阅读说明：本技术 过滤定点漂移数据的方法、装置及计算机可读存储介质 (Method and device for filtering fixed-point drift data and computer readable storage medium ) 是由 向远茂 孙号令 许智皓 于 2021-09-17 设计创作，主要内容包括：本发明提供了一种过滤定点漂移数据的方法、装置及计算机可读存储介质,属于数据处理技术领域。本实施例所述方法通过获取设备终端的数据采集设备上报的GPS数据包信息,并标定定点漂移的起点信息；当设备终端在固定位置静止不动时,若出现需要过滤的数据,则进行定位信息定点飘移过滤处理；基于通过过滤定点飘移的定位数据信息,使得得到设备终端在定点定位的真实位置信息。本申请实施例所述装置解决了现有技术由于单纯以GPS速度是否为0来过滤数据,在设备故障的情况下,GPS速度上报异常而导致无法利用GPS速度过滤数据来判断设备是否为定点状态,而无法获取真实位置信息的问题。(The invention provides a method and a device for filtering fixed-point drift data and a computer readable storage medium, and belongs to the technical field of data processing. The method comprises the steps of obtaining GPS data packet information reported by a data acquisition device of a device terminal, and calibrating starting point information of fixed point drift; when the equipment terminal is still at a fixed position, if data needing to be filtered appear, performing fixed-point drift filtering processing on the positioning information; and based on the positioning data information obtained by filtering the fixed point drift, obtaining the real position information of the equipment terminal positioned at the fixed point. The device of the embodiment of the application solves the problem that in the prior art, data are filtered only by judging whether the GPS speed is 0, and under the condition of equipment failure, the GPS speed is reported abnormally, so that whether the equipment is in a fixed-point state or not can not be judged by utilizing the GPS speed filtered data, and real position information can not be acquired.)

1. A method of filtering fixed point drift data, the method comprising the steps of:

acquiring GPS data packet information reported by data acquisition equipment of an equipment terminal;

when the equipment terminal is still at a fixed position, acquiring attribute information of a GPS data packet of the equipment terminal at the fixed position, comparing the acquired attribute values of each GPS data packet according to a time sequence, and determining the attribute information as the starting point information of fixed-point drift calibration;

when the attribute of the GPS data packet information reported by the data acquisition equipment changes and exceeds a change threshold, filtering fixed-point drift data processing is carried out based on the current position information attribute;

and obtaining the real position information of the equipment terminal based on fixed-point drift filtering processing through the positioning information.

2. The method for filtering fixed point drift data according to claim 1, wherein said processing for filtering fixed point drift data based on current location information attribute comprises the steps of:

when the GPS speed is continuously 0, executing a first judgment instruction: judging whether the direction angle is larger than a threshold value;

if the direction angle is larger than the threshold value, a second judgment instruction is carried out: inquiring whether the altitude of the data of the same packet is larger than a threshold value;

and simultaneously carrying out a third judgment instruction: inquiring whether the longitude and the latitude of the data of the same packet are compared with the longitude and the latitude of the previous packet to be more than a threshold value;

and if the first judgment instruction and the third judgment instruction simultaneously meet the condition that the first judgment instruction and the third judgment instruction are larger than or exceed the threshold value, filtering out the shifted positioning information data packet.

3. The method for filtering fixed point drift data according to claim 1, wherein said processing for filtering fixed point drift data based on current location information attribute comprises the steps of:

and under the condition that the GPS speed is continuously 0, executing a second judgment instruction: whether the altitude is greater than a threshold;

if the altitude is greater than the threshold, executing a first judgment instruction: inquiring whether the direction angle of the same packet data is larger than a threshold value;

and simultaneously executing a third judgment instruction: inquiring whether the longitude and the latitude of the data of the same packet are compared with the longitude and the latitude of the previous packet to be more than a threshold value;

and if the 'second judgment instruction' and the 'third judgment instruction' both meet the condition that the threshold value is greater than or exceeds the threshold value, filtering the shifted positioning information data packet.

4. The method for filtering fixed point drift data according to claim 1, wherein said processing for filtering fixed point drift data based on current location information attribute comprises the steps of:

and under the condition that the GPS speed is continuously 0, executing a third judgment instruction: comparing the longitude and latitude of the data with the longitude and latitude of the previous packet of data to judge whether the longitude and latitude of the data exceeds a threshold value;

if the comparison exceeds the threshold, a fourth judgment instruction is carried out: inquiring whether the acceleration x-axis data of the G-sensor data of the same package data is larger than a threshold value,

and if the third judgment instruction and the fourth judgment instruction simultaneously meet the condition that the third judgment instruction and the fourth judgment instruction are larger than or exceed the threshold value, filtering the shifted positioning information data packet.

5. The method for filtering fixed point drift data according to any one of claims 1, wherein said processing for filtering fixed point drift data based on current location information attribute comprises the steps of:

and under the condition that the GPS speed is continuously 0, executing a third judgment instruction: comparing the longitude and latitude of the data with the longitude and latitude of the previous packet of data to judge whether the longitude and latitude of the data exceeds a threshold value;

if the comparison exceeds the threshold value, executing a fifth judgment instruction: inquiring whether the acceleration y-axis data of the G-sensor data of the same package data is larger than a threshold value or not;

and if the third judgment instruction and the fifth judgment instruction simultaneously meet the condition that the third judgment instruction and the fifth judgment instruction are larger than or exceed the threshold value, filtering the shifted positioning information data packet.

6. The method for filtering fixed point drift data according to claim 1, wherein said processing for filtering fixed point drift data based on current location information attribute comprises the steps of:

and under the condition that the GPS speed is continuously 0, executing a third judgment instruction: comparing the longitude and latitude of the data with the longitude and latitude of the previous packet of data to judge whether the longitude and latitude of the data exceeds a threshold value;

if the comparison exceeds the threshold value, executing a sixth judgment instruction: inquiring whether the acceleration z-axis data of the G-sensor data of the same package data is larger than a threshold value;

and if the third judgment instruction and the sixth judgment instruction simultaneously meet the condition that the third judgment instruction and the sixth judgment instruction are larger than or exceed the threshold value, filtering the shifted positioning information data packet.

7. The method of filtering fixed point drift data of claim 1, further comprising the steps of: and when the preset condition is reached, controlling to quit the calibration of the fixed-point drift data processing.

8. The method of filtering fixed point drift data of claim 7, wherein controlling the scaling of exiting fixed point drift data processing when a predetermined condition is reached comprises: and when the continuous three-packet data value of the GPS speed is larger than 0, or the direction angle, the altitude, the longitude and the latitude exceed the corresponding threshold values or the time difference of the two packets of GPS is larger than the threshold value, controlling to quit the calibration of the processing of the filtering fixed point drift data.

9. A device for filtering fixed-point drift data is characterized by comprising a data packet information acquisition module, a starting point information determination module, a filtered data processing module and a real position information acquisition module which are in communication connection with each other;

the data packet information acquisition module is used for acquiring GPS data packet information reported by data acquisition equipment of the equipment terminal;

the fixed point drift calibration module is used for acquiring the attribute information of the GPS data packet of the equipment terminal at the fixed position when the equipment terminal is still at the fixed position, comparing the acquired attribute value of each GPS data packet according to time sequence and determining the attribute value as the starting point information of fixed point drift calibration;

the filtering data processing module is used for processing the filtering fixed-point drift data based on the current position information attribute when the attribute of the GPS data packet information reported by the data acquisition equipment changes and exceeds a change threshold;

and the real position information acquisition module is used for performing fixed-point drift filtering processing based on the filtering data processing unit to obtain the real position information of the equipment terminal.

10. A computer-readable storage medium, comprising a host processor, a computer-readable storage medium, and a computer program stored on the computer-readable storage medium, which computer program, when executed by the host processor, performs the steps of the method of any one of claims 1 to 8.

Technical Field

The present invention relates to the field of data processing technologies, and in particular, to a method and an apparatus for filtering fixed point drift data, and a computer-readable storage medium.

Background

The fixed point drift marks that a device terminal positioning device continuously generates positioning data information with excessive position deviation under a fixed position. In the prior art, the filtering processing is rarely carried out on the dry point data, and the data is only filtered according to whether the GPS speed is 0 or not. However, if the GPS speed reports abnormally in the event of a device failure, the GPS speed cannot be used to filter data to determine whether the device is in a fixed-point state, so that the device cannot acquire real location information. Therefore, there is a need to invent a method for filtering the fixed-point drifting dry point data.

Disclosure of Invention

In view of the above, the present invention provides a method, an apparatus, and a computer-readable storage medium for filtering fixed point drift data, which solve the problem in the prior art that, since data is filtered only by whether the GPS speed is 0, in the case of a device failure, the GPS speed is reported abnormally, and therefore, it is impossible to determine whether the device is in a fixed point state by using the GPS speed filtered data, and therefore, real location information cannot be acquired.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a first aspect of the present invention provides a method for filtering fixed-point drift data, the method comprising the steps of:

acquiring GPS data packet information reported by data acquisition equipment of an equipment terminal;

when the equipment terminal is still at a fixed position, acquiring attribute information of a GPS data packet of the equipment terminal at the fixed position, comparing the acquired attribute values of each GPS data packet according to a time sequence, and determining the attribute information as the starting point information of fixed-point drift calibration;

when the attribute of the GPS data packet information reported by the data acquisition equipment changes and exceeds a change threshold, filtering fixed-point drift data processing is carried out based on the current position information attribute;

and obtaining the real position information of the equipment terminal based on fixed-point drift filtering processing through the positioning information.

In some embodiments, the filtering fixed point drift data processing based on the current location information attribute comprises the steps of:

when the GPS speed is continuously 0, executing a first judgment instruction: judging whether the direction angle is larger than a threshold value;

if the direction angle is larger than the threshold value, a second judgment instruction is carried out: inquiring whether the altitude of the data of the same packet is larger than a threshold value;

and simultaneously carrying out a third judgment instruction: inquiring whether the longitude and the latitude of the data of the same packet are compared with the longitude and the latitude of the previous packet to be more than a threshold value;

and if the first judgment instruction and the third judgment instruction simultaneously meet the condition that the first judgment instruction and the third judgment instruction are larger than or exceed the threshold value, filtering out the shifted positioning information data packet.

In some embodiments, the filtering fixed point drift data processing based on the current location information attribute comprises the steps of:

and under the condition that the GPS speed is continuously 0, executing a second judgment instruction: whether the altitude is greater than a threshold;

if the altitude is greater than the threshold, executing a first judgment instruction: inquiring whether the direction angle of the same packet data is larger than a threshold value;

and simultaneously executing a third judgment instruction: inquiring whether the longitude and the latitude of the data of the same packet are compared with the longitude and the latitude of the previous packet to be more than a threshold value;

and if the 'second judgment instruction' and the 'third judgment instruction' both meet the condition that the threshold value is greater than or exceeds the threshold value, filtering the shifted positioning information data packet.

In some embodiments, the filtering fixed point drift data processing based on the current location information attribute comprises the steps of:

and under the condition that the GPS speed is continuously 0, executing a third judgment instruction: comparing the longitude and latitude of the data with the longitude and latitude of the previous packet of data to judge whether the longitude and latitude of the data exceeds a threshold value;

if the comparison exceeds the threshold, a fourth judgment instruction is carried out: inquiring whether the acceleration x-axis data of the G-sensor data of the same package data is larger than a threshold value,

and if the third judgment instruction and the fourth judgment instruction simultaneously meet the condition that the third judgment instruction and the fourth judgment instruction are larger than or exceed the threshold value, filtering the shifted positioning information data packet.

In some embodiments, the filtering fixed point drift data processing based on the current location information attribute comprises the steps of:

and under the condition that the GPS speed is continuously 0, executing a third judgment instruction: comparing the longitude and latitude of the data with the longitude and latitude of the previous packet of data to judge whether the longitude and latitude of the data exceeds a threshold value;

if the comparison exceeds the threshold value, executing a fifth judgment instruction: inquiring whether the acceleration y-axis data of the G-sensor data of the same package data is larger than a threshold value or not;

and if the third judgment instruction and the fifth judgment instruction simultaneously meet the condition that the third judgment instruction and the fifth judgment instruction are larger than or exceed the threshold value, filtering the shifted positioning information data packet.

In some embodiments, the filtering fixed point drift data processing based on the current location information attribute comprises the steps of:

and under the condition that the GPS speed is continuously 0, executing a third judgment instruction: comparing the longitude and latitude of the data with the longitude and latitude of the previous packet of data to judge whether the longitude and latitude of the data exceeds a threshold value;

if the comparison exceeds the threshold value, executing a sixth judgment instruction: inquiring whether the acceleration z-axis data of the G-sensor data of the same package data is larger than a threshold value;

and if the third judgment instruction and the sixth judgment instruction simultaneously meet the condition that the third judgment instruction and the sixth judgment instruction are larger than or exceed the threshold value, filtering the shifted positioning information data packet.

In some embodiments, further comprising the step of: and when the preset condition is reached, controlling to quit the calibration of the fixed-point drift data processing.

In some embodiments, controlling the scaling of exiting fixed point drift data processing when the predetermined condition is reached comprises: and when the continuous three-packet data value of the GPS speed is larger than 0, or the direction angle, the altitude, the longitude and the latitude exceed the corresponding threshold values or the time difference of the two packets of GPS is larger than the threshold value, controlling to quit the calibration of the processing of the filtering fixed point drift data.

The second aspect of the present invention further provides a device for filtering fixed-point drift data, which includes a data packet information obtaining module, a starting point information determining module, a filtered data processing module, and a real location information obtaining module, which are in communication connection with each other;

the data packet information acquisition module is used for acquiring GPS data packet information reported by data acquisition equipment of the equipment terminal;

the fixed point drift calibration module is used for acquiring the attribute information of the GPS data packet of the equipment terminal at the fixed position when the equipment terminal is still at the fixed position, comparing the acquired attribute value of each GPS data packet according to time sequence and determining the attribute value as the starting point information of fixed point drift calibration;

the filtering data processing module is used for processing the filtering fixed-point drift data based on the current position information attribute when the attribute of the GPS data packet information reported by the data acquisition equipment changes and exceeds a change threshold;

and the real position information acquisition module is used for performing fixed-point drift filtering processing based on the filtering data processing unit to obtain the real position information of the equipment terminal.

The present application also provides a computer-readable storage medium comprising a processor, a computer-readable storage medium and a computer program stored on the computer-readable storage medium, which computer program, when executed by a main processor, performs the steps of the method as described above.

According to the method, the device and the storage medium for filtering fixed point drift data provided by the embodiment of the invention, GPS data packet information reported by a data acquisition device of a device terminal is obtained, and starting point information of fixed point drift is calibrated; when the equipment terminal is still at a fixed position, if data needing to be filtered appear, performing fixed-point drift filtering processing on the positioning information; and based on the positioning data information obtained by filtering the fixed point drift, obtaining the real position information of the equipment terminal positioned at the fixed point. The device of the embodiment of the application solves the problem that in the prior art, data are filtered only by judging whether the GPS speed is 0, and under the condition of equipment failure, the GPS speed is reported abnormally, so that whether the equipment is in a fixed-point state or not can not be judged by utilizing the GPS speed filtered data, and real position information can not be acquired.

Drawings

FIG. 1 is a flowchart of a method of filtering fixed point drift data according to an embodiment of the present invention;

FIG. 2 is a flowchart of a method of filtering fixed point drift data according to another embodiment of the present invention;

FIG. 3 is a flowchart of a method of filtering fixed point drift data according to yet another embodiment of the present invention;

FIG. 4 is a block diagram of an embodiment of an apparatus for filtering fixed point drift data according to the present invention;

FIG. 5 is a block diagram of an apparatus for filtering fixed point drift data according to another embodiment of the present invention;

fig. 6 is a block diagram of an apparatus for filtering fixed point drift data according to another embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Aiming at the problems that in the prior art, data are filtered only by whether the GPS speed is 0 or not, and when the reporting of the GPS speed is abnormal under the condition of equipment failure, the data cannot be filtered by utilizing the GPS speed to judge whether the vehicle-mounted equipment is in a fixed-point state or not and real position information cannot be acquired, the invention provides a method and a device for filtering fixed-point drift data and a computer readable storage medium, and a GPS data packet reported by data acquisition equipment of an equipment terminal is acquired by the method for filtering the fixed-point drift data to filter the fixed-point drift data; when the equipment terminal is still at a fixed position, if data needing to be filtered appear, performing fixed-point drift filtering processing on the positioning information; and finally obtaining the real position information of the equipment terminal in fixed point positioning based on the positioning data information obtained by filtering the fixed point drift.

The first embodiment is as follows:

the present invention provides a method for filtering fixed-point drift data, please refer to fig. 1, which includes the following steps:

s10, acquiring GPS data packet information reported by data acquisition equipment of the equipment terminal;

specifically, a data acquisition device of a device terminal reports GPS data packet information and acquires the reported GPS data packet information; the attributes of the GPS packet information include: longitude, latitude, heading angle, north-south latitude identification, east-west longitude identification, speed, altitude, time, positioning satellite number, PDOP (Position resolution Of Precision three-dimensional Position Precision factor), HDOP (horizontal resolution Of Precision horizontal component Precision factor), VDOP (vertical resolution Of Precision vertical component Precision factor), G-sensor (x, y, z axis data Of acceleration).

S11, when the device terminal is still at the fixed position, acquiring the attribute information of the GPS data packet of the device terminal at the fixed position, comparing the acquired attribute values of each GPS data packet according to time sequence, and determining the attribute information as the starting point information of the fixed-point drift calibration;

specifically, when the device terminal is stationary at a fixed position, the attribute values of each acquired GPS data packet are compared in time sequence, and the position information of five groups of data, namely, GPS speed, direction angle, altitude, north and south latitude identification and east and west longitude identification, when the three data packets are completely consistent is used as the start point information of the fixed point drift marker.

S12, when the attribute of the GPS data packet information reported by the data acquisition equipment changes and exceeds the change threshold, filtering fixed-point drift data processing is carried out based on the current position information attribute;

specifically, when the GPS data reported by the data acquisition device: when four groups of data of the direction angle, the altitude, the longitude and the latitude change and exceed a changing threshold (the threshold is 1), filtering fixed point drift data processing is carried out based on the current position information attribute, so that the real position information of the equipment terminal in the current positioning is finally obtained.

In an embodiment, when the reported GPS data further includes data information such as G-sensor (x, y, z axis data of acceleration), the threshold determination is also applied.

And S13, based on the fixed-point drift filtering processing of the positioning information, obtaining the actual position information of the equipment terminal in positioning.

Referring to fig. 2 and fig. 3, when the device terminal is stationary at a fixed location, if data to be filtered appears, the filtered fixed point drift data processing is performed based on the current location information attribute, and in an embodiment, the filtered fixed point drift data processing further includes the steps of:

s121, when the GPS speed is continuously 0, executing a first judgment instruction: judging whether the direction angle is larger than a threshold value; if the direction angle is larger than the threshold value, a second judgment instruction is carried out: inquiring whether the altitude of the data of the same packet is larger than a threshold value; and simultaneously carrying out a third judgment instruction: inquiring whether the longitude and the latitude of the data of the same packet are compared with the longitude and the latitude of the previous packet to be more than a threshold value; and if the first judgment instruction and the third judgment instruction simultaneously meet the condition that the first judgment instruction and the third judgment instruction are larger than or exceed the threshold value, filtering out the shifted positioning information data packet.

In this embodiment, the direction angle threshold in the first determination instruction, the altitude threshold in the second determination instruction, and the longitude and latitude thresholds in the third determination instruction are all 1.

Description of threshold 1:

the threshold value 1 is a numerical range value rated by the platform, and can be customized according to actual needs, such as:

deviation of the orientation angle within 10;

a deviation of elevation within 2;

the longitude and latitude difference of the two data is more than 5 meters.

In one embodiment, the filtering fixed point drift data processing further comprises the steps of:

and S122, executing a second judgment instruction when the GPS speed is continuously 0: whether the altitude is greater than a threshold; if the altitude is greater than the threshold, executing a first judgment instruction: inquiring whether the direction angle of the same packet data is larger than a threshold value; and simultaneously executing a third judgment instruction: inquiring whether the longitude and the latitude of the data of the same packet are compared with the longitude and the latitude of the previous packet to be more than a threshold value; and if the 'second judgment instruction' and the 'third judgment instruction' both meet the condition that the threshold value is greater than or exceeds the threshold value, filtering the shifted positioning information data packet.

In this embodiment, the direction angle threshold in the first determination instruction, the altitude threshold in the second determination instruction, and the longitude and latitude thresholds in the third determination instruction are all 1.

In one embodiment, the filtering fixed point drift data processing further comprises the steps of:

and S123, executing a third judgment instruction when the GPS speed is continuously 0: comparing the longitude and latitude of the data with the longitude and latitude of the previous packet of data to judge whether the longitude and latitude of the data exceeds a threshold value; if the comparison exceeds the threshold value, a fourth judgment instruction is carried out: and inquiring whether the acceleration x-axis data of the G-sensor data of the same packet data is larger than a threshold value or not, and if the third judgment instruction and the fourth judgment instruction simultaneously meet the condition that the acceleration x-axis data is larger than or exceeds the threshold value, filtering the drifting positioning information data packet.

In this embodiment, the longitude and latitude thresholds in the third determination command and the acceleration threshold in the fourth determination command are both 1.

In one embodiment, the filtering fixed point drift data processing further comprises the steps of:

and S124, when the GPS speed is continuously 0, executing a third judgment command: comparing the longitude and latitude of the data with the longitude and latitude of the previous packet of data to judge whether the longitude and latitude of the data exceeds a threshold value; if the comparison exceeds the threshold value, executing a fifth judgment instruction: inquiring whether the acceleration y-axis data of the G-sensor data of the same package data is larger than a threshold value or not; and if the third judgment instruction and the fifth judgment instruction simultaneously meet the condition that the third judgment instruction and the fifth judgment instruction are larger than or exceed the threshold value, filtering the shifted positioning information data packet.

In this embodiment, the longitude and latitude thresholds in the third determination instruction and the acceleration threshold in the fifth determination instruction are both 1.

In one embodiment, the filtering fixed point drift data processing further comprises the steps of:

and S125, executing a third judgment instruction when the GPS speed is continuously 0: comparing the longitude and latitude of the data with the longitude and latitude of the previous packet of data to judge whether the longitude and latitude of the data exceeds a threshold value; if the comparison exceeds the threshold value, executing a sixth judgment instruction: inquiring whether the acceleration z-axis data of the G-sensor data of the same package data is larger than a threshold value; and if the third judgment instruction and the sixth judgment instruction simultaneously meet the condition that the third judgment instruction and the sixth judgment instruction are larger than or exceed the threshold value, filtering the shifted positioning information data packet.

And S14, when the preset condition is reached, controlling to quit the calibration of the fixed point drift data processing.

Specifically, the predetermined condition includes: when the searched continuous three-packet data value of the GPS speed is larger than 0, or the direction angle, the altitude, the longitude and the latitude exceed the corresponding threshold (threshold 1), (G-sensor [ x, y and z axis data of acceleration ] can be used for auxiliary judgment), or the time difference of two packets of GPS is larger than the predetermined condition of threshold 1, the calibration of filtering fixed point drift data processing is controlled to exit.

In the embodiment of the application, the GPS data packet reported by the data acquisition equipment of the equipment terminal is acquired by the fixed point drift data filtering method to filter the fixed point drift data; when the equipment terminal is still at a fixed position, if data needing to be filtered appear, performing fixed-point drift filtering processing on the positioning information; and finally obtaining the real position information of the equipment terminal in fixed point positioning based on the positioning data information obtained by filtering the fixed point drift.

When the continuous three-packet data value of the GPS speed is larger than 0, or the direction angle, the altitude, the longitude and the latitude exceed the threshold value 1, (G-sensor [ the x, y and z axis data of the acceleration ] can be used for auxiliary judgment), or the time difference of two packets of GPS is larger than the threshold value 1, the calibration of the processing of the filtering fixed point drift data is quitted.

By the method of the embodiment of the invention, the position data reported by the data acquisition equipment of the equipment terminal is screened and compared in a fixed-point state (fixed position is still), and the abnormal event processing mechanism for filtering the fixed-point drift data is formed by calibrating the starting point of the positioning drift data, filtering the positioning information data packet of the drift by the processing and judging strategy for filtering the fixed-point drift data and judging the calibration for filtering the quitting of the positioning drift data, so that the real position information of the equipment terminal in fixed-point positioning is finally obtained. The problem that in the prior art, data are filtered only by judging whether the GPS speed is 0 or not, and under the condition of equipment failure, the GPS speed is reported abnormally, so that whether the equipment is in a fixed-point state or not can not be judged by utilizing the GPS speed filtered data, and real position information can not be acquired is solved.

Example two:

referring to fig. 4 to 5, the apparatus includes a packet information obtaining module 20, a fixed point drift calibration module 30, a filtered data processing module 40, a real location information obtaining module 50, and an exit filtering module 60, which are communicatively connected to each other.

The data packet information obtaining module 20 is configured to obtain GPS data packet information reported by a data acquisition device of the device terminal;

specifically, the data acquisition device of the device terminal reports GPS data packet information, and the reported GPS data packet information is acquired by the data packet information acquisition module 20; the attributes of the GPS packet information include: longitude, latitude, heading angle, north-south latitude identification, east-west longitude identification, speed, altitude, time, positioning satellite number, PDOP (Position resolution Of Precision three-dimensional Position Precision factor), HDOP (horizontal resolution Of Precision horizontal component Precision factor), VDOP (vertical resolution Of Precision vertical component Precision factor), G-sensor (x, y, z axis data Of acceleration).

The fixed point drift calibration module 30 is configured to calibrate starting point information of the fixed point drift.

The fixed-point drift calibration module 30 includes a fixed-position information obtaining unit 301 and a timing comparison unit 302,

the fixed location information acquiring unit 301 is configured to acquire attribute information of a GPS packet of the device terminal at a fixed location when the device terminal is stationary at the fixed location,

the time sequence comparison unit 302 is configured to compare the acquired attribute values of each GPS data packet according to a time sequence, and determine start point information used as fixed-point drift calibration.

Specifically, when the device terminal is stationary at a fixed position, the attribute values of each acquired GPS data packet are compared in time sequence, and the position information of five groups of data, namely, GPS speed, direction angle, altitude, north and south latitude identification and east and west longitude identification, when the three data packets are completely consistent is used as the start point information of the fixed point drift marker.

The filtered data processing module 40 is configured to, when an attribute of the GPS packet information reported by the data acquisition device changes and exceeds a change threshold, perform filtered fixed-point drift data processing based on a current location information attribute.

The filtering data processing module 40 includes an attribute determining unit 401 and a filtering data processing unit 402, where the attribute determining unit 401 is configured to determine whether an attribute of GPS data packet information reported by the data acquisition device changes,

the filtering data processing unit 402 is configured to, when the attribute of the GPS packet information changes and exceeds a change threshold, perform filtering fixed point drift data processing based on the current location information attribute.

Specifically, the attribute determining unit 401 performs the determination step of one or a combination of steps S121 to S125 in the above method embodiment, and controls the filtered data processing unit 402 to filter the shifted positioning information packet.

The real location information obtaining module 50 is configured to obtain the real location information of the device terminal in the positioning based on the fixed point drift filtering processing performed by the filtered data processing unit 402.

The exit filter module 60 is configured to control the calibration of exiting the fixed point drift data processing when a predetermined condition is reached.

Specifically, when it is found that the GPS speed is greater than 0 in three consecutive packets, or the direction angle, altitude, longitude, and latitude exceed the corresponding threshold (threshold 1), (G-sensor [ x, y, and z axis data of acceleration ] can be used for auxiliary judgment), or the difference between the two packets of GPS time is greater than a predetermined condition of threshold 1, the calibration of the processing of the filtered fixed point drift data is exited.

In the apparatus for filtering fixed-point drift data according to the embodiment of the present application, the data packet information obtaining module 20 obtains GPS data packet information reported by a data acquisition device of a device terminal, and the fixed-point drift calibration module 30 calibrates start point information of fixed-point drift; when the device terminal is still at a fixed position, if data needing to be filtered appear, the positioning information fixed-point drift filtering processing is carried out by the filtering data processing module 40; based on the positioning data information obtained by filtering the fixed point drift, the real position information obtaining module 50 finally obtains the real position information of the device terminal in fixed point positioning. The device of the embodiment of the application solves the problem that in the prior art, data are filtered only by judging whether the GPS speed is 0, and under the condition of equipment failure, the GPS speed is reported abnormally, so that whether the equipment is in a fixed-point state or not can not be judged by utilizing the GPS speed filtered data, and real position information can not be acquired.

Example three:

referring to fig. 6, a computer-readable storage medium according to an embodiment of the present invention includes a processor 100 and a memory 200, where the memory 200 stores a computer program, and when the computer program is executed by the processor 100, the steps in the method for filtering fixed point drift data are implemented, and the specific steps are as described in the first embodiment and are not described herein again.

The memory in the present embodiment may be used to store software programs as well as various data. In this embodiment, the memory 200 stores a fixed point state calibration program 201, a positioning drift calibration program 202, a fixed point drift GPS data comparison program 203, a fixed point drift G-sensor data auxiliary comparison program 204, an exit filter processing program 205, an operating system 206, and the like. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the mobile phone, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

In one embodiment, the computer-readable storage medium further includes a user interface 101 and a network interface 102 connected to the processor 100, and the user interface 101 and the network interface 102 can be used for connecting with a communication device of a user and performing communication interaction. The processor 100, the user interface 101, the network interface 102 and the memory 200 are connected through a communication bus, and the user interface 101, the network interface 102, the processor 100 and the memory 200 can perform communication interaction through the communication bus.

The user interface 101 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 101 may also include a standard wired interface and a standard wireless interface, and the user interface 101 is mainly used for connecting a client (user end) and performing data communication with the client.

The network interface 102 may include a standard wired interface and a standard wireless interface (such as a WI-FI interface), and the network interface 102 is mainly used for connecting to a background server and performing data communication with the background server.

The memory 200 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 200 may also be a storage device separate from the processor 100 described above. The processor 100 may be configured to call the program stored in the memory 200, and control the program to execute steps in the method for filtering fixed-point drift data, where the specific steps are described in the first embodiment, and are not described herein again.

According to an example of this embodiment, all or part of the processes in the methods of the embodiments described above may be implemented by a computer program to instruct related hardware, where the program may be stored in a computer-readable storage medium, and in this embodiment of the present invention, the program may be stored in the storage medium of a computer system and executed by at least one processor in the computer system, so as to implement the processes including the embodiments of the methods described above. The storage medium includes, but is not limited to, a magnetic disk, a flash disk, an optical disk, a Read-Only Memory (ROM), and the like.

The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and are not to be construed as limiting the scope of the invention. Those skilled in the art can implement the invention in various modifications, such as features from one embodiment can be used in another embodiment to yield yet a further embodiment, without departing from the scope and spirit of the invention. Any modification, equivalent replacement and improvement made within the technical idea of using the present invention should be within the scope of the right of the present invention.