阅读说明：本技术 网约车计程检测方法、系统、装置及计算机可读存储介质 (Network car appointment taxi detection method, system, device and computer readable storage medium ) 是由 张�杰 曹相 陈倩倩 徐磊 高旺 潘树国 刘宏 黄雪莲 于 2021-10-26 设计创作，主要内容包括：本发明公开了网约车计程检测方法、系统、装置及计算机可读存储介质,方法包括：基于卫星导航系统GNSS基准接收机差分定位与惯性导航系统INS进行组合定位,解算出真实环境下车辆载体的高精度离散点定位结果；利用所述高精度离散点定位结果,结合车道电子地图,进行车辆行驶轨迹的里程恢复,得到基准里程；将所述基准里程与网约车终端计程结果进行对比,得到网约车计程误差。本发明能够为网约车计程提供准确的比较基准,从而实现真实动态路测环境下的计程检测；通过导入组合定位结果文件和输入网约车端计程结果,可直接计算出基准里程,从而获得网约车端的计程误差；本发明不仅能保证定位的精确性和连续性,而且提高了计程效率。(The invention discloses a network car appointment taxi detection method, a system, a device and a computer readable storage medium, wherein the method comprises the following steps: performing combined positioning based on a satellite navigation system GNSS reference receiver differential positioning and an inertial navigation system INS, and solving a high-precision discrete point positioning result of a vehicle carrier in a real environment; recovering the mileage of the vehicle running track by utilizing the high-precision discrete point positioning result and combining a lane electronic map to obtain a reference mileage; and comparing the reference mileage with the network taxi appointment terminal mileage result to obtain a network taxi appointment mileage error. The invention can provide accurate comparison reference for network taxi appointment, thereby realizing taxi metering detection in a real dynamic drive test environment; by importing the combined positioning result file and inputting the network taxi appointment end distance metering result, the reference distance can be directly calculated, and the distance metering error of the network taxi appointment end is obtained; the invention not only can ensure the accuracy and continuity of positioning, but also can improve the metering efficiency.)

1. The network car appointment taxi metering detection method is characterized by comprising the following steps: the method comprises the following steps:

performing combined positioning based on a satellite navigation system GNSS reference receiver differential positioning and an inertial navigation system INS, and solving a high-precision discrete point positioning result of a vehicle carrier in a real environment;

recovering the mileage of the vehicle running track by utilizing the high-precision discrete point positioning result and combining a lane electronic map to obtain a reference mileage;

and comparing the reference mileage with the network taxi appointment terminal mileage result to obtain a network taxi appointment mileage error.

2. The network taxi appointment taxi detection method according to claim 1, wherein: the resolving method of the high-precision discrete point positioning result is as follows:

firstly, establishing an INS position, speed and attitude error updating equation by using a northeast coordinate system as a navigation coordinate n system by using a motion model equation of the inertial navigation system INS:

；

in the formula, the superscript represents a differential quantity, i, e and b in the superscript and the subscript represent an inertia system, a geocentric geostationary coordinate system and a carrier system respectively, and n represents a navigation system;、、respectively representing position, speed and attitude error vectors;representing a rigid rotation matrix from the inertial frame to the navigational frame,the vector of the specific force is represented,representing the gravity error vector under the navigation system,representing a rotation vector from e to n,represents a rotation vector from i system to e system,representing a rotation matrix from a b system to an n system;representing the offset of the accelerometer in the carrier coordinate system,representing the offset of the gyroscope in a carrier coordinate system;

then, performing combined positioning on the GNSS differential positioning result and the INS by using a loose coupling model and Kalman filtering, wherein the combined positioning comprises a state equation and an observation equation, and the state equation is as follows:

；

a parameter indicating the status of the current time,representing the state parameter at the last moment, and F representing the state transition matrix at two moments;representing a system noise matrix; g represents a noise distribution matrix, and the noise distribution matrix contains state vector related variance;

the input quantity Z in the observation equation of the loosely coupled system is a position measurement value and a speed observation value, and the equation is as follows:

Z=；

wherein the content of the first and second substances,the position calculated by the inertial navigation solution is shown,the position of the satellite positioning is indicated,the velocity calculated by the inertial navigation is represented,representing the satellite positioning computation speed;

and finally, performing Kalman filtering solution by using the formula (2) and the formula (3) to obtain a high-precision discrete point positioning result of the vehicle carrier.

3. The network taxi appointment taxi detection method according to claim 1, wherein: the mileage recovery method of the vehicle driving track comprises the following steps:

calculating the distance between two adjacent points in the track by adopting straight line connection, and summing the distances of the local line segments to obtain the mileage L_p：

L_p= （4）；

Wherein i represents the ith anchor point, m represents the number of anchor points,space representing the i +1 th and i-th points, respectivelyThree-dimensional coordinates.

4. The network taxi appointment taxi detection method according to claim 3, wherein: when the high-precision discrete point positioning result has errors, a lane electronic map mode is also adopted to obtain a starting point and an end point of a local road section, and then the mileage L of the local limited road section is obtained according to the calculation mode which is the same as the formula (4)_mFinally, the base mileage L is calculated as:

L= L_p+L_m（5）。

5. the network taxi appointment taxi detection method according to claim 4, wherein: the method for obtaining the starting point and the end point of the local road section comprises the following steps:

and the difference is obtained by projecting the last point with the variance meeting the precision and the first point after the recovery of the limited area to the vertical point on the electronic map.

6. The network taxi appointment taxi detection method according to claim 4, wherein: comparing a preset network car booking terminal odometry result N with the reference mileage L obtained in the formula (5), namely obtaining a network car booking odometry error：

。

7. The network car reduction distance-measuring detection system is characterized by comprising a positioning result calculation module, a distance measuring module and a distance measuring module, wherein the positioning result calculation module is used for carrying out combined positioning on the basis of differential positioning of a GNSS reference receiver of a satellite navigation system and an inertial navigation system INS and solving a high-precision discrete point positioning result of a vehicle carrier in a real environment;

the reference mileage calculation module is used for recovering the mileage of the vehicle driving track by utilizing the high-precision discrete point positioning result and combining a lane electronic map to obtain the reference mileage;

and the mileage calculation module is used for comparing the reference mileage with the mileage result of the network taxi appointment terminal to obtain a network taxi appointment mileage error.

8. The network taxi appointment system according to claim 7, wherein: the resolving method of the high-precision discrete point positioning result is as follows:

firstly, establishing an INS position, speed and attitude error updating equation by using a northeast coordinate system as a navigation coordinate n system by using a motion model equation of the inertial navigation system INS:

；

in the formula, the superscript represents a differential quantity, i, e and b in the superscript and the subscript represent an inertia system, a geocentric geostationary coordinate system and a carrier system respectively, and n represents a navigation system;、、respectively representing position, speed and attitude error vectors;representing a rigid rotation matrix from the inertial frame to the navigational frame,the vector of the specific force is represented,representing the gravity error vector under the navigation system,representing a rotation vector from e to n,represents a rotation vector from i system to e system,representing a rotation matrix from a b system to an n system;representing the offset of the accelerometer in the carrier coordinate system,representing the offset of the gyroscope in a carrier coordinate system;

then, performing combined positioning on the GNSS differential positioning result and the INS by using a loose coupling model and Kalman filtering, wherein the combined positioning comprises a state equation and an observation equation, and the state equation is as follows:

；

representing the state parameter at the current moment, representing the state parameter at the previous moment, and F representing the state transition matrix at two moments;representing a system noise matrix; g represents a noise distribution matrix, and the noise distribution matrix contains state vector related variance;

the input quantity Z in the observation equation of the loosely coupled system is a position measurement value and a speed observation value, and the equation is as follows:

Z=；

wherein the content of the first and second substances,the position calculated by the inertial navigation solution is shown,the position of the satellite positioning is indicated,the velocity calculated by the inertial navigation is represented,representing the satellite positioning computation speed;

finally, Kalman filtering resolving is carried out by using the formula (2) and the formula (3), and a high-precision discrete point positioning result of the vehicle carrier can be obtained;

the mileage recovery method of the vehicle driving track comprises the following steps:

calculating the distance between two points by adopting straight line connection, and summing the distances of local line segments to obtain the mileage L_p：

L_p= （4）；

Wherein i represents the ith anchor point, m represents the number of anchor points,respectively representing the spatial three-dimensional coordinates of the (i + 1) th point and the ith point;

when the high-precision discrete point positioning result has errors, a lane electronic map is combined to obtain a starting point and an end point of a local road section, and the mileage L of the local limited road section is obtained according to the calculation mode which is the same as the formula (4)_mFinally, the base mileage L is calculated as:

L= L_p+L_m（5）；

comparing a preset network car booking terminal odometry result N with the reference mileage L obtained in the formula (5), namely obtaining a network car booking odometry error：。

9. The taxi appointment mileage detection device is characterized by comprising

A memory for storing non-transitory computer readable instructions; and

a processor for executing the computer readable instructions such that the computer readable instructions, when executed by the processor, implement the network appointment taxi detection method of any one of claims 1 to 6.

10. A computer readable storage medium storing non-transitory computer readable instructions which, when executed by a computer, cause the computer to perform the network appointment taxi detection method of any one of claims 1 to 6.

Technical Field

The invention belongs to the technical field of vehicle mileage detection, and particularly relates to a network car appointment mileage detection method, a system, a device and a computer readable storage medium.

Background

With the popularization and application of the internet and the mobile intelligent terminal, the network reservation of taxis (hereinafter referred to as "network reservation cars") is becoming one of the important ways for public trips, and has become an important component of the wisdom citizens. The network car booking realizes the billing of the riding of the user by recording the driving distance and the driving time in the vehicle service process, and the accurate taxi metering is an important guarantee for reasonable charging and standard service of the network car booking. In the current market, the internet taxi appointment system usually adopts mobile phone end positioning service, namely, a low-cost positioning module and an electronic map which are built in a mobile phone are adopted for taxi appointment timing. Then, because the mobile phone positioning usually adopts a consumer-grade navigation positioning module, the problem of significant inaccurate positioning exists in the urban environment, the positioning can not be completed even in complex environments such as building dense areas and tunnels, and further, the problem of inaccurate low-speed timing is caused, and the problem of inaccurate engineering timing is caused. For this reason, the national satellite navigation positioning and time service industry measurement test center drafts in 2016 and issues four network car-booking and distance-counting specifications, which specify that the distance-counting error should be-4% - + 1%.

The method comprises the following steps that (1) a detection reference with higher precision is needed for the odometry detection in a motion scene, and the terminal to be detected and a reference system are ensured to be carried out in the same path and the same observation environment; at present, quantitative detection problems of online taxi appointment planning at home and abroad are less researched, and only a laboratory simulator method is adopted to detect the taxi planning terminal, and the detection of the taxi planning precision of the smart phone is realized in a mode of replaying scene database data afterwards. However, the problem of the over-excellent mobile phone design accuracy may be caused because the pre-collected scene library data is not the real data captured by the mobile phone antenna in real time.

Disclosure of Invention

In order to solve the problems, the invention discloses a network car appointment mileage detection method, a system, a device and a computer readable storage medium, which provide a reference for network car appointment terminal mileage detection in complex environments such as dense building areas, tunnels and the like, not only can ensure the accuracy and continuity of positioning, but also can improve the mileage efficiency.

In order to achieve the purpose, the technical scheme of the invention is as follows:

the invention discloses a network taxi appointment taxi metering detection method, which comprises the following steps:

GNSS reference receiver differential positioning and inertial navigation system based on satellite navigation system

The INS performs combined positioning to solve the high-precision discrete point positioning result of the vehicle carrier in a real environment;

recovering the mileage of the vehicle running track by utilizing the high-precision discrete point positioning result and combining a lane electronic map to obtain a reference mileage;

and comparing the reference mileage with the network taxi appointment terminal mileage result to obtain a network taxi appointment mileage error.

The method for calculating the high-precision discrete point positioning result comprises the following steps:

firstly, establishing an INS position, speed and attitude error updating equation by using a northeast coordinate system as a navigation coordinate n system by using a motion model equation of the inertial navigation system INS:

；

in the formula, the superscript represents a differential quantity, i, e and b in the superscript and the subscript represent an inertia system, a geocentric coordinate system and a carrier system respectively, and n represents a navigation system (adopting a northeast coordinate system);、、respectively representing position, speed and attitude error vectors;representing a rigid rotation matrix from the inertial frame to the navigational frame,the vector of the specific force is represented,representing the gravity error vector under the navigation system,representing a rotation vector from e to n,represents a rotation vector from i system to e system,representing a rotation matrix from a b system to an n system;representing the offset of the accelerometer in the carrier coordinate system,representing the offset of the gyroscope in a carrier coordinate system;

then, performing combined positioning on the GNSS differential positioning result and the INS by using a loose coupling model and Kalman filtering, wherein the combined positioning comprises a state equation and an observation equation, and the state equation is as follows:

；

a parameter indicating the status of the current time,representing the state parameter at the last moment, and F representing the state transition matrix at two moments;representing a system noise matrix; g represents a noise distribution matrix, and the noise distribution matrix contains state vector related variance;

the input quantity Z in the observation equation of the loosely coupled system is a position measurement value and a speed observation value, and the equation is as follows:

Z=；

wherein the content of the first and second substances,the position calculated by the inertial navigation solution is shown,the position of the satellite positioning is indicated,the velocity calculated by the inertial navigation is represented,representing the satellite positioning computation speed;

and finally, performing Kalman filtering solution by using the formula (2) and the formula (3) to obtain a high-precision discrete point positioning result of the vehicle carrier.

The mileage recovery method of the vehicle driving track comprises the following steps:

calculating the distance between two points by adopting straight line connection, and summing the distances of local line segments to obtain the mileage L_p：

L_p= （4）；

Wherein i represents the ith anchor point, m represents the number of anchor points,respectively representing the spatial three-dimensional coordinates of the (i + 1) th point and the ith point;

when the high-precision discrete point positioning result has errors, a lane electronic map is combined to obtain a starting point and an end point of a local road section, and the mileage L of the local limited road section is obtained according to the calculation mode which is the same as the formula (4)_mFinally, the base mileage L is calculated as:

L= L_p+L_m（5）。

the method for obtaining the starting point and the end point of the local road section comprises the following steps:

and the difference is obtained by projecting the last point with the variance meeting the precision and the first point after the recovery of the limited area to the vertical point on the electronic map.

Comparing a preset network car booking terminal odometry result N with the reference mileage L obtained in the formula (5), namely obtaining a network car booking odometry error：

。

The network taxi appointment distance-measuring detection system comprises a positioning result calculation module, a distance measuring module and a distance measuring module, wherein the positioning result calculation module is used for carrying out combined positioning based on differential positioning of a GNSS reference receiver of a satellite navigation system and an inertial navigation system INS and solving a high-precision discrete point positioning result of a vehicle carrier in a real environment;

the reference mileage calculation module is used for recovering the mileage of the vehicle driving track by utilizing the high-precision discrete point positioning result and combining a lane electronic map to obtain the reference mileage;

and the mileage calculation module is used for comparing the reference mileage with the mileage result of the network taxi appointment terminal to obtain a network taxi appointment mileage error.

The method for calculating the high-precision discrete point positioning result comprises the following steps:

firstly, establishing an INS position, speed and attitude error updating equation by using a northeast coordinate system as a navigation coordinate n system by using a motion model equation of the inertial navigation system INS:

；

in the formula, the superscript represents a differential quantity, i, e and b in the superscript and the subscript represent an inertia system, a geocentric coordinate system and a carrier system respectively, and n represents a navigation system (adopting a northeast coordinate system);、、respectively representing position, speed and attitude error vectors;representing a rigid rotation matrix from the inertial frame to the navigational frame,the vector of the specific force is represented,representing the gravity error vector under the navigation system,representing a rotation vector from e to n,represents a rotation vector from i system to e system,representing a rotation matrix from a b system to an n system;representing the offset of the accelerometer in the carrier coordinate system,representing the offset of the gyroscope in a carrier coordinate system;

then, performing combined positioning on the GNSS differential positioning result and the INS by using a loose coupling model and Kalman filtering, wherein the combined positioning comprises a state equation and an observation equation, and the state equation is as follows:

；

a parameter indicating the status of the current time,representing the state parameter at the last moment, and F representing the state transition matrix at two moments;representing system noiseAn acoustic matrix; g represents a noise distribution matrix, and the noise distribution matrix contains state vector related variance;

the input quantity Z in the observation equation of the loosely coupled system is a position measurement value and a speed observation value, and the equation is as follows:

Z=；

wherein the content of the first and second substances,the position calculated by the inertial navigation solution is shown,the position of the satellite positioning is indicated,the velocity calculated by the inertial navigation is represented,representing the satellite positioning computation speed;

finally, Kalman filtering resolving is carried out by using the formula (2) and the formula (3), and a high-precision discrete point positioning result of the vehicle carrier can be obtained;

the mileage recovery method of the vehicle driving track comprises the following steps:

calculating the distance between two points by adopting straight line connection, and summing the distances of local line segments to obtain the mileage L_p：

L_p= （4）；

Wherein i represents the ith anchor point, m represents the number n of anchor points,respectively representing the spatial three-dimensional coordinates of the (i + 1) th point and the ith point;

when the high-precision discrete point positioning result has errors, combination is also adoptedObtaining the starting point and the end point of a local road section by the way of a lane electronic map, and then obtaining the mileage L of a local limited road section according to the same calculation way as the formula (4)_mFinally, the base mileage L is calculated as:

L= L_p+L_m（5）；

comparing a preset network car booking terminal odometry result N with the reference mileage L obtained in the formula (4) to obtain a network car booking odometry error：。

The invention discloses a network taxi appointment mileage detection device which is characterized by comprising

A memory for storing non-transitory computer readable instructions; and

the processor is used for executing the computer readable instructions, so that the computer readable instructions can realize the network appointment taxi metering detection method when being executed by the processor.

A computer readable storage medium storing non-transitory computer readable instructions which, when executed by a computer, cause the computer to perform the network appointment taxi detection method described above.

According to the invention, a high-sampling and high-precision positioning result is obtained through GNSS (global navigation satellite system) differential positioning and INS (inertial navigation system) combined positioning, and meanwhile, an electronic map under a positioning limited environment is combined to recover accurate mileage, so that a reference is provided for the taxi metering detection of the network taxi appointment terminal; the application is based on dynamic detection under a real road environment, the dynamic detection is consistent with a real network car appointment driving environment, meanwhile, an electronic map is combined, the metering continuity and accuracy when combined positioning is limited are guaranteed, and the metering efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

FIG. 1 is a flow chart of an embodiment of the positioning method of the present invention;

FIG. 2 is a schematic diagram of a combined positioning using differential GNSS carrier positioning and INS;

FIG. 3 is an enlarged partial view of mileage recovery during a road turn and lane change;

fig. 4 is a partially enlarged view of the mileage restoration at the time of a road turn and a lane change.

Detailed Description

The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention.

As shown in fig. 1, the method for detecting network taxi appointment and taxi metering disclosed in this embodiment includes the following specific steps:

performing combined positioning based on differential positioning of a GNSS reference receiver of a satellite navigation system and an inertial system INS, and solving high-sampling and high-precision positioning of a vehicle carrier in a real environment;

using the motion model equation of inertial navigation system INS and using the northeast coordinate system as the navigation coordinate system (System) to establish an INS position, speed and attitude error update equation, which comprises 15-dimensional unknown parameters (three-dimensional position, three-dimensional speed, three-dimensional attitude, three-dimensional gyro zero offset and three-dimensional plus-counting zero offset):

；

in the formula, the superscript represents a differential quantity, i, e and b in the superscript and the subscript represent an inertia system, a geocentric coordinate system and a carrier system respectively, and n represents a navigation system (adopting a northeast coordinate system);、、respectively representing position, speed and attitude error vectors;representing a rigid rotation matrix from the inertial frame to the navigational frame,the vector of the specific force is represented,representing the gravity error vector under the navigation system,representing a rotation vector from e to n,representing a rotation matrix from a b system to an n system;representing the offset of the accelerometer in the carrier coordinate system,representing the bias of the gyroscope in the carrier coordinate system.

The GNSS carrier differential positioning result (fixed solution) and the INS are subjected to combined positioning by utilizing a loose coupling model and Kalman filtering, and the combined positioning comprises two parts, namely a state equation and an observation equation, wherein the state equation is as follows:

；

is a state parameter of the current time,for the last time state parameter, F is the state transition matrix for both times,is the system noise matrix and G is the noise distribution matrix, which contains the variance of the state vector correlations.

The input quantity Z in the observation equation of the loosely coupled system is a position measurement value and a speed observation value, namely a position calculated by inertial navigation solutionPosition relative to satellite positioningDifference, velocity of inertial navigation solutionAnd satellite positioning calculation speedThe difference between:

Z=；

where H is a system measurement matrix, which represents the observed value obtained by linear combination of the states in the absence of noise.Is the system measurement noise matrix.

And (3) Kalman filtering resolving is carried out by using the formula (2) and the formula (3), so that a high-sampling and high-precision positioning result of the vehicle carrier can be obtained.

The mileage recovery of the vehicle running track is carried out by utilizing the high-precision discrete point positioning result and combining a lane electronic map, and the mileage recovery is used as a detection reference for metering;

as the sampling interval of the high-precision positioning result is 200Hz, and the maximum driving distance at intervals of 5ms is 0.16m at the normal vehicle-mounted positioning speed (within 120 km), the distance between two points can be recovered more accurately by adopting straight line connection, and the distance of a local line segment is further summed to obtain the mileage L_p：

L_p= （4）。

Wherein i represents the ith anchor point, m represents the number n of anchor points,respectively representing the spatial three-dimensional coordinates of the (i + 1) th point and the ith point;

the premise of accurate mileage calculation by using the formula (4) is that the result of combined positioning is accurate, when complex environments such as a long tunnel, a long and narrow urban canyon and the like are passed, the combined result may have large errors, and mileage calculation is inaccurate, therefore, when the variance of combined positioning is greater than a certain threshold value, the method of a lane electronic map is combined to obtain the local mileage under the combined positioning limited area, the starting point and the ending point of the limited area, the local mileage is obtained by projecting the last point meeting the precision of the variance and the first point after the recovery of the limited area onto the vertical point on the electronic map, and after the starting point and the ending point of the local road section are obtained, the mileage L of the local limited road section can be obtained according to the same calculation method as the formula (4)_mAnd finally calculating a reference mileage L, wherein the reference mileage L is calculated as: l = L_p+L_m（5）。

Comparing the taxi metering reference with a taxi metering result of the network taxi appointment terminal to obtain a taxi metering error of the network taxi appointment;

comparing the taxi metering result N with the combined navigation terminal taxi metering result L obtained in the formula (5) based on the preset taxi booking terminal taxi metering result N, and obtaining a relative taxi metering error：。

As shown in fig. 2, a schematic diagram of a combined positioning using differential GNSS carrier positioning and INS includes a reference station receiver, a rover receiver, and an INS device.

Fig. 3 and 4 are partial enlarged views illustrating mileage restoration during road turning and lane changing, and it can be seen that the mileage restoration method according to the present invention also more smoothly restores the track and mileage even at a non-straight driving section.

The reference mileage can be directly calculated by importing the combined positioning result file and inputting the network taxi appointment end distance metering result, so that the distance metering error of the network taxi appointment end is further obtained.

The present invention additionally provides a computer-readable storage medium for storing non-transitory computer-readable instructions which, when executed by a computer, cause the computer to perform a formal verification method as one or more of the present embodiments.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.