CN113340303A - Road network matching method based on inertia combined navigation data - Google Patents
Road network matching method based on inertia combined navigation data Download PDFInfo
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- CN113340303A CN113340303A CN202110609670.3A CN202110609670A CN113340303A CN 113340303 A CN113340303 A CN 113340303A CN 202110609670 A CN202110609670 A CN 202110609670A CN 113340303 A CN113340303 A CN 113340303A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The invention provides a road network matching method based on inertial integrated navigation data, which comprises the following steps: judging whether GPS positioning data can be obtained or not, and obtaining a first judgment result; performing road network matching according to the first judgment result; when the first judgment result is that the GPS positioning data can be obtained, determining a road network matching result according to the obtained GPS positioning data; and when the first judgment result is that the GPS positioning data cannot be obtained, obtaining inertial integrated navigation data, obtaining inertial data positioning data in the inertial integrated navigation data according to vehicle motion data information, and determining a road network matching result according to the inertial data positioning data. The invention provides a road network matching method based on inertia combined navigation data, which realizes a road network according to conventional combined navigation data when satellite signals are poor.
Description
Technical Field
The invention relates to the field of temporal spatial databases and the field of intelligent traffic systems, in particular to a road network matching method based on inertial integrated navigation data.
Background
In the prior art, the road network matching is usually performed based on the GPS data, but the road network matching cannot be performed based on the GPS data in all weather and all scenes, and the navigation cannot be performed under the condition that no satellite is covered or the satellite signal is shielded; therefore, the invention provides a road network matching method based on inertia combined navigation data, which performs road network matching according to the conventional combined navigation data when the satellite signals are not good and GPS positioning data cannot be acquired, thereby solving the problem that the road network matching of navigation cannot be performed under the condition that no satellite coverage exists or the satellite signals are shielded in the prior art.
Disclosure of Invention
The present invention aims to provide a road network matching method based on inertial integrated navigation data to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a road network matching method based on inertial integrated navigation data comprises the following steps:
judging whether GPS positioning data can be obtained or not, and obtaining a first judgment result;
performing road network matching according to the first judgment result; when the first judgment result is that the GPS positioning data can be obtained, determining a road network matching result according to the obtained GPS positioning data; and when the first judgment result is that the GPS positioning data cannot be obtained, obtaining inertial integrated navigation data, obtaining inertial data positioning data in the inertial integrated navigation data according to vehicle motion data information, and determining a road network matching result according to the inertial data positioning data.
Further, the inertial integrated navigation data is obtained by the inertial group device according to the vehicle GPS navigation data.
Further, obtaining inertial data positioning data in the inertial integrated navigation data according to vehicle motion data information, comprising:
determining real-time speed and position information of the vehicle according to the vehicle motion data information;
filtering illegal data in the inertial integrated navigation data according to the real-time speed and position information of the vehicle to obtain inertial data positioning data; wherein the illegal data comprises: data in a stationary state and data in a large distance moving condition.
Further, determining a road network matching result according to the inertial data positioning data includes:
obtaining map data within an error radius allowable range according to the inertial data positioning data;
acquiring detailed information of the map data to obtain map information; the map information comprises width information of roads and distribution information of the roads;
determining a distance iteration value according to the inertial data positioning data and the map information through the following formula;
in the formula, Dw represents the distance iteration value, max err represents the maximum value of the error radius, d represents the distance between the inertial data positioning data and the road foot, and width represents the width information of the road;
determining an angle cost value according to the inertial data positioning data;
determining a final weight according to the distance cost value and the angle cost value, wherein the determination formula is as follows:
W＝Aw*Dw/100
wherein, W represents the final weight value, Aw represents the angle cost value;
and after the final weight values of all roads in the map information are obtained, the information corresponding to the minimum value of the final weight values is used as an optimal matching point, so that a road network matching result is obtained.
Further, after the map data are obtained, the map data are also put into a memory according to a space search algorithm.
Further, determining an angle cost value from the inertial data positioning data, comprising:
calculating a forward weight according to the following formula;
in the above formula, Aw+Denotes the forward weight, pi denotes the angle constant, angle+Representing an angular difference between a heading in the inertial data positioning data and a current direction of travel of the vehicle;
calculating a reverse weight value according to the following formula;
in the above formula, Aw-Indicates the reverse weight, angle-An angular difference between an opposite direction of a heading in the inertial data positioning data and a current direction of travel of the vehicle;
and comparing the magnitude of the forward weight with that of the reverse weight, and taking the weight with a larger value as an angle cost value.
Further, filtering illegal data in the inertial integrated navigation data according to the real-time speed and position information of the vehicle, including:
determining illegal data according to the real-time speed and position information of the vehicle, comprising: judging whether the vehicle is in a moving state or not according to the real-time speed and the position information of the vehicle, if the real-time speed of the vehicle is zero and the position information is not changed, judging that the vehicle is in a static state, and recording corresponding data as illegal data; according to the real-time speed and position information of the vehicle and the motion data information of the vehicle, taking data corresponding to the position points larger than a preset threshold value as illegal data;
sequentially rejecting the illegal data in the inertia combination data; and when the illegal data are removed, sequentially matching the data in the inertia combination data according to the illegal data, and deleting the data in the matched relation combination data and the illegal data together, so that only legal relation combination data are left, and the inertia data positioning data are obtained.
Further, the detailed information acquisition of the map data includes:
determining road distribution conditions in the map data, wherein the road distribution conditions comprise the trend of each road and the intersection condition between the roads; obtaining the trend information of each road by analyzing the trend of the road, determining the crossing condition between the roads by combining with the reason trend distribution, and obtaining the road distribution condition according to the trend information of each road and the crossing condition between the roads;
and acquiring actual data of each road in the map data according to the zoom ratio of the map data to obtain actual data information of each road, wherein the actual data information of each road comprises the width and the length of the road.
Further, the filtering out illegal data includes:
determining illegal data, and extracting time corresponding to the illegal data to obtain an illegal data time set C which is expressed as C ═ ClIn which c islRepresenting the time corresponding to the ith illegal data;
determining the inertial combination data; and performing data processing on the inertia combination data, and if the inertia combination data is marked as A, expressing that:
A＝{ak}
wherein, akThe k-th inertia combination subdata in the inertia combination data is represented in a data packet form as (m)ik,nik) Wherein m isikRepresents the time, n, of the kth inertia combination subdata in the inertia combination dataikA state data set representing a temporal correspondence of a kth data in the inertial combined data;
filtering illegal data according to the following formula;
in the above formula, H represents an inertia combination obtained by filtering illegal data in the inertia combination navigation dataNavigation data, bpIndicating the p-th inertia combination sub-data to be deleted,
indicating a null element.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow chart of a road network matching method based on inertial integrated navigation data according to the present invention;
fig. 2 is a schematic diagram illustrating a step of determining a road network matching result according to inertial data positioning data in the road network matching method based on inertial integrated navigation data according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in fig. 1, an embodiment of the present invention provides a road network matching method based on inertial integrated navigation data, including:
judging whether GPS positioning data can be obtained or not, and obtaining a first judgment result;
performing road network matching according to the first judgment result; when the first judgment result is that the GPS positioning data can be obtained, determining a road network matching result according to the obtained GPS positioning data; and when the first judgment result is that the GPS positioning data cannot be obtained, obtaining inertial integrated navigation data, obtaining inertial data positioning data in the inertial integrated navigation data according to vehicle motion data information, and determining a road network matching result according to the inertial data positioning data.
The principle of the technical scheme is as follows: when the technical scheme is used for road network matching, firstly, whether satellite coverage exists or not is judged, if satellite coverage exists, whether a satellite signal is shielded or not is judged, when the satellite signal is not shielded, GPS positioning data can be obtained, at the moment, road network matching is realized according to the obtained GPS positioning data, a road network matching result is obtained, when the satellite signal is shielded or the satellite coverage does not exist, inertia combination navigation data is obtained, positioning of a matched target is determined in the inertia combination navigation data according to vehicle motion data information, inertia data positioning data is obtained, then road network matching is realized according to the inertia data positioning data, and a road network matching result is obtained, wherein the vehicle motion data information at least comprises the driving speed, the driving direction and the driving acceleration of a vehicle.
The beneficial effects of the above technical scheme are that: according to the technical scheme, the road network matching can be realized under the condition that satellite signals are shielded or no satellite coverage exists through the inertia combined navigation data, the positioning of a matching target is determined according to vehicle motion data information in the inertia combined navigation data to obtain inertia data positioning data, then the road network matching is realized according to the inertia data positioning data, the road network matching result is obtained without being influenced by factors such as weather and scenes, and the road network matching can be carried out under any condition.
In one embodiment of the present invention, the inertial integrated navigation data is obtained by the inertial navigation device according to vehicle GPS navigation data.
The principle of the technical scheme is as follows: according to the technical scheme, when the inertial integrated navigation data are obtained, the inertial unit equipment is used for obtaining the inertial integrated navigation data, and when the inertial integrated navigation data are obtained, the GPS navigation data of the vehicle are changed into the inertial integrated navigation data.
The beneficial effects of the above technical scheme are that: according to the technical scheme, the GPS navigation data of the vehicle is changed into the inertia combination navigation data, so that road network matching can be performed according to the inertia combination navigation data, a data base is provided for the road network matching through the inertia combination navigation data, and the road network matching can be realized when the GPS positioning data cannot be obtained.
In one embodiment of the present invention, the obtaining of the inertial data positioning data according to the vehicle motion data information in the inertial integrated navigation data includes:
determining real-time speed and position information of the vehicle according to the vehicle motion data information;
filtering illegal data in the inertial integrated navigation data according to the real-time speed and position information of the vehicle to obtain inertial data positioning data; wherein the illegal data comprises: data in a stationary state and data in a large distance moving condition.
The principle of the technical scheme is as follows: the technical scheme is determined in the inertial integrated navigation data according to the following steps in the process of obtaining the inertial data positioning information: firstly, calculating real-time speed and position information of the vehicle according to the running speed, the running direction and the running acceleration of the vehicle in the vehicle motion data information, so as to clarify the real-time speed and the position information of the vehicle; then, according to the real-time speed and the position information of the vehicle, determining illegal data, and filtering the illegal data in the inertial integrated navigation data to obtain legal positioning data, namely: inertial data positioning data, where illegal data refers to data that does not change or is impractical, such as: data in a stationary state, data in a large distance moving situation, and the like.
The beneficial effects of the above technical scheme are that: according to the technical scheme, the real-time speed and the position information of the vehicle are calculated according to the running speed, the running direction and the running acceleration of the vehicle in the vehicle motion data information, so that the real-time speed and the position information of the vehicle are accurately reflected to form states of the vehicle, illegal data aiming at the vehicle are clearly obtained, the illegal data can be accurately removed from the inertia combination navigation data, the inertia data positioning data are simplified, surplus of interference data in a road network matching process is reduced, and meanwhile, the error probability can be reduced.
As shown in fig. 2, in an embodiment provided by the present invention, the determining a road network matching result according to the inertial data positioning data includes:
s01, obtaining map data within an error radius allowable range according to the inertial data positioning data;
s02, obtaining detailed information of the map data to obtain map information; the map information comprises width information of roads and distribution information of the roads;
s03, determining a distance iteration value according to the inertial data positioning data and the map information through the following formula;
in the formula, Dw represents the distance iteration value, max err represents the maximum value of the error radius, d represents the distance between the inertial data positioning data and the road foot, and width represents the width information of the road;
s04, determining an angle cost value according to the inertial data positioning data;
s05, determining a final weight value according to the distance cost value and the angle cost value, wherein the determination formula is as follows:
W＝Aw*Dw/100
wherein, W represents the final weight value, Aw represents the angle cost value;
and S06, after the final weight values of all roads in the map information are obtained, taking the information corresponding to the minimum value of the final weight values as an optimal matching point, thereby obtaining a road network matching result.
The principle of the technical scheme is as follows: when the road network matching result is determined, firstly, map data is obtained according to inertial data positioning data within an error allowable range, wherein the map data is a map distributed according to the error allowable range by taking the inertial data positioning data as a reference; then, acquiring detailed information of roads and road environments in a map in the map data to obtain distribution information and width information of each road in the map so as to obtain map information; secondly, determining a distance cost value and an angle cost value according to map information and the combination of inertial data positioning data and vehicle motion data information, wherein the distance cost value and the angle cost value are both the distance cost value and the angle cost value between the inertial data positioning data and a road in the map data; and then, determining the final weight of each road in the map data according to the distance cost value and the angle cost value, and finally taking the information corresponding to the minimum value of the final weight as the optimal matching point in all the final weights, thereby obtaining a road network matching result.
The beneficial effects of the above technical scheme are that: according to the technical scheme, the map information is obtained by obtaining the detailed information of the map data, so that the map information can be directly called for calculation and matching, and the road network matching result can be conveniently determined; when the road network matching result is determined, the final weight values calculated by all roads in the map data are comprehensively used, and then the information corresponding to the minimum final weight value in all the final weight values is used as the information of the optimal matching point, so that the road network matching result is more accurate; in addition, when the final weight is determined, the calculation of the final weight can be quickly and automatically realized according to the map information only by determining the calculation rule, so that the speed of determining the final weight is effectively increased, and the determination efficiency of the road network matching result is improved.
In one embodiment provided by the invention, after the map data is acquired, the map data is also put into a memory according to a space search algorithm.
The principle of the technical scheme is as follows: according to the technical scheme, after the map data are obtained, the map data are written into the memory, and then the map data in the memory are processed according to a space search algorithm.
The beneficial effects of the above technical scheme are that: according to the technical scheme, the map data are put into the memory according to the space search algorithm, so that the search efficiency can be greatly improved, and the matching efficiency near dense roads can be accelerated.
In one embodiment, the determining the angular cost value according to the inertial data positioning data includes:
calculating a forward weight according to the following formula;
in the above formula, Aw+Denotes the forward weight, pi denotes the angle constant, angle+Representing an angular difference between a heading in the inertial data positioning data and a current direction of travel of the vehicle;
calculating a reverse weight value according to the following formula;
in the above formula, Aw-Indicates the reverse weight, angle-An angular difference between an opposite direction of a heading in the inertial data positioning data and a current direction of travel of the vehicle;
and comparing the magnitude of the forward weight with that of the reverse weight, and taking the weight with a larger value as an angle cost value.
The principle of the technical scheme is as follows: when calculating the angle cost value, the technical scheme firstly calculates a forward weight and a reverse weight respectively, calculates according to the angle difference between the course in the inertial data positioning data and the current advancing direction of the vehicle when calculating the forward weight, and calculates according to the angle difference between the reverse direction of the course in the inertial data positioning data and the current advancing direction of the vehicle when calculating the reverse weight; then comparing the forward weight with the reverse weight, and determining the angle cost value according to a determination rule, wherein the determination rule is as follows: when the value of the forward weight is larger than that of the reverse weight, the value of the angle cost value is the value of the forward weight, when the value of the forward weight is smaller than that of the reverse weight, the value of the angle cost value is the value of the reverse weight, and when the value of the forward weight is equal to that of the reverse weight, the value of the angle cost value is equal to both the value of the forward weight and the value of the reverse weight.
The beneficial effects of the above technical scheme are that: according to the technical scheme, the angle cost value is determined to be the larger one of the forward weight value and the reverse weight value, so that the influence of the direction of the vector parameter on the angle formed by the heading direction and the current traveling direction of the vehicle is eliminated, the angle cost value has a unified measurement standard, the angle cost value is more accurate, and meanwhile, the accuracy of the final weight value is also improved.
In one embodiment of the present invention, the filtering out illegal data according to the real-time speed and position information of the vehicle in the inertial integrated navigation data includes:
determining illegal data according to the real-time speed and position information of the vehicle, comprising: judging whether the vehicle is in a moving state or not according to the real-time speed and the position information of the vehicle, if the real-time speed of the vehicle is zero and the position information is not changed, judging that the vehicle is in a static state, and recording corresponding data as illegal data; according to the real-time speed and position information of the vehicle and the motion data information of the vehicle, taking data corresponding to the position points larger than a preset threshold value as illegal data;
sequentially rejecting the illegal data in the inertia combination data; and when the illegal data are removed, sequentially matching the data in the inertia combination data according to the illegal data, and deleting the data in the matched relation combination data and the illegal data together, so that only legal relation combination data are left, and the inertia data positioning data are obtained.
The principle of the technical scheme is as follows: according to the technical scheme, in the process of filtering illegal data in inertial integrated navigation data according to real-time speed and position information of a vehicle, the illegal data is determined firstly, because the influence of data repetition at the moment before the vehicle is static and data in a large-distance moving state is small or even can not be generated under the static state, the data in the static state of the vehicle and the data in the large-distance moving state are used as the illegal data, whether the vehicle is in a moving state or not is judged according to the real-time speed and the position information of the vehicle, if the real-time speed of the vehicle is zero and the position information is not changed, the vehicle is judged to be in the static state, and the corresponding data is marked as the illegal data; according to the real-time speed and position information of the vehicle and the motion data information of the vehicle, taking data corresponding to the position points larger than a preset threshold value as illegal data; and then when the illegal data are removed, sequentially matching the data in the inertia combination data according to the illegal data, and deleting the data in the matched relation combination data and the illegal data together, so that only legal relation combination data are left, and the inertia data positioning data are obtained.
The beneficial effects of the above technical scheme are that: according to the technical scheme, the illegal data are determined according to the real-time speed and the position information of the vehicle and the motion data information of the vehicle, so that the illegal data can be accurately removed from the inertia combined data, the surplus of data in a static state and data in a large-distance moving state is avoided, the inertia data positioning data only contain legal relation combined data, useless data in the inertia data positioning data are avoided, and the probability of confusion in the process of processing the inertia positioning data is further reduced.
In an embodiment provided by the present invention, the obtaining of detailed information of the map data includes:
determining road distribution conditions in the map data, wherein the road distribution conditions comprise the trend of each road and the intersection condition between the roads; obtaining the trend information of each road by analyzing the trend of the road, determining the crossing condition between the roads by combining with the reason trend distribution, and obtaining the road distribution condition according to the trend information of each road and the crossing condition between the roads;
and acquiring actual data of each road in the map data according to the zoom ratio of the map data to obtain actual data information of each road, wherein the actual data information of each road comprises the width and the length of the road.
The principle of the technical scheme is as follows: the technical scheme comprises the following steps of in the process of obtaining the detailed information of the map data and obtaining the map information: determining road distribution conditions and actual data information of each road; when the road distribution condition is determined, the trend information of each road is obtained by analyzing the trend of the road; determining the crossing condition between roads by combining the distribution of the reasonable trend; and obtaining the road distribution condition according to the trend information of each road and the intersection condition between the roads. And when the actual data information of each road is determined, acquiring the actual data of each road in the map data according to the zoom ratio of the map data to obtain the road width and the road length of each road, thereby obtaining the actual data information of each road.
The beneficial effects of the above technical scheme are that: according to the technical scheme, the detailed information of the map data is acquired by determining the road distribution condition and determining the actual data information of each road, so that calculation can be performed according to specific data in the process of obtaining the road network matching result, and the accuracy of the road network matching result is improved. And when the actual data information of each road is determined, the map data is acquired according to the zoom ratio, so that the actual data of the road can be accurately obtained even through satellite survey, and the determination of the actual data information of each road is not limited. In addition, when the road distribution condition is determined, the road distribution condition is obtained according to the trend information of each road and the staggering condition between the roads, the phenomenon that the roads are staggered in space and not crossed is avoided, and the road distribution condition is made to be more consistent with the actual condition.
In an embodiment provided by the present invention, the filtering out the illegal data includes:
determining illegal data, and extracting time corresponding to the illegal data to obtain an illegal data time set C which is expressed as C ═ ClIn which c islRepresenting the time corresponding to the ith illegal data;
determining the inertial combination data; and performing data processing on the inertia combination data, and if the inertia combination data is marked as A, expressing that:
A＝{ak}
wherein, akThe k-th inertia combination subdata in the inertia combination data is represented in a data packet form as (m)ik,nik) Wherein m isikRepresents the time, n, of the kth inertia combination subdata in the inertia combination dataikA state data set representing a temporal correspondence of a kth data in the inertial combined data;
filtering illegal data according to the following formula;
in the above formula, H represents the inertial integrated navigation data obtained by filtering the illegal data in the inertial integrated navigation data, bpIndicating the p-th inertia combination sub-data to be deleted,
indicating a null element.
The principle of the technical scheme is as follows: when the technical scheme is used for filtering the illegal data, firstly, the illegal data and the inertia combination data are respectively determined, and then, the formula is adopted
And the stated filtering rules filter the illegal data in the inertia combination data to obtain the inertia combination navigation data which does not contain the illegal data.
The beneficial effects of the above technical scheme are that: according to the technical scheme, the illegal data and the inertia combination data are confirmed and processed before the illegal data are filtered out from the inertia combination data, so that the illegal data are enabled to be processedThe inertia combination data has a uniform expression mode, so that the illegal data can be smoothly filtered according to the filtering rule when being filtered, the problem that the illegal data cannot be filtered due to dimension asymmetry is avoided, meanwhile, the filtering accuracy can be improved, and in addition, the formula is adopted
The filtering rule expressed by the method not only reduces the complexity of filtering the illegal data, but also improves the efficiency of filtering the illegal data.
It will be understood by those skilled in the art that the first and second embodiments of the present invention are merely directed to different stages of application.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (9)
1. A road network matching method based on inertial integrated navigation data is characterized by comprising the following steps:
judging whether GPS positioning data can be obtained or not, and obtaining a first judgment result;
performing road network matching according to the first judgment result; when the first judgment result is that the GPS positioning data can be obtained, determining a road network matching result according to the obtained GPS positioning data; and when the first judgment result is that the GPS positioning data cannot be obtained, obtaining inertial integrated navigation data, obtaining inertial data positioning data in the inertial integrated navigation data according to vehicle motion data information, and determining a road network matching result according to the inertial data positioning data.
2. The road network matching method according to claim 1, wherein said inertial integrated navigation data is obtained by an inertial navigation unit based on vehicle GPS navigation data.
3. The road network matching method according to claim 1, wherein obtaining inertial data positioning data from vehicle motion data information in said inertial integrated navigation data comprises:
determining real-time speed and position information of the vehicle according to the vehicle motion data information;
filtering illegal data in the inertial integrated navigation data according to the real-time speed and position information of the vehicle to obtain inertial data positioning data; wherein the illegal data comprises: data in a stationary state and data in a large distance moving condition.
4. The road network matching method according to claim 3, wherein determining road network matching results according to said inertial data positioning data comprises:
obtaining map data within an error radius allowable range according to the inertial data positioning data;
acquiring detailed information of the map data to obtain map information; the map information comprises width information of roads and distribution information of the roads;
determining a distance iteration value according to the inertial data positioning data and the map information through the following formula;
in the formula, Dw represents the distance iteration value, max err represents the maximum value of the error radius, d represents the distance between the inertial data positioning data and the road foot, and width represents the width information of the road;
determining an angle cost value according to the inertial data positioning data;
determining a final weight according to the distance cost value and the angle cost value, wherein the determination formula is as follows:
W＝Aw*Dw/100
wherein, W represents the final weight value, Aw represents the angle cost value;
and after the final weight values of all roads in the map information are obtained, the information corresponding to the minimum value of the final weight values is used as an optimal matching point, so that a road network matching result is obtained.
5. The road network matching method according to claim 4, wherein said map data is further stored in a memory according to a space search algorithm after being acquired.
6. The road network matching method of claim 4, wherein determining an angular cost value from said inertial data positioning data comprises:
calculating a forward weight according to the following formula;
in the above formula, Aw+Denotes the forward weight, pi denotes the angle constant, angle+Representing an angular difference between a heading in the inertial data positioning data and a current direction of travel of the vehicle;
calculating a reverse weight value according to the following formula;
in the above formula, Aw-Indicates the reverse weight, angle-The inertial data positioning dataAn angular difference between an opposite direction of the medium heading and a current direction of travel of the vehicle;
and comparing the magnitude of the forward weight with that of the reverse weight, and taking the weight with a larger value as an angle cost value.
7. The road network matching method according to claim 3, wherein filtering illegal data in said inertial integrated navigation data according to real-time speed and position information of said vehicle comprises:
determining illegal data according to the real-time speed and position information of the vehicle, comprising: judging whether the vehicle is in a moving state or not according to the real-time speed and the position information of the vehicle, if the real-time speed of the vehicle is zero and the position information is not changed, judging that the vehicle is in a static state, and recording corresponding data as illegal data; according to the real-time speed and position information of the vehicle and the motion data information of the vehicle, taking data corresponding to the position points larger than a preset threshold value as illegal data;
sequentially rejecting the illegal data in the inertia combination data; and when the illegal data are removed, sequentially matching the data in the inertia combination data according to the illegal data, and deleting the data in the matched relation combination data and the illegal data together, so that only legal relation combination data are left, and the inertia data positioning data are obtained.
8. The road network matching method according to claim 4, wherein obtaining detailed information of the map data comprises:
determining road distribution conditions in the map data, wherein the road distribution conditions comprise the trend of each road and the intersection condition between the roads; obtaining the trend information of each road by analyzing the trend of the road, determining the crossing condition between the roads by combining with the reason trend distribution, and obtaining the road distribution condition according to the trend information of each road and the crossing condition between the roads;
and acquiring actual data of each road in the map data according to the zoom ratio of the map data to obtain actual data information of each road, wherein the actual data information of each road comprises the width and the length of the road.
9. The road network matching method according to claim 3, wherein said filtering out illegal data comprises:
determining illegal data, and extracting time corresponding to the illegal data to obtain an illegal data time set C which is expressed as C ═ ClIn which c islRepresenting the time corresponding to the ith illegal data;
determining the inertial combination data; and performing data processing on the inertia combination data, and if the inertia combination data is marked as A, expressing that:
A＝{ak}
wherein, akThe k-th inertia combination subdata in the inertia combination data is represented in a data packet form as (m)ik,nik) Wherein m isikRepresents the time, n, of the kth inertia combination subdata in the inertia combination dataikA state data set representing a temporal correspondence of a kth data in the inertial combined data;
filtering illegal data according to the following formula;
in the above formula, H represents the inertial integrated navigation data obtained by filtering the illegal data in the inertial integrated navigation data, bpIndicating the p-th inertia combination sub-data to be deleted,
indicating a null element.
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