CN118068381A - Self-adaptive route correction method and system based on following Beidou RNSS - Google Patents
Self-adaptive route correction method and system based on following Beidou RNSS Download PDFInfo
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Abstract
The invention discloses a self-adaptive route correction method and system based on following Beidou RNSS, comprising the following steps: acquiring real-time position information of a target party and a follower party, and transmitting the real-time position information of the target party to a mobile terminal of the follower party; calculating a target displacement distance between the current geographic position coordinate of the target party and the navigation destination reference position through the mobile terminal; wherein the navigation destination reference position is an initial position of the target; calculating the remaining distance between the current geographic position coordinates of the follower and the navigation route of the navigation destination reference position through the mobile terminal; the mobile terminal calculates and updates a necessity evaluation value of a navigation destination reference position according to the calculated target displacement distance and the navigation line residual distance; according to the following state of the following party and the real-time movement data of the target party, the tracking strategy is adjusted in time, and the navigation destination and the navigation route can be corrected according to a reasonable scheme in the following process along with the movement of the target, so that the following, tracking and tracking of the target in front are realized.
Description
Technical Field
The invention relates to the technical field of route correction, in particular to a self-adaptive route correction method and system based on following Beidou RNSS.
Background
With the increasing perfection of Beidou system construction and the continuous improvement of service capability, the popularization and high-quality development of Beidou application are promoted, and the national requirements on large-scale, industrialization and internationalization of Beidou are put forward higher.
In daily work and life, people often encounter the situation that people hope to find people, track vehicles and the like by means of map navigation to follow, track and trace. Since the following target is often moving, the map navigation mode in the traditional sense cannot meet the application, and a method and a system capable of continuously correcting the navigation destination and the navigation route along with the movement of the target are needed.
The existing following scheme based on satellite positioning needs to continuously refresh the position, continuously set the purpose, frequently re-plan the path to keep following the moving target, and the frequent refreshing of the client side also increases the burden of the system, is easy to cause navigation interruption, and needs to formulate a reasonable scheme for updating the actual position of the target in the navigation process.
Disclosure of Invention
The invention aims to provide a self-adaptive route correction method and system based on following Beidou RNSS, which solve the following technical problems:
In the existing following scheme based on satellite positioning, a follower needs to continuously refresh the position, set the purpose continuously, frequently re-plan the path to keep following the moving target, and frequent refreshing of the client increases the burden of the system and easily causes navigation interruption.
The aim of the invention can be achieved by the following technical scheme:
a self-adaptive route correction method and system based on following Beidou RNSS comprises the following steps:
Acquiring real-time position information of a target party and a follower party, and transmitting the real-time position information of the target party to a mobile terminal of the follower party;
Calculating a target displacement distance between the current geographic position coordinate of the target party and the navigation destination reference position through the mobile terminal; the navigation destination reference position is the initial position of the target;
calculating the remaining distance of a navigation line between the current geographic position coordinate of the follower and the navigation destination reference position through the mobile terminal;
the mobile terminal calculates and updates a necessity evaluation value of the navigation destination reference position according to the calculated target displacement distance and the navigation line residual distance;
And determining whether the navigation destination reference position needs to be updated according to the necessity evaluation value, if so, updating the navigation destination reference position according to the real-time position information of the target party, setting the navigation destination reference position, and rescheduling the navigation route of the following party, otherwise, not updating the navigation destination reference position.
As a further scheme of the invention: acquiring real-time position information of a target party and a follower party, comprising the following steps:
establishing the association between a target party A and a follower party B, wherein the target party A performs data interaction with the follower party B through a service platform;
Starting route planning navigation of a target party and a follower party;
Determining a navigation destination reference position, an initial departure place and real-time position coordinates;
wherein the navigation destination reference position is the destination of the follower B.
As a further scheme of the invention: starting route planning navigation of a target party and a follower party, comprising:
the target party A reports real-time geographic position coordinates through a service platform;
The follower B reports real-time geographic position coordinates through a service platform;
And the follower B acquires the real-time geographic position coordinates of the target A through the service platform.
As a further scheme of the invention: determining a navigation destination reference position, an initial departure place and real-time position coordinates, comprising the following steps:
Acquiring an initial geographic position coordinate AP 0 of a target party A and an initial geographic position coordinate BP 0 of a follower party B;
Setting an initial geographic position coordinate AP 0 of the target party A as a navigation destination reference position M, and planning a navigation route by taking initial position information BP 0 of the follower party B as an initial departure place;
the current geographic position coordinates AP n of the target a and the current geographic position coordinates BP n of the follower B are acquired in real time.
As a further scheme of the invention: calculating a target displacement distance between the current geographic position coordinate of the target party and the navigation destination reference position, comprising the following steps:
according to the real-time position information of the target, calculating the displacement distance between the current geographic position coordinate AP n of the target A and the navigation destination reference position M as the target displacement distance AL.
As a further scheme of the invention: calculating the remaining distance of a navigation line between the current geographic position coordinate of the follower and the navigation destination reference position, comprising the following steps:
And calculating the navigation line remaining distance BL between the current geographic position coordinate BP n of the follower B and the navigation destination reference position M according to the real-time position information of the follower.
As a further scheme of the invention: according to the calculated target displacement distance and the navigation line remaining distance, calculating and updating a necessity evaluation value of the navigation destination reference position, comprising the following steps:
According to the absolute value of the displacement distance AL of the current geographic position coordinate AP n of the target party A from the navigation destination reference position M and the absolute value of the navigation route residual distance BL of the current geographic position coordinate BP n of the follower party B and the navigation destination reference position M, calculating a necessity evaluation value for updating the navigation destination reference position, and calculating by the following formula:
V＝|AL|-|BL|*X
wherein V is the necessity evaluation value for updating the navigation destination reference position, X is the navigation line residual distance weighting preset value, and X epsilon [0,1].
As a further scheme of the invention: determining whether the navigation destination reference position needs to be updated according to the necessity evaluation value, if the navigation destination reference position needs to be updated, updating the navigation destination reference position according to the real-time position information of the target party, and re-planning the navigation route of the following party, otherwise, not updating the navigation destination reference position, and comprising the following steps:
If the necessity evaluation value V of the updated navigation destination reference position is more than 0, the navigation destination reference position needs to be updated, otherwise, the navigation destination reference position does not need to be updated;
If the navigation destination reference position needs to be updated, the current geographic position coordinate AP n of the target party A is updated and set to be a new navigation destination reference position M to serve as a new destination of the following party B, and the navigation route of the following party B is re-planned;
the above process is repeated until the following navigation is stopped when the current geographic position coordinate BP n of the follower B is less than 10 meters from the current geographic position coordinate AP n of the target a.
As a further scheme of the invention: the value of the navigation line remaining distance weighting preset value X is manually set by the mobile terminal or automatically adjusted according to weather;
the method for automatically adjusting the residual distance weighting preset value X of the navigation line according to weather comprises the following steps:
acquiring a shooting image of a front camera of the follower B in real time;
Identifying a partial region affected by fog in the photographed image of the front camera through DARK CHANNEL Prior fog detection algorithm;
after detecting the region affected by fog, converting the region into a binary image, namely, setting the region affected by the fog as white and setting other regions as black; using an image processing algorithm or a computer vision technology to perform contour detection on the binarized image, and finding out the boundary of the area affected by fog;
Calculating the proportion of the area surrounded by the boundary to the total area of the shot image of the front camera, so as to obtain the proportion of the area affected by fog to the total area of the shot image;
The navigation line remaining distance weighting preset value X is according to the proportion of the area affected by fog to the total area of the shot image; wherein, the initial value of the navigation line remaining distance weighting preset value X is set to 0.5.
An adaptive route correction system based on following Beidou RNSS, comprising:
map data module: for storing map data and location information, capable of providing basic map information required for navigation;
and a positioning module: the method comprises the steps of acquiring position information of a vehicle in real time through a satellite positioning technology;
A data processing unit: the method is responsible for processing the information of the positioning module and comprises the following steps: protocol conversion, information encryption, function setting and parameter adjustment;
a data transmission unit: the positioning data processing unit is used for processing the positioning data and transmitting the positioning data to the Beidou position service platform;
Beidou position service platform: the real-time geographic position coordinates of the target party and the follower party are reported, and the real-time geographic position coordinates of the target party are provided for the follower party;
A mobile terminal: the self-adaptive route correction method based on the following Beidou RNSS is used for tracking the target party.
The invention has the beneficial effects that:
According to the method, the mobile data and the position information of the target party are obtained through the target displacement distance between the current geographic position coordinate of the target party and the navigation destination reference position. The following state of the follower can be known in real time through the residual distance between the current geographic position coordinates of the follower and the navigation route of the navigation destination reference position. According to the target displacement distance and the navigation route residual distance, the necessity evaluation value for updating the navigation destination reference position is calculated, and the tracking strategy can be timely adjusted according to the following state of the follower and the real-time movement data of the target, so that the follower can track the target more easily.
According to the navigation method taking the target as the guide, the actual position of the target is automatically updated according to a reasonable scheme in the navigation process, and the planned map navigation path is calculated and corrected according to the latest position of the target, so that people, vehicles, ships and the like can always navigate to the target along the navigation route, wherein the target can be in all forms of vehicles, people, animals, goods and the like provided with a positioning device; the navigation destination and the navigation route can be corrected according to a reasonable scheme in the following process along with the movement of the target, so that the following, tracking and tracing of the front target are realized. The method is convenient for setting team gathering points, multi-member tasks, team traveling, public security investigation and other applications and artificial intelligent equipment applications, and reduces the operation burden brought to the system by frequently replacing navigation destinations.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a flow chart of a mobile terminal navigation following method of the present invention;
Fig. 2 is a flow chart of the present invention for transmitting real-time location information of a target to a mobile terminal of a follower.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the invention discloses a self-adaptive route correction method and a system based on following Beidou RNSS, comprising the following steps:
Acquiring real-time position information of a target party and a follower party, and transmitting the real-time position information of the target party to a mobile terminal of the follower party;
Calculating a target displacement distance between the current geographic position coordinate of the target party and the navigation destination reference position through the mobile terminal; the navigation destination reference position is the initial position of the target;
calculating the remaining distance of a navigation line between the current geographic position coordinate of the follower and the navigation destination reference position through the mobile terminal; the Beidou position service platform sends the calculated target displacement distance and the navigation line remaining distance to a follower
The mobile terminal calculates and updates a necessity evaluation value of the navigation destination reference position according to the calculated target displacement distance and the navigation line residual distance;
And determining whether the navigation destination reference position needs to be updated according to the necessity evaluation value, if so, updating the navigation destination reference position according to the real-time position information of the target party, setting the navigation destination reference position, and rescheduling the navigation route of the following party, otherwise, not updating the navigation destination reference position.
Specifically, the movement data and the position information of the target party are obtained through the target displacement distance between the current geographic position coordinate of the target party and the navigation destination reference position. The following state of the follower can be known in real time through the residual distance between the current geographic position coordinates of the follower and the navigation route of the navigation destination reference position. According to the target displacement distance and the navigation route residual distance, the necessity evaluation value for updating the navigation destination reference position is calculated, and the tracking strategy can be timely adjusted according to the following state of the follower and the real-time movement data of the target, so that the follower can track the target more easily.
Meanwhile, by using a navigation method taking the target as a guide, the actual position of the target is automatically updated according to a reasonable scheme in the navigation process, and the navigation path of a map is calculated and corrected according to the latest position of the target, so that people, vehicles, ships and the like can always navigate to the target along the navigation path, wherein the target can be in all forms of vehicles, people, animals, goods and the like, and positioning devices are installed; the navigation destination and the navigation route can be corrected according to a reasonable scheme in the following process along with the movement of the target, so that the following, tracking and tracing of the front target are realized. The method is convenient for setting team gathering points, multi-member tasks, team traveling, public security investigation and other applications and artificial intelligent equipment applications, and reduces the operation burden brought to the system by frequently replacing navigation destinations.
In one embodiment of the present invention, acquiring real-time location information of a target party and a follower party includes the steps of:
establishing the association between a target party A and a follower party B, wherein the target party A performs data interaction with the follower party B through a service platform;
Starting route planning navigation of a target party and a follower party;
Determining a navigation destination reference position, an initial departure place and real-time position coordinates;
wherein the navigation destination reference position is the destination of the follower B.
Specifically, in one embodiment of the invention, when the outdoor motorcade follows and acquires the real-time position information of the target party and the follower party, the association of the target party A and the follower party B is established, and the target party A performs data interaction with the follower party B through the service platform, so that the target party A and the follower party B realize real-time tracking data interaction, the follower party B is convenient to keep following the target party A, and the vehicle in the motorcade can be prevented from falling behind.
In one embodiment of the present invention, initiating route planning navigation for a target party and a follower party includes:
the target party A reports real-time geographic position coordinates through a service platform;
The follower B reports real-time geographic position coordinates through a service platform;
And the follower B acquires the real-time geographic position coordinates of the target A through the service platform.
In one embodiment of the present invention, determining a navigation destination reference position, an initial departure point, and real-time position coordinates includes the steps of:
Acquiring an initial geographic position coordinate AP 0 of a target party A and an initial geographic position coordinate BP 0 of a follower party B;
Setting an initial geographic position coordinate AP 0 of the target party A as a navigation destination reference position M, and planning a navigation route by taking initial position information BP 0 of the follower party B as an initial departure place;
the current geographic position coordinates AP n of the target a and the current geographic position coordinates BP n of the follower B are acquired in real time.
In one embodiment of the present invention, calculating a target displacement distance between a current geographic position coordinate of a target party and a navigation destination reference position includes the following steps:
according to the real-time position information of the target, calculating the displacement distance between the current geographic position coordinate AP n of the target A and the navigation destination reference position M as the target displacement distance AL.
In one embodiment of the present invention, calculating a navigation route remaining distance between a current geographic position coordinate of a follower and a navigation destination reference position includes the steps of:
And calculating the navigation line remaining distance BL between the current geographic position coordinate BP n of the follower B and the navigation destination reference position M according to the real-time position information of the follower.
In one embodiment of the present invention, according to the calculated target displacement distance and the remaining distance of the navigation route, a necessity evaluation value for updating the navigation destination reference position is calculated, and the method includes the following steps:
According to the absolute value of the displacement distance AL of the current geographic position coordinate AP n of the target party A from the navigation destination reference position M and the absolute value of the navigation route residual distance BL of the current geographic position coordinate BP n of the follower party B and the navigation destination reference position M, calculating a necessity evaluation value for updating the navigation destination reference position, and calculating by the following formula:
V＝|AL|-|BL|*X
wherein V is the necessity evaluation value for updating the navigation destination reference position, X is the navigation line residual distance weighting preset value, and X epsilon [0,1].
Specifically, the user may manually set the value of the navigation route remaining distance weighted preset value X through the mobile terminal, in this embodiment, the value of the navigation route remaining distance weighted preset value X is 0.5, and the necessity evaluation value of updating the navigation destination reference position is obtained by subtracting 50% of the navigation route remaining distance BL between the current geographic position coordinate BP n of the follower B and the navigation destination reference position M from the target displacement distance AL of the current position AP n of the follower a moving from the navigation destination reference position M, so that the navigation route of the follower B is conveniently re-planned, and the follower B can be ensured to plan a reasonable driving route in time while maintaining the following state of the follower a.
In one embodiment of the present invention, determining whether to update a navigation destination reference position according to a necessity evaluation value, if so, updating a navigation destination reference position according to real-time position information of a target party, and re-planning a navigation route of a following party, otherwise, not updating the navigation destination reference position, including the steps of:
If the necessity evaluation value V of the updated navigation destination reference position is more than 0, the navigation destination reference position needs to be updated, otherwise, the navigation destination reference position does not need to be updated;
specifically, in the present embodiment, the value of X is 0.5, and the necessity evaluation value V >0 of the navigation destination reference position is updated, which indicates that the target displacement distance AL of the target party a exceeds 0.5 times the remaining distance BL of the navigation line between the current position BP n of the follower party B and the navigation destination reference position M.
If the navigation destination reference position needs to be updated, the current geographic position coordinate AP n of the target party A is updated and set to be a new navigation destination reference position M to serve as a new destination of the following party B, and the navigation route of the following party B is re-planned;
the above process is repeated until the following navigation is stopped when the current geographic position coordinate BP n of the follower B is less than 10 meters from the current geographic position coordinate AP n of the target a.
Specifically, the user may manually set the value of the navigation route remaining distance weighted preset value X through the mobile terminal, in this embodiment, the value of the navigation route remaining distance weighted preset value X is 0.5, if the calculated and analyzed target displacement distance AL of the current position AP n of the target party a from the navigation destination reference position M exceeds 50% of the navigation route remaining distance BL of the current geographic position coordinate BP n of the follower party B and the navigation destination reference position M, the current geographic position coordinate AP n of the target party a is used as a new destination of the follower party B, the navigation destination reference position M is updated and set as AP n, and the navigation route of the follower party B is re-planned, so that the following state of the target party a can be maintained while the following party B can be guaranteed to plan a reasonable driving route in time.
In one embodiment of the invention, the value of the preset value X of the residual distance weighting of the navigation line is manually set by the mobile terminal or automatically adjusted according to weather;
the method for automatically adjusting the residual distance weighting preset value X of the navigation line according to weather comprises the following steps:
acquiring a shooting image of a front camera of the follower B in real time;
Identifying a partial region affected by fog in the photographed image of the front camera through DARK CHANNEL Prior fog detection algorithm;
after detecting the region affected by fog, converting the region into a binary image, namely, setting the region affected by the fog as white and setting other regions as black; using an image processing algorithm or a computer vision technology to perform contour detection on the binarized image, and finding out the boundary of the area affected by fog;
Calculating the proportion of the area surrounded by the boundary to the total area of the shot image of the front camera, so as to obtain the proportion of the area affected by fog to the total area of the shot image;
The navigation line remaining distance weighting preset value X is according to the proportion of the area affected by fog to the total area of the shot image; wherein, the initial value of the navigation line remaining distance weighting preset value X is set to 0.5.
In an embodiment of another aspect of the present invention, there is provided an adaptive route correction system based on a following beidou RNSS, including:
map data module: for storing map data and location information, capable of providing basic map information required for navigation;
and a positioning module: the method comprises the steps of acquiring position information of a vehicle in real time through a satellite positioning technology;
A data processing unit: the method is responsible for processing the information of the positioning module and comprises the following steps: protocol conversion, information encryption, function setting and parameter adjustment;
a data transmission unit: the positioning data processing unit is used for processing the positioning data and transmitting the positioning data to the Beidou position service platform;
Beidou position service platform: the real-time geographic position coordinates of the target party and the follower party are reported, and the real-time geographic position coordinates of the target party are provided for the follower party;
A mobile terminal: the self-adaptive route correction method based on the following Beidou RNSS is used for tracking the target.
Specifically, the embodiment provides a navigation method taking a target as a guide, wherein the actual position of the target is automatically updated according to a reasonable scheme in the navigation process, and a planned map navigation path is calculated and corrected according to the latest position of the target, so that people, vehicles, boats and the like can always navigate to the target along a navigation route; the target can be any form of vehicle, personnel, animals, goods and the like on which the positioning device is mounted.
The map data module and the positioning module are provided with a device for positioning by using satellite navigation systems such as Beidou (BeiDou), global Positioning System (GPS), galileo (Galileo), grosvens (GLONASS) and the like and transmitting positioning information data outwards. The positioning module comprises an RF radio frequency chip, a baseband chip and a chip set of a microprocessor, and can receive signals emitted by satellites through the satellite positioning chip, thereby completing the positioning navigation function.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present specification and the appended claims, the term "if" or "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (10)
1. The self-adaptive route correction method based on the following Beidou RNSS is characterized by comprising the following steps of:
Acquiring real-time position information of a target party and a follower party, and transmitting the real-time position information of the target party to a mobile terminal of the follower party;
calculating a target displacement distance between the current geographic position coordinate of the target party and the navigation destination reference position through the mobile terminal; wherein the navigation destination reference position is an initial position of the target;
Calculating the remaining distance between the current geographic position coordinates of the follower and the navigation route of the navigation destination reference position through the mobile terminal;
The mobile terminal calculates and updates a necessity evaluation value of a navigation destination reference position according to the calculated target displacement distance and the navigation line residual distance;
And determining whether the navigation destination reference position needs to be updated according to the necessity evaluation value, if so, updating the navigation destination reference position according to the real-time position information of the target party, setting the navigation destination reference position, and rescheduling the navigation route of the following party, otherwise, not updating the navigation destination reference position.
2. The adaptive route correction method based on the following Beidou RNSS according to claim 1, wherein the acquisition of real-time position information of a target party and a follower party comprises the following steps:
Establishing the association between the target party A and the follower party B, wherein the target party A performs data interaction with the follower party B through a service platform;
Starting route planning navigation of a target party and a follower party;
Determining a navigation destination reference position, an initial departure place and real-time position coordinates;
Wherein the navigation destination reference position is the destination of the follower B.
3. The adaptive route correction method based on the following Beidou RNSS according to claim 2, wherein the route planning navigation of the target party and the following party is started, and the method comprises the following steps of:
The target party A reports real-time geographic position coordinates through the service platform;
the follower B reports real-time geographic position coordinates through the service platform;
And the follower B acquires the real-time geographic position coordinates of the target A through the service platform.
4. The adaptive route correction method based on the following Beidou RNSS according to claim 2, wherein the navigation destination reference position, the initial departure place and the real-time position coordinates are determined, and the method comprises the following steps:
Acquiring an initial geographic position coordinate AP 0 of a target party A and an initial geographic position coordinate BP 0 of a follower party B;
Setting an initial geographic position coordinate AP 0 of the target party A as a navigation destination reference position M, and planning a navigation route by taking initial position information BP 0 of the follower party B as an initial departure place;
And acquiring the current geographic position coordinate AP n of the target party A and the current geographic position coordinate BP n of the follower party B in real time.
5. The adaptive route correction method based on the following Beidou RNSS according to claim 4, wherein calculating the target displacement distance between the current geographic position coordinates of the target party and the navigation destination reference position comprises the following steps:
And calculating the displacement distance between the current geographic position coordinate AP n of the target party A and the navigation destination reference position M as a target displacement distance AL according to the real-time position information of the target party.
6. The adaptive route correction method based on the following Beidou RNSS according to claim 5, wherein calculating the navigation route remaining distance between the current geographic position coordinates of the following party and the navigation destination reference position comprises the following steps:
And calculating the remaining distance BL between the current geographic position coordinate BP n of the follower B and the navigation line of the navigation destination reference position M according to the real-time position information of the follower.
7. The adaptive route correction method based on the following Beidou RNSS according to claim 6, wherein the necessity evaluation value for updating the navigation destination reference position is calculated according to the calculated target displacement distance and the navigation route remaining distance, and comprises the following steps:
According to the absolute value of the displacement distance AL of the current geographic position coordinate AP n of the target party A from the navigation destination reference position M and the absolute value of the navigation route residual distance BL of the current geographic position coordinate BP n of the follower party B and the navigation destination reference position M, calculating a necessity evaluation value for updating the navigation destination reference position, and calculating by the following formula:
V＝|AL|-|BL|*X
wherein V is the necessity evaluation value for updating the navigation destination reference position, X is the navigation line residual distance weighting preset value, and X epsilon [0,1].
8. The adaptive route correction method based on the following Beidou RNSS according to claim 7, wherein whether the navigation destination reference position needs to be updated is determined according to the necessity evaluation value, if the navigation destination reference position needs to be updated, the navigation destination reference position is updated and set according to the real-time position information of the target party, and the navigation route of the following party is re-planned, otherwise, the navigation destination reference position is not updated, and the method comprises the following steps:
If the necessity evaluation value V of the updated navigation destination reference position is more than 0, the navigation destination reference position needs to be updated, otherwise, the navigation destination reference position does not need to be updated;
If the navigation destination reference position needs to be updated, the current geographic position coordinate AP n of the target party A is updated and set to be a new navigation destination reference position M to serve as a new destination of the following party B, and the navigation route of the following party B is re-planned;
the above process is repeated until the following navigation is stopped when the current geographic position coordinate BP n of the follower B is less than 10 meters from the current geographic position coordinate AP n of the target a.
9. The adaptive route correction method based on the following Beidou RNSS according to claim 7, wherein the value of the navigation line remaining distance weighting preset value X is manually set by the mobile terminal or automatically adjusted according to weather;
the method for automatically adjusting the residual distance weighting preset value X of the navigation line according to weather comprises the following steps:
acquiring a shooting image of a front camera of the follower B in real time;
Identifying a partial region affected by fog in the photographed image of the front camera through DARK CHANNEL PRI or a fog detection algorithm;
after detecting the region affected by fog, converting the region into a binary image, namely, setting the region affected by the fog as white and setting other regions as black; using an image processing algorithm or a computer vision technology to perform contour detection on the binarized image, and finding out the boundary of the area affected by fog;
Calculating the proportion of the area surrounded by the boundary to the total area of the shot image of the front camera, so as to obtain the proportion of the area affected by fog to the total area of the shot image;
The navigation line remaining distance weighting preset value X is according to the proportion of the area affected by fog to the total area of the shot image; wherein, the initial value of the navigation line remaining distance weighting preset value X is set to 0.5.
10. Self-adaptive route correction system based on following big dipper RNSS, characterized by comprising:
map data module: for storing map data and location information, capable of providing basic map information required for navigation;
and a positioning module: the method comprises the steps of acquiring position information of a vehicle in real time through a satellite positioning technology;
A data processing unit: the method is responsible for processing the information of the positioning module and comprises the following steps: protocol conversion, information encryption, function setting and parameter adjustment;
a data transmission unit: the positioning data processing unit is used for processing the positioning data and transmitting the positioning data to the Beidou position service platform;
Beidou position service platform: the real-time geographic position coordinates of the target party and the follower party are reported, and the real-time geographic position coordinates of the target party are provided for the follower party;
a mobile terminal: for providing a tracking method for tracking a target party based on a following Beidou RNSS, according to any of claims 1-9.
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