CN109189875A - Vehicle positioning data processing equipment and method - Google Patents
Vehicle positioning data processing equipment and method Download PDFInfo
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- CN109189875A CN109189875A CN201810991116.4A CN201810991116A CN109189875A CN 109189875 A CN109189875 A CN 109189875A CN 201810991116 A CN201810991116 A CN 201810991116A CN 109189875 A CN109189875 A CN 109189875A
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Abstract
The invention discloses a kind of vehicle positioning data processing equipment and methods, and the method includes obtaining all discrete location datas in preset time, the location data includes longitude coordinate x, latitude coordinate y and timestamp t；According to the longitude coordinate x and timestamp t the first polynomial equation x=f (t) of curve matching, according to the second polynomial equation y=h (t) of the latitude coordinate y and timestamp t curve matching；Store the value range of the first polynomial equation x=f (t) and the second polynomial equation y=h (t) and timestamp t.The present invention can trace the space-time trajectory of vehicle under space coordinates, reduce the data volume of real-time storage and transmission and reduce the data fusion requirement to location data and other perception datas.
Description
Technical field
The present invention relates to accurately diagram technology field, in particular to a kind of based on three-dimensional space curve fitting
Vehicle location data processing unit and method method and device.
Background technique
Production high-precision map needs to record vehicle GPS and includes the location information through, latitude and timestamp and upload in real time
The server of distal end.High-precision vehicle GPS can generate a discrete location information at interval of 10ms or 100ms and implementation is deposited
Storage and transmission.
The behavior stored and transmitted in the prior art to a large amount of location informations obtained in a period of time, can be to vehicle-mounted
The communication network of terminal causes bandwidth pressure；Meanwhile location information is usually discrete data, when location information and other sensors
Perception data when being merged, it may appear that the nonsynchronous problem of the two timestamp.
Summary of the invention
The embodiment of the present invention at least provides a kind of vehicle positioning data processing method, is able to solve vehicle in the prior art
The real-time storage of location data and transmission cause car-mounted terminal communication pressure and location data and sensing data to be difficult to merge
Problem.
The specific implementation of above-described embodiment, as described below.
The described method includes:
Step100, all discrete location datas in preset time are obtained, the location data includes longitude coordinate x, latitude
Spend coordinate y and timestamp t；
Step200, according to the longitude coordinate x and timestamp t the first polynomial equation x=f (t) of curve matching, according to
The second polynomial equation y=h (t) of the latitude coordinate y and timestamp t curve matching；
Step300, the storage first polynomial equation x=f (t) and the second polynomial equation y=h (t) are timely
Between stab t value range.
Preferred version is that the timestamp t of any location data is presently described positioning number in the present embodiment
According to the difference of the corresponding number of seconds of first location data acquired in corresponding number of seconds and the preset time.
Preferred version is that the Step200 is configured that in the present embodiment
The curve fitting algorithm fitting described more than first of least square method is selected according to the longitude coordinate x and timestamp t
Item formula EQUATION x=f (t)；
The curve fitting algorithm of least square method is selected to intend the conjunction more than second according to the latitude coordinate y and timestamp t
Item formula equation y=h (t).
Preferred version is between the Step200 and the Step300, to include in the present embodiment:
Step210, the first polynomial equation x=f (t) and/or described is determined according to preset standard error threshold value
The number of second polynomial equation y=h (t).
Preferred version is in the present embodiment, described to determine first multinomial according to preset standard error threshold value
EQUATION x=f (t) number, is configured that
The first multinomial equation of n th order n x=f (t) is polynomial of degree n equation, and the n is the positive integer more than or equal to 3；
The standard error threshold value for presetting the polynomial of degree n equation is α, and α is decimal, unit cm；
The standard error σ 1 of the polynomial of degree n equation is obtained when being less than or equal to α, the value of n is n1；
Configuring first multinomial is n1 order polynomial.
Preferred version is in the present embodiment, described to determine second multinomial according to preset standard error threshold value
The number of equation y=h (t), is configured that
The second polynomial equation y=h (t) is m order polynomial equation, and the m is the positive integer more than or equal to 3；
The standard error threshold value of the m order polynomial equation is β, and β is decimal, unit cm；
The standard error σ 2 of the m order polynomial equation is obtained when being less than or equal to β, the value of m is m1；
Configuring second multinomial is m1 order polynomial.
Preferred version is after the Step210, to include in the present embodiment:
Step220, in the first polynomial equation x=f (t) of preset maximum times and/or described second multinomial
When the standard error of formula equation y=h (t) after the standard error threshold value greater than returning to the Step100 and shortening described default
Between range.
Preferred version is that the preset maximum times are 21 in the present embodiment.
Preferred version is that the Step100 is configured that in the present embodiment
All discrete location datas in preset time are obtained under a vehicle body coordinate system；
Determine the configuration relation of the vehicle body coordinate system and earth coordinates；
It is extracted according to the configuration relation and is located at the earth coordinates, the longitude coordinate x, latitude coordinate y are timely
Between stab t.
The embodiment of the present invention separately discloses a kind of vehicle positioning data processing equipment based on three-dimensional space curve fitting, described
Device includes:
Acquisition module obtains all discrete location datas in preset time by the high-precision GPS module of vehicle, described
Location data includes longitude coordinate x, latitude coordinate y and timestamp t；
Fitting module, according to the longitude coordinate x and timestamp t the first polynomial equation x=f (t) of curve matching, according to
The second polynomial equation y=h (t) of the latitude coordinate y and timestamp t curve matching；
It is timely to store the first polynomial equation x=f (t) and the second polynomial equation y=h (t) for memory module
Between stab t value range.
For above scheme, the present invention is by being referring to the drawings described in detail disclosed exemplary embodiment, also
The other feature and its advantage for making the embodiment of the present invention understand.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow chart of implementation method；
Fig. 2 is the flow chart of embodiment Step200；
Fig. 3 is the schematic diagram of implementation method.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
The present embodiment provides a kind of vehicle positioning data processing methods.
Method through this embodiment can trace the space-time trajectory of vehicle under space coordinates, reduce real-time storage
And data fusion requirement of the data volume and reduction of transmission to location data and other perception datas.In order to realize foregoing advantages,
Please refer to Fig. 1.
The method of the present embodiment includes:
Step110, every 10ms obtain the location data of high-precision GPS module output；And it is acquired after preset 10s
For 1000 discrete location datas；All location datas can be marked under a space coordinates as (x, y, t)；
Wherein, x is longitude coordinate, and y is latitude coordinate, and t is timestamp.
In addition, the output time of high-precision GPS module is usually cumulative, the number when all passed through time number of seconds or microsecond number
It is worth larger.So, the t of any anchor point of the present embodiment (x, y, t) is preferably acquired with currently exporting in time tx and default 10s
First anchor point (x0, y0, t0) at that time export time t0 difference, i.e. t=tx-t0.
It is vehicle body coordinate system that Step120, the present embodiment, which configure space coordinates above-mentioned, determine vehicle body coordinate system with it is high-precision
The configuration relation for spending map configuration earth coordinates, establishes anchor point (x, y, t) in earth coordinates according to configuration relation.
Step200, x, y and the t for extracting all anchor points (x, y, t) respectively；The song of least square method is selected according to x and t
Line fitting algorithm fitting n order polynomial equation x=f (t)；The curve fitting algorithm of least square method is selected to be fitted m according to y and t
Order polynomial equation y=h (t).
The multinomial general equation that the present embodiment is fitted by the curve fitting algorithm of least square method are as follows: x=C0+C1*t
+C2*t*t+C3*t*t*t+……；The value range of t is time interval, and C0, C1, C3 etc. are coefficient.
Referring to FIG. 2, the Step200 of the present embodiment, specially.
The preferably preset standard error threshold value of Step211, the present embodiment is 10.0cm.
Step212, respectively value n and m are 3 and construct multinomial item formula EQUATION x=f three times according to multinomial general equation
(t) and cubic polynomial equation y=h (t).
Step213, pass through standard error calculation formula, when calculating n and m value is 3, cubic polynomial EQUATION x=f (t)
Standard error σ 1 and the size of the standard error σ 2 of multinomial item formula equation y=h (t) three times.
Above-mentioned standard error calculation formula isE is that error=fitting is bent
Line value-true value.
The size of Step214, judgment criteria error σ 1 and standard error σ 2 and standard error threshold value 10.0cm.If 1 He of σ
σ 2 is greater than 10, then being incremented by the value of n and m and returning to Step212.
After if Step220, σ 1 and σ 2 is respectively less than 10, using the value of current n and m as the more of the present embodiment matched curve
Item formula equation.After the value of m and n is 21, σ 1 and σ 2 are still greater than 10.So, the method for the present embodiment returns to Step100 simultaneously
Shortening preset 10s is 5s.
Through the above scheme, the present embodiment optimizes multinomial side according to the estimation error exported to high-precision GPS module
Journey improves the precision of matched curve value, realizes the raising to vehicle location precision.
For example, x and y respectively indicate longitude and latitude, coordinate unit degree of being.So angular error and distance are sat in the earth
There are corresponding relationship under mark system, i.e., 0.000001 degree 0.111 meter of correspondence, specifically equatorial perimeter are 40000*1000m, then
The corresponding error distance of 0.000001 degree of error angle is 40000*1000/360*0.000001=0.111 meters.
Certainly, polynomial of degree n EQUATION x=f (t) standard error σ 1 and m order polynomial equation y=h (t) of the present embodiment
Standard error σ 2 can be separately provided；So, the present embodiment method can be only to polynomial of degree n EQUATION x=f (t) or m
Order polynomial equation y=h (t) is optimized, and is useful in the application of less demanding in the location data of longitude or latitude to vehicle
Scene.
Step300, taking for the first polynomial equation x=f (t) and the second polynomial equation y=h (t) and timestamp t is stored
It is worth range.
Through the above scheme, size of data can be compressed to 1/80 and standard error of the prior art by the method for the present embodiment
Difference is less than 10.0cm
By taking the trace information of 10s as an example, totally 1000 (longitude, latitude, timestamp) discrete points, wherein longitude and latitude
Formula double precision double type, timestamp are 64 integer int64 types, are 8 bytes.
So, the size of data that the prior art occupies is (8+8+8) x 1000=24000 byte.The x=f of the present embodiment
(t) and y=h (t) is typically 16 order polynomials；Then x=f (t), 16 double parameters；Y=h (t), 16 double ginsengs
Number, 2 int64 parameters of t=[t0, t1], the size of data that the present embodiment occupies are 8x (16+16+2)=272 byte, are existing
The 1/88 of technical data size.
With reference to Fig. 3, the present embodiment discloses a kind of vehicle positioning data processing equipment based on three-dimensional space curve fitting, dress
It sets and includes:
Acquisition module obtains all discrete location datas in preset time, positioning by the high-precision GPS module of vehicle
Data include longitude coordinate x, latitude coordinate y and timestamp t；
Fitting module, according to longitude coordinate x and timestamp t the first polynomial equation x=f (t) of curve matching, according to latitude
The second polynomial equation y=h (t) of coordinate y and timestamp t curve matching；
Memory module, storage the first polynomial equation x=f's (t) and the second polynomial equation y=h (t) and timestamp t
Value range.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of vehicle positioning data processing method, which is characterized in that
The described method includes:
Step100, all discrete location datas in preset time are obtained, the location data includes longitude coordinate x, latitude seat
Mark y and timestamp t；
Step200, according to the longitude coordinate x and timestamp t the first polynomial equation x=f (t) of curve matching, according to described
The second polynomial equation y=h (t) of latitude coordinate y and timestamp t curve matching；
Step300, the storage first polynomial equation x=f (t) and the second polynomial equation y=h (t) and timestamp t
Value range.
2. vehicle positioning data processing method as described in claim 1, which is characterized in that
The timestamp t of any location data corresponds to for presently described location data to be adopted in number of seconds and the preset time
First location data of collection corresponds to the difference of number of seconds.
3. vehicle positioning data processing method as described in claim 1, which is characterized in that the Step200 is configured that
The curve fitting algorithm of least square method is selected to be fitted first multinomial according to the longitude coordinate x and timestamp t
EQUATION x=f (t)；
The curve fitting algorithm of least square method is selected to intend the second multinomial of the conjunction according to the latitude coordinate y and timestamp t
Equation y=h (t).
4. vehicle positioning data processing method as described in claim 1, which is characterized in that in the Step200 and described
Between Step300, include:
Step210, the first polynomial equation x=f (t) and/or described second are determined according to preset standard error threshold value
The number of polynomial equation y=h (t).
5. vehicle positioning data processing method as claimed in claim 4, which is characterized in that described according to preset standard error
Poor threshold value determines the number of the first polynomial equation x=f (t), is configured that
The first multinomial equation of n th order n x=f (t) is polynomial of degree n equation, and the n is the positive integer more than or equal to 3；
The standard error threshold value for presetting the polynomial of degree n equation is α, and α is decimal, unit cm；
The standard error σ 1 of the polynomial of degree n equation is obtained when being less than or equal to α, the value of n is n1；
Configuring first multinomial is n1 order polynomial.
6. vehicle positioning data processing method as claimed in claim 4, which is characterized in that described according to preset standard error
Poor threshold value determines the number of the second polynomial equation y=h (t), is configured that
The second polynomial equation y=h (t) is m order polynomial equation, and the m is the positive integer more than or equal to 3；
The standard error threshold value of the m order polynomial equation is β, and β is decimal, unit cm；
The standard error σ 2 of the m order polynomial equation is obtained when being less than or equal to β, the value of m is m1；
Configuring second multinomial is m1 order polynomial.
7. vehicle positioning data processing method as claimed in claim 4, which is characterized in that after the Step210, including
Have:
Step220, the first polynomial equation x=f (t) in preset maximum times and/or the second multinomial side
The standard error of journey y=h (t) returns to the Step100 after being greater than the standard error threshold value and shortens the preset time
Range.
8. vehicle positioning data processing method as claimed in claim 7, which is characterized in that the preset maximum times are
21。
9. vehicle positioning data processing method as described in claim 1, which is characterized in that the Step100 is configured that
All discrete location datas in preset time are obtained under a vehicle body coordinate system；
Determine the configuration relation of the vehicle body coordinate system and earth coordinates；
It is extracted according to the configuration relation and is located at the earth coordinates, the longitude coordinate x, latitude coordinate y and timestamp
t。
10. a kind of vehicle positioning data processing equipment based on three-dimensional space curve fitting, which is characterized in that described device packet
It includes:
Acquisition module obtains all discrete location datas in preset time, the positioning by the high-precision GPS module of vehicle
Data include longitude coordinate x, latitude coordinate y and timestamp t；
Fitting module, according to the longitude coordinate x and timestamp t the first polynomial equation x=f (t) of curve matching, according to described
The second polynomial equation y=h (t) of latitude coordinate y and timestamp t curve matching；
Memory module stores the first polynomial equation x=f (t) and the second polynomial equation y=h (t) and timestamp
The value range of t.
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| CN201810991116.4A CN109189875A (en) | 2018-08-28 | 2018-08-28 | Vehicle positioning data processing equipment and method |
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| CN201810991116.4A CN109189875A (en) | 2018-08-28 | 2018-08-28 | Vehicle positioning data processing equipment and method |
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| CN110275191A (en) * | 2019-05-24 | 2019-09-24 | 深圳市元征科技股份有限公司 | A kind of static drift modification method, device, mobile unit and storage medium |
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| US7425829B2 (en) * | 2003-10-14 | 2008-09-16 | Merlin Technology, Inc. | Tracking positions of personnel, vehicles, and inanimate objects |
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Application publication date: 20190111 |