CN103149577A - Combined navigation method of Beidou navigation, GPS (global positioning system) navigation and historical data fusion - Google Patents
Combined navigation method of Beidou navigation, GPS (global positioning system) navigation and historical data fusion Download PDFInfo
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Abstract
The invention discloses a combined navigation method of Beidou navigation, GPS (global positioning system) navigation and historical data fusion. According to the method, positioning data of a trip in each time is processed and optimized and is stored in a database to be used as historical data; and then, an optimum route from a starting point to a destination is calculated by an improved shortest route solving method according to the historical data of the local database, the positioning data originates from a Beidou satellite navigation system, and the storage and the processing of data in the database adopt a spatial database technology. The combined navigation method aims at applying a Beidou satellite navigation system, a GPS satellite navigation system and the spatial database technology, the historical data is used as the basis, an intelligent combined navigation method is provided, the combined navigation method has the core that the historical positioning data is used as the basis, the historical route selection and the route condition are analyzed, and the geographic position and the optimum route can also be calculated. The method has the advantage that along with the increase of the historical data in the local database, the deviation between the obtained route and an ideal optimum route is also gradually reduced.
Description
Technical field
The present invention relates to the Combinated navigation method that a kind of " Big Dipper " navigation, GPS navigation and historical data merge, belong to the technical field of integrated navigation.
Background technology
The Beidou satellite navigation system technology
Beidou satellite navigation system (BeiDou Navigation Satellite System) is the satellite system that is used for Navigation and localization by Chinese independent development and foundation, is the satellite navigation system of the 3rd maturation after U.S. GPS (GPS) and Russia GLONASS.System is comprised of vacant terminal, ground surface end and user side, and round-the-clock, round-the-clock provides high precision, highly reliable location, navigation, time service service for all types of user, and has the short message communication capacity in the world.On Dec 27th, 2012, the formal announcement of the formal version of dipper system spacing wave interface control document, Big Dipper navigation service formally provides passive location, navigation, time service service to the Asian-Pacific area.
Beidou satellite navigation system is devoted to provide high-quality location to global user, and navigation and time service service comprise open service and authorization service dual mode.Open service is to provide free the location to the whole world, test the speed and the time service service, 10 meters of bearing accuracies, rate accuracy 0.2 meter per second, 10 nanoseconds of time service precision.Authorization service is for the user of high precision, highly reliable satellite navigation demand is arranged, and the location is provided, tests the speed, time service and communication service and system health information.
Gps satellite navigational system technology (outstanding American technology)
Spatial database technology is the core technology of Geographic Information System (GIS) data tissue, is also the product that geographical science, mapping science, computer science and information science combine.Spatial database is compared with traditional relational, has application prospect widely, it can support multiple Spatial Data Model, spatial abstraction data type and a kind of query language that can call these abstract data types, and the specific area rule of supporting index, inquiry, renewal operative algorithm and being used for query optimization.Spatial database technology has replaced traditional file management mode, progressively becomes the mainstream technology of spatial data management.Singularity due to spatial data, spatial data management is being when computing machine and information science are contributed, also draw every newest fruits of computing machine mainstream technology voraciously, become one of applied research technology contents in the computing machine sciemtifec and technical sphere the abundantest branch.
At present, most of onboard navigation systems have all adopted map matching technology.Map match is a kind of by software approach, proofreaies and correct the technology of navigation positioning error.This technology is take pattern recognition theory as foundation, hypothesis based on " vehicle travels all the time on road ", by vehicle location or the driving trace that other localization methods (as GPS etc.) are recorded, compare, mate with the electronic map data of navigational system, find the highway section at vehicle place, calculate the position of vehicle on the highway section, and then proofread and correct positioning error, as the GPS stochastic error etc.Map-matching method and location technology are used in conjunction with, and can greatly improve the vehicle location precision, reduce positioning error.Can say, the effect of map-matching algorithm is directly connected to the precision of vehicle location, and the quality of map matching technology directly affects the final performance of navigational system.
Yet map match must be based on two prerequisites: at first, vehicle must travel on the road of electronic chart; Secondly, the electronic map road data precision should be higher than the position estimation accuracy of Floating Car onboard navigation system.When above-mentioned condition satisfies, locating information and road information are compared, by certain matching process, determine the most probable running section of vehicle and vehicle most probable position in this highway section.Realization and the electronic chart of map-matching algorithm have close relationship, and electronic chart must have correct road network topology structure and sufficiently high precision just can be completed map match.Therefore map match and electronic chart have close relationship, and the quality of electronic map quality also will affect the precision of map match.
Along with increasingly increasing of network of highways, and in driving on the way, the various factors that affect road speed increase (such as weather, wagon flow situation, pavement quality, signal lamp and road surface handling capacity etc.), arrive a certain destination by a certain starting point, that selects that a most suitable route shows is particularly important.Mostly present route projectional technique is to determine shortest path from the starting point to the destination by map matching technology, due to simple dependence electronic chart, there is no consideration driving custom and pavement behavior at ordinary times, so the route that obtains is not often optimal route.
Now, Beidou satellite navigation system location technology and spatial database technology are full-fledged, and map match is widespread use in onboard navigation system, but it can not realize breaking away from the intelligent route guidance of map.
Summary of the invention
Summary of the invention:
For the deficiencies in the prior art, the invention provides the Combinated navigation method that a kind of " Big Dipper " navigation, GPS navigation and historical data merge, the locator data that at first will at every turn go on a journey is processed, is optimized, and deposits database in, as historical data; Then according to the historical data of local data base, by a kind of improved minimal path method of asking, calculate starting point to the best route of destination, above-mentioned locator data stems from Beidou satellite navigation system, and the data storage in database is adopted spatial database technology with processing.The object of the invention is to use Beidou satellite navigation system, gps satellite navigational system and spatial database technology, take historical location data as foundation, a kind of Combinated navigation method of intelligence is provided, its core is at one of Beidou satellite navigation system and gps satellite navigational system cisco unity malfunction, in the situation that even both can not work, take historical location data as foundation, the route selection of analysis of history and route conditions also can be extrapolated geographic position and best route.The method can be accomplished self-recision and improvement, and along with increasing of historical data in local data base, the deviation of its resulting route and desirable best route is also progressively dwindled.
Technical program of the present invention lies in:
The Combinated navigation method that a kind of " Big Dipper " navigation, GPS navigation and historical data merge comprises that step is as follows:
1) locating information that Big Dipper navigation/time service module is received is resolved, and extracted valid data deposits the buffer zone of onboard navigation system in; The locating information that described Big Dipper navigation/time service module receives is that identical with the NMEA0813 protocol format, therefore the form of described locating information is for the version of expansion BD2 correlative on the NMEA3.0 basis:
$BDRMC,time,status,Lat,N,Lon,E,spd,cog,date,mv,mvE,mode*cs
Wherein the status field is the indication field of judgement locating information validity, and Lat, N, Lon, E are respectively the latitude and longitude information of location; Described valid data refer to that the status field is denoted as effective locating information;
2) determine starting point and the dwell point of buffer memory route according to locating information in step 1), whether linearly according to the point of section start judge whether that needs are optimized the point of section start: when the point of section start is linear, need not starting point is optimized, directly jump procedure 2-1); When the point of section start during non-linear the relation, adopt the method for taking the mean to carry out yojan to the point of section start, for example, the yojan of every five points becomes a point; Jump procedure 2-1); Because the cold start-up of Big Dipper navigation/time service module is 35 seconds, warm start is 1s, and when just beginning to locate, meeting cause locating inaccurate because of factors such as device starts, some irregular points occur; In position fixing process, also can be because of stopping causing occurring in a certain scope irregular point; Described step 2) and step 2-1) be that above-mentioned irregular point is optimized processing, the deletion redundant data;
2-1) utilize the DBSCAN clustering algorithm to the some cluster on the buffer memory route, find out because stop the irregular zone that causes, then utilize the method for getting mode that the regional yojan of each irregular point is become a point, complete the data of buffer memory route are processed;
3) with step 2-1) process the data of rear buffer memory route and the historical data comparison of onboard navigation system local data base, judge in local data base, whether whether route exist total route with the buffer memory route;
Preferred according to the present invention, described step 3) adopts the vertex neighborhood searching method, whether has historical data point in local data base by neighborhood of a point on buffer memory route relatively: as existing, be judged as and have total route, jump procedure 4-1); As not existing, be judged as not same route, jump procedure 4-2); Described step 3) is mainly to judge whether have the buffer memory route in local data base; The distance that their starting point of the identical needs of two lines, terminal point, centre are walked is the same, because route is recorded by a series of point, even so same routes, the point set of their records also is likely different, this just need to carry out same routes coupling: spatial database technology provides a kind of site polling method, i.e. inquiry drop on a certain zone have a few; A kind of vertex neighborhood searching method is to determine that by certain neighbourhood of a point whether corresponding point and this put on the space adjacent, although the point of same routes record may be different, but its corresponding point must be spatially contiguous, based on this, this step adopts the vertex neighborhood searching method, by neighborhood of a point on alternative line, determine whether same route.
4-1) will have the buffer memory route of total route and the route in local data base and carry out merger, form the merger route data, with in local data base about the route of this merger add 1 through number of times, as the merger route through number of times; Then delete original route data in local data base, to forming the merger route data by step 4-2) process;
4-2) adopt the K_means clustering algorithm based on angle to carry out cluster to the merger route data or to the buffer memory route data, obtain the information in each highway section in route, comprise each highway section flex point, timestamp, historical through number of times and historical used time, then the information with route data and each highway section deposits local data base in;
5) according to the historical location data in local data base, adopt a kind of improved minimal path method of asking to obtain starting point to the best route of destination.Described step 5) existing historical location data in the local data base as foundation, considers historical route selection custom and each route conditions in the past, finds the best route from the starting point to the destination.In fact this problem can simply be equivalent to the shortest route problem of asking certain point-to-point transmission on a weighted graph, dijkstra's algorithm is one of classic algorithm of finding the solution shortest route problem, it is proposed in nineteen fifty-nine by E.W.Dijkstra, be applicable to the critical path problem of all weights 〉=0, be to find the solution at present the best algorithm that this class problem is generally acknowledged, the time complexity of this algorithm is O (n
2), wherein n is the node number.Consider onboard navigation system to ageing requirement, this step has been done the improvement of corresponding data structure and search aspect to traditional dijkstra's algorithm.
Preferred according to the present invention, a kind of improved minimal path method of asking described in described step 5) comprises that step is as follows:
5-1) inquiry local data base judge that whether starting point is flex point or the starting point in local data base history route, if not, utilize the vertex neighborhood searching method of described step 3) to find flex point or the starting point the most contiguous with the starting point space;
5-2) judge that whether the destination is flex point or the terminal point in the historical route of local data base, if not, utilize the vertex neighborhood searching method of described step 3) to find space, destination the most contiguous flex point or terminal point;
5-3) inquire about and intercept out all through step 5-1 from local data base) described flex point or starting point be to step 5-2) all routes of described flex point or terminal point, as alternative route, record respectively the data message of every alternative route, comprise flex point, timestamp, historical through number of times and historical used time on every route;
5-4) adopt described step 3), 4-1), 4-2) the same routes matching process, with step 5-3) in the alternative route that obtains carry out merger, obtain the information of each route after merger;
5-5) according to passing through at ordinary times number of times at most or the shortest condition of required time, from step 5-4) select the best route of wanting.
As above, described step 1), 2), 2-1) 3) and, 4-1), be 4-2) storing process, also referred to as set-up procedure; Described step 5) is query script, also referred to as fulfillment process, is the core process of this method.For vehicle-mounted automated navigation system, because the memory space of its truck-mounted computer can not be too large, thereby the method for seeking the optimal route of little memory space has good realistic meaning, consider the superiority of spatial database, the data Storage and Processing in this method database all adopts spatial database technology.
The invention has the beneficial effects as follows:
1. the method for the present invention's employing has adopted a large amount of decision analysis and optimization process to the external data that receives, storage and the inquiry having avoided bringing because of mass data bother, the introducing of spatial database technology simultaneously, the relatively independent data of script are linked together closely, make historical data form an invisible weighting road network figure in local data base, along with increasing of historical data in local data base, this road network figure is Query refinement also, accomplishes intelligent route guidance truly.
2. the method for the present invention's employing not only can be traveler provides the traffic route of avoiding blocking up, efficiently arriving the destination, brings actual economic benefit; From the height of whole road network, can also reduce invalid trip, help simultaneously to improve the traffic safety level, reduce traffic hazard.Thus, this method has huge application prospect and market outlook undoubtedly.
Description of drawings
Fig. 1 is storing process of the present invention (set-up procedure) module schematic flow sheet;
Fig. 2 is query script of the present invention (fulfillment process) module schematic flow sheet;
Fig. 3 is that the present invention is applied to the simulation test design sketch in reality.
Embodiment
The present invention will be further described below in conjunction with drawings and Examples, but be not limited to this.
Embodiment 1,
As shown in Figure 1.
The Combinated navigation method that a kind of " Big Dipper " navigation, GPS navigation and historical data merge comprises that step is as follows:
1) locating information that Big Dipper navigation/time service module is received is resolved, and extracted valid data deposits the buffer zone of onboard navigation system in; The locating information that described Big Dipper navigation/time service module receives is that identical with the NMEA0813 protocol format, therefore the form of described locating information is for the version of expansion BD2 correlative on the NMEA3.0 basis:
$BDRMC,time,status,Lat,N,Lon,E,spd,cog,date,mv,mvE,mode*cs
Wherein the status field is the indication field of judgement locating information validity, and Lat, N, Lon, E are respectively the latitude and longitude information of location; Described valid data refer to that the status field is denoted as effective locating information;
2) determine starting point and the dwell point of buffer memory route according to locating information in step 1), whether linearly according to the point of section start judge whether that needs are optimized the point of section start: when the point of section start is linear, need not starting point is optimized, directly jump procedure 2-1); When the point of section start during non-linear the relation, adopt the method for taking the mean to carry out yojan to the point of section start, for example, the yojan of every five points becomes a point; Jump procedure 2-1); Because the cold start-up of Big Dipper navigation/time service module is 35 seconds, warm start is 1s, and when just beginning to locate, meeting cause locating inaccurate because of factors such as device starts, some irregular points occur; In position fixing process, also can be because of stopping causing occurring in a certain scope irregular point; Described step 2) and step 2-1) be that above-mentioned irregular point is optimized processing, the deletion redundant data;
2-1) utilize the DBSCAN clustering algorithm to the some cluster on the buffer memory route, find out because stop the irregular zone that causes, then utilize the method for getting mode that the regional yojan of each irregular point is become a point, complete the data of buffer memory route are processed;
3) with step 2-1) process the data of rear buffer memory route and the historical data comparison of onboard navigation system local data base, judge in local data base, whether whether route exist total route with the buffer memory route;
Preferred according to the present invention, described step 3) adopts the vertex neighborhood searching method, whether has historical data point in local data base by neighborhood of a point on buffer memory route relatively: as existing, be judged as and have total route, jump procedure 4-1); As not existing, be judged as not same route, jump procedure 4-2);
4-1) will have the buffer memory route of total route and the route in local data base and carry out merger, form the merger route data, with in local data base about the route of this merger add 1 through number of times, as the merger route through number of times; Then delete original route data in local data base, to forming the merger route data by step 4-2) process;
4-2) adopt the K_means clustering algorithm based on angle to carry out cluster to the merger route data or to the buffer memory route data, obtain the information in each highway section in route, comprise each highway section flex point, timestamp, historical through number of times and historical used time, then the information with route data and each highway section deposits local data base in.
Embodiment 2,
As shown in Figure 2.
5) according to the historical location data in local data base, adopt a kind of improved minimal path method of asking to obtain starting point to the best route of destination.A kind of improved minimal path method of asking described in described step 5) comprises that step is as follows:
5-1) inquiry local data base judge that whether starting point is flex point or the starting point in local data base history route, if not, utilize the vertex neighborhood searching method of described step 3) to find flex point or the starting point the most contiguous with the starting point space;
5-2) judge that whether the destination is flex point or the terminal point in the historical route of local data base, if not, utilize the vertex neighborhood searching method of described step 3) to find space, destination the most contiguous flex point or terminal point;
5-3) inquire about and intercept out all through step 5-1 from local data base) described flex point or starting point be to step 5-2) all routes of described flex point or terminal point, as alternative route, record respectively the data message of every alternative route, comprise flex point, timestamp, historical through number of times and historical used time on every route;
5-4) adopt described step 3), 4-1), 4-2) the same routes matching process, with step 5-3) in the alternative route that obtains carry out merger, obtain the information of each route after merger;
5-5) according to passing through at ordinary times number of times at most or the shortest condition of required time, from step 5-4) select the best route of wanting.
Fig. 3 is that the present invention is applied to the simulation test design sketch in reality.The route trajectory diagram in a certain zone when wherein Fig. 3 (a) is actual test, Fig. 3 (b) are the trajectory diagram after certain traffic route is processed, and Fig. 3 (c) is for to search a certain starting point to the test design sketch of destination.
For Fig. 3 (b), can find out, the present invention is smooth track point route information well, irregular zone do not occur in starting point and dwell point place, has also obtained gratifying highway section extraction effect simultaneously.
The best route design sketch from the starting point to the destination that Fig. 3 (c) obtains for inquiry in Fig. 3 (a) is regional.Ask the shortest path method to compare to traditional method of asking shortest path and optimization of the present invention during test, it is less that institute of the present invention employing method draws the time that best route spends as a result, and acquired results is more satisfactory.
Claims (2)
1. the Combinated navigation method that " Big Dipper " navigation, GPS navigation and historical data merge, is characterized in that, this air navigation aid comprises that step is as follows:
1) locating information that Big Dipper navigation/time service module is received is resolved, and extracted valid data deposits the buffer zone of onboard navigation system in; The locating information that described Big Dipper navigation/time service module receives is that identical with the NMEA0813 protocol format, therefore the form of described locating information is for the version of expansion BD2 correlative on the NMEA3.0 basis:
$BDRMC,time,status,Lat,N,Lon,E,spd,cog,date,mv,mvE,mode*cs
Wherein the status field is the indication field of judgement locating information validity, and Lat, N, Lon, E are respectively the latitude and longitude information of location; Described valid data refer to that the status field is denoted as effective locating information;
2) determine starting point and the dwell point of buffer memory route according to locating information in step 1), whether linearly according to the point of section start judge whether that needs are optimized the point of section start: when the point of section start is linear, need not starting point is optimized, directly jump procedure 2-1); When the point of section start during non-linear the relation, adopt the method for taking the mean to carry out yojan, jump procedure 2-1 to the point of section start);
2-1) utilize the DBSCAN clustering algorithm to the some cluster on the buffer memory route, find out because stop the irregular zone that causes, then utilize the method for getting mode that the regional yojan of each irregular point is become a point, complete the data of buffer memory route are processed;
3) with step 2-1) process the data of rear buffer memory route and the historical data comparison of onboard navigation system local data base, judge in local data base, whether whether route exist total route with the buffer memory route;
Preferred according to the present invention, described step 3) adopts the vertex neighborhood searching method, whether has historical data point in local data base by neighborhood of a point on buffer memory route relatively: as existing, be judged as and have total route, jump procedure 4-1); As not existing, be judged as not same route, jump procedure 4-2);
4-1) will have the buffer memory route of total route and the route in local data base and carry out merger, form the merger route data, with in local data base about the route of this merger add 1 through number of times, as the merger route through number of times; Then delete original route data in local data base, to forming the merger route data by step 4-2) process;
4-2) adopt the K_means clustering algorithm based on angle to carry out cluster to the merger route data or to the buffer memory route data, obtain the information in each highway section in route, comprise each highway section flex point, timestamp, historical through number of times and historical used time, then the information with route data and each highway section deposits local data base in;
5) according to the historical location data in local data base, adopt a kind of improved minimal path method of asking to obtain starting point to the best route of destination.
2. the Combinated navigation method that a kind of " Big Dipper " according to claim 1 navigation, GPS navigation and historical data merge is characterized in that, a kind of improved minimal path method of asking described in described step 5) comprises that step is as follows:
5-1) inquiry local data base judge that whether starting point is flex point or the starting point in local data base history route, if not, utilize the vertex neighborhood searching method of described step 3) to find flex point or the starting point the most contiguous with the starting point space;
5-2) judge that whether the destination is flex point or the terminal point in the historical route of local data base, if not, utilize the vertex neighborhood searching method of described step 3) to find space, destination the most contiguous flex point or terminal point;
5-3) inquire about and intercept out all through step 5-1 from local data base) described flex point or starting point be to step 5-2) all routes of described flex point or terminal point, as alternative route, record respectively the data message of every alternative route, comprise flex point, timestamp, historical through number of times and historical used time on every route;
5-4) adopt described step 3), 4-1), 4-2) the same routes matching process, with step 5-3) in the alternative route that obtains carry out merger, obtain the information of each route after merger;
5-5) according to passing through at ordinary times number of times at most or the shortest condition of required time, from step 5-4) select the best route of wanting.
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