CN113806465A - Bayonet position longitude and latitude deviation correction method based on new energy automobile track data - Google Patents
Bayonet position longitude and latitude deviation correction method based on new energy automobile track data Download PDFInfo
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- CN113806465A CN113806465A CN202111104186.1A CN202111104186A CN113806465A CN 113806465 A CN113806465 A CN 113806465A CN 202111104186 A CN202111104186 A CN 202111104186A CN 113806465 A CN113806465 A CN 113806465A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/21—Design, administration or maintenance of databases
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Abstract
The invention provides a new energy automobile trajectory data-based bayonet position longitude and latitude deviation rectifying method, which can realize automatic calibration of bayonet record longitude and latitude, and has simple algorithm and strong practicability. According to the technical scheme, all new energy vehicles passing through a checkpoint are matched according to the passing time and license plate numbers in the passing record of the checkpoint to be calibrated, and then a calibration longitude and latitude set formed by the new energy vehicle track longitude and latitude set is formed according to longitude and latitude data uploaded by each new energy vehicle at the time point; averaging according to the longitude and latitude in the calibration longitude and latitude set to obtain the calculated longitude and latitude corresponding to the bayonet to be calibrated; and comparing the calculated longitude and latitude with the recorded longitude and latitude of the bayonet to be calibrated, and judging whether the recorded longitude and latitude needs to be updated or not through the distance threshold D to finish the correction process of the bayonet to be calibrated.
Description
Technical Field
The invention relates to the technical field of intelligent traffic control, in particular to a bayonet position longitude and latitude deviation rectifying method based on new energy automobile track data.
Background
The checkpoint data generally comprises two types of information, wherein one type of information is dynamic vehicle passing information which is detected in real time and comprises license plate numbers, license plate colors, unique checkpoint numbers, recording time, driving directions and the like; one type is static bayonet point location information, including unique bayonet number, bayonet name, and bayonet record longitude and latitude. The checkpoint data is an important component of traffic big data and has many important applications in the traffic management field. For example, the checkpoint data may be used to sense road traffic conditions, identify vehicle violations, check for illegal vehicles, and the like. However, most of the current card data users have no effective means to determine whether the recorded longitude and latitude of the card is accurate. When the inaccurate longitude and latitude of the bayonet are applied, the calculation result generates great deviation, and the application range of the bayonet data is greatly influenced.
Disclosure of Invention
In order to solve the problem that the accuracy of the longitude and latitude of the bayonet position cannot be confirmed in the prior art, the invention provides the new energy automobile track data-based method for correcting the longitude and latitude of the bayonet position, which can realize automatic calibration of the longitude and latitude of the registered bayonet and has simple algorithm and strong practicability.
The technical scheme of the invention is as follows: a bayonet position longitude and latitude deviation correcting method based on new energy automobile track data is characterized by comprising the following steps of:
s1: setting a calculation period T; t is a time period which represents that data in each time period T is collected to participate in the calculation, and a time period T is arranged between two calculations;
s2: after the deviation correction calculation is started, the following data are collected to participate in the calculation by taking the starting time as a starting point;
acquiring vehicle passing records of all new energy vehicles of the bayonets to be calibrated in the calculation period T, and recording the vehicle passing records as calibration used vehicle passing records;
collecting GPS track records of all new energy vehicles for calibration in the calculation period T, and recording the GPS track records for calibration;
s3: establishing a map set;
the map set includes: a bayonet number corresponding to each bayonet to be calibrated and a calibration longitude and latitude set corresponding to each bayonet to be calibrated;
the set of calibration longitude and latitude includes: the longitude and latitude set is obtained after the calibration vehicle-passing record corresponding to the bayonet number is successfully matched with the calibration GPS track record;
s4: setting a minimum matching threshold S, wherein the minimum matching threshold S represents the minimum track number contained in an effective matching longitude and latitude set;
traversing the map set, sequentially finding the bayonets to be calibrated with the track points more than or equal to the minimum matching threshold S in the longitude and latitude set for calibration, and putting the corresponding bayonet numbers into the bayonet set to be calculated;
deleting data associated with the bayonet to be calibrated in the bayonet set to be calculated from the map set;
s5: sequentially taking out each bayonet number from the bayonet set to be calculated, and averaging the values of all longitude and latitude points corresponding to each bayonet number to obtain the calculated longitude and latitude corresponding to the bayonet number;
s6: calculating the distance between each calculation longitude and latitude and the corresponding record longitude and latitude of the bayonet to be calibrated;
setting a distance threshold value D, and updating the value of the recorded longitude and latitude into the calculated longitude and latitude when the distance between the calculated longitude and latitude and the recorded longitude and latitude is greater than the distance threshold value D; otherwise, the value of the recorded longitude and latitude is kept as the original value;
s7: confirming whether the map set has the rest bayonets to be calibrated;
if yes, waiting for the calculation period T by taking the starting time as a starting point, and circularly executing the steps S2-S6 on the remaining bayonets to be calibrated in the map set again to perform the next round of deviation correction calculation;
otherwise, ending the deviation correction calculation.
It is further characterized in that:
before step S1 is executed, the following steps are executed:
a 1: determining a bayonet to be calibrated, and determining a new energy automobile for calibration;
performing unified timing on all the bayonets to be calibrated and the system energy vehicles for calibration;
a 2: ensuring that the new energy automobile for calibration respectively passes through all the bayonets to be calibrated;
the calibrating the used vehicle record comprises: the bayonet number, the vehicle number plate and the passing time information;
the calibration GPS trace record comprises: vehicle number plate, track uploading time, longitude and latitude information;
in step S3, the method for calculating the calibration latitude and longitude set includes the following steps:
b 1: taking out the bayonets to be calibrated one by one, and finding out the corresponding calibration used vehicle records;
b 2: screening out the number plate of the new energy vehicle included in the calibration used vehicle record, and recording the number plate as a card port number plate record;
b 3: taking out each number plate one by one from the card port number plate records, recording as a number plate to be confirmed, and recording as a passing time to be confirmed when the corresponding passing time in the calibration used vehicle record;
b 4: finding the vehicle passing time corresponding to the license plate to be confirmed in the calibration GPS track record, finding a piece of GPS longitude and latitude data closest to the vehicle passing time to be confirmed, and recording the piece of GPS longitude and latitude data to be confirmed;
b 5: calculating the difference between the passing time to be confirmed and the uploading time of the longitude and latitude data of the GPS to be confirmed, and recording the difference as a matching difference;
b6, setting a maximum matching time error threshold t, wherein the maximum matching time error threshold t represents the maximum allowable time difference of effective matching between the new energy automobile passing time point in the calibration used automobile record and the track uploading time in the calibration GPS track record;
comparing the match difference to the maximum match time error threshold t;
when the matching difference is smaller than the maximum matching time error threshold t, writing the GPS longitude and latitude data to be confirmed into the calibration longitude and latitude set;
b 7: circularly executing the steps b 3-b 6 until all the cards to be confirmed in the card port number card record are confirmed;
b 8: b 1-b 7 is executed in a circulating mode, and the calibration longitude and latitude set corresponding to the bayonet to be calibrated is obtained only if the number plate records corresponding to the bayonet to be calibrated are confirmed.
The invention provides a checkpoint position longitude and latitude deviation correcting method based on new energy automobile track data, which is characterized in that a calibration longitude and latitude set formed by a new energy automobile track longitude and latitude set is formed according to the passing time and license plate number in a passing record of a checkpoint to be calibrated in a matching manner of all new energy automobiles passing through the checkpoint and according to the longitude and latitude data uploaded by each new energy automobile at the time point; averaging according to the longitude and latitude in the calibration longitude and latitude set to obtain the calculated longitude and latitude corresponding to the bayonet to be calibrated; comparing the calculated longitude and latitude with the recorded longitude and latitude of the bayonet to be calibrated, and judging whether the recorded longitude and latitude needs to be updated or not through a distance threshold D to finish the correction process of the bayonet to be calibrated; the method of the invention completes the automatic calibration of the bayonet to be calibrated based on the new energy automobile track data without adding a new device, and has lower cost; meanwhile, the algorithm is simple and the implementability is strong.
Drawings
FIG. 1 is a schematic flow chart of a correction method for the longitude and latitude of a bayonet position according to the present invention.
Detailed Description
As shown in FIG. 1, the method for correcting the longitude and latitude of the bayonet position based on the trajectory data of the new energy automobile comprises the following steps.
S1: setting a calculation period T; t is a time period which indicates that data are collected every T time periods to participate in the calculation; the difference and the data volume of the data participating in the calculation each time are controlled through the calculation period T, so that the situation that the data volume is insufficient at this time, the data cannot participate in the calculation of the bayonet to be calibrated, which is reserved in the map set, is ensured, enough data participate in the calculation in the next calculation, and the efficiency of the deviation correction method is improved. In the present embodiment, the calculation period T is set to 30 minutes.
Before step S1 is executed, the following steps are executed:
a 1: determining a bayonet to be calibrated, and determining a new energy automobile for calibration;
uniformly calibrating all bayonets to be calibrated and all energy automobiles for calibration;
a 2: and ensuring that the new energy automobile for calibration passes through all bayonets to be calibrated respectively.
In general, in real life, a bayonet device installed in a drive test and a new energy automobile actually running are all devices which are connected to a network in real time, and system time is finished through network timing. However, in a laboratory environment, or if it is uncertain whether the device time participating in the calculation is synchronized, manual timing is required to ensure that the device time participating in the calculation is synchronized, thereby ensuring the accuracy of subsequent calculation.
S2: after the deviation correction calculation is started, the following data are collected to participate in the calculation by taking the starting time as a starting point;
acquiring vehicle passing records of all new energy vehicles of the bayonets to be calibrated in the calculation period T, and recording the vehicle passing records as calibration used vehicle passing records;
collecting all GPS track records of the new energy automobile for calibration in the calculation period T, and recording the GPS track records as GPS track records for calibration;
calibrating the used vehicle record comprises: the bayonet number, the vehicle number plate and the passing time information;
the calibration-use GPS track log includes: vehicle number plate, track uploading time, longitude and latitude information.
If the bayonet to be calibrated is numbered 1, the corresponding bayonet is used for calibration according to the record shown in table 1,
the bayonet socket of treating of bayonet socket serial number 1 calibrates the bayonet socket, and its bayonet socket that corresponds crosses the calibration and has used the car record to be empty:
table 1: calibration used car record of bayonet 1
In 30 minutes, the new energy automobile track data corresponding to SuBD 12345, SuBD 23456, SuBD 45678 and SuBD 56789 refer to the table 2, wherein the GPS track record is used for calibration;
TABLE 2 GPS track log for calibration
S3: establishing a map set;
the map set includes: a bayonet number corresponding to each bayonet to be calibrated and a calibration longitude and latitude set corresponding to each bayonet to be calibrated;
the set of latitude and longitude for calibration includes: and (4) matching the calibration vehicle-passing record corresponding to the bayonet number with the calibration GPS track record successfully to obtain the longitude and latitude set.
The calculation method of the longitude and latitude set for calibration comprises the following steps:
b 1: taking out the bayonets to be calibrated one by one, and finding out the corresponding calibration used vehicle records;
b 2: screening out the number plate of the new energy vehicle included in the calibration used vehicle record, and recording the number plate as a bayonet number plate record;
b 3: taking out each number plate one by one from the card port number plate records, recording as a number plate to be confirmed, and recording as a passing time to be confirmed when the corresponding passing time in the calibration used vehicle record is reached;
b 4: finding the vehicle passing time corresponding to the license plate to be confirmed in the GPS track record for calibration, finding the GPS longitude and latitude data closest to the vehicle passing time to be confirmed, and recording the GPS longitude and latitude data to be confirmed;
b 5: calculating the difference value between the passing time to be confirmed and the uploading time of the longitude and latitude data of the GPS to be confirmed, and recording the difference value as a matching difference value;
b6: setting a maximum matching time error threshold t, wherein the maximum matching time error threshold t represents the maximum allowable time difference for effectively matching the new energy vehicle passing time point in the calibration used vehicle record with the track uploading time in the calibration GPS track record; the space-time consistency of the GPS track data and the passing data of the gate of the new energy automobile participating in calculation is ensured through the maximum matching time error threshold t, and in the embodiment, the maximum matching time error t is set to be 5 minutes;
comparing the matching difference value with a maximum matching time error threshold value t;
when the matching difference is smaller than the maximum matching time error threshold t, writing the GPS longitude and latitude data to be confirmed into a longitude and latitude set for calibration;
b 7: circularly executing the steps b 3-b 6 until all the cards to be confirmed in the card port number card record are confirmed;
b 8: b 1-b 7 are executed in a circulating mode, and only the card number plate records corresponding to the card to be calibrated are confirmed, so that the longitude and latitude set for calibration corresponding to the card to be calibrated is obtained.
In the technical scheme of the invention, the correction is carried out on the bayonet to be calibrated based on the GPS track records of all new energy vehicles passing through the bayonet to be calibrated, the correctness of detecting and calibrating the longitude and latitude of the bayonet is not required to be verified manually one by one on the spot, an automatic calibration mechanism of the longitude and latitude of the bayonet is innovated, the accuracy of the positioning precision of the bayonet is improved, and a good data basis is further provided for applications of sensing road traffic states, recognizing vehicle illegal behaviors, checking and controlling illegal vehicles and the like through the bayonet.
Based on the data of table 1 and table 2, calculation of a set of latitude and longitude for calibration is performed.
Firstly, a gps track of a vehicle with the number of SuBD 12345 is selected to be matched with a vehicle passing track of a gate 1, the gate passing time of the SuBD 12345 in table 2 is 2021-09-0810: 10:10, and then the nearest record corresponding to the time of the corresponding vehicle in table 3 is selected as: 2021-09-0810: 10:10, the time difference between the two time stamps is 0 minute and less than 5 minutes, the record of the strip is matched successfully. And writing the corresponding longitude and latitude [120.1,30.1] into a map set with key of 1.
Then, the gps track of the vehicle with the number plate of subd 23456 is selected to be matched with the passing track of the gate 1, the passing time of the gate corresponding to the subd 23456 in table 2 is 2021-09-0810: 10:10, and then the closest bar corresponding to the time in table 3 is selected as: 2021-09-0810: 15:10, the time difference between the two time stamps is 5 minutes 15 seconds, more than 5 minutes, the record matching is not successful.
The gps track of the vehicle with the number plate of SuBD 56789 is selected to be matched with the passing track of the gate 1, and the passing time of the gate corresponding to the SuBD 56789 in the table 2 is as follows: 2021-09-0810: 25:10, then the closest bar record corresponding to the vehicle and the time in table 3 is selected as: 2021-09-0810: 26:10, the time difference between the two time stamps is 1 minute, and the matching of the record of the strip is successful. And writing the corresponding longitude and latitude [120.2,30.2] into a map set with key of 1.
The same number of SuBD 34567 and SuBD 45678 are matched to finally obtain a map set, as shown in Table 3:
table 3: map set
In table 3, key is a bayonet number, Value is a longitude and latitude set for calibration, [120.1,30.1] indicates a coordinate with a longitude of 120.1 and a latitude of 30.1; in table 3, the calibration latitude and longitude set corresponding to the bayonet 2 is empty.
S4: setting a minimum matching threshold S, wherein the minimum matching threshold S represents the minimum track number contained in an effective matching longitude and latitude set;
traversing the map set, sequentially finding the bayonets to be calibrated with the track points more than or equal to the minimum matching threshold S in the longitude and latitude set for calibration, and putting the corresponding bayonet numbers into the bayonet set to be calculated;
and deleting data associated with the bayonet to be calibrated in the bayonet set to be calculated from the map set.
Ensuring enough data participating in calculation in the calibration longitude and latitude set participating in calculation through the minimum matching threshold S, and further improving the accuracy of the calculated longitude and latitude obtained after track smoothing calculation based on a Kalman filtering algorithm; in this embodiment, the minimum matching threshold S is 2.
From table 3, the records in the map set with the number of trace points greater than the minimum matching threshold S are confirmed, and the bayonet set to be calculated in table 4 is obtained:
table 4: bayonet set to be calculated
Deleting data associated with the bayonet to be calibrated in the bayonet set to be calculated from the map set, wherein the number of the track points is less than or equal to 2 and still remains in the map set. The map set is updated to table 5;
table 5: updated map set
S5: and sequentially taking out each bayonet number from the bayonet set to be calculated, and averaging the values of all longitude and latitude points corresponding to each bayonet number to obtain the calculated longitude and latitude corresponding to the bayonet number.
And averaging the values of all longitude and latitude points corresponding to each key in the table 4. The average value of the track set corresponding to the bayonet 1 is [120.15,30.15], namely the calculation longitude and latitude of the bayonet 1.
S6: calculating the distance between each calculated longitude and latitude and the recorded longitude and latitude of the corresponding bayonet to be calibrated;
setting a distance threshold value D, and updating the value of the recorded longitude and latitude into the calculated longitude and latitude when the distance between the calculated longitude and latitude and the recorded longitude and latitude is greater than the distance threshold value D; otherwise, the value of the recorded longitude and latitude is kept as the original value; and (4) eliminating the error value of the longitude and latitude by setting the distance threshold value D. The latitude and longitude points of the new energy automobile track data have errors, and the method eliminates different conditions of calculating the latitude and longitude and the recorded longitude and latitude due to the track latitude and longitude error through the threshold D; in the present embodiment, the distance threshold D is set to 500 meters.
Assuming that the recorded longitude and latitude of the bayonet 1 is [120.1,30.1], the distance between the calculated longitude and latitude and the recorded longitude and latitude is 7300 m, and is more than a set distance threshold value of 500 m, the recorded longitude and latitude of the bayonet 1 needs to be changed into the calculated longitude and latitude [120.15,30.15 ].
S7: confirming whether the map set has residual bayonets to be calibrated;
if yes, waiting for a calculation period T by taking the starting time as a starting point, and circularly executing the steps S2-S6 on the remaining bayonets to be calibrated in the map set again to perform the next round of deviation correction calculation;
otherwise, ending the deviation correction calculation.
If the bayonet to be calibrated with the bayonet number 2 still exists in table 5, the correction calculation is performed on the bayonet 2 again after 30 minutes.
After the technical scheme of the invention is used, the gps track positioning data uploaded by the new energy automobile in real time is utilized to realize automatic calibration of the notch filing longitude and latitude, the algorithm is simple, the practicability is strong, particularly, the accurate notch position is beneficial to the notch networking planning and investigation of the hidden danger new energy automobile, and the technical support is provided for the new energy automobile operation risk management and control.
Claims (4)
1. A bayonet position longitude and latitude deviation correcting method based on new energy automobile track data is characterized by comprising the following steps of:
s1: setting a calculation period T; t is a time period which represents that data in each time period T is collected to participate in the calculation, and a time period T is arranged between two calculations;
s2: after the deviation correction calculation is started, the following data are collected to participate in the calculation by taking the starting time as a starting point;
acquiring vehicle passing records of all new energy vehicles of the bayonets to be calibrated in the calculation period T, and recording the vehicle passing records as calibration used vehicle passing records;
collecting GPS track records of all new energy vehicles for calibration in the calculation period T, and recording the GPS track records for calibration;
s3: establishing a map set;
the map set includes: a bayonet number corresponding to each bayonet to be calibrated and a calibration longitude and latitude set corresponding to each bayonet to be calibrated;
the set of calibration longitude and latitude includes: the longitude and latitude set is obtained after the calibration vehicle-passing record corresponding to the bayonet number is successfully matched with the calibration GPS track record;
s4: setting a minimum matching threshold S, wherein the minimum matching threshold S represents the minimum track number contained in an effective matching longitude and latitude set;
traversing the map set, sequentially finding the bayonets to be calibrated with the track points more than or equal to the minimum matching threshold S in the longitude and latitude set for calibration, and putting the corresponding bayonet numbers into the bayonet set to be calculated;
deleting data associated with the bayonet to be calibrated in the bayonet set to be calculated from the map set;
s5: sequentially taking out each bayonet number from the bayonet set to be calculated, and averaging the values of all longitude and latitude points corresponding to each bayonet number to obtain the calculated longitude and latitude corresponding to the bayonet number;
s6: calculating the distance between each calculation longitude and latitude and the corresponding record longitude and latitude of the bayonet to be calibrated;
setting a distance threshold value D, and updating the value of the recorded longitude and latitude into the calculated longitude and latitude when the distance between the calculated longitude and latitude and the recorded longitude and latitude is greater than the distance threshold value D; otherwise, the value of the recorded longitude and latitude is kept as the original value;
s7: confirming whether the map set has the rest bayonets to be calibrated;
if yes, waiting for the calculation period T by taking the starting time as a starting point, and circularly executing the steps S2-S6 on the remaining bayonets to be calibrated in the map set again to perform the next round of deviation correction calculation;
otherwise, ending the deviation correction calculation.
2. The new energy vehicle trajectory data-based bayonet position longitude and latitude deviation correcting method according to claim 1, characterized in that: before step S1 is executed, the following steps are executed:
a 1: determining a bayonet to be calibrated, and determining a new energy automobile for calibration;
performing unified timing on all the bayonets to be calibrated and the system energy vehicles for calibration;
a 2: and ensuring that the new energy automobile for calibration passes through all the bayonets to be calibrated respectively.
3. The new energy vehicle trajectory data-based bayonet position longitude and latitude deviation correcting method according to claim 1, characterized in that: the calibrating the used vehicle record comprises: the bayonet number, the vehicle number plate and the passing time information;
the calibration GPS trace record comprises: vehicle number plate, track uploading time, longitude and latitude information.
4. The new energy vehicle trajectory data-based bayonet position longitude and latitude deviation correcting method according to claim 1, characterized in that: in step S3, the method for obtaining the calibration longitude and latitude set includes the following steps:
b 1: taking out the bayonets to be calibrated one by one, and finding out the corresponding calibration used vehicle records;
b 2: screening out the number plate of the new energy vehicle included in the calibration used vehicle record, and recording the number plate as a card port number plate record;
b 3: taking out each number plate one by one from the card port number plate records, recording as a number plate to be confirmed, and recording as a passing time to be confirmed when the corresponding passing time in the calibration used vehicle record;
b 4: finding the vehicle passing time corresponding to the license plate to be confirmed in the calibration GPS track record, finding a piece of GPS longitude and latitude data closest to the vehicle passing time to be confirmed, and recording the piece of GPS longitude and latitude data to be confirmed;
b 5: calculating the difference between the passing time to be confirmed and the uploading time of the longitude and latitude data of the GPS to be confirmed, and recording the difference as a matching difference;
b6: setting a maximum matching time error threshold t, wherein the maximum matching time error threshold t represents a maximum allowable time difference of effective matching between a new energy vehicle passing time point in the calibration used vehicle record and a track uploading time in the calibration GPS track record;
comparing the match difference to the maximum match time error threshold t;
when the matching difference is smaller than the maximum matching time error threshold t, writing the GPS longitude and latitude data to be confirmed into the calibration longitude and latitude set;
b 7: circularly executing the steps b 3-b 6 until all the cards to be confirmed in the card port number card record are confirmed;
b 8: b 1-b 7 is executed in a circulating mode, and the calibration longitude and latitude set corresponding to the bayonet to be calibrated is obtained only if the number plate records corresponding to the bayonet to be calibrated are confirmed.
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