阅读说明：本技术 一种实时修正定位轨迹的方法 (Method for correcting positioning track in real time ) 是由 隋浩 关瑞成 于 2019-09-29 设计创作，主要内容包括：本发明涉及定位导航技术领域,公开了一种实时修正定位轨迹的方法：采集得到待定节点的第一位置信息和确定节点的位置信息；判断所述待定节点对应的运动数值是否超出第一阈值,若超出,则根据确定节点的运动数值拟定得到所述待定节点的第二位置信息,以所述第二位置信息作为所述待定节点的最终位置信息,对定位轨迹进行更新；所述运动数值包括速度或加速度；所述定位轨迹包括待定节点和确定节点。(The invention relates to the technical field of positioning navigation, and discloses a method for correcting a positioning track in real time, which comprises the following steps: acquiring first position information of a node to be determined and position information of a determined node; judging whether the motion value corresponding to the node to be determined exceeds a first threshold value or not, if so, drawing up second position information of the node to be determined according to the motion value of the node to be determined, and updating the positioning track by taking the second position information as final position information of the node to be determined; the motion values comprise velocity or acceleration; the positioning track comprises a node to be determined and a determined node.)

1. A method for correcting a positioning track in real time is characterized by comprising the following steps: the method comprises the following steps:

acquiring first position information of a node to be determined and position information of a determined node;

judging whether the motion value corresponding to the node to be determined exceeds a first threshold value or not, if so, drawing up second position information of the node to be determined according to the motion value of the node to be determined, and updating the positioning track by taking the second position information as final position information of the node to be determined;

the motion values comprise velocity or acceleration;

the positioning track comprises a node to be determined and a determined node.

2. The method for correcting the positioning track according to claim 1, wherein the step of formulating the second position information of the node to be determined comprises the steps of:

according to at least three determined nodes which are closest to the node to be determined, a linear equation is obtained by utilizing least square fitting;

and generating the second position information positioned right ahead the determined nodes along the linear direction according to the linear equation, the average speed calculated by the speeds corresponding to the at least three determined nodes and the acquisition frequency.

3. The method for correcting a positioning track according to claim 2, wherein:

and calculating to obtain second position information of the node to be determined according to the slope of the linear equation.

4. The method for correcting a positioning track according to claim 1, wherein:

and filtering the positioning track according to the second position information and the position information of the determined node to obtain a further corrected positioning track.

5. The method for correcting the localization track according to claim 4, wherein the step of performing filtering on the localization track to obtain a further corrected localization track comprises the steps of:

connecting a point corresponding to the first position information of the node to be determined and one determined node nearest to the node to be determined into a first straight line according to a preset filtering multiple value, fitting the determined nodes into a second straight line, calculating to obtain an included angle between the first straight line and the second straight line, and increasing the filtering multiple value when the included angle is larger than a second threshold value;

and taking the second position information of the node to be determined as an observed value, taking the position information of the determined node closest to the node to be determined as a predicted value, and executing Kalman filtering on the determined node and the node to be determined to obtain the further corrected positioning track.

6. The method for correcting the localization track according to claim 5, wherein the step of performing filtering on the localization track to obtain a further corrected localization track further comprises the steps of:

and calculating to obtain an average speed v1 corresponding to the positioning track, increasing the filtering multiple value when the average speed v1 is smaller than a third threshold, and setting the filtering multiple value as a fixed value when the average speed v1 is larger than a fourth threshold.

7. The method for correcting the positioning track according to claim 5, wherein the step of calculating the included angle between the first straight line and the second straight line comprises the following steps:

converting the position information of the determined node and the first position information of the node to be determined into Cartesian coordinate information, and calculating an included angle between the first straight line and the second straight line through a vector included angle;

and the position information of the determined node and the first position information of the node to be determined are latitude and longitude information.

8. The method for correcting the localization track according to claim 5, wherein the step of performing filtering on the localization track to obtain a further corrected localization track comprises the steps of:

when the moving speed corresponding to the first position of the node to be measured is smaller than a third threshold and the included angle between the first straight line and the second straight line is larger than a second threshold, increasing the filtering times value; and when the moving speed corresponding to the node to be measured is greater than a fourth threshold value and the included angle between the first straight line and the second straight line is smaller than a second threshold value, reducing the filtering times value.

9. The method for correcting a positioning track according to claim 1, wherein:

and sending the corrected positioning track data to a display device for the display device to display the positioning track.

10. A computer medium, characterized in that a computer program is stored on the computer medium, and when being executed by a processor, the computer program implements the method for correcting a positioning trajectory according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of positioning and navigation, in particular to a method for correcting a positioning track in real time.

Background

Currently, three methods are generally adopted for correcting the positioning track in the market. Firstly, a filtering algorithm is adopted to restrain track deviation, and the method mainly comprises the following steps: the jump point filtering algorithm, the least square method filtering, the Kalman filtering, the particle filtering and the like have the defects that: the single filtering algorithm has a fixed application scene, for example, the skip point filtering algorithm and the least square method filtering are applied to the post filtering, and the requirements of real-time acquisition and track optimization cannot be met simultaneously in the real-time filtering scene. Kalman filtering and particle filtering are influenced by historical positioning data, and are variable in surrounding environments, such as open and shielded environment switching, which can cause serious filtering positioning distortion. Secondly, the positioning track is projected on the road curve according to the known road data. The problems are that: depending on the road data, the trajectory correction cannot be achieved well without the road data. When the positioning data is projected on a road, real positioning information can be lost, the real advancing track cannot be reflected when turning and bending conditions exist, and the application scene of the algorithm is limited. And thirdly, a track fitting method, namely extracting positioning data with higher quality by a multi-combination filtering algorithm, and then fitting a track or performing interpolation in the middle of effective positioning data. The method is also applied to post filtering, and an accurate positioning result cannot be obtained in real time.

At present, the key point in the market is how to improve the quality, positioning accuracy and other contents of the positioning track, and the problem that the real-time positioning track is corrected under the condition that relevant data are not dependent on road information is rarely seen for research and research.

Disclosure of Invention

In order to solve at least one technical problem, the invention provides a method for correcting a positioning track in real time, which can correct the positioning track by combining the speed, the acceleration and the motion direction corresponding to a positioning node, and further correct the positioning track by using Kalman filtering; meanwhile, the technical scheme of the invention does not depend on road data and can be applied to real-time filtering scenes.

In order to achieve the technical effects, the invention discloses the following steps: a method for correcting a positioning track in real time comprises the following steps: acquiring first position information of a node to be determined and position information of a determined node; judging whether the motion value corresponding to the node to be determined exceeds a first threshold value or not, if so, drawing up second position information of the node to be determined according to the motion value of the node to be determined, and updating the positioning track by taking the second position information as final position information of the node to be determined; the motion values comprise velocity or acceleration; the positioning track comprises a node to be determined and a determined node.

Preferably, the step of drawing up the second position information of the node to be determined comprises the following steps: according to at least three determined nodes which are closest to the node to be determined, a linear equation is obtained by utilizing least square fitting; and generating the second position information positioned right ahead the determined nodes along the linear direction according to the linear equation, the average speed calculated by the speeds corresponding to the at least three determined nodes and the acquisition frequency.

Preferably, the second position information of the node to be determined is calculated according to the slope of the linear equation.

Preferably, filtering is performed on the positioning track according to the second position information and the position information of the determined node, so as to obtain a further corrected positioning track.

Preferably, the filtering the positioning track to obtain a further corrected positioning track includes the following steps: connecting a point corresponding to the first position information of the node to be determined and one determined node nearest to the node to be determined into a first straight line according to a preset filtering multiple value, fitting the determined nodes into a second straight line, calculating to obtain an included angle between the first straight line and the second straight line, and increasing the filtering multiple value when the included angle is larger than a second threshold value; and taking the second position information of the node to be determined as an observed value, taking the position information of the determined node closest to the node to be determined as a predicted value, and executing Kalman filtering on the determined node and the node to be determined to obtain the further corrected positioning track.

Preferably, the filtering is performed on the positioning track, and obtaining the further corrected positioning track further includes the following steps: and calculating to obtain an average speed v1 corresponding to the positioning track, increasing the filtering multiple value when the average speed v1 is smaller than a third threshold, and setting the filtering multiple value as a fixed value when the average speed v1 is larger than a fourth threshold.

Preferably, the step of calculating the included angle between the first straight line and the second straight line comprises the following steps: converting the position information of the determined node and the first position information of the node to be determined into Cartesian coordinate information, and calculating an included angle between the first straight line and the second straight line through a vector included angle; and the position information of the determined node and the first position information of the node to be determined are latitude and longitude information.

Preferably, the filtering the positioning track to obtain a further corrected positioning track includes the following steps: when the moving speed corresponding to the first position of the node to be measured is smaller than a third threshold and the included angle between the first straight line and the second straight line is larger than a second threshold, increasing the filtering times value; and when the moving speed corresponding to the node to be measured is greater than a fourth threshold value and the included angle between the first straight line and the second straight line is smaller than a second threshold value, reducing the filtering times value.

Preferably, the corrected positioning track data is sent to a display device, so that the display device displays the positioning track.

In another aspect, the present invention further provides a computer medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method for correcting a positioning track described above.

The technical effects are as follows: the invention provides a method for correcting a positioning track in real time, which is used for correcting the positioning track in real time by combining the speed, the acceleration and the motion direction corresponding to a positioning node, adjusting the parameters of Kalman filtering, solving the problem of Kalman filtering positioning distortion during environmental change and being applicable to a real-time filtering scene. Meanwhile, the technical scheme of the invention does not depend on road data, keeps the turning and bending conditions of the track, and can better adapt to complex environments.

Drawings

For a better understanding of the technical solution of the present invention, reference is made to the following drawings, which are included to assist in describing the prior art or embodiments. These drawings will selectively demonstrate articles of manufacture or methods related to either the prior art or some embodiments of the invention. The basic information for these figures is as follows:

fig. 1 is a schematic diagram illustrating a method for correcting a positioning track in real time according to an embodiment.

Detailed Description

The technical means or technical effects related to the present invention will be further described below, and it is obvious that the examples provided are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, will be within the scope of the present invention based on the embodiments of the present invention and the explicit or implicit representations or hints.

The invention provides a method for correcting a positioning track in real time, which comprises the following steps as shown in figure 1: acquiring first position information of a node to be determined and position information of a determined node; judging whether the motion value corresponding to the node to be determined exceeds a first threshold value or not, if so, drawing up second position information of the node to be determined according to the motion value of the node to be determined, and updating the positioning track by taking the second position information as final position information of the node to be determined; the motion values comprise velocity or acceleration; the positioning track comprises a node to be determined and a determined node.

The acquisition refers to establishing synchronous communication with a satellite positioning navigation system through a positioning module or positioning equipment with a positioning function to obtain first position information of the node to be determined; in some embodiments, the first location information of the node to be determined may also be obtained by accessing the node to be determined to an auxiliary device such as a positioning base station cors (continuous Operating Reference states) network, a bluetooth device for data transmission, and a camera device for identifying a movement direction.

The undetermined node refers to position information of a target point in a collection state in a motion process, the target point of which the position information is acquired is resolved by a positioning device or a positioning system in a positioning application scene, and the target point is in an undetermined state at the moment because the positioning device or the positioning system has errors such as atmospheric errors and equipment precision and the resolving process also involves processing of the errors such as the atmospheric errors and the equipment errors; the position information obtained by resolving through a positioning device or a positioning system is first position information; the node that has determined the location information is the determination node.

The position information generally refers to longitude and latitude information of a node to be determined obtained through a satellite navigation system, and may also be two-dimensional or three-dimensional coordinate information obtained through a CORS network.

In a positioning application scene, positioning a target point is based on the frequency of a positioning device or a positioning system, and the target point is positioned and solved at the frequency to obtain the position information of the node to be determined and a corresponding motion numerical value, so that the position information of one node to be determined, namely the first position information of the node to be determined, is obtained at each unit time point corresponding to the frequency; in the positioning process, the target point is in a real-time motion state, the motion numerical value (speed and acceleration) and the motion azimuth of the target point at each unit time point can be obtained through a satellite navigation system and a CORS network, and due to the existence of system errors and resolving errors, whether the speed or the acceleration corresponding to the first position information is within a preset first threshold value of any motion numerical value, namely the speed or the acceleration needs to be judged at each unit time point.

And when the speed or the acceleration corresponding to the first position information is within a first threshold value of any preset motion numerical value, namely the speed or the acceleration, reserving the first position information and carrying out settlement of the next unit time point.

When the speed or the acceleration corresponding to the first position information exceeds a first threshold value of any preset motion value, namely the speed or the acceleration, the system error or the calculation error is too large, the position information is distorted due to too large deviation with the real position information, and the first position information cannot be reserved.

The first threshold refers to any motion value, namely a first threshold of speed or acceleration, and in general, different first thresholds can be set according to different target points, and if the target points are human beings or animals, the first threshold of speed can be set at 50 km/h or 60 km/h, and the acceleration can be set at 0.5G or 0.4G; if the destination point is a land vehicle, due to traffic legislation restrictions, the first threshold value for speed may typically be set at 150 km/h or 180 km/h, and the acceleration at 0.7G or 1G; in the case of a rail vehicle, the first threshold of the speed can be set at 450 km/h or 460 km/h, and the acceleration can be set at 0.8G or 1G, and those skilled in the art can set the first threshold differently according to actual conditions to ensure that the obtained first position information is reasonable.

The second position information refers to that when the acquired first position information exceeds a range set by a first threshold of a preset motion numerical value (speed or acceleration), the first position information is obviously distorted and is not practical, the acquired first position information needs to be deleted, and according to the running track of the node, second position information is drawn within the first threshold of the motion numerical value (speed or acceleration) to serve as the position information of the node to be determined, and the drawn second position information serves as the final position information of the node to be determined. And after the second position information of the node to be determined is determined, updating the node to be determined at the moment into a determined node, and updating the positioning track at the same time. The positioning track is composed of a determined node and an undetermined node which are acquired according to the working frequency of the acquisition device, the undetermined node is updated to the determined node, namely the positioning track is updated, and when the first position information of the undetermined node is within the range set by the first threshold value of the preset motion numerical value (speed or acceleration), the first position information is effective, and the undetermined node is updated to the determined node; when the first position information of the node to be determined exceeds a preset range set by a first threshold value of a motion numerical value (speed or acceleration), deleting the first position information, drawing up second position information as the position information of the node to be determined, taking the drawn up second position information as the final position information of the node to be determined, and updating the node to be determined into a determined node.

In some embodiments, the step of drawing up the second location information of the node to be determined comprises the following steps: according to at least three determined nodes which are closest to the node to be determined, a linear equation is obtained by utilizing least square fitting; and generating the second position information positioned right ahead the determined nodes along the linear direction according to the linear equation, the average speed calculated by the speeds corresponding to the at least three determined nodes and the acquisition frequency.

The drawing-up mode is that a second position information which accords with the motion rule of the positioning track is drawn up in the motion direction of the positioning track and in the front of the motion direction of the track within the range set by the first threshold value of the motion value (speed or acceleration).

In general, two points are connected to form a straight line, and in the positioning process, if only two determined nodes are used for fitting the straight line, when an error of a motion value within a first threshold value occurs at one point, inevitable positioning offset exists, so that a further error occurs in the subsequent determination of the second position information of the node to be determined; the straight line formed by fitting the position information of the three determined nodes is closer to the actual situation in technical effect, and the deviation of the positioning track caused by the error of the motion value within the first threshold of the individual determined node can be overcome; in the actual operation process, a straight line of the positioning track is fitted, the positions of 3 to 10 determined nodes are generally selected, and the positions of 5 to 7 determined nodes can be selected for better operation convenience and accuracy.

The motion direction of the positioning track is determined according to the average speed calculated by the linear direction formed by at least three determined nodes of the to-be-determined node according to the speeds corresponding to the at least three determined nodes and the acquisition frequency of an acquisition device or an acquisition system for acquiring the to-be-determined node, and the second position information is calculated according to the average speed and the acquisition frequency, namely the average speed calculated according to the speeds corresponding to the determined nodes in the linear direction in front of the motion direction of the track.

The least square method is also called a least square method and is a mathematical optimization method, and the square of the error of the position information minimization of the determined node is matched with the optimal function of the second position information of the node to be determined. And the second position information of the node to be determined can be simply and conveniently obtained by using a least square method.

In some embodiments, the second position information of the node to be determined is derived according to the slope of the linear equation.

And calculating second position information of the node to be determined according to the slope of a straight line formed by at least three determined nodes which are far away from the node to be determined.

In some embodiments, filtering is performed on the positioning track according to the second position information and the position information of the determination node, so as to obtain a further corrected positioning track.

Aiming at the embodiment, the undetermined node and the determined node of the positioning track are connected by a line segment, the point-shaped positioning track is firstly fitted into a linear track, Kalman filtering is executed on the linear track, and the linear positioning track is further corrected into a linear positioning track, so that the positioning track effect more in line with visual identification is achieved.

In some embodiments, the filtering the localization track to obtain the further modified localization track comprises the following steps: connecting a point corresponding to the first position information of the node to be determined and one determined node nearest to the node to be determined into a first straight line according to a preset filtering multiple value, fitting the determined nodes into a second straight line, calculating to obtain an included angle between the first straight line and the second straight line, and increasing the filtering multiple value when the included angle is larger than a second threshold value; and taking the second position information of the node to be determined as an observed value, taking the position information of the determined node closest to the node to be determined as a predicted value, and executing Kalman filtering on the determined node and the node to be determined to obtain the further corrected positioning track.

For the above embodiments, generally speaking, the filtering multiple value of the filter can be set between 3-9 by those skilled in the art according to the technical needs; according to all the determined nodes, the determined node closest to the node to be detected and the determined node farthest from the node to be detected are connected and fitted to form a second straight line, the determined node closest to the node to be detected and the node to be detected are connected to form a first straight line, the first straight line and the second straight line are intersected to form an included angle, and a second threshold value of the included angle can be set to be 30-90 degrees according to technical requirements by a person skilled in the art; when the included angle is greater than the set second threshold, the filtering multiple value of the filter is increased, generally speaking, according to the technical effect, the filtering multiple value can be gradually or directly increased to double the set filtering multiple value, and also can be slowly adjusted and increased.

In some embodiments, the filtering the localization track to obtain the further modified localization track further includes the following steps: and calculating to obtain an average speed v1 corresponding to the positioning track, increasing the filtering multiple value when the average speed v1 is smaller than a third threshold, and setting the filtering multiple value as a fixed value when the average speed v1 is larger than a fourth threshold.

For the above embodiment, calculating the average speed V1 corresponding to the positioning track means calculating the corresponding average speed V1 according to the speed corresponding to the node to be measured and all the determined nodes; in general, a person skilled in the art may set the third threshold value between 0.1 and 0.5 meters per second, and may set the fourth threshold value between 5 and 8 meters per second, according to technical needs and technical effects, and when the average speed V1 is less than the third threshold value, the filtering multiple value may be gradually or directly increased to double the set filtering multiple value, or may be slowly adjusted to increase, according to technical effects; when the average speed V1 is greater than the fourth threshold value, the filter multiple value is set to a fixed value, generally the fixed value is set to 2 or 3.

In some embodiments, calculating the included angle between the first line and the second line further comprises: converting the position information of the determined node and the first position information of the node to be determined into Cartesian coordinate information, and calculating an included angle between the first straight line and the second straight line through a vector included angle; and the position information of the determined node and the first position information of the node to be determined are latitude and longitude information.

For the above embodiment, the cartesian coordinate system is a general name of a rectangular coordinate system and an oblique coordinate system, and two axes intersecting at an origin constitute a planar radial coordinate system, and the longitude and latitude information of the position of the determined node and the longitude and latitude information of the first position of the node to be determined are converted and then placed in cartesian coordinates, or cartesian coordinate plane information, where the first straight line is a first vector, the second straight line is a second vector, an included angle between the first straight line and the second straight line is a vector included angle, and the vector calculation included angle can be calculated to obtain an included angle between the first straight line and the second straight line.

In some embodiments, the filtering the localization track to obtain the further modified localization track comprises the following steps: when the moving speed corresponding to the first position of the node to be measured is smaller than a third threshold and the included angle between the first straight line and the second straight line is larger than a second threshold, increasing the filtering times value; and when the moving speed corresponding to the node to be measured is greater than a fourth threshold value and the included angle between the first straight line and the second straight line is smaller than a second threshold value, reducing the filtering times value.

For the above embodiment, the moving speed corresponding to the first position of the node to be measured is low, which means when the moving speed is less than the third threshold; and the moving speed corresponding to the first position of the node to be detected is higher, which means that the moving speed is greater than a fourth threshold value.

In some embodiments, the corrected positioning track data is sent to a display device, so that the display device displays the positioning track.

For the above embodiment, the display device may be a display device of a mobile communication terminal or a display device of a computer, and is configured to display the acquisition and correction process of the positioning track in the form of a visual image.

In another aspect, the present invention further provides a computer medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method for correcting a positioning track described above.

The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.

Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.

Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.