CN112230253B - Track characteristic anomaly detection method based on public slice subsequence - Google Patents

Track characteristic anomaly detection method based on public slice subsequence Download PDF

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CN112230253B
CN112230253B CN202011094683.3A CN202011094683A CN112230253B CN 112230253 B CN112230253 B CN 112230253B CN 202011094683 A CN202011094683 A CN 202011094683A CN 112230253 B CN112230253 B CN 112230253B
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CN112230253A (en
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牛新征
刘鹏飞
何玲
郑云红
刘翔宇
杨胜瀚
匡洁良
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University of Electronic Science and Technology of China
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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
    • G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/15—Correlation function computation including computation of convolution operations

Abstract

The invention relates to the technical field of information technology processing, and provides a track characteristic anomaly detection method based on a common slice subsequence. The problem that the abnormal track is easily mistaken as the normal track under the condition that only the public part is considered in the traditional method is solved. The main scheme includes that the difference D' of the non-public part between the two tracks is calculated, the difference of the non-public part of the two tracks is judged to be smaller than a difference judgment threshold value, and the ratio of the longest public part to the whole track exceeds the threshold value, so that the characteristics of the two tracks are similar; and judging that the ratio of the number of other tracks with similar characteristics to the current track in the track set to the number of all tracks in the track set exceeds a threshold value, representing that the current track is a characteristic normal track, and if not, representing that the characteristic is an abnormal track.

Description

Track characteristic anomaly detection method based on public slice subsequence
Technical Field
The invention relates to the technical field of information technology processing, and provides a track characteristic anomaly detection method based on a common slice subsequence.
Background
With the rapid development of various GPS devices and wireless communication technologies, a large amount of moving object trajectory data is generated and collected. Such as mobile users, vehicles, animals, and hurricanes. Analysis of this data can help researchers obtain a host of valuable information, such as hotspots, patterns of interest, location predictions, and other relevant implications. Therefore, there is an increasing interest in track pattern mining, where Track Outlier Detection (TOD) is one of the hottest research topics.
As is well known, outliers refer to data objects that are significantly different or inconsistent with the remaining data set. This is a very rare pattern that may indicate an abnormal event. Therefore, outlier detection is an important data analysis task. Track outliers (also called outlier tracks) are tracks that have large differences from most other tracks over a time interval based on some similarity evaluation mechanism. TOD falls into the category of spatio-temporal outlier detection because the trajectory has spatio-temporal features. The detection results may help identify suspicious activity, moving objects, and thus may be used in many applications such as bad weather forecasting, security monitoring, and intelligent transportation and scientific research. Such as Chen et al. One tropical cyclonic system or hurricane proposed in the literature may be considered an abnormal activity of atmospheric systems. In addition, the detection and removal of the track outliers have important significance for improving the efficiency of the track similarity clustering algorithm.
The existing anomaly detection technologies include four types, namely, classification-based detection technologies, history similarity-based detection technologies, distance-based detection technologies, and meshing-based detection technologies. However, in most of the existing anomaly detection technologies, only the part with the similar track is considered in the process of measuring the track similarity, but the influence of the part with the different track on the similarity measurement between the two tracks is not considered, the feature extraction is insufficient, and the accuracy of anomaly detection is reduced, so that an anomaly detection algorithm for synthesizing the part with the similar track and the part with the different track is urgently needed to be researched.
Disclosure of Invention
The invention aims to solve the problem that in the prior art, only two similar tracks are considered, and no dissimilar track is considered, so that an abnormal track with higher similarity cannot be checked, if the slice codes in the two track directions are 90% identical, but one slice code has a larger difference and is obviously an abnormal track, the abnormal track can be judged to be a normal track by only considering the similar track, and the abnormal track can be missed for detection. The method and the device have the advantages that the influence of the track non-public partial sequence on the similarity measurement of the two tracks is added, and the detection precision is improved.
The invention does not solve the technical problems and adopts the following technical scheme:
the track characteristic anomaly detection method based on the common slice subsequence comprises the following steps:
step 1: connecting two adjacent points on each track by using line segments, wherein each line segment is a track segment, and each track consists of a series of track segments;
step 2: drawing N rays with an origin as a starting point in a plane rectangular coordinate system, evenly dividing a plane into N small planes, numbering each plane, sequentially taking integers from 1 to N, calculating the slope of each track section, wherein the number of the plane where the slope is positioned is the direction code of the track section;
and step 3: if the difference of the direction values of two adjacent track sections of a certain point exceeds a threshold value, the point is an inflection point, the inflection points in the track are sequentially connected by line segments, the line segment at the moment is a track slice, the track slice reforms the track, and the average value x of the track sections between the two inflection points of the slice is calculatednmThe remainder carry of the average value is used as track slice direction code, and the track slice direction code forms track slice direction code sequence Xn，
Xn＝[xn1,xn2,xn3,……,xnm]
Wherein xnN in m represents the track number, m represents the track slice number, XnWherein n represents the number of the track;
and 4, step 4: after the track slicing is finished, finding out the longest public subsequence Z of the slice direction coding sequence between any two tracks:
Z＝[z1,z2,z3,……,zk]
the track is sliced into a sequence XnElement z through the longest common subsequencekFor delimiters, the track slice direction is coded by a sequence XnElement z cut to contain no longest common subsequencekNon-common partial sequence string X ofnzkThe non-common part set of each track formed by the non-common part sequence strings is the non-common part of two tracks:
D＝{Xnz1,Xnz2,……XnZk}
wherein XnzkRepresenting a non-common partial sequence string with subscript meaning, n representing the track number, XnzkElement z representing the longest common subsequence in the nth tracek-1And zkThe track slice direction coding sequence;
and 5: calculating the difference D' of the non-public part between the two tracks, and judging that the difference of the non-public part of the two tracks is smaller than a difference judgment threshold value and the ratio of the longest public part to the whole track exceeds the threshold value, so that the characteristics of the two tracks are similar;
step 6: and judging that the ratio of the number of other tracks with similar characteristics to the current track in the track set to the number of all tracks in the track set exceeds a threshold value, representing that the current track is a characteristic normal track, and otherwise, representing that the current track is a characteristic abnormal track.
And 7: calculating the distance between the tracks through the track pieces in the longest common part;
and 8: if the distance between the two tracks is smaller than the threshold value, the two tracks are adjacent, if the ratio of the number of the tracks adjacent to the current track to the number of all the tracks in the track set exceeds the threshold value, the current track is represented as a normal track, and if not, the current track is represented as a distance abnormal track.
In the above technical solution, the obtaining of the difference D' of the non-common part in the step 5 includes the following steps:
taking two track non-common parts of the two tracks to be respectively recorded as:
track A: DA ═ XAz1,XAz2,……XAzk}；
And a track B: DB ═ XBz1,XBz2,……XBzk}；
The track slice direction coding sequence of track a and track B indicates:
XAzkthe track slice direction code sequence of (a) is recorded as: [ x'A1,x′A2,…,x′Am]；
XBzkThe track slice direction code sequence of (a) is recorded as: [ x'B1,x′B2,…,x′Bn]；
When m-n is equal to 0, accumulating and summing to obtain non-common partial sequence string XAzkAnd a non-common partial sequence string XBzkLocal difference value r ofzk：
Figure GDA0003082205790000031
When m-n<When 0, the local difference value r is obtained by accumulation and summationzk：
rzK＝rzk' + n-m n-m denotes XBzkThe number of the track slice direction coding sequence entries exceeds XAzkThe number of terms of the track slice direction coding sequence of (1), the excess is directly recorded as the difference, and each more term r is r +1,
Figure GDA0003082205790000041
when m-n>When 0, the local difference value r is obtained by accumulation and summationzk：
rzk＝rzk′+m-n
Figure GDA0003082205790000042
The difference of the non-common part D ═ (r)z1+rz2+…rzk)/k。
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the track anomaly detection method has wide application prospect and research value in various fields such as traffic management, safety monitoring, criminal investigation and the like. Judging the congestion condition of the current road according to the abnormal track mode of the vehicle if the traffic dispatching of the vehicle is needed, and carrying out ordered command and guidance on the vehicle; the safety monitoring needs to continuously perform abnormity detection on the track data, and an alarm or a corresponding decision is made at the initial stage of the abnormal condition, so that the potential safety hazard is eliminated in time; in addition, the method has good application prospect in the aspects of detecting the abnormal track of the taxi, such as detour behavior in the running process of the taxi, and partial road section congestion caused by unexpected traffic accidents or temporary road blockade.
In the case where only the common portion is considered in the conventional method, the abnormal trajectory may be easily mistaken as the normal trajectory.
Drawings
Fig. 1 is a schematic view of a track slice.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The track characteristic anomaly detection method based on the common slice subsequence comprises the following steps:
step 1: connecting two adjacent points on each track by using line segments, wherein each line segment is a track segment, and each track consists of a series of track segments;
step 2: drawing N rays with an origin as a starting point in a plane rectangular coordinate system, evenly dividing a plane into N small planes, numbering each plane, sequentially taking integers from 1 to N, calculating the slope of each track section, wherein the number of the plane where the slope is positioned is the direction code of the track section;
and step 3: if the difference of the direction values of two adjacent track sections of a certain point exceeds a threshold value, the point is an inflection point, the inflection points in the track are sequentially connected by line segments, the line segment at the moment is a track slice, the track slice reforms the track, and the average value x of the track sections between the two inflection points of the slice is calculatednmThe remainder carry of the average value is used as track slice direction code, and the track slice direction code forms track slice direction code sequence Xn，
Xn＝[xn1,xn2,xn3,……,xnm]
Wherein xnmWhere n represents the track number, m represents the track slice number, XnWherein n represents the number of the track;
and 4, step 4: after the track slicing is finished, finding out the longest public subsequence Z of the slice direction coding sequence between any two tracks:
Z＝[z1,z2,z3,……,zk]
the track is sliced into a sequence XnElement z through the longest common subsequencekFor delimiters, the track slice direction is coded by a sequence XnElement z cut to contain no longest common subsequencekNon-common partial sequence string X ofnzkThe non-common part set of each track formed by the non-common part sequence strings is the non-common part of two tracks:
D＝{Xnz1,Xnz2,……Xnzk}
wherein XnzkRepresenting a non-common partial sequence string with subscript meaning, n representing the track number, XnzkElement z representing the longest common subsequence in the nth tracek-1And zkBetween the track slicesA direction coding sequence;
and 5: calculating the difference D' of the non-public part between the two tracks, and judging that the difference of the non-public part of the two tracks is smaller than a specified value and the ratio of the longest public part to the whole track exceeds a threshold value, so that the characteristics of the two tracks are similar;
step 6: and judging that the ratio of the number of other tracks with similar characteristics to the current track in the track set to the number of all tracks in the track set exceeds a threshold value, representing that the current track is a characteristic normal track, and if not, representing that the characteristic is an abnormal track.
And 7: calculating the distance between the tracks through the track pieces in the longest common part;
and 8: if the distance between the two tracks is smaller than the threshold value, the two tracks are adjacent, if the ratio of the number of the tracks adjacent to the current track to the number of all the tracks in the track set exceeds the threshold value, the current track is represented as a normal track, and if not, the current track is represented as a distance abnormal track.
In the above technical solution, the obtaining of the difference D' of the non-common part in the step 5 includes the following steps:
taking two track non-common parts of the two tracks to be respectively recorded as:
track A: dA＝{XAz1,XAz2,……XAzk}；
And a track B: dB＝{XBz1,XBz2,……XBzk}；
The track slice direction coding sequence of track a and track B indicates:
XAzkthe track slice direction code sequence of (a) is recorded as: [ x'A1,x′A2,…,x′Am]；
XBzkThe track slice direction code sequence of (a) is recorded as: [ x'B1,x′B2,…,x′Bn]；
When m-n is equal to 0, accumulating and summing to obtain non-common partial sequence string XAzkAnd a non-common partial sequence string XBzkLocal difference value r ofzk：
Figure GDA0003082205790000071
When m-n<When 0, the local difference value r is obtained by accumulation and summationzk：
rzk＝rzk' + n-mn-m denotes XBzkThe number of the track slice direction coding sequence entries exceeds XAzkThe number of entries of the track slice direction coding sequence of (1), the excess is directly recorded as the difference, and r is added to each entryzk＝rzk+1，
Figure GDA0003082205790000072
When m-n>When 0, the local difference value r is obtained by accumulation and summationzk：
rzk＝rzk′+m-n
Figure GDA0003082205790000073
The difference of the non-common part D ═ (r)z1+rz2+…rzk)/k。
Example 1
Track slice direction coding sequence of 3 tracks as in fig. 1:
X1＝[3,2,1,13,16,2,12,7]
X2＝[3,2,1,14,15,2,14,7]
X3＝[3,2,1,3,6,2,6,7]
the common parts of the three tracks are shown as the bold part in the figure, namely the common part of the tracks is in the sequence of
And Z is [3,2,1,2,7], and three tracks correspond to two non-common parts. Since the ratio of the number of slices in the common part of the three tracks to the number of slices in the whole track is the same, the abnormal track cannot be accurately detected by simply considering the common part of the track, and therefore, the difference of the non-common part of the track needs to be considered.
Calculating the difference value of the non-public part (setting the difference threshold t to be 2 and the difference discrimination threshold to be 1):
(1)X1and X2First common partial difference value calculation:
Figure GDA0003082205790000081
local difference value of
Figure GDA0003082205790000082
And is
Figure GDA0003082205790000083
Is 0.
Because |13-14<2, so that the time is
Figure GDA0003082205790000084
Equal to 0;
and because |16-15<2, so that the time is
Figure GDA0003082205790000085
Namely, it is
Figure GDA0003082205790000086
(2)X1And X2Second common partial difference value calculation:
Figure GDA0003082205790000087
has |12-14>＝2
Figure GDA0003082205790000088
Can obtain X1And X2Difference value between non-common parts
Figure GDA0003082205790000089
(3)X1And X3First common partial difference value calculation:
Figure GDA00030822057900000810
local difference value of
Figure GDA00030822057900000811
And is
Figure GDA00030822057900000812
Is 0.
Because |13-2>2, so that the time is
Figure GDA00030822057900000813
Equal to 1;
and because |16-6<2, so that the time is
Figure GDA00030822057900000814
Namely, it is
Figure GDA00030822057900000815
(that is to say
Figure GDA00030822057900000816
Accumulation)
(2)X1And X3Second common partial difference value calculation:
Figure GDA00030822057900000817
has |12-6>＝2
Figure GDA00030822057900000818
Can obtain X1And X3Difference value between non-common parts
Figure GDA00030822057900000819
As a result: due to X1And X2The difference between D' and r is 0.5 and<discrimination threshold (equal to 1), so we will be X1And X2The characteristics are considered similar;
due to X1And X3The difference between D' and r is 1.5>1, so we will X1And X3The features are regarded as different, so X can be distinguished3Is characterized by X1And X2。

Claims (2)

1. The track characteristic anomaly detection method based on the common slice subsequence is characterized by comprising the following steps of:
step 1: connecting two adjacent points on each track by using line segments, wherein each line segment is a track segment, and each track consists of a series of track segments;
step 2: drawing N rays with an origin as a starting point in a plane rectangular coordinate system, evenly dividing a plane into N small planes, numbering each plane, sequentially taking integers from 1 to N, calculating the slope of each track section, wherein the number of the plane where the slope is positioned is the direction code of the track section;
and step 3: if the difference of the direction values of two adjacent track sections of a certain point exceeds a threshold value, the point is an inflection point, the inflection points in the track are sequentially connected by line segments, the line segment at the moment is a track slice, the track slice reforms the track, and the average value x of the track sections between the two inflection points of the slice is calculatednmThe remainder carry of the average value is used as track slice direction code, and the track slice direction code forms track slice direction code sequence Xn，
Xn＝[xn1，xn2，xn3，......，xnm]
Wherein xnmWhere n represents the track number, m represents the track slice number, XnWherein n represents the number of the track;
and 4, step 4: after the track slicing is finished, finding out the longest public subsequence Z of the slice direction coding sequence between any two tracks:
Z＝[z1，z2，z3，......，zk]，
will and will track the slice direction coding sequence XnElement z through the longest common subsequencekIn order to be a separator symbol,slicing the track into coded sequences XnElement z cut to contain no longest common subsequencekNon-common partial sequence string X ofnzkThe non-common part set of each track formed by the non-common part sequence strings is the non-common part of two tracks:
D＝{Xnz1，Xnz2，……Xnzk｝
wherein XnzkRepresenting a non-common partial sequence string with subscript meaning, n representing the track number, XnzkElement z representing the longest common subsequence in the nth tracek-1And zkTrack slice direction coding sequence between:
and 5: calculating the difference D' of the non-public part between the two tracks, and judging that the difference of the non-public part of the two tracks is smaller than a difference judgment threshold value and the ratio of the longest public part to the whole track exceeds the threshold value, so that the characteristics of the two tracks are similar;
step 6: judging whether the ratio of the number of other tracks with similar characteristics to the current track in the track set to the number of all tracks in the track set exceeds a threshold value, if so, representing that the current track is a characteristic normal track, otherwise, representing a characteristic abnormal track;
the obtaining of the difference D' of the non-common part in step 5 comprises the steps of:
taking two track non-common parts of the two tracks to be respectively recorded as:
track A: dA＝{XAz1，XAz2，……XAzk｝；
And a track B: dB＝{XBz1，XBz2，……XBz｝；
The track slice direction coding sequence of track a and track B indicates:
XAzkthe track slice direction code sequence of (a) is recorded as: [ x'A1，x′A2，...，x′Am]；
XBzkThe track slice direction code sequence of (a) is recorded as: [ x'B1，x′B2，...，x′Bn]；
When m-n is equal to 0, accumulating and summing to obtain non-common partial sequence string XAzkAnd a non-common partial sequence string XBzkLocal difference value r ofzk：
Figure FDA0003082205780000021
When m-n is less than 0, accumulating and summing to obtain a local difference value rzk：
rzK＝rzk' + n-m n-m denotes XBzkThe number of the track slice direction coding sequence entries exceeds XAzkThe number of terms of the track slice direction coding sequence of (1), the excess is directly recorded as the difference, and each more term r is r +1,
Figure FDA0003082205780000022
when m-n is more than 0, accumulating and summing to obtain a local difference value rzk：
rzk＝rzk′+m-n
Figure FDA0003082205780000023
The difference of the non-common part D ═ rz1+rz2+…rzk)/k。
2. A common slice subsequence-based track feature anomaly detection method according to claim 1, further comprising the steps of:
and 7: calculating the distance between the tracks through the track pieces in the longest common part;
and 8: if the distance between the two tracks is smaller than the threshold value, the two tracks are adjacent, if the ratio of the number of the tracks adjacent to the current track to the number of all the tracks in the track set exceeds the threshold value, the current track is represented as a normal track, and if not, the current track is represented as a distance abnormal track.
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