracing of the ship track mainly adopts a mode of fitting position points. Firstly, a plurality of reported satellite positions of a moving ship are obtained, and then a navigation track of the ship is drawn according to a plurality of position points of the ship.
However, the satellite position data reported by the ship is affected by communication conditions, natural environments on the sea, and the like, so that the reported data is unstable. For example, data points are lost due to unstable communication, position points are not matched with actual positions due to position point drift, a large number of position points in a local small range are overlapped, and the like. The loss of data points can cause a large number of long straight lines to appear on a track curve, the curve caused by drift points is not smooth, and the superposition of a large number of position points in a local small range can cause the superposition and extrusion of a local curve. The problem makes the currently drawn sailing track have a larger difference from the real sailing track, and the real running track of the ship is difficult to monitor.
Disclosure of Invention
The embodiment of the application provides a dynamic curve fitting method and device for a marine ship track and a storage medium, and aims to solve the technical problems of unsmooth drawing of a ship navigation track, data point loss and local curve coincidence.
In a first aspect, an embodiment of the present application provides a method for dynamically fitting a marine vessel trajectory curve, where the method includes:
acquiring a ship track position point set;
determining judgment values of two adjacent position points, wherein the judgment values are absolute values of differences between the estimated driving distance and the linear distance of the two adjacent position points; if the judgment value is larger than or equal to a first preset distance value, deleting the position point with later time; if the judgment value is greater than or equal to a second preset distance value and smaller than a first preset distance value, supplementing position points between two adjacent position points;
determining the density of three adjacent position points, and deleting the middle position point if the density is greater than a preset density threshold;
and fitting an orbit curve according to the processed position point collection.
With reference to the first aspect, in a possible implementation manner of the first aspect, determining the determination values of two adjacent position points specifically includes:
determining an abscissa value and an ordinate value of each position point according to the longitude and the latitude of each position point;
determining the linear distance between two adjacent position points according to the abscissa value and the ordinate value of the two adjacent position points;
acquiring a moment value and a speed value of each position point, and determining the estimated driving distance of two adjacent position points;
and determining the judgment value according to the linear distance and the estimated driving distance of two adjacent position points.
With reference to the first aspect, in another possible implementation manner of the first aspect, supplementing a location point between two adjacent location points specifically includes:
determining the number of the supplementary position points according to the ratio of the linear distance between two adjacent position points to a second preset distance;
the supplementary position points are uniformly distributed between two adjacent position points.
With reference to the first aspect, in yet another possible implementation manner of the first aspect, the determining the density of three adjacent position points specifically includes:
determining the front linear distance between the first position point and the second position point and the rear linear distance between the second position point and the third position point;
and determining the density according to the sum of the front straight-line distance and the rear straight-line distance.
With reference to the first aspect, in yet another possible implementation manner of the first aspect, the fitting an orbit curve specifically includes:
determining an activity boundary of the ship according to the ship track position point set;
determining a ship track central point and display resolution;
and calling a map curve drawing method, and displaying the processed ship track position point set.
With reference to the first aspect, in yet another possible implementation manner of the first aspect, determining an activity boundary of a ship according to a ship track position point set specifically includes:
determining the maximum value and the minimum value of the longitude and latitude in the position point congregation;
and determining the activity boundary of the ship according to the maximum value and the minimum value of the longitude and latitude.
With reference to the first aspect, in yet another possible implementation manner of the first aspect, the determining a center point and a display resolution of a map specifically includes:
determining a map center point P ═ { center _ lon, center _ lat }, according to the following formula,
the map display resolution r is determined according to the following formula,
wherein max _ lat is the maximum latitude, min _ lat is the minimum latitude, max _ lon is the maximum longitude, min _ lon is the minimum longitude, Δ lat is the difference between the maximum latitude and the minimum latitude, and Δ lon is the difference between the maximum longitude and the minimum longitude.
In a second aspect, an embodiment of the present application provides a device for dynamically fitting a marine vessel trajectory curve, the device including:
the acquisition module is used for acquiring a ship track position point set;
the first processing module is used for determining judgment values of two adjacent position points, wherein the judgment values are absolute values of differences between estimated driving distances and linear distances of the two adjacent position points; if the judgment value is larger than or equal to a first preset distance value, deleting the position point with later time; if the judgment value is greater than or equal to a second preset distance value and smaller than a first preset distance value, supplementing position points between two adjacent position points;
the second processing module is used for determining the intensity of the three adjacent position points, and deleting the middle position point if the intensity is greater than a preset threshold value;
and the fitting module is used for fitting the track curve according to the processed position point collection.
In a third aspect, an embodiment of the present application provides a marine vessel trajectory curve dynamic fitting device, which includes a memory and a processor;
the memory is to store computer-executable instructions;
the processor is configured to execute the computer-executable instructions to implement the method of the first aspect and various implementations of the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where executable instructions are stored, and when the executable instructions are executed by a computer, the method according to the first aspect and various implementation manners of the first aspect can be implemented.
Compared with the prior art, the invention has the beneficial effects that:
according to the dynamic fitting method for the marine vessel track curve, position points which do not accord with actual positions due to drift and lost position points can be deleted and supplemented by comparing the judgment values of two adjacent position points, the first preset distance value and the second preset distance value; the overlapped position points can be deleted by comparing the density of the three adjacent position points with a preset density threshold; and fitting an orbit curve according to the processed position point collection. The difference between the track curve fitted by the method and the real track is small, and the real running track of the ship is conveniently monitored.
Drawings
FIG. 1 is a flow chart of a method for dynamically fitting a marine vessel trajectory curve according to an embodiment of the present invention;
FIG. 2 is a diagram of the relationship between longitude and latitude and horizontal and vertical coordinates provided by the embodiment of the present invention;
fig. 3 is a schematic diagram of a position point needing to be supplemented between two adjacent position points in the position point set according to the embodiment of the present invention;
fig. 4 is a schematic diagram of a middle position point to be deleted in three adjacent position points of the position point set provided in the embodiment of the present invention;
FIG. 5 is a schematic diagram of a processed location point collection according to an embodiment of the present invention;
FIG. 6 is a device for dynamically fitting a marine vessel trajectory curve provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a physical device for dynamically fitting a marine vessel trajectory curve according to an embodiment of the present invention.
Detailed Description
Advantages, features, and aspects of the present invention will become apparent from the description of the embodiments set forth below with reference to the accompanying drawings. Accordingly, the technical concept and scope of the present invention can be easily embodied by those skilled in the art to which the present invention pertains. Further, if it is considered that detailed description about related art may obscure the point of the present invention, the detailed description will not be provided herein. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The use of "for" herein means open and inclusive language that does not exclude devices adapted or configured to perform additional tasks or steps.
Additionally, the use of "based on" means open and inclusive, as a process, step, calculation, or other action that is "based on" one or more conditions or values may in practice be based on additional conditions or values that are exceeded.
As used herein, "about" or "approximately" includes the stated value as well as the average value within an acceptable deviation range for the particular value, as determined by one of ordinary skill in the art in view of the measurement in question and the error associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).
As shown in fig. 1, a method for dynamically fitting a marine vessel trajectory curve provided by an embodiment of the present invention includes the following steps;
step S101: and acquiring a ship track position point set.
Specifically, a ship track position is setThe set point is as follows: p ═ P0,p1,...,pn-1]And scanning to obtain a track point set. Wherein p isi＝{lat,lon,t,v,d}(i＝0～n-1)。
P＝[p0,p1,...,pn-1]
＝[{lat0,lon0,t0,v0,d0},{lat1,lon1,t1,v1,d1},...,{latn-1,lonn-1,tn-1,vn-1,dn-1}]。
Wherein: lat is latitude, lon is longitude; t represents time; v represents velocity in meters per second; d represents the driving direction, the value range is 0-360 degrees, the north is 0 degrees, and the clockwise circle is 360 degrees.
Step S102: determining the judgment values of two adjacent position points, wherein the judgment values are the absolute values of the difference values of the estimated driving distance and the linear distance of the two adjacent position points; if the judgment value is larger than or equal to the first preset distance value, deleting the position point with later time; and if the judgment value is greater than or equal to the second preset distance value and smaller than the first preset distance value, supplementing the position points between the two adjacent position points.
To facilitate calculation of the straight-line distance, an abscissa value and an ordinate value of each location point are determined based on the longitude and latitude of each location point, as shown in fig. 2. Converting the longitude lon and the latitude lat of the position point into an abscissa value and an ordinate value, and referring to the following formula:
x＝K(L-L0),
wherein:
x: horizontal rectangular coordinates in meters (m);
y: longitudinal rectangular coordinates in meters (m);
b: latitude in radians (rad);
l: longitude, in radians (rad);
B0: projection of the reference latitude, B 00 in radians ((rad);
L0: longitude of origin of coordinates, L 00 in radians (rad);
a: the major semi-axis of the earth ellipsoid, a, 6378137.0000, in meters (m);
b: the minor semi-axis of the earth ellipsoid, b-6356752.3142, in meters (m);
e: a first eccentricity;
e': a second eccentricity.
N: the curvature radius of the unitary-mortise ring is meter (m).
In the above formula:
PI＝3.1415926；
B0＝30×PI/180；
B＝lat×PI/180；
e＝0.000045420816532046692727888569；
e’＝0.00004481472364144682862615441664；
N＝(6399593.6258039771)/(1+(e'×cosB0)2)。
further expansion of the above equation yields:
x＝N×cosB0×log(tan(PI/4+B/2)×pow((1-e×sin(lat×PI/180))/(1+e×sin(lat×PI/180)),e/2))
y＝N×cosB0×(lon×PI/180)。
according to the abscissa and the ordinate of two adjacent position points, determining the linear distance of the two adjacent position points, and the calculation formula is
Wherein one position point has coordinates of (x)i，yi) The other position point has the coordinate of (x)i+1，yi+1)。
According to each position pointThe time value and the speed value determine the estimated driving distance of two adjacent position points, and the calculation formula is
Where Δ t is the operating time between two adjacent position points, i.e., Δ t ═ ti+1-ti(ii) a Δ v is a speed difference, i.e., Δ v ═ vi+1-vi(ii) a a is the acceleration, i.e.:
wherein, the time value and the speed value of a position point are respectively ti、viThe time value and the speed value of another position point are respectively ti+1、vi+1。
And determining the judgment value according to the linear distance and the estimated driving distance of the two position points, wherein the judgment value is the absolute value of the difference between the estimated driving distance and the linear distance of the two adjacent position points, namely delta d is | s-d |.
The first preset distance value and the second preset distance value can be specifically determined according to the actual water surface condition, the ship model and the like. For example, the first preset distance value and the second preset distance value may be determined according to the average distance avg (d) of the location point collection, and the first preset distance is set to 10 × avg (d), and the second preset distance is set to avg (d). Wherein, the average distance calculation formula is as follows:
the case where supplementary location points are required is shown in fig. 3, and the number of supplementary location points and the positions of the supplementary location points can be determined by calculation between two adjacent location points A, B.
Determining the number of the supplementary position points according to the ratio of the linear distance between two adjacent position points to a second preset distance, wherein the calculation formula is as follows:
where c is the number of the supplementary position points, and avg (d) is the assumed second preset distance.
The supplementary position points are uniformly distributed between two adjacent position points, and the coordinate calculation formula of the supplementary position points is as follows:
step S103: and determining the density of the three adjacent position points, and deleting the middle position point if the density is greater than a preset density threshold. Fig. 4 shows a case where the intermediate position point needs to be deleted among the adjacent three position points.
Specifically, the density is a numerical value reflecting the density of three position points, and can be set according to actual conditions. An implementation method for determining the intensity specifically comprises the following steps.
And determining the front linear distance between the first position point and the second position point and the rear linear distance between the second position point and the third position point.
Let the first location point be pk(xk，yk) The second position point is pk+1(xk+1，yk+1) The third position point is pk+2(xk+2，yk+2)。
Calculating the front linear distance of
A rear straight-line distance of
And determining the density according to the sum of the front straight-line distance and the rear straight-line distance. The formula for calculating the intensity is as follows:
and if the intensity is greater than the preset density threshold value, the second position point is coincident with the first position point, or the second position point is coincident with the third position point, and the middle position point is deleted.
The density threshold may be set empirically, for example, the density threshold may be set to
As shown in fig. 4, C, D the intermediate point E between the two points needs to be deleted. The reason for this phenomenon may be that when the satellite signal becomes good due to the missing of the position points in the previous period of time caused by the influence of the communication conditions, the marine natural environment, and the like, the collected data is transmitted in a concentrated manner, so that the position points are almost overlapped, and the middle position point is deleted, so that the drawn navigation track of the ship becomes smooth.
After the processing on the position point set, as shown in fig. 5, the points missing in the middle in the ship track map are supplemented by the processing method, and the points are removed at the position where the data is densely packed.
Step S104: and fitting an orbit curve according to the processed position point collection.
Specifically, the activity boundary of the ship is determined according to the ship position point collection. The range of the fitted track curve is conveniently determined and displayed, and the condition that the track curve is not displayed completely is prevented.
Determining the activity boundary of the vessel may be performed by: determining the maximum value and the minimum value of the longitude and latitude in the position point congregation; and determining the activity boundary of the ship according to the maximum value and the minimum value of the longitude and latitude. When the maximum value and the minimum value of the longitude and latitude in the position point congregation are determined, all longitude values and all dimension values can be ranked by using a bubble ranking method, a selection ranking method and the like, and then the maximum value and the minimum value of the longitude and latitude are found.
After the activity boundary of the ship is determined, the central point of the map and the display resolution can be determined. Wherein the map center point P ═ { center _ lon, center _ lat } may be determined according to the following formula:
the map display resolution r may be determined according to the following formula:
wherein max _ lat is the maximum latitude, min _ lat is the minimum latitude, max _ lon is the maximum longitude, min _ lon is the minimum longitude, Δ lat is the difference between the maximum latitude and the minimum latitude, and Δ lon is the difference between the maximum longitude and the minimum longitude.
And finally, calling a map curve drawing method and displaying the processed track data.
The embodiment of the present invention further provides a device for dynamically fitting a marine vessel trajectory curve, as shown in fig. 6, the device includes an obtaining module 600, a first processing module 610, a second processing module 620, and a fitting module 630. An obtaining module 600, configured to obtain a set of ship track position points; the first processing module 610 is configured to determine a judgment value of two adjacent position points, where the judgment value is an absolute value of a difference between an estimated travel distance and a linear distance of the two adjacent position points; if the judgment value is larger than or equal to the first preset distance value, deleting the position point with later time; if the judgment value is greater than or equal to the second preset distance value and smaller than the first preset distance value, supplementing the position points between the two adjacent position points; the second processing module 620 is configured to determine the intensity of the adjacent three position points, and delete the middle position point if the intensity is greater than a preset threshold; and a fitting module 630, configured to fit the trajectory curve according to the processed position point set.
When the navigation system is used, a known trajectory diagram of the module 600 is obtained, after a scanned trajectory navigation diagram is obtained, data are transmitted to the first processing module 610, the first processing module 610 determines judgment values of two adjacent position points, and if the judgment values are greater than or equal to a first preset distance value, the position points with later time are deleted; if the judgment value is greater than or equal to the second preset distance value and less than the first preset distance value, supplementing position points between two adjacent position points, and determining the density of three adjacent position points by the second processing module 620 on the basis of the position point set processed by the first processing module 610, and if the density is greater than a preset density threshold, deleting the middle position point to finally obtain a processed position point set; and a fitting module 630, configured to fit the trajectory curve according to the processed position point set.
The embodiment of the invention also provides a device for dynamically fitting a marine vessel trajectory curve, as shown in fig. 7, which comprises a memory 720 and a processor 710; memory 720 is used to store computer-executable instructions; the processor 710 is configured to execute the computer-executable instructions to implement some or all of the steps of the method provided by the present embodiment; the marine vessel trajectory curve dynamic fitting device provided by the embodiment further comprises a scanner 700, a display 730 and a bus 740, wherein the scanner 700 is used for scanning a vessel trajectory curve to be processed into the device; the display 730 displays the ship trajectory graph processed by the method, and the bus 740 is used for transmitting data.
The marine ship track curve dynamic fitting device can be computing equipment such as a desktop computer, a notebook computer, a palm computer and a cloud server. It will be appreciated by those skilled in the art that the schematic diagrams are merely examples of the apparatus and do not constitute a limitation of the apparatus, and may include more or less components than those shown, or some components in combination, or different components, e.g. the apparatus may also include input output devices, network access devices, etc.
The Processor 710 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The memory may be used to store the computer programs and/or modules, and may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores executable instructions, and when the computer executes the executable instructions, part or all of the steps of the method provided in the embodiment can be implemented.
The storage medium may be a magnetic disk, an optical disk, a read-only memory ROM, a random access memory RAM, or the like.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. A dynamic curve fitting method for marine vessel trajectories is characterized by comprising the following steps:
acquiring a ship track position point set;
determining judgment values of two adjacent position points, wherein the judgment values are absolute values of differences between the estimated driving distance and the linear distance of the two adjacent position points; if the judgment value is larger than or equal to a first preset distance value, deleting the position point with later time; if the judgment value is greater than or equal to a second preset distance value and smaller than a first preset distance value, supplementing position points between two adjacent position points;
determining the density of three adjacent position points, and deleting the middle position point if the density is greater than a preset density threshold;
and fitting an orbit curve according to the processed position point collection.
2. The dynamic curve fitting method for marine vessel trajectories according to claim 1, wherein the determining the judgment values of two adjacent position points specifically comprises:
determining an abscissa value and an ordinate value of each position point according to the longitude and the latitude of each position point;
determining the linear distance between two adjacent position points according to the abscissa value and the ordinate value of the two adjacent position points;
acquiring a moment value and a speed value of each position point, and determining the estimated driving distance of two adjacent position points;
and determining the judgment value according to the linear distance and the estimated driving distance of two adjacent position points.
3. The marine vessel trajectory curve dynamic fitting method of claim 2, wherein supplementing location points between two adjacent location points specifically comprises:
determining the number of the supplementary position points according to the ratio of the linear distance between two adjacent position points to a second preset distance;
the supplementary position points are uniformly distributed between two adjacent position points.
4. The method for dynamically fitting a marine vessel trajectory curve according to claim 1, wherein the determining the concentration of three adjacent position points specifically comprises:
determining the front linear distance between the first position point and the second position point and the rear linear distance between the second position point and the third position point;
and determining the density according to the sum of the front straight-line distance and the rear straight-line distance.
5. The method for dynamically fitting a marine vessel trajectory curve according to claim 1, wherein fitting the off-track curve specifically comprises:
determining an activity boundary of the ship according to the ship track position point set;
determining a ship track central point and display resolution;
and calling a map curve drawing method, and displaying the processed ship track position point set.
6. The method for dynamically fitting a marine vessel trajectory curve according to claim 5, wherein determining the vessel's active boundary according to the set of vessel trajectory location points specifically comprises:
determining the maximum value and the minimum value of the longitude and latitude in the position point congregation;
and determining the activity boundary of the ship according to the maximum value and the minimum value of the longitude and latitude.
7. The method of claim 6, wherein the determining of the map center point and the display resolution specifically comprises:
determining a map center point P ═ { center _ lon, center _ lat }, according to the following formula,
the map display resolution r is determined according to the following formula,
wherein max _ lat is the maximum latitude, min _ lat is the minimum latitude, max _ lon is the maximum longitude, min _ lon is the minimum longitude, Δ lat is the difference between the maximum latitude and the minimum latitude, and Δ lon is the difference between the maximum longitude and the minimum longitude.
8. A marine vessel trajectory curve dynamic fitting device, comprising:
the acquisition module is used for acquiring a ship track position point set;
the first processing module is used for determining judgment values of two adjacent position points, wherein the judgment values are absolute values of differences between estimated driving distances and linear distances of the two adjacent position points; if the judgment value is larger than or equal to a first preset distance value, deleting the position point with later time; if the judgment value is greater than or equal to a second preset distance value and smaller than a first preset distance value, supplementing position points between two adjacent position points;
the second processing module is used for determining the intensity of the three adjacent position points, and deleting the middle position point if the intensity is greater than a preset threshold value;
and the fitting module is used for fitting the track curve according to the processed position point collection.
9. A dynamic curve fitting device for a marine vessel track is characterized by comprising a memory and a processor;
the memory is to store computer-executable instructions;
the processor is configured to execute the computer-executable instructions to implement the method of any of claims 1-7.
10. A computer-readable storage medium having stored thereon executable instructions that, when executed by a computer, are capable of implementing the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010989113.4A CN112116628A (en) | 2020-09-18 | 2020-09-18 | Dynamic fitting method and device for marine ship track curve and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010989113.4A CN112116628A (en) | 2020-09-18 | 2020-09-18 | Dynamic fitting method and device for marine ship track curve and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112116628A true CN112116628A (en) | 2020-12-22 |
Family
ID=73800743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010989113.4A Pending CN112116628A (en) | 2020-09-18 | 2020-09-18 | Dynamic fitting method and device for marine ship track curve and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112116628A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112907686A (en) * | 2021-02-09 | 2021-06-04 | 青海师范大学 | Cosine sag discrimination method, device and equipment for vector track compression |
| CN113220811A (en) * | 2021-04-19 | 2021-08-06 | 珠海德百祺科技有限公司 | Position data processing method and device and terminal equipment |
-
2020
- 2020-09-18 CN CN202010989113.4A patent/CN112116628A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112907686A (en) * | 2021-02-09 | 2021-06-04 | 青海师范大学 | Cosine sag discrimination method, device and equipment for vector track compression |
| CN112907686B (en) * | 2021-02-09 | 2021-12-14 | 青海师范大学 | Cosine sag discrimination method, device and equipment for vector track compression |
| CN113220811A (en) * | 2021-04-19 | 2021-08-06 | 珠海德百祺科技有限公司 | Position data processing method and device and terminal equipment |
| CN113220811B (en) * | 2021-04-19 | 2023-08-18 | 珠海德百祺科技有限公司 | Position data processing method and device and terminal equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109059906B (en) | Vehicle positioning method and device, electronic equipment and storage medium | |
| CN113345228B (en) | Driving data generation method, device, equipment and medium based on fitted track | |
| CN107328410B (en) | Method for locating an autonomous vehicle and vehicle computer | |
| EP4152052A1 (en) | Location determination method, device, and system, and computer readable storage medium | |
| CN108629231B (en) | Obstacle detection method, apparatus, device and storage medium | |
| US20220276056A1 (en) | Performing navigation tasks using grid codes | |
| CN109435955B (en) | Performance evaluation method, device and equipment for automatic driving system and storage medium | |
| WO2019242628A1 (en) | Systems and methods for pose determination | |
| CN112116628A (en) | Dynamic fitting method and device for marine ship track curve and storage medium | |
| CN112835085B (en) | Method and device for determining vehicle position | |
| CN110243364B (en) | Unmanned aerial vehicle course determining method and device, unmanned aerial vehicle and storage medium | |
| CN111275807A (en) | 3D road modeling method and system | |
| CN111707275A (en) | Positioning method, positioning device, electronic equipment and computer readable storage medium | |
| CN115205706A (en) | Remote sensing data acquisition method and device, electronic equipment and computer readable medium | |
| CN114187357A (en) | High-precision map production method and device, electronic equipment and storage medium | |
| CN115542277B (en) | Radar normal calibration method, device, system, equipment and storage medium | |
| CN109405834B (en) | Digital map-based shielding angle real-time resolving method and system | |
| CN115792985A (en) | Vehicle positioning method and device, electronic equipment, storage medium and vehicle | |
| CN115629374B (en) | Millimeter wave radar-based unmanned ship under-bridge positioning method and related equipment | |
| CN105320132A (en) | Ship dynamic monitoring method and system | |
| CN114518585B (en) | Target positioning method, device, terminal and storage medium based on single satellite | |
| CN114694107A (en) | Image processing method and device, electronic equipment and storage medium | |
| US20050131630A1 (en) | Methods and systems for generating a terrain elevation map in a cartesian format | |
| CN111210297A (en) | Method and device for dividing boarding points | |
| US20190050997A1 (en) | Visual odometry device for 3D Vehicle Motion Estimation and visual odometry method for 3D Vehicle Motion Estimation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |