CN118245765B - Method, device, equipment and medium for associating space-time trajectories - Google Patents
Method, device, equipment and medium for associating space-time trajectories Download PDFInfo
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Abstract
The embodiment of the application discloses a method, a device, equipment and a medium for associating space-time tracks. Wherein the method comprises the following steps: acquiring space-time track point data of a detection target, determining the precision of the position information as a first item of a fibonacci sequence aiming at the position information, determining two times of the first item as a second item of the fibonacci sequence, and determining the item number of the fibonacci sequence according to the maximum value of the position information; determining a target binary number corresponding to the position information according to the corresponding relation between the position information and the fibonacci sequence; determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determining the travelling direction of the detection target between two adjacent nodes as edges in the space-time track; and further determining the associated space-time track in the space-time tracks of other targets. The technical scheme highlights the relevance between the space-time tracks, so that the relevance of the finally obtained relevant space-time tracks is higher.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a method, an apparatus, a device, and a medium for associating space-time trajectories.
Background
The vehicle image data can be collected through the intelligent camera, the data of the perception sources (IMSI and IMEI) can be obtained through the intelligent terminal such as a mobile phone, and then the space-time track data can be formed through the analysis of background big data and the artificial intelligent system. How to judge the relevance between two tracks is a technical problem to be solved.
In current methods for track association, conventional machine learning based on artificial features or deep learning based on one-hot coding is typically used.
However, traditional machine learning based on artificial features is limited by the limitations of design features of research personnel, has limited learning ability, and affects the accuracy of track association. And because of the deep learning based on the one-hot coding, the one-hot coding needs to be carried out on the time track, a large amount of time-space information can be lost in the process, so that the information acquired by a subsequent deep learning model is limited, and the track association accuracy can be influenced.
Disclosure of Invention
The invention provides a method, a device, equipment and a medium for associating space-time tracks, which can rapidly determine the space-time track associated with the current space-time track and improve the accuracy of space-time track association.
According to an aspect of the present invention, there is provided a method of correlating spatio-temporal trajectories, the method comprising:
acquiring space-time track point data of a detection target, wherein the space-time track point data comprises position information and acquisition time, and the position information comprises: longitude and latitude;
For the position information, determining the precision of the position information as a first item of a fibonacci sequence, determining two times of the first item as a second item of the fibonacci sequence, and determining the item number of the fibonacci sequence according to the maximum value of the position information;
Determining a target binary number corresponding to the position information according to the corresponding relation between the position information and the fibonacci sequence; the number of bits of the target binary number is equal to the number of terms of a fibonacci number sequence;
determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determining the travelling direction of the detection target between two adjacent nodes as edges in the space-time track;
and determining the associated space-time track associated with the space-time track of the detected target in the space-time tracks of other targets according to the similarity of the space-time track of the detected target and the space-time tracks of other targets.
According to another aspect of the present invention, there is provided an apparatus for correlating spatio-temporal trajectories, comprising:
the space-time track point data acquisition module is used for acquiring space-time track point data of a detection target, wherein the space-time track point data comprises position information and acquisition time, and the position information comprises: longitude and latitude;
the fibonacci number determining module is used for determining the precision of the position information as a first item of a fibonacci number sequence aiming at the position information, determining two times of the first item as a second item of the fibonacci number sequence, and determining the item number of the fibonacci number sequence according to the maximum value of the position information;
The target binary number determining module is used for determining a target binary number corresponding to the position information according to the corresponding relation between the position information and the fibonacci sequence; the number of bits of the target binary number is equal to the number of terms of a fibonacci number sequence;
The space-time track determining module is used for determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determining the travelling direction of the detection target between two adjacent nodes as edges in the space-time track;
And the associated space-time track determining module is used for determining the associated space-time track associated with the space-time track of the detected target in the space-time tracks of other targets according to the similarity of the space-time track of the detected target and the space-time tracks of other targets.
According to another aspect of the present invention, there is provided an electronic apparatus including:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of associating spatiotemporal trajectories described in any embodiment of the invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement a method of associating spatiotemporal trajectories according to any embodiment of the present invention when executed.
The technical scheme of the embodiment of the application comprises the following steps: acquiring space-time track point data of a detection target, wherein the space-time track point data comprises position information and acquisition time, and the position information comprises: longitude and latitude; for the position information, determining the precision of the position information as a first item of a fibonacci sequence, determining two times of the first item as a second item of the fibonacci sequence, and determining the item number of the fibonacci sequence according to the maximum value of the position information; determining a target binary number corresponding to the position information according to the corresponding relation between the position information and the fibonacci sequence; the number of bits of the target binary number is equal to the number of terms of a fibonacci number sequence; determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determining the travelling direction of the detection target between two adjacent nodes as edges in the space-time track; and determining the associated space-time track associated with the space-time track of the detected target in the space-time tracks of other targets according to the similarity of the space-time track of the detected target and the space-time tracks of other targets. According to the technical scheme, the position information of the track points is represented by a fibonacci sequence principle, so that the relevance between space-time tracks is highlighted, and the relevance of the finally obtained relevant space-time tracks is higher.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for associating spatio-temporal trajectories according to a first embodiment of the present application;
FIG. 2 is a flow chart of a method for associating spatio-temporal trajectories according to a second embodiment of the present application;
FIG. 3 is a schematic diagram of a target binary number and binary time data formation provided according to a second embodiment of the present application;
FIG. 4 is a schematic structural diagram of a space-time trajectory correlation device according to a third embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device implementing a method for associating spatio-temporal trajectories according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," "target," and the like in the description and claims of the present invention and in the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a method for associating spatio-temporal trajectories according to an embodiment of the present application, where the method may be performed by a spatio-temporal trajectory associating device, which may be implemented in hardware and/or software, and the spatio-temporal trajectory associating device may be configured in an electronic device having data processing capabilities. As shown in fig. 1, the method includes:
s110, acquiring space-time track point data of a detection target, wherein the space-time track point data comprises position information and acquisition time, and the position information comprises: longitude and latitude.
The technical scheme of the embodiment of the application can be suitable for judging the relevance of heterogeneous space-time tracks, wherein the heterogeneous space-time tracks refer to the fact that the same entity (vehicle and IMSI) and different entities are different in structure, attribute, precision, granularity and the like in the space-time tracks due to different types of sensors in the space-time tracks, for example, when the target mobile terminal is located in the running target vehicle, the track points of the target vehicle are formed by the position points of the cameras for shooting license plates, and the track points of the target mobile terminal are formed by the position points of the code detection equipment, so that the actual track of the target mobile terminal is identical to the actual track of the target vehicle, but the acquired track is different, and the track can be a heterogeneous space-time track. Further, regarding the above-mentioned code detection device, it can collect IMSI signals of a mobile phone within a certain range, and recording information such as IMSI codes, acquisition time, geographical positions and the like.
In the embodiment of the application, the detection target can be a vehicle, a mobile terminal and the like; the mobile terminal may be a terminal capable of detecting an identification code by a detection device, for example, the mobile terminal is a mobile phone, the detection device is a detection device, and the identification code may be an international mobile subscriber identity (IMSI, international Mobile Subscriber Identity). The space-time track point data can be composed of data of a plurality of track points, and the data of each track point can comprise position information, acquisition time and equipment identification; further, the device identifier may reflect the track point acquired by which device, and the acquisition time is the time when the device discovers the detection target.
Specifically, if the detection target is a vehicle, when the shooting device shoots the detection target, the position of the shooting device is a track point, and the time for shooting the detection target is the acquisition time; and then the position information, the acquisition time and the like of the track point can be acquired, and the space-time track point data of the detection target can be obtained after the position information and the acquisition time of a plurality of track points are acquired.
S120, determining the precision of the position information as a first item of a fibonacci number sequence, determining two times of the first item as a second item of the fibonacci number sequence aiming at the position information, and determining the item number of the fibonacci number sequence according to the maximum value of the position information.
Wherein, the fibonacci sequence (Fibonacci sequence) is also called golden section sequence, the nth term of the fibonacci sequence is equal to the sum of the (n-2) th term and the (n-1) th term; illustratively, a fibonacci sequence may be: 1.1, 2, 3, 5, 8, 13, 21, 34 … …, this series being defined mathematically in the following recursive manner: f (0) =1, F (1) =1, F (N) =f (N-1) +f (N-2) (n+.2, n∈n).
Specifically, according to the longitude in the position information, determining a fibonacci number sequence corresponding to the longitude; and determining a fibonacci number sequence corresponding to the latitude according to the latitude in the position information. Illustratively, consider the example of latitude: the method comprises the steps of determining the precision of latitude as a first term of a fibonacci sequence, determining the double of the first term as a second term of the fibonacci sequence, further obtaining an expression of the fibonacci sequence, obtaining the maximum value in all the latitudes, determining the item number which is just larger than or equal to the maximum value in the fibonacci sequence, and determining the fibonacci sequence which is smaller than or equal to the item number as a fibonacci sequence corresponding to the latitude. The determination process is the same as that of the latitude for the fibonacci number sequence corresponding to the longitude.
For example, the accuracy of the latitude is 0.001, the first term f0=0.001 for the fibonacci sequence, the second term f1=0.002, and the latitude maximum is 10 (it is noted that determining the entries of the fibonacci sequence from the latitude maximum is performed in the case where the representations of the latitudes are all greater than 0, such as in the case of the northern hemisphere, and for the case where there is a positive negative in the latitude value, it may be determining the entries of the fibonacci sequence from the difference between the latitude maximum and the minimum), then the fibonacci sequence recurrence relationship is based on the available:；， The solution of the array can be obtained by the constant coefficient homogeneous recursion relation: ; again from boundary conditions ，Solving to obtainAnd (3) withThen through pairConstraint is more than or equal to 10, and then the minimum value of n is solved. Solving results in n=19, i.e. the number of terms is 19.
S130, determining a target binary number corresponding to the position information according to the corresponding relation between the position information and the fibonacci sequence; the number of bits of the target binary number is equal to the number of entries of the fibonacci number sequence.
Wherein the number of bits of the target binary number is the same as the number of entries of the fibonacci sequence, e.g., if the number of entries of the fibonacci sequence is 19 entries, the target binary number has 19 bits.
Specifically, after determining the number of bits of the target binary number, the value (0 or 1) of each bit is determined according to the correspondence between the position information and the fibonacci number sequence. By way of example, the process of determining the target binary number corresponding to the latitude may be: and determining the bit number of the target binary number corresponding to the latitude according to the item number of the fibonacci sequence corresponding to the latitude, wherein each bit of the target binary number is the fibonacci sequence corresponding to the latitude, if the sum of the target items of the fibonacci sequence is equal to the latitude, determining the target bit corresponding to the target item in the target binary number, and setting the target position as 1 and the other positions as 0.
S140, determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determining the travelling direction of the detection target between two adjacent nodes as edges in the space-time track.
The space-time track consists of nodes and edges, the nodes reflect the information of track points, and the edges reflect the information of moving directions among the track points.
Specifically, for each track point, the target binary number corresponding to the position information of the track point and the binary time data corresponding to the acquisition time can be obtained through the steps, the target binary number corresponding to the position information and the binary time data corresponding to the acquisition time are determined to be nodes in the space-time track, and each track point is traversed to obtain each node in the space-time track.
Further, in the acquisition time corresponding to each track point, two adjacent acquisition times and nodes (nodes, namely corresponding track points) corresponding to the two adjacent acquisition times are acquired, the direction between the two nodes is determined to be from the previous acquisition time to the next acquisition time, and then the direction is determined to be an edge between the two nodes.
S150, determining the associated space-time track associated with the space-time track of the detected target in the space-time tracks of other targets according to the similarity of the space-time track of the detected target and the space-time tracks of other targets.
The associated space-time track is a track with higher overlapping degree with the space-time track of the detection target, and the associated space-time track can be one track or a plurality of tracks, and the number of the tracks is not limited in the embodiment of the application.
For example, in one possible solution, a network model may be trained in advance according to the spatio-temporal trajectories, where the model may be a GCN network model, and further determine, by using the network model, similarity between the spatio-temporal trajectories of the detection targets and the spatio-temporal trajectories of other targets, and determine the associated spatio-temporal trajectories.
The technical scheme of the embodiment of the application comprises the following steps: acquiring space-time track point data of a detection target, wherein the space-time track point data comprises position information and acquisition time, and the position information comprises: longitude and latitude; for the position information, determining the precision of the position information as a first item of a fibonacci sequence, determining two times of the first item as a second item of the fibonacci sequence, and determining the item number of the fibonacci sequence according to the maximum value of the position information; determining a target binary number corresponding to the position information according to the corresponding relation between the position information and the fibonacci sequence; the number of bits of the target binary number is equal to the number of terms of a fibonacci number sequence; determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determining the travelling direction of the detection target between two adjacent nodes as edges in the space-time track; and determining the associated space-time track associated with the space-time track of the detected target in the space-time tracks of other targets according to the similarity of the space-time track of the detected target and the space-time tracks of other targets. According to the technical scheme, the position information of the track points is represented by a fibonacci sequence principle, so that the relevance between space-time tracks is highlighted, and the relevance of the finally obtained relevant space-time tracks is higher.
Example two
Fig. 2 is a flowchart of a method for associating space-time trajectories according to a second embodiment of the present application, which is optimized based on the above embodiment of the present application.
As shown in fig. 2, the method in the embodiment of the present application specifically includes the following steps:
s210, acquiring space-time track point data of a detection target, wherein the space-time track point data comprises position information and acquisition time, and the position information comprises: longitude and latitude.
Illustratively, the acquisition process of the space-time trajectory point data of the vehicle comprises the steps of A1-A3:
Step A1: after license plate images are acquired through a license plate image pick-up device, the license plate image is analyzed through an advanced license plate Optical Character Recognition (OCR) technology, and license plate number information is accurately extracted.
Step A2: and (3) performing strict license plate data quality control, and eliminating invalid or incomplete records. The license plate number length is not in accordance with the records of the specification, the records of obvious abnormality of the longitude and latitude of the geographic position, and license plate data of key attribute fields such as missing equipment identification, acquisition place or acquisition time.
Step A3: generating space-time track point data: fusing the data of the same license plate number together to track points of the vehicle(Wherein xy represents longitude and latitude, t is acquisition time, and d is equipment identification) clustering to form vehicle track; Where N represents the number of elements in the spatio-temporal trajectory point data.
Exemplary, the acquisition process of the space-time track point data of the mobile terminal comprises the steps of B1-B3:
step B1: and acquiring IMSI data of the mobile terminal through the code detection equipment.
Step B2: careful abnormality screening and cleaning work is carried out on the IMSI data, records of longitude and latitude coordinate abnormalities are removed, and the IMSI data of key fields such as distance, direction and the like of important dynamic information are lost.
Step B3: generating space-time track point data: fusing the data of the same IMSI together, and matching code track points(Wherein xy represents longitude and latitude, t is acquisition time, d is equipment identifier), clustering to form code track; Where N represents the number of elements in the spatio-temporal trajectory point data.
S220, determining the precision of the position information as a first item of a fibonacci number sequence, determining two times of the first item as a second item of the fibonacci number sequence aiming at the position information, and determining the item number of the fibonacci number sequence according to the maximum value of the position information.
It should be noted that, the terms and steps described in the above embodiments are not repeated in the present embodiment.
For a track point, the position information includes longitude and latitude, so for a track point, fibonacci corresponding to the longitude of the track point and fibonacci corresponding to the latitude can be determined.
For example, taking a latitude as an example, if there is a repeated value in each latitude, determining a fibonacci sequence corresponding to one of the latitudes, where the fibonacci sequence corresponding to each repeated latitude is the same.
S230, determining a target item in a fibonacci sequence; the sum of the values of the target terms of the fibonacci sequence is equal to the location information.
Taking fibonacci number columns corresponding to the latitude as an example, if the latitude is 0.03; the first term of the fibonacci sequence is 0.01, the second term is 0.02, and the third term of the fibonacci sequence is 0.03 … …, so that the third term of the fibonacci sequence is equal to the latitude; and further determining the third item as the target item.
It should be noted that, since the maximum term of the fibonacci sequence is greater than the maximum value of the position information, and the first term and the second term are two times the precision and the precision of the position information respectively, the target term is always determined in the entire fibonacci sequence, so that the sum of the values of the target terms of the fibonacci sequence is equal to the position information.
Specifically, in one achievable embodiment, determining the target item in the fibonacci sequence includes: starting from the largest item of the fibonacci sequence, sequentially judging whether the numerical value of the current item is smaller than or equal to the position information, and if so, determining that the target item is the current item; if the difference is smaller than the first target item, the current item is one of the target items, the difference between the position information and the current item is calculated, and then the second target item which is the item which is just equal to or smaller than the difference is found in the rest items until the sum of the target items is equal to the position information. In another implementable embodiment, the candidate item is determined to be the target item if the sum of the values of the fibonacci number series of the candidate item is equal to the location information. In the two schemes, the target item determined by the first scheme is unique, the target item determined by the second scheme is generally non-unique, and a proper scheme can be selected according to actual conditions.
S240, establishing a preparation binary number, wherein the bit number of the preparation binary number is equal to the item number of the fibonacci number sequence, the minimum bit of the preparation binary number corresponds to the first item of the fibonacci number sequence, and the maximum bit of the preparation binary number corresponds to the last item of the fibonacci number sequence.
Wherein the value of each bit in the prepared binary number can be any of 0 and 1, and the number of bits in the prepared binary number is equal to the number of entries of the fibonacci number sequence.
For example, if the fibonacci number is 10 entries total, the preliminary binary number may be 0000000000.
S250, determining a target bit corresponding to the target item in the prepared binary number.
Illustratively, if the target item is a first item, a fourth item, and a sixth item, then the target bits are the first, fourth, and sixth bits.
S260, the target position of the prepared binary number is 1, the rest positions are 0, and the target binary number corresponding to the position information is obtained.
For example, if the prepared binary number may be 0000000000, the target item is the first item, the fourth item, and the sixth item, and the target bits are the first bit, the fourth bit, and the sixth bit, the target binary number is 0000101001.
S270, determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determining the travelling direction of the detection target between two adjacent nodes as edges in the space-time track.
Fig. 3 is a schematic diagram formed by a target binary number and binary time data, in fig. 3, from left to right, longitude and latitude can be obtained in space latitude, and further, by means of fibonacci sequence, a target binary number corresponding to the longitude and a target binary number corresponding to the latitude are obtained; binary time data is available in the time dimension.
In the embodiment of the present application, optionally, a determining process for acquiring binary time data corresponding to time includes: converting the acquired time into binary data according to different time units respectively to obtain binary time data corresponding to each time unit; and splicing the binary time data corresponding to each time unit into binary time data corresponding to the acquisition time.
The time unit refers to years, months, weeks, days, hours, minutes and the like, and the specific time unit can be determined according to actual conditions. Illustratively, the units of time are years, months, weeks, days, and hours.
Specifically, if the acquisition time is 3 days of 1 month; the binary data corresponding to 1 month is 1, and the binary data corresponding to the third day is 11; the 1 st to 6 th bits of binary time data corresponding to days and 7 th to 11 th bits of binary time data corresponding to months can be preset, and the binary time data is 00001000011; it should be noted that this example is for convenience of illustration, and only the month and the day are written, and in actual cases, a plurality of time units may be included.
In the embodiment of the application, aiming at one track point, a target binary number corresponding to longitude, a target binary number corresponding to latitude and binary time data corresponding to acquisition time are obtained; if the track is the track of the vehicle (namely, the detection target is the vehicle), converting the target binary number corresponding to the longitude, the target binary number corresponding to the latitude and the binary time data corresponding to the acquisition time into node representation, which can be in a vector form, and obtaining a longitude vector, a latitude vector and a time vector; i.e. as vectors of nodes in the spatio-temporal trajectory. Illustratively, the vector of nodes is composed of longitude vectors, latitude vectors, and time vectors of the trace points by stitching. Edges being ordered by track points in time series, e.g.; Wherein the method comprises the steps ofEdge is formed byPointing toAnd (3) withPointing toComposition is prepared.
If the trajectory is the trajectory of the mobile terminal (i.e., the detection target is the mobile terminal), the following steps are needed to process the trajectory, and then the space-time trajectory is determined.
In the embodiment of the present application, optionally, if the detection target is a mobile terminal, the determining the target binary number corresponding to the position information and the binary time data corresponding to the acquisition time as nodes in the space-time track, and determining the travelling direction of the detection target between two adjacent nodes as edges in the space-time track, includes steps C1-C4:
And C1, determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the directed graph, and determining the travelling direction of the detection target between two adjacent nodes as edges in the directed graph.
And step C2, if the positions of the first node and the last node in the directed graph are not coincident, establishing a complementary edge along the trend from the last node to the first node.
Step C3, judging whether an Euler loop is formed along the trend of the edges among the nodes; the Euler loop is a loop that each side passes through only once and can pass through all nodes;
Step C4, if yes, deleting the supplementary edges, and determining all nodes and edges in the directed graph as space-time tracks; otherwise the first set of parameters is selected,
And deleting or adding the edges until loops passing through all the nodes along the trend of the edges among the nodes are determined under the condition that the same edge passes through once, and determining the edges except the supplementary edges in the nodes and the loops as the nodes and the edges in the space-time track.
The nodes in the directed graph reflect the information of the track points, the edges in the directed graph reflect the advancing direction of the detection targets, and the detection targets are mobile terminals, so that the detection devices can detect the mobile terminals within a certain range, and the detection ranges of the detection devices are overlapped; therefore, in the process of detecting the mobile terminal, one code detection device can detect the same mobile terminal for multiple times, and the nodes and edges of the code detection device may be abnormal, so that the abnormal nodes and edges are required to be removed.
Specifically, after obtaining the nodes and edges in the directed graph, judging whether the first node and the last node are overlapped, if not, establishing a complementary edge, wherein each edge sequentially passes through each node according to the time sequence, and forms a closed loop, namely returns to the first node, namely the trend of the edge between each node forms an Euler loop, if the Euler loop is formed, determining that the nodes and the edges are not abnormal, and deleting the rest nodes and edges after the complementary edge is deleted, so that the rest nodes and edges can be determined as the nodes and edges in the space-time track.
If the Euler loop is not formed, deleting or adding operations are needed to be carried out on the edges until all the nodes pass along the trend of each edge in the directed graph and each edge can form a loop, and all the edges pass in the process and only pass once, so that each node and the edges except the complementary edge in the loop are determined as the nodes and the edges in the space-time track.
In the embodiment of the present application, optionally, deleting or adding the edge until determining a loop along the edge between the nodes and passing through all the nodes in the case that the same edge passes through only once, including: determining a repeated node with the number of connected edges being greater than two in each node; adding edges between nodes adjacent to the repeated nodes; in all edges after the edges are added, the loops along the edges among the nodes and passing through all the nodes are determined under the condition that the same edge passes through only once.
In general, a node corresponds to an edge pointing to the node and an edge pointing from the node to the next node, the node is a normal node, the number of edges connected by the node is two, if the number of edges corresponding to a certain node is greater than two, the node is a repeated node, and for the repeated node, the nearby edges may have an abnormality.
Specifically, after the repeated node is obtained, edges can be added between nodes adjacent to the repeated node; and determining the loops passing through all the nodes along the trend of the edges between the nodes under the condition that the same edge passes through the nodes only once in all the edges after the edges are added, deleting the edges outside the loops, deleting the complementary edges in the loops, and the remaining edges are the edges in the space-time track.
Optionally, if the euler loop is not formed after the supplementary edge is added, the euler loop can be perfected by adding the minimum edge number, the euler loop requires that the degree of each node is required to be even, when the degree is found to be not even, the euler loop is formed by adding the edge, the euler loop can be also checked by deleting the edge, whether the euler loop can be formed or not is checked, and the euler loop path with the minimum edge number is obtained, wherein the euler loop path is the loop which determines the trend along the edge between each node and passes through all nodes under the condition that the same edge passes through only once.
The step is set in this way, so that the anti-interference capability of the data can be greatly improved, because repeated acquisition and cross acquisition are ubiquitous in reality, and the influence caused by interference of the data can be effectively reduced by searching the minimum Euler loop.
S280, inputting the space-time track of the detection target into a pre-trained track vector representation model to obtain a track vector of the detection target, and determining an associated space-time track associated with the space-time track of the detection target in the space-time tracks of other targets based on the similarity of the track vector of the detection target and the track vectors of other targets.
Specifically, a track vector representation model can be trained in advance, so that the space-time track of the detection target is input into the model, and the track vector of the detection target is output; the track vectors of other tracks can be prestored in a vector library, and then the track vectors are compared to obtain the associated space-time track associated with the space-time track of the detection target.
In the embodiment of the present application, optionally, according to the similarity between the spatiotemporal track of the detected object and the spatiotemporal track of the other objects, determining the associated spatiotemporal track associated with the spatiotemporal track of the detected object from the spatiotemporal tracks of the other objects, including: the space-time track of the detected target and the track vectors of other targets are input into a pre-trained track vector representation model, and the associated space-time track associated with the space-time track of the detected target is output.
In an embodiment of the present application, optionally, a training process of the trajectory vector representation model includes: taking the space-time track of the target with the same moving route of each pair as sample data; and training the track vector representation model to be trained based on the sample data so that the similarity of the track vectors corresponding to the space-time tracks of the same pair is higher than the track vectors corresponding to the space-time tracks of different pairs in the track vectors output by the model.
By way of example, the training process for the trajectory vector representation model may be: acquiring an IMSI space-time track and a vehicle space-time track; the IMSI space-time track and the vehicle space-time track are input into the GCN, and comparison learning is carried out through a Cross entropy loss function (Cross-Entropy Loss Function). And storing and outputting the trained GCN-ST model.
According to the technical scheme, the time-space information special for the time-space track is subjected to data modeling by means of a fibonacci sequence principle, the characteristics of space mobility and time dynamic change in the track are reserved, and the track integrity is reserved in the time-space track by combining with an Euler loop, so that the time-space information is reserved to the maximum extent, and the track association accuracy is improved. The technical scheme can be applied to any urban space-time track, can reduce subsequent manpower and time investment, and realizes rapid migration and deployment of the model under the condition of ensuring the accuracy of the model. According to the technical scheme, the space-time track is optimized through the Euler loop principle, so that the influence of noise data on the overall movement of the track can be greatly reduced, the track mobility can be restored to the maximum degree, and the track association accuracy is improved.
Example III
Fig. 4 is a schematic structural diagram of a space-time track association device according to a third embodiment of the present application, where the device may execute the space-time track association method according to any embodiment of the present application, and the device has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 4, the apparatus includes:
A spatiotemporal trajectory point data obtaining module 310, configured to obtain spatiotemporal trajectory point data of a detection target, where the spatiotemporal trajectory point data includes position information and an obtaining time, and the position information includes: longitude and latitude;
A fibonacci number determining module 320, configured to determine, for the location information, the accuracy of the location information as a first term of the fibonacci number, determine two times of the first term as a second term of the fibonacci number, and determine the number of terms of the fibonacci number according to a maximum value of the location information;
A target binary number determining module 330, configured to determine a target binary number corresponding to the location information according to a correspondence between the location information and the fibonacci sequence; the number of bits of the target binary number is equal to the number of terms of a fibonacci number sequence;
A space-time track determining module 340, configured to determine a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determine a traveling direction of the detection target between two adjacent nodes as edges in the space-time track;
the associated space-time track determining module 350 is configured to determine, from the space-time tracks of the other targets, an associated space-time track associated with the space-time track of the detected target according to the similarity between the space-time track of the detected target and the space-time tracks of the other targets.
The technical scheme of the embodiment of the application comprises the following steps: a spatiotemporal trajectory point data obtaining module 310, configured to obtain spatiotemporal trajectory point data of a detection target, where the spatiotemporal trajectory point data includes position information and an obtaining time, and the position information includes: longitude and latitude; a fibonacci number determining module 320, configured to determine, for the location information, the accuracy of the location information as a first term of the fibonacci number, determine two times of the first term as a second term of the fibonacci number, and determine the number of terms of the fibonacci number according to a maximum value of the location information; a target binary number determining module 330, configured to determine a target binary number corresponding to the location information according to a correspondence between the location information and the fibonacci sequence; the number of bits of the target binary number is equal to the number of terms of a fibonacci number sequence; a space-time track determining module 340, configured to determine a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determine a traveling direction of the detection target between two adjacent nodes as edges in the space-time track; the associated space-time track determining module 350 is configured to determine, from the space-time tracks of the other targets, an associated space-time track associated with the space-time track of the detected target according to the similarity between the space-time track of the detected target and the space-time tracks of the other targets. According to the technical scheme, the position information of the track points is represented by a fibonacci sequence principle, so that the relevance between space-time tracks is highlighted, and the relevance of the finally obtained relevant space-time tracks is higher.
Optionally, the target binary number determining module 330 includes:
A target item determining unit, configured to determine a target item in a fibonacci sequence; the sum of the values of the target items of the fibonacci sequence is equal to the position information;
A preliminary binary number establishing unit, configured to establish a preliminary binary number, where a number of bits of the preliminary binary number is equal to a number of entries of a fibonacci number sequence, a minimum bit of the preliminary binary number corresponds to a first entry of the fibonacci number sequence, and a maximum bit of the preliminary binary number corresponds to a last entry of the fibonacci number sequence;
A target bit determining unit, configured to determine, in the prepared binary number, a target bit corresponding to the target item;
And the target binary number determining unit is used for obtaining the target binary number corresponding to the position information by setting the target position of the prepared binary number as 1 and the rest positions as 0.
Optionally, the apparatus further includes: the binary time data acquisition module corresponding to the acquisition time comprises:
the binary data conversion unit is used for respectively converting the acquisition time into binary data according to different time units to obtain binary time data corresponding to each time unit;
And the binary time data determining unit is used for splicing the binary time data corresponding to each time unit into the binary time data corresponding to the acquisition time.
Optionally, if the detection target is a mobile terminal, the space-time trajectory determining module 340 includes:
A directed graph determining unit, configured to determine a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the directed graph, and determine a traveling direction of the detection target between two adjacent nodes as edges in the directed graph;
The system comprises a supplementary edge establishing unit, a first node and a second node, wherein the supplementary edge establishing unit is used for establishing a supplementary edge along the trend from the last node to the first node if the positions of the first node and the last node in the directed graph are not coincident;
the Euler loop judging unit is used for judging whether an Euler loop is formed along the trend of the edges among the nodes; the Euler loop is a loop that each side passes through only once and can pass through all nodes;
The space-time track determining unit is used for deleting the supplementary edges if yes, and determining all nodes and edges in the directed graph as space-time tracks; otherwise the first set of parameters is selected,
And deleting or adding the edges until loops passing through all the nodes along the trend of the edges among the nodes are determined under the condition that the same edge passes through once, and determining the edges except the supplementary edges in the nodes and the loops as the nodes and the edges in the space-time track.
Optionally, the space-time trajectory determining unit includes:
A repeating node determining subunit configured to determine, among the nodes, repeating nodes having a number of connected edges greater than two;
an edge adding subunit, configured to add edges between nodes adjacent to the repetition node;
And the loop determining subunit is used for determining loops which run along the edges among the nodes and pass through all the nodes in the case that the same edge passes through only once in all the edges after the edges are added.
Optionally, the associated spatiotemporal trajectory determination module 350 includes:
The related space-time track determining unit is used for inputting the space-time track of the detection target into a pre-trained track vector representation model to obtain a track vector of the detection target, and determining related space-time tracks related to the space-time track of the detection target in the space-time tracks of other targets based on the similarity of the track vector of the detection target and the track vectors of other targets;
Or inputting the space-time track of the detected target and the track vectors of other targets into a pre-trained track vector representation model, and outputting the associated space-time track associated with the space-time track of the detected target.
Optionally, the apparatus further includes: the track vector representation model training module specifically comprises:
A sample data determining unit for taking a space-time trajectory of an object of which each pair of moving routes is the same as sample data;
The model training unit is used for training the track vector representation model to be trained based on the sample data, so that the similarity of the track vectors corresponding to the space-time tracks of the same pair is higher than the track vectors corresponding to the space-time tracks of different pairs in the track vectors output by the model.
The space-time track association device provided by the embodiment of the application can execute the space-time track association method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the correlation method of spatiotemporal trajectories.
In some embodiments, the method of associating spatiotemporal trajectories may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the spatio-temporal trajectory correlation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method of association of spatiotemporal trajectories in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of associating spatio-temporal trajectories, comprising:
acquiring space-time track point data of a detection target, wherein the space-time track point data comprises position information and acquisition time, and the position information comprises: longitude and latitude;
For the position information, determining the precision of the position information as a first item of a fibonacci sequence, determining two times of the first item as a second item of the fibonacci sequence, and determining the item number of the fibonacci sequence according to the maximum value of the position information;
Determining a target binary number corresponding to the position information according to the corresponding relation between the position information and the fibonacci sequence; the number of bits of the target binary number is equal to the number of terms of a fibonacci number sequence;
determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determining the travelling direction of the detection target between two adjacent nodes as edges in the space-time track;
and determining the associated space-time track associated with the space-time track of the detected target in the space-time tracks of other targets according to the similarity of the space-time track of the detected target and the space-time tracks of other targets.
2. The method of claim 1, wherein determining the target binary number corresponding to the location information based on the correspondence of the location information to the fibonacci number sequence comprises:
determining a target item in a fibonacci sequence; the sum of the values of the target items of the fibonacci sequence is equal to the position information;
Establishing a preliminary binary number, the number of bits of the preliminary binary number being equal to the number of entries of the fibonacci sequence, the minimum bit of the preliminary binary number corresponding to the first entry of the fibonacci sequence, and the maximum bit of the preliminary binary number corresponding to the last entry of the fibonacci sequence;
determining a target bit corresponding to the target item in the prepared binary number;
and obtaining the target binary number corresponding to the position information by setting the target position of the prepared binary number as 1 and the rest positions as 0.
3. The method of claim 1, wherein the determining of the time-corresponding binary time data comprises:
converting the acquired time into binary data according to different time units respectively to obtain binary time data corresponding to each time unit;
And splicing the binary time data corresponding to each time unit into binary time data corresponding to the acquisition time.
4. The method according to claim 1, wherein if the detection target is a mobile terminal, the determining the target binary number corresponding to the position information and the binary time data corresponding to the acquisition time as nodes in the space-time trajectory, and determining the traveling direction of the detection target between two adjacent nodes as edges in the space-time trajectory, includes:
determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the directed graph, and determining the travelling direction of the detection target between two adjacent nodes as edges in the directed graph;
if the positions of the first node and the last node in the directed graph are not coincident, establishing a supplementary edge along the trend from the last node to the first node;
judging whether an Euler loop is formed along the trend of the edges among the nodes; the Euler loop is a loop that each side passes through only once and can pass through all nodes;
If yes, deleting the supplementary edges, and determining all nodes and edges in the directed graph as space-time tracks; otherwise the first set of parameters is selected,
And deleting or adding the edges until loops passing through all the nodes along the trend of the edges among the nodes are determined under the condition that the same edge passes through once, and determining the edges except the supplementary edges in the nodes and the loops as the nodes and the edges in the space-time track.
5. The method of claim 4, wherein the deleting or adding the edge is performed until a loop along the edge between the nodes and through all the nodes is determined if the same edge passes only once, comprising:
determining a repeated node with the number of connected edges being greater than two in each node;
Adding edges between nodes adjacent to the repeated nodes;
in all edges after the edges are added, the loops along the edges among the nodes and passing through all the nodes are determined under the condition that the same edge passes through only once.
6. The method of claim 1, wherein determining an associated spatiotemporal track associated with the spatiotemporal track of the detection object from among the spatiotemporal tracks of the other objects based on a similarity of the spatiotemporal track of the detection object to the spatiotemporal track of the other objects, comprises:
Inputting the space-time track of the detection target into a pre-trained track vector representation model to obtain a track vector of the detection target, and determining an associated space-time track associated with the space-time track of the detection target in the space-time tracks of other targets based on the similarity of the track vector of the detection target and the track vectors of other targets;
Or inputting the space-time track of the detected target and the track vectors of other targets into a pre-trained track vector representation model, and outputting the associated space-time track associated with the space-time track of the detected target.
7. The method of claim 6, wherein the trajectory vector represents a training process of the model, comprising:
taking the space-time track of the target with the same moving route of each pair as sample data;
And training the track vector representation model to be trained based on the sample data so that the similarity of the track vectors corresponding to the space-time tracks of the same pair is higher than the track vectors corresponding to the space-time tracks of different pairs in the track vectors output by the model.
8. A space-time trajectory correlation device, comprising:
the space-time track point data acquisition module is used for acquiring space-time track point data of a detection target, wherein the space-time track point data comprises position information and acquisition time, and the position information comprises: longitude and latitude;
the fibonacci number determining module is used for determining the precision of the position information as a first item of a fibonacci number sequence aiming at the position information, determining two times of the first item as a second item of the fibonacci number sequence, and determining the item number of the fibonacci number sequence according to the maximum value of the position information;
The target binary number determining module is used for determining a target binary number corresponding to the position information according to the corresponding relation between the position information and the fibonacci sequence; the number of bits of the target binary number is equal to the number of terms of a fibonacci number sequence;
The space-time track determining module is used for determining a target binary number corresponding to the position information and binary time data corresponding to the acquisition time as nodes in the space-time track, and determining the travelling direction of the detection target between two adjacent nodes as edges in the space-time track;
And the associated space-time track determining module is used for determining the associated space-time track associated with the space-time track of the detected target in the space-time tracks of other targets according to the similarity of the space-time track of the detected target and the space-time tracks of other targets.
9. An electronic device, the electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of associating spatiotemporal trajectories of any of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the method of associating spatiotemporal trajectories of any of claims 1-7 when executed.
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