CN115468563A - Trajectory processing method and computer program product - Google Patents
Trajectory processing method and computer program product Download PDFInfo
- Publication number
- CN115468563A CN115468563A CN202110653639.XA CN202110653639A CN115468563A CN 115468563 A CN115468563 A CN 115468563A CN 202110653639 A CN202110653639 A CN 202110653639A CN 115468563 A CN115468563 A CN 115468563A
- Authority
- CN
- China
- Prior art keywords
- track
- points
- data
- point
- reliable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- 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
- 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
-
- 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The embodiment of the application provides a track processing method and a computer program product, wherein the track processing method comprises the following steps: acquiring track resolving data, wherein the track resolving data comprises position data, attitude data and speed data of at least one track point; determining the position reliability of the track points according to the position data of the track points; determining the attitude stability of at least one track segment formed by at least one track point according to the attitude data and the speed data of the track point; and determining whether the track points are reliable or not according to the position reliability of the track points and the attitude stability of the track sections to which the track points belong. The position reliability of the track points and the posture stability of the track sections are comprehensively considered, the reliability of the track points is determined by combining the position reliability and the posture stability, and whether the track points are reliable or not can be accurately judged.
Description
Technical Field
The embodiment of the application relates to the technical field of geographic information, in particular to a track processing method and a computer program product.
Background
In some scenes, such as urban canyons, shade stands, viaducts, tunnels and the like, the quality (such as precision) of very important track data in the production data is affected, so that track abnormity occurs, and the accuracy of the production result of the electronic map is affected by the track abnormity. In order to solve the problem, the track of the acquisition equipment needs to be checked, and the track with abnormal precision (referred to as abnormal track for short) needs to be optimized, so that the track precision is improved. However, in the process of implementing the above technical solution, the related art cannot accurately determine which tracks belong to abnormal tracks.
Disclosure of Invention
Embodiments of the present application provide a trajectory processing method and a computer program product to at least partially solve the above problems.
According to a first aspect of embodiments of the present application, there is provided a trajectory processing method, including: acquiring track resolving data, wherein the track resolving data comprises position data, attitude data and speed data of at least one track point; determining the position reliability of the track points according to the position data of the track points; determining the attitude stability of at least one track segment formed by at least one track point according to the attitude data and the speed data of the track point; and determining whether the track points are reliable or not according to the position reliability of the track points and the attitude stability of the track sections to which the track points belong.
According to a second aspect of embodiments of the present application, there is provided a trajectory processing device including: the acquisition module is used for acquiring track resolving data, and the track resolving data comprises position data, attitude data and speed data of at least one track point; the position checking module is used for determining the position reliability of the track points according to the position data of the track points; the gesture checking module is used for determining the gesture stability of at least one track segment formed by at least one track point according to the gesture data and the speed data of the track point; and the track management module is used for determining whether the track points are reliable or not according to the position reliability of the track points and the posture stability of the track sections to which the track points belong.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including: the processor, the memory and the communication interface complete mutual communication through the communication bus; the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the track processing method of the first aspect.
According to a fourth aspect of embodiments of the present application, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the trajectory processing method according to the first aspect.
According to a fifth aspect of embodiments of the present application, there is provided a computer program product, which when executed by a processor, implements the trajectory processing method according to the first aspect.
According to the trajectory processing method and the computer program product provided by the embodiment of the application, trajectory calculation data is obtained, and the trajectory calculation data comprises position data, attitude data and speed data of at least one trajectory point; determining the position reliability of the track points according to the position data of the track points; determining the attitude stability of at least one track segment formed by at least one track point according to the attitude data and the speed data of the track point; and determining whether the track points are reliable or not according to the position reliability of the track points and the posture stability of the track segments to which the track points belong. The position reliability of the track point and the posture stability of the track segment are comprehensively considered, the reliability of the track point is determined by combining the position reliability and the posture stability, and whether the track point is reliable or not can be accurately judged.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a scene schematic diagram of a trajectory processing method according to an embodiment of the present application;
fig. 2 is a flowchart of a track processing method according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a trajectory optimization method according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating an embodiment of a GNSS signal checking;
fig. 5 is a schematic view illustrating an attitude stability check according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a continuity check provided in an embodiment of the present application;
fig. 7 is a structural diagram of a track processing device according to a second embodiment of the present application;
fig. 8 is a structural diagram of an electronic device according to a third embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application shall fall within the scope of the protection of the embodiments in the present application.
The following further describes specific implementations of embodiments of the present application with reference to the drawings of the embodiments of the present application.
Example one
For convenience of understanding, an application scenario of the trajectory processing method provided in the first embodiment of the present application is described, and referring to fig. 1, fig. 1 is a scenario diagram of the trajectory processing method provided in the first embodiment of the present application. The scene shown in fig. 1 includes an electronic device 101, and the electronic device 101 may be a device that executes the trajectory processing method provided in the first embodiment of the present application.
The electronic device 101 may be a terminal device such as a smart phone, a tablet computer, a notebook computer, and a vehicle-mounted terminal, and the electronic device 101 may also be a network device such as a server, which is only exemplary and not meant to limit the present application.
The electronic device 101 may access a Network, be connected to a cloud via a Network, and perform data interaction, where the Network includes a Local Area Network (LAN), a Wide Area Network (WAN), and a mobile communication Network; such as the World Wide Web (WWW), long Term Evolution (LTE) networks, 2G networks (2 th Generation Mobile networks), 3G networks (3 th Generation Mobile networks), 5G networks (5 th Generation Mobile networks), etc. The cloud may include various devices connected over a network, such as servers, relay devices, device-to-Device (D2D) devices, and so forth. Of course, this is merely an example and does not represent a limitation of the present application.
With reference to the scenario shown in fig. 1, a track processing method provided in a first embodiment of the present application is described in detail, it should be noted that fig. 1 is only an application scenario of the track processing method provided in the first embodiment of the present application, and does not represent that the track processing method must be applied to the scenario shown in fig. 1, and may be specifically applied to an electronic device, referring to fig. 2, fig. 2 is a flowchart of a track processing method provided in the first embodiment of the present application, and the method includes the following steps:
The track resolving data comprises position data, attitude data and speed data of at least one track point, specifically, the position data of the track point is used for indicating the position of the target object when the track point is located, similarly, the attitude data of the track point is used for indicating the attitude of the target object when the track point is located, and the speed data of the track point is used for indicating the speed of the target object when the track point is located.
It should be noted that at least one track point may be a track point included in a target track of a target object, the target track is a set of a series of discrete track points, and the track points may form a track line. The target object may be a vehicle (such as an automobile, a bicycle, etc.) carrying the acquisition device, or may be the acquisition device itself, which has at least positioning capability.
It will be appreciated that the trajectory calculation data may also include sensor measurement data output by the sensors, which are used to calculate the position data, attitude data and velocity data. The sensor Measurement data may be data obtained by acquiring data at positions of one or more track points on the target track of each sensor, and may exemplarily include at least one of data of a Global Positioning System (GPS), data of a odometer, and data of an Inertial Measurement Unit (IMU). For example, the target track includes 10 track points, when the target object moves to the position of the 1 st track point, data acquisition is performed to obtain track resolving data corresponding to the 1 st track point, when the target object moves to the position of the 2 nd track point, data acquisition is performed to obtain track resolving data corresponding to the 2 nd track point, and so on, one track point corresponds to one group of track resolving data.
And step 202, determining the position reliability of the track points according to the position data of the track points.
Determining the reliability of the position of the track point may include determining whether the position (latitude and longitude coordinates) of the track point is reliable or determining the degree of reliability (expressed in a reliability numerical value) of the position of the track point.
The position data of the track points comprise longitude and latitude coordinate data of the track points and calculation parameters obtained in the calculation process or measurement data of related sensors.
Optionally, in an embodiment, determining the position reliability of the track point according to the position data of the track point includes: and determining the position reliability of the track points according to the resolving parameters of a Global Navigation Satellite System (GNSS) in the position data of the track points. In another embodiment, determining the position reliability of the trace points according to the position data of the trace points comprises: and determining the position reliability of the track points according to the corresponding speed of the track points and the GNSS resolving parameters in the position data of the track points.
Illustratively, the GNSS solution parameters may include: at least one of a number of satellites, a position standard deviation, a positioning mode, and a position accuracy factor. The more the number of satellites is, the higher the reliability degree of the track points is; the smaller the position standard deviation is, the higher the reliability degree of the track point is; if the carrier phase difference technology is utilized in the positioning mode, namely the carrier phase difference technology is adopted when GNSS resolving is carried out in the positioning process, the reliability degree of the track points is higher than that of the track points without the carrier phase difference technology; the smaller the Position Precision factor (PDOP), the better the satellite geometric distribution, and the higher the reliability of the track point. The higher the speed of the point of the track (i.e. the speed of the target object at the point of the track) is, the higher the reliability of the point of the track is. The carrier phase difference technique may include a Real Time Kinematic (RTK) carrier phase difference technique. Here, two specific examples are listed for explanation, respectively.
In a first example, determining the position reliability of a trace point includes determining the reliability of the trace point, and using a reliability value to represent the reliability, for a trace point of a target object, determining the reliability value of the trace point according to each influence factor, and performing weighted summation on the reliability values of at least one influence factor to obtain the reliability value of the trace point. The weight of the reliability value of each influence factor can be (1/the number of the influence factors), namely, the average value of the reliability values of the influence factors is determined as the reliability value of the track point; alternatively, the same or different weight values may be set in advance for each influence factor according to the influence degree of the influence factor on the position accuracy, and this is only an example. The influencing factors may include at least one of a number of satellites, a standard deviation of position, a positioning mode, a position accuracy factor, and a velocity corresponding to a trajectory point.
In a second example, determining the positional reliability of the trace points includes determining whether the trace points are reliable. The GNSS resolving parameters comprise: one or more of the satellite quantity, the position standard deviation, the positioning mode and the position precision factor PDOP, resolving parameters according to GNSS in the position data of the track point, and determining whether the position in the position data is reliable or not, including: judging whether the number of satellites is larger than or equal to a preset number or not according to each track point; judging whether the position standard deviation of the track point is less than or equal to a preset standard deviation or not; judging whether the GNSS of the track points adopts a carrier phase difference technology or not; judging whether the position precision factor PDOP of the track point is less than or equal to a preset threshold value or not; judging whether the speed data corresponding to the track point is greater than or equal to a preset speed or not; and when any judgment result is negative, determining that the track point is unreliable, and if the judgment results are positive, determining that the track point is reliable. It should be noted that the speed corresponding to the track point may be determined according to the positioning position indicated by the position data and the time interval between the positioning positions; the speed data may also be calculated according to the north direction speed and the east direction speed included in the speed data in the trajectory calculation data, which is not limited in the present application.
And 203, determining the attitude stability of at least one track segment formed by at least one track point according to the attitude data and the speed data of the track points.
Determining the pose stability of the track segment can include determining whether the pose of the target object in the track segment is stable or determining how stable the pose of the target object in the track segment is (in terms of a stability value). It should be noted that at least one track point may constitute at least one track segment, and each track segment may include at least one continuous track point. Optionally, determining the pose stability of at least one track segment formed by at least one track point according to the pose data and the speed data of the track point, includes: determining a track angle of the track point according to the speed data of the track point; calculating a course difference value between a course angle contained in the attitude data of the track point and a track angle of the track point; segmenting at least one track point based on the change trend of the course angle in the attitude data of the at least one track point to obtain at least one track segment; and determining the attitude stability of the track segment according to the heading difference value of at least one track point contained in the track segment. It should be noted that the velocity data of the track point may include the northbound velocity and the eastern velocity of the target object at the track point. The heading angle can indicate an included angle between the centroid speed and the x axis of the horizontal axis under a navigation coordinate system, or can be defined as an included angle between the direction of the target object speed and the north direction; the track angle may indicate an included angle between a north-direction speed and an east-direction speed in the navigation coordinate system, and the course angle and the track angle may represent a pose of the target object. The at least one trajectory segment may include a curved trajectory segment and a straight trajectory segment, and the longer straight trajectory segment may be divided into a plurality of straight trajectory segments. It should be noted that, in an ideal state, or theoretically, the course angle and the track angle of the target object at one track point should be equal, and if the difference between the track angle and the course angle is larger, the gesture is more unstable, and the track point is less reliable.
Further optionally, determining the attitude stability of the track segment according to the heading difference value of at least one track point included in the track segment includes: determining a standard deviation and an average value of the heading difference values of at least one track point based on the heading difference values of at least one track point contained in the track segment; determining a stability numerical value of the track segment based on the standard deviation and the average value of the course difference value of at least one track point; and comparing the stability value of the track segment with a threshold value corresponding to the type of the track segment to determine the attitude stability of the track segment. Wherein, for a track segment, the heading difference value of the ith track point contained in the track segment is x i Expressing that i is an integer which is more than 0 and less than or equal to n, n is the number of track points of the track segment, and using a formula
The standard deviation, a, can be calculated, wherein,
represents the average of course interpolations of n track points,
it should be noted that, for the curve track section and the straight track section, different thresholds may be set, for example, the threshold of the curve track section is 0.5, the threshold of the straight track section is 0.3, if the track section is a curve and the stability value of the target object in the track section is less than 0.5, it is determined that the posture of the target object in the track section is stable, and if the track section is a straight line and the stability value of the target object in the track section is less than 0.3, it is determined that the target object is stable in the track section. The threshold value is only exemplary, and can be set according to specific situations.
And 204, determining whether the track points are reliable or not according to the position reliability of the track points and the attitude stability of the track sections to which the track points belong.
Optionally, determining whether the track point is reliable according to the position reliability of the track point and the attitude stability of the track segment includes: and when the position reliability of the track point indicates that the position of the track point is reliable and the posture stability of the track segment to which the track point belongs indicates that the posture of the track segment is stable, marking the track point as reliable, otherwise, marking the track point as unreliable.
It should be noted that after the track points are marked as reliable or unreliable, the marked track points may be corrected, and for example, in a further embodiment, the method further includes: and according to the reliability and continuity of the track points, correcting the reliability and reliability of the marked track points. Here, two specific examples are listed for explanation:
optionally, in the first example, the step of correcting whether the marked track points are reliable according to whether the track points are reliable or not includes: determining whether the length of the continuous track points marked as reliable is less than or equal to a first threshold value, and if so, correcting the continuous track points marked as reliable as unreliable. Illustratively, the first threshold may be 30m, or may also be 2s, i.e. the length of consecutive reliable trace points may be characterized by distance or by time.
Optionally, in a second example, the method further comprises: acquiring continuous track points marked as unreliable between two reliable track segments, wherein the track points contained in the reliable track segments are marked as reliable; and judging whether the lengths of the continuous track points marked as unreliable are smaller than or equal to a second threshold value or not, and if so, correcting the unreliable track points to be reliable. Optionally, if the length of the consecutive unreliable track points is greater than the second threshold between adjacent reliable track segments, the consecutive unreliable track points are determined as unreliable track segments. The second threshold may be equal or not to the first threshold, e.g. the second threshold may be 30m or 2s.
Optionally, in another embodiment, the reliability value of the position of the track point and the stability value of the pose may be weighted and summed to obtain a reliability parameter of the track point, and the reliability parameter may represent a reliability degree of the track point.
With reference to the descriptions of the above steps 201 to 204, after determining whether the track points on the target track are reliable, an unreliable track segment (i.e., an abnormal track segment) may be optimized, and illustratively, the reliability of the track segment included in the target track is determined according to the reliability of the track points; and if the track segment is unreliable, optimizing the track of the track segment. Because the influence of the unreliability of one track point on the target track is very limited, the track segment is optimized instead of optimizing a certain single track point, and the optimization efficiency can be improved.
Based on the above steps 201-204, a specific application scenario is listed here to further illustrate how to perform the trajectory optimization. As shown in fig. 3, fig. 3 is a flowchart of a trajectory optimization method according to an embodiment of the present application. The method comprises the following steps:
The sensor measurement data may include GPS data, odometer data, and inertial measurement unit data.
And 302, carrying out trajectory calculation on the sensor measurement data to obtain trajectory calculation data of the target object.
The trajectory resolution data may include positioning data, pose data, and velocity data for at least one trajectory point of the target object.
In this embodiment, the GNSS signal check is a position reliability check. As shown in fig. 4, fig. 4 is a schematic diagram of a GNSS signal inspection according to an embodiment of the present invention, where the GNSS signal inspection may include determining the number of satellites, a standard deviation of position, a positioning mode, a position accuracy factor, and a velocity. Specifically, the following 5 conditions may be determined, and the determination of the 5 conditions may not be in order:
1) And for a certain track point, the number of the satellites utilized when the GNSS data and the IMU data are combined and resolved is determined, and if the number of the satellites is more than or equal to 4, the track point is determined to be reliable.
2) For a certain track point, calculating a position standard deviation for positioning by using GNSS data, or calculating a position standard deviation for positioning by using a combination of GNSS and IMU, if the position standard deviation is smaller than a preset standard deviation, determining that the track point is reliable, wherein the preset standard deviation may be smaller than or equal to 1 decimeter, for example, the preset standard deviation may be 1 decimeter, 3 centimeters, 5 centimeters, or the like.
3) And for a certain track point, checking a GNSS positioning mode, judging whether an RTK carrier phase difference division technology is adopted, and if the RTK carrier phase difference division technology is adopted, determining that the track point is reliable. Further, if the RTK fixed solution or the RTK floating solution is resolved in the resolving process, it can be determined that the RTK carrier phase difference division technique is adopted, that is, the RTK carrier phase technique plays a role in the resolving process.
4) For a certain track point, checking whether PDOP is less than or equal to 7, and if PDOP is less than or equal to 7, determining that the track point is reliable, where the value range of the preset threshold may be a value between [3,7], for example, the preset threshold may also be 5 or 3, etc.
5) And for a certain track point, calculating the speed according to the GNSS positioning position, and if the speed is greater than or equal to the preset speed, determining that the track point is reliable.
If one condition determines that the track point is unreliable, the track point is directly determined to be unreliable under the above 5 conditions.
And step 304, determining the course angle and the track angle of the target object at the track point according to the track resolving data.
For example, the attitude data in the trajectory calculation data of the trajectory point may include a heading angle of the target object at the trajectory point, and the trajectory angle of the trajectory point may be determined according to the speed data in the trajectory calculation data. In particular, it can be based on a formula
And calculating a track angle.
Wherein, the raw track Representing the track angle, v the velocity, E the East direction (East), E the geocentric-geostationary coordinate system, also called geocentric coordinate system, is a coordinate system with the geocentric as the origin, N the North direction (North), N the navigation coordinate system, b the carrier coordinate system,
the projection component of the velocity of the target object relative to the geocentric geostationary coordinate system in the navigation coordinate system, the east velocity,
and the projection component of the velocity of the target object relative to the geocentric coordinate system in the navigation coordinate system, the north velocity is designated.
And 305, performing attitude stability check on the track points according to the course angle and the track angle of the target object on the track points, and determining the attitude stability of at least one track segment formed by at least one track point.
As shown in fig. 5, fig. 5 is a schematic view of checking attitude stability according to an embodiment of the present application, specifically, a schematic view of checking attitude stabilityGround can be given the formula yawdiff = yaw-yaw track Calculating the course difference value of the course angle and the track angle of the target object at each track point, wherein yawdiff represents the course difference value, yaw represents the course angle, and yaw represents the course angle track The track angle is indicated. Respectively calculating the standard deviation and the average value of the course difference values of the course angle and the track angle of the target object in each track segment by taking the track segment as a unit, and calculating the standard deviation and the average value according to a formula
Calculating a stability value, wherein stability denotes the stability value, std yawdiff Denotes standard deviation, avg yawdiff The average value is shown.
And step 306, determining whether the track points are reliable according to the position reliability of the track points and the posture stability of the track segment to which the track points belong, and carrying out continuity check.
If the position of the track point is unreliable or the posture of the track point is unstable, marking the track point as unreliable; otherwise, the trace points are marked as reliable.
It should be noted that, the checking of continuity of the trace points refers to checking whether the trace points are reliable or not, and whether the marked trace points are reliable or not is corrected according to whether the trace points are reliable or not in the description of step 204. Further, as shown in fig. 6, fig. 6 is a schematic diagram of continuity check provided in an embodiment of the present application, which illustrates how to perform continuity check on track points, and if the length of consecutive reliable track points is less than or equal to a first threshold, the consecutive reliable track points are determined as unreliable track segments. And if the length of the continuous unreliable track points between the adjacent reliable track segments is larger than or equal to the second threshold value, determining the continuous unreliable track points as unreliable track segments. And if the length of the continuous unreliable track points between the adjacent reliable track segments is greater than a second threshold value, determining the continuous unreliable track points as unreliable track segments, and if the length of the continuous unreliable track points between the adjacent reliable track segments is less than or equal to the second threshold value, determining the continuous unreliable track points as reliable track segments.
And 307, marking whether the track points are reliable or not.
Through the judgment of the steps 303 to 306, whether the track points are reliable can be determined, whether each track point is reliable is marked, and unreliable track segments needing to be optimized can be determined.
And step 308, optimizing unreliable track segments.
And 309, matching and aligning the collected point cloud data according to the optimized track, and generating or updating a map.
According to the track processing method provided by the embodiment of the application, track resolving data are obtained, and the track resolving data comprise position data, attitude data and speed data of at least one track point; determining the position reliability of the track points according to the position data of the track points; determining the attitude stability of at least one track segment formed by at least one track point according to the attitude data and the speed data of the track point; and determining whether the track points are reliable or not according to the position reliability of the track points and the attitude stability of the track sections to which the track points belong. The position reliability of the track points and the posture stability of the track sections are comprehensively considered, the reliability of the track points is determined by combining the position reliability and the posture stability, and whether the track points are reliable or not can be accurately judged.
Example two
Based on the method described in the first embodiment, a second embodiment of the present application provides a track processing apparatus for executing the method described in the first embodiment, and referring to fig. 7, the track processing apparatus 70 includes:
the acquisition module 701 is used for acquiring track resolving data, wherein the track resolving data comprises position data, attitude data and speed data of at least one track point;
the position checking module 702 is configured to determine the position reliability of the trace points according to the position data of the trace points; a posture checking module;
the attitude checking module 703 is configured to determine the attitude stability of at least one trajectory segment formed by at least one trajectory point according to the attitude data and the speed data of the trajectory point;
and the track management module 704 is used for determining whether the track point is reliable according to the position reliability of the track point and the posture stability of the track segment to which the track point belongs.
Optionally, in a specific example, the gesture checking module 703 is configured to determine a track angle of the track point according to the speed data of the track point; calculating a course difference value between a course angle contained in the attitude data of the track point and a track angle of the track point; segmenting at least one track point based on the change trend of the course angle in the attitude data of the at least one track point to obtain at least one track segment; and determining the attitude stability of the track segment according to the heading difference value of at least one track point contained in the track segment.
Optionally, in a specific example, the attitude checking module 703 is configured to determine a standard deviation and an average of heading differences of at least one track point based on the heading difference of the at least one track point included in the track segment; determining a stability value of the track segment based on the standard deviation and the average value of the course difference value of at least one track point; and comparing the stability value of the track segment with a threshold value corresponding to the type of the track segment to determine the attitude stability of the track segment.
Optionally, in a specific example, the track management module 704 is configured to mark the track point as reliable when the position reliability of the track point indicates that the position of the track point is reliable and the posture stability of the track segment to which the track point belongs indicates that the posture of the track segment is stable, and otherwise, mark the track point as unreliable.
Optionally, in a specific example, the track management module 704 is further configured to correct whether the marked track points are reliable according to the continuity of whether the track points are reliable.
Optionally, in a specific example, the track management module 704 is configured to determine whether the length of the consecutive track points marked as reliable is smaller than or equal to a first threshold, and if so, correct the consecutive track points marked as reliable as unreliable.
Optionally, in a specific example, the track management module 704 is further configured to obtain track points marked as unreliable and located continuously between two reliable track segments, where the track points included in a reliable track segment are both marked as reliable; and judging whether the length of the continuous track points marked as unreliable is less than or equal to a second threshold value, and if so, correcting the unreliable track points to be reliable.
Optionally, in a specific example, the position checking module 702 is configured to determine the position reliability of the track point according to a global navigation satellite system GNSS solution parameter in the position data of the track point.
Optionally, in a specific example, the GNSS solution parameters include: the position checking module 702 is configured to determine, for each track point, whether the number of satellites is greater than or equal to a preset number; judging whether the position standard deviation of the track point is less than or equal to a preset standard deviation or not; judging whether the GNSS of the track points adopts a carrier phase difference technology or not; judging whether the position precision factor PDOP of the track point is less than or equal to a preset threshold value or not; judging whether the speed corresponding to the track point is greater than or equal to a preset speed or not; and when any judgment result is negative, determining that the track point is unreliable, and if the judgment results are positive, determining that the track point is reliable.
The trajectory processing device provided by the embodiment of the application obtains trajectory calculation data, wherein the trajectory calculation data comprises position data, attitude data and speed data of at least one trajectory point; determining the position reliability of the track points according to the position data of the track points; determining the attitude stability of at least one track segment formed by at least one track point according to the attitude data and the speed data of the track point; and determining whether the track points are reliable or not according to the position reliability of the track points and the attitude stability of the track sections to which the track points belong. The position reliability of the track points and the posture stability of the track sections are comprehensively considered, the reliability of the track points is determined by combining the position reliability and the posture stability, and whether the track points are reliable or not can be accurately judged.
EXAMPLE III
Based on the method described in the first embodiment, a third embodiment of the present application provides an electronic device, configured to execute the method described in the first embodiment, and referring to fig. 8, a schematic structural diagram of an electronic device according to the third embodiment of the present application is shown, and a specific embodiment of the present application does not limit a specific implementation of the electronic device.
As shown in fig. 8, the electronic device 80 may include: a processor (processor) 802, a Communications Interface 804, a memory 806, and a communication bus 808.
Wherein:
the processor 802, communication interface 804, and memory 806 communicate with one another via a communication bus 808.
A communication interface 804 for communicating with other electronic devices or servers.
The processor 802 is configured to execute the program 810, and may specifically perform relevant steps in the above track processing method embodiment.
In particular, the program 810 may include program code comprising computer operating instructions.
The processor 802 may be a central processing unit CPU, or an Application Specific Integrated Circuit ASIC (Application Specific Integrated Circuit), or one or more Integrated circuits configured to implement embodiments of the present Application. The intelligent device comprises one or more processors which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
The memory 806 stores a program 810. The memory 806 may include high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 810 may be specifically configured to be executed by the processor 802 to implement the trajectory processing method described in the first embodiment. For specific implementation of each step in the program 810, reference may be made to corresponding steps and corresponding descriptions in units in the foregoing embodiment of the trajectory processing method, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
The electronic equipment provided by the embodiment of the application acquires track resolving data, wherein the track resolving data comprises position data, attitude data and speed data of at least one track point; determining the position reliability of the track points according to the position data of the track points; determining the attitude stability of at least one track segment formed by at least one track point according to the attitude data and the speed data of the track point; and determining whether the track points are reliable or not according to the position reliability of the track points and the attitude stability of the track sections to which the track points belong. The position reliability of the track point and the posture stability of the track segment are comprehensively considered, the reliability of the track point is determined by combining the position reliability and the posture stability, and whether the track point is reliable or not can be accurately judged.
Example four
Based on the method described in the first embodiment, a fourth embodiment of the present application provides a computer storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method described in the first embodiment.
EXAMPLE five
Based on the method described in the first embodiment, a computer program product is provided in a fourth embodiment of the present application, and when executed by a processor, the computer program product implements the method described in the first embodiment.
It should be noted that, according to implementation needs, each component/step described in the embodiment of the present application may be divided into more components/steps, and two or more components/steps or partial operations of the components/steps may also be combined into a new component/step to achieve the purpose of the embodiment of the present application.
The above-described methods according to embodiments of the present application may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the methods described herein may be stored in such software processes on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware such as an ASIC or FPGA. It is understood that the computer, processor, microprocessor controller or programmable hardware includes memory components (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the navigation methods described herein. Further, when a general-purpose computer accesses code for implementing the navigation methods shown herein, execution of the code transforms the general-purpose computer into a special-purpose computer for performing the navigation methods shown herein.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.
The above embodiments are only used for illustrating the embodiments of the present application, and not for limiting the embodiments of the present application, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the scope of the patent protection of the embodiments of the present application should be defined by the claims.
Claims (10)
1. A trajectory processing method, comprising:
acquiring track resolving data, wherein the track resolving data comprises position data, attitude data and speed data of at least one track point;
determining the position reliability of the track points according to the position data of the track points;
determining the attitude stability of at least one track segment formed by the at least one track point according to the attitude data and the speed data of the track point;
and determining whether the track points are reliable or not according to the position reliability of the track points and the attitude stability of the track sections to which the track points belong.
2. The method of claim 1, wherein determining the pose stability of at least one track segment of the at least one track point from the pose data and the velocity data of the track point comprises:
determining a track angle of the track point according to the speed data of the track point;
calculating a course difference value between a course angle contained in the attitude data of the track point and a track angle of the track point;
segmenting the at least one track point based on the change trend of the course angle in the attitude data of the at least one track point to obtain at least one track segment;
and determining the attitude stability of the track segment according to the heading difference value of at least one track point contained in the track segment.
3. The method according to claim 2, wherein the determining the attitude stability of the track segment according to the heading difference value of at least one track point contained in the track segment comprises
Determining the standard deviation and the average value of the course difference value of at least one track point based on the course difference value of at least one track point contained in the track segment
Determining a stability value of the track segment based on the standard deviation and the average value of the course difference value of at least one track point;
and comparing the stability value of the track segment with a threshold value corresponding to the type of the track segment to determine the attitude stability of the track segment.
4. The method of claim 1, wherein the determining whether the track point is reliable according to the position reliability of the track point and the pose stability of the track segment comprises:
and when the position reliability of the track point indicates that the position of the track point is reliable, and the posture stability of the track section to which the track point belongs indicates that the posture of the track section is stable, marking the track point as reliable, otherwise, marking the track point as unreliable.
5. The method of claim 4, wherein the method further comprises:
and according to the continuity of whether the track points are reliable or not, correcting whether the marked track points are reliable or not.
6. The method of claim 5, wherein the correcting whether the marked trace points are reliable according to whether the trace points are reliable or not comprises:
determining whether the length of the continuous track points marked as reliable is less than or equal to a first threshold value, and if so, correcting the continuous track points marked as reliable into unreliable.
7. The method of claim 6, wherein the method further comprises:
acquiring continuous track points marked as unreliable between two reliable track segments, wherein the track points contained in the reliable track segments are marked as reliable;
and judging whether the length of the continuous track points marked as unreliable is smaller than or equal to a second threshold value, and if so, correcting the unreliable track points to be reliable.
8. The method according to any one of claims 1-7, wherein determining the positional reliability of the trace points from the positional data of the trace points comprises:
and determining the position reliability of the track points according to the GNSS resolving parameters in the position data of the track points.
9. The method of claim 8, wherein the GNSS solution parameters comprise: one or more of the number of satellites, the standard deviation of the position, the positioning mode and the position accuracy factor PDOP, wherein the step of determining whether the position in the position data is reliable or not according to the GNSS calculation parameters in the position data of the track point comprises the following steps:
judging whether the number of satellites is larger than or equal to a preset number or not according to each track point;
judging whether the position standard deviation of the track points is smaller than or equal to a preset standard deviation or not;
judging whether the GNSS of the track points adopts a carrier phase differential technology or not;
judging whether the position precision factor PDOP of the track point is smaller than or equal to a preset threshold value or not;
judging whether the speed corresponding to the track point is greater than or equal to a preset speed or not;
and when any judgment result is negative, determining that the track point is unreliable, and if the judgment results are positive, determining that the track point is reliable.
10. A computer program product which, when executed by a processor, implements the trajectory processing method of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110653639.XA CN115468563A (en) | 2021-06-11 | 2021-06-11 | Trajectory processing method and computer program product |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110653639.XA CN115468563A (en) | 2021-06-11 | 2021-06-11 | Trajectory processing method and computer program product |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115468563A true CN115468563A (en) | 2022-12-13 |
Family
ID=84363504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110653639.XA Pending CN115468563A (en) | 2021-06-11 | 2021-06-11 | Trajectory processing method and computer program product |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115468563A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117368953A (en) * | 2023-12-08 | 2024-01-09 | 深圳咸兑科技有限公司 | Hybrid positioning method, hybrid positioning device, electronic equipment and computer readable storage medium |
| CN117874155A (en) * | 2024-01-15 | 2024-04-12 | 中国共产党四川省委员会党校、四川行政学院(四川长征干部学院) | Moving object track simplifying method based on speed immature random value |
-
2021
- 2021-06-11 CN CN202110653639.XA patent/CN115468563A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117368953A (en) * | 2023-12-08 | 2024-01-09 | 深圳咸兑科技有限公司 | Hybrid positioning method, hybrid positioning device, electronic equipment and computer readable storage medium |
| CN117368953B (en) * | 2023-12-08 | 2024-03-22 | 深圳咸兑科技有限公司 | Hybrid positioning method, hybrid positioning device, electronic equipment and computer readable storage medium |
| CN117874155A (en) * | 2024-01-15 | 2024-04-12 | 中国共产党四川省委员会党校、四川行政学院(四川长征干部学院) | Moving object track simplifying method based on speed immature random value |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110160542B (en) | Method and device for positioning lane line, storage medium and electronic device | |
| CN108303720B (en) | Vehicle positioning method and device and terminal equipment | |
| CN113147738A (en) | Automatic parking positioning method and device | |
| CN115468563A (en) | Trajectory processing method and computer program product | |
| CN112835085B (en) | Method and device for determining vehicle position | |
| EP3667236B1 (en) | A method of determining position data | |
| CN111915675B (en) | Particle drift-based particle filtering point cloud positioning method, device and system thereof | |
| CN110319850B (en) | Method and device for acquiring zero offset of gyroscope | |
| CN114252082B (en) | Vehicle positioning method and device and electronic equipment | |
| CN113405545A (en) | Positioning method, positioning device, electronic equipment and computer storage medium | |
| JP7356528B2 (en) | Map data processing method and device | |
| CN114136315B (en) | Monocular vision-based auxiliary inertial integrated navigation method and system | |
| CN111339802A (en) | Method and device for generating real-time relative map, electronic equipment and storage medium | |
| CN114111775A (en) | Multi-sensor fusion positioning method and device, storage medium and electronic equipment | |
| CN111176270A (en) | Positioning using dynamic landmarks | |
| CN107764273B (en) | Vehicle navigation positioning method and system | |
| CN109916417B (en) | Map establishing method, map establishing device, computer equipment and storage medium thereof | |
| CN113009816B (en) | Method and device for determining time synchronization error, storage medium and electronic device | |
| CN111652915A (en) | Remote sensing image overlapping area calculation method and device and electronic equipment | |
| CN114264301A (en) | Vehicle-mounted multi-sensor fusion positioning method and device, chip and terminal | |
| CN115388873A (en) | Positioning detection method and device, electronic equipment and storage medium | |
| CN109710594B (en) | Map data validity judging method and device and readable storage medium | |
| CN117320148A (en) | Multi-source data fusion positioning method, system, electronic equipment and storage medium | |
| CN113218380B (en) | Electronic compass correction method and device, electronic equipment and storage medium | |
| CN113503883B (en) | Method for collecting data for constructing map, storage medium and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |