CN109782316B - Method for reducing Beidou positioning terminal positioning drift when vehicle stops - Google Patents
Method for reducing Beidou positioning terminal positioning drift when vehicle stops Download PDFInfo
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Abstract
A method for reducing Beidou positioning terminal positioning drift when a vehicle stops comprises the following steps: 1) Judging the validity of the related data; 2) If no data exists, the new positioning data is put into a queue and output; 3) Calculating the average speed from the new locating point to the locating point in the queue, if the average speed is greater than the set maximum speed, discarding the new locating point; otherwise, the new positioning data is stored in a queue; 4) If the speed is greater than the set minimum speed, enter 5), otherwise enter 6); 5) Calculating the average value of the speeds, if the average value is larger than the set minimum speed, setting a stop mark to be false when the vehicle moves now, and outputting new positioning data; otherwise, enter 6); 6) The speed in the new positioning data is set to 0, and the vehicle is considered to be stopped; 7) If the stop flag is false, go to 8), otherwise go to 9); 8) Setting the stop sign as true, storing longitude and latitude as a parking position, and outputting correction positioning data; 9) Setting the longitude and latitude height as a parking position, and outputting correction positioning data; the method is simple and the positioning data is accurate.
Description
Technical Field
The invention belongs to the technical field of vehicle positioning, and particularly relates to a method for reducing the positioning drift of a Beidou positioning terminal when a vehicle stops.
Background
At present, when a Beidou positioning terminal is used for vehicle positioning, the following two problems are found: 1) When the vehicle is stationary, the output speed of the Beidou positioning terminal is not necessarily 0 and can become larger (reaching more than 5.0 km/h), and meanwhile, the longitude and latitude data output by the terminal also randomly and slowly change along with time, so that the formed track resembles a group of random hemp when the vehicle is stationary for a long time;
2) In the running process of the vehicle, the positioning data output by the Beidou positioning terminal is accurate, but the situation that the longitude and latitude speed is suddenly jumped and returns to the correct value can occur occasionally.
The existing method for reducing the positioning drift cannot well solve the two problems, particularly the first problem.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a method for reducing the positioning drift of a Beidou positioning terminal when a vehicle stops, and the method has the characteristics of simplicity, accurate positioning data and clear and non-chaotic formed track.
In order to achieve the above purpose, the invention adopts the following technical scheme: a method for reducing the positioning drift of a Beidou positioning terminal when a vehicle stops filters and corrects GGA and RMC data packets acquired from the Beidou positioning terminal, and comprises the following steps:
s1, checking whether a state indication field in a GGA data packet is 0, wherein 0 indicates that positioning is unavailable or invalid, and whether a positioning state field in a RMC data packet is V, wherein V indicates invalid positioning, and ending if the state indication field in the GGA data packet is 0 or the positioning state field in the RMC data packet is V; otherwise, entering a step S2;
s2, if no data exists in the positioning data queue, putting new positioning data into the queue, outputting the new positioning data, and ending; otherwise, enter step S3;
s3, calculating the average speed from the new locating point to the last locating point in the queue, and if the average speed is greater than the set maximum speed, considering that the data is illegal, discarding and ending; otherwise, the new positioning data is stored in a queue, and the step S4 is entered;
s4, if the speed in the new positioning data is greater than the set minimum speed, entering a step S5, otherwise entering a step S6;
s5, calculating the average value of the speeds in the positioning data queue, if the average speed is greater than the set minimum speed, considering that the vehicle is moving now, setting a stop mark as false, outputting new positioning data, and ending; otherwise, enter step S6;
s6, setting the speed in the new positioning data to 0, and considering that the vehicle is stopped;
s7, if the stop sign is false, entering a step S8, otherwise, entering a step S9;
s8, setting a stop sign as true, storing longitude and latitude in the new positioning data as a parking position, outputting the corrected positioning data, and ending;
s9, setting the longitude and latitude in the new positioning data as the parking position stored before, outputting the corrected positioning data, and ending.
The beneficial effects of the invention are as follows:
compared with the prior art, the invention eliminates speed noise by adopting a smooth filtering technology, and filters and corrects the GGA and RMC data packets acquired from the Beidou positioning terminal, thereby reducing the positioning drift of the Beidou positioning terminal, especially the positioning drift when the vehicle is stationary, filtering and correcting the positioning data each time new positioning data is acquired from the Beidou positioning terminal, wherein fields such as longitude, latitude, altitude, speed, direction and timestamp are included, and finally the obtained positioning data information eliminates some displacement abnormal points, more importantly, the speed and average speed are used for judging whether the vehicle is stopped or not, the positioning drift is effectively restrained under the stationary state of the vehicle, and the accuracy of the positioning data is improved.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples.
Referring to fig. 1, a method for reducing positioning drift of a Beidou positioning terminal when a vehicle stops, filtering and correcting GGA and RMC data packets acquired from the Beidou positioning terminal, includes the following steps:
s1, checking whether a state indication field in the GGA data packet is 0, wherein 0 indicates that positioning is unavailable or invalid, and whether a positioning state field in the RMC data packet is V, wherein V indicates invalid positioning, and ending if the state indication field in the GGA data packet is 0 or the positioning state field in the RMC data packet is V; otherwise, entering a step S2;
s2, if no data exists in the positioning data queue, placing new positioning data into the queue, wherein the length of the queue is 9 at maximum, outputting the new positioning data, and ending; otherwise, enter step S3;
s3, calculating the average speed from the new locating point to the last locating point in the queue, if the average speed is greater than the set maximum speed and the set value is 150 km/h, recognizing that the data is illegal, discarding the data, and ending; otherwise, the new positioning data is stored in a queue, and the step S4 is entered;
s4, if the speed in the new positioning data is greater than the set minimum speed of 3.6 km/h, entering a step S5, otherwise entering a step S6;
s5, calculating the average value of the speeds in the positioning data queue, if the average speed is greater than the set minimum speed of 3.6 km/h, considering that the vehicle is moving now, setting a stop mark as false, outputting new positioning data, and ending; otherwise, enter step S6;
s6, setting the speed in the new positioning data to 0, and considering that the vehicle is stopped;
s7, if the stop sign is false, entering a step S8, otherwise, entering a step S9;
s8, setting a stop sign as true, storing longitude and latitude in the new positioning data as a parking position, outputting the corrected positioning data, and ending;
s9, setting the longitude and latitude in the new positioning data as the parking position stored before, outputting the corrected positioning data, and ending.
Table 1 below shows the output results of some test cases according to the above steps, wherein 4 elements included in [ ] (e.g., [109,34,35,1514736001 ]) of "input positioning data", "output positioning data", and "positioning data queue" are longitude (unit degree), latitude (unit degree), speed (unit kilometer/hour), and positioning sampling time (unit second) indicated by unix timestamp, respectively, and 2 elements included in [ ] of "stop position" are longitude (unit degree), and latitude (unit degree), respectively.
TABLE 1
Claims (1)
1. The method for reducing the positioning drift of the Beidou positioning terminal when the vehicle stops filters and corrects the GGA and RMC data packets acquired from the Beidou positioning terminal, and is characterized by comprising the following steps:
s1, checking whether a state indication field in a GGA data packet is 0, wherein 0 indicates that positioning is unavailable or invalid, and whether a positioning state field in a RMC data packet is V, wherein V indicates invalid positioning, and ending if the state indication field in the GGA data packet is 0 or the positioning state field in the RMC data packet is V; otherwise, entering a step S2;
s2, if no data exists in the positioning data queue, putting new positioning data into the queue, outputting the new positioning data, and ending; otherwise, enter step S3;
s3, calculating the average speed from the new locating point to the last locating point in the queue, and if the average speed is greater than the set maximum speed, considering that the data is illegal, discarding and ending; otherwise, the new positioning data is stored in a queue, and the step S4 is entered;
s4, if the speed in the new positioning data is greater than the set minimum speed, entering a step S5, otherwise entering a step S6;
s5, calculating the average value of the speeds in the positioning data queue, if the average speed is greater than the set minimum speed, considering that the vehicle is moving now, setting a stop mark as false, outputting new positioning data, and ending; otherwise, enter step S6;
s6, setting the speed in the new positioning data to 0, and considering that the vehicle is stopped;
s7, if the stop sign is false, entering a step S8, otherwise, entering a step S9;
s8, setting a stop sign as true, storing longitude and latitude in the new positioning data as a parking position, outputting the corrected positioning data, and ending;
s9, setting the longitude and latitude in the new positioning data as the parking position stored before, outputting the corrected positioning data, and ending.
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| CN110188154A (en) * | 2019-05-31 | 2019-08-30 | 北京首汽智行科技有限公司 | A kind of algorithm of the magnanimity vehicle track data based on spark |
| CN110406565B (en) * | 2019-08-01 | 2021-07-20 | 南京富岛信息工程有限公司 | Method and device for positioning, correcting and judging theft of intelligent iron shoe |
| CN110415545B (en) * | 2019-08-02 | 2020-09-29 | 辰芯科技有限公司 | Lane positioning method and device, electronic equipment and storage medium |
| CN110927755B (en) * | 2019-11-14 | 2021-10-15 | 深圳市麦谷科技有限公司 | Filtering method and device for vehicle drift point |
| CN111267910B (en) * | 2020-02-10 | 2021-03-26 | 西南交通大学 | Train real-time positioning method based on speed weighted filtering |
| CN114547471A (en) * | 2020-10-10 | 2022-05-27 | 北京骑胜科技有限公司 | Position determination method, device, storage medium and electronic equipment |
| CN117805867B (en) * | 2024-02-29 | 2024-05-14 | 四川参盘供应链科技有限公司 | GPS drift point filtering method based on positioning points |
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