CN105868553B - Track data processing method - Google Patents

Track data processing method Download PDF

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Publication number
CN105868553B
CN105868553B CN201610184204.4A CN201610184204A CN105868553B CN 105868553 B CN105868553 B CN 105868553B CN 201610184204 A CN201610184204 A CN 201610184204A CN 105868553 B CN105868553 B CN 105868553B
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vector
point
fitting
fitting vector
tracing
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CN105868553A (en
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林学练
张瀚
左萌
左一萌
沃天宇
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Beihang University
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Beihang University
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    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
    • G16Z99/00—Subject matter not provided for in other main groups of this subclass

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Abstract

Obtain start track point PsAnd i-th of tracing point PiPosition, and start track point PsTo the i-th 1 tracing point Pi‑1Between the fitting vector R of the i-th 1 track line segments that is formed of all tracing pointsi‑1', i is the integer more than or equal to 1 and less than or equal to N, and N represents the quantity of all tracing points；According to the start track point PsAnd i-th of tracing point PiPosition, obtain the PiWith the PsThe original vector R of formationi, and according to fitting vector Ri‑1' and the original vector Ri, fitting vector R is calculatedi’；As i=N, the fitting vector R is exportedi', obtain the corresponding compressed tracks trace segments of the N articles track line segment that the start track point is formed to all tracing points between the n-th tracing point.The embodiment of the present invention provides track data processing method, improves efficiency of data compression.

Description

Track data processing method
Technical field
The present invention relates to data processing field, more particularly to one kind to be used for track data processing method.
Background technology
In recent years, as the popularization of mobile equipment, the various application programs with positioning function are widely used, therewith Produce substantial amounts of track data.Such as during vehicle operation, mobile unit, for example, global positioning system is with certain frequency (such as 5 Second) data of each tracing point of collection vehicle, including the information such as longitude, latitude, acquisition time, vehicle current driving direction.Rail Mark data usually require to upload high in the clouds, for subsequent analysis, processing and service.When mobile equipment uploads initial trace point data When, because data volume is big, waste memory space and Internet resources.Therefore need to be compressed track data.
In the prior art, a kind of common track data processing method is to initial trace using polyline compression method Data are compressed, and the way of existing polyline compression method is：As soon as the data of a tracing point are often gathered, by what is increased newly In the track line segment that tracing point has gathered before adding, when being compressed calculating, all tracing points in the line segment of track are carried out Compression calculates.
But using polyline compression method of the prior art, often increasing a tracing point will be to track before All tracing points in line segment are calculated, i.e. the tracing point more early gathered, which can pass through, repeatedly to be calculated, this causes calculating process to answer Miscellaneous degree is higher, causes efficiency of data compression low, waste of resource.
The content of the invention
The embodiment of the present invention provides a kind of track data processing method, for solving track data processing of the prior art The problem of complexity is higher in method calculating process, and efficiency of data compression is low.
Track data processing method of the embodiment of the present invention, including：
Obtain start track point PsAnd i-th of tracing point PiPosition, and start track point PsTo the i-th -1 rail Mark point Pi-1Between all tracing points formed the i-th -1 track line segment fitting vector Ri-1', the fitting vector Ri-1' table Show the compressed tracks trace segments that the i-th -1 track line segment obtains after compression；I is more than or equal to 1 and whole less than or equal to N Number, N represent the quantity of all tracing points；
According to the start track point PsAnd i-th of tracing point PiPosition, obtain the PiWith the PsFormed Original vector Ri, and according to fitting vector Ri-1' and the original vector Ri, fitting vector R is calculatedi', the fitting vector Ri' represent the PsThe fitting vector for i-th track line segment that all tracing points between to i-th of tracing point are formed, i.e., The compressed tracks trace segments that i-th track line segment obtains after compression；
As i=N, the fitting vector R is exportedi', the start track point is obtained between the n-th tracing point All tracing points formed the corresponding compressed tracks trace segments of the N articles track line segment.
In another embodiment, the method further includes：
Calculate i-th of tracing point PiTo the fitting vector Ri-1' the distance between di；
Judge the diWhether predetermined threshold value δ is more than；
If the diMore than or equal to the predetermined threshold value δ, the R is exportedi-1', determine new start track point PS is new；
It is then described according to the start track point PsAnd i-th of tracing point PiPosition, obtain the PiWith the Ps The original vector R formedi, and according to fitting vector Ri-1' and the original vector Ri, the fitting vector is calculated Ri', including：
According to the new start track point PS is newAnd i-th of tracing point PiPosition, obtain i-th of tracing point PiWith the start track point PS is newThe original vector R formedi, and according to the fitting vector Ri-1' and the original vector Ri, the fitting vector R is calculatedi’。
It is described to determine new start track point P in another embodimentS is new, including：
By the fitting vector Ri-1' terminal Pi-1' or the i-th -1 tracing point Pi-1It is arranged to the new starting rail Mark point PS is new；
It is then described according to the new start track point PS is newAnd i-th of tracing point PiPosition, obtain described i-th Tracing point PiWith the new start track point PS is newThe original vector R of formationi, and according to the fitting vector Ri-1' and the original Beginning vector Ri, fitting vector R is calculatedi', including：
According to the fitting vector Ri-1' terminal Pi-1' and i-th of tracing point PiPosition, obtain the fitting Vector Ri’；
Alternatively,
According to the i-th -1 tracing point Pi-1With i-th of tracing point PiPosition, obtain i-th of tracing point PiWith The i-th -1 tracing point Pi-1The original vector R of formationi；And according to the fitting vector Ri-1' and the original vector Ri, meter Calculation obtains the fitting vector Ri’。
It is described to determine new start track point P in another embodimentS is new, including：
By i-th of tracing point PiIt is arranged to the new start track point PS is new。
In another embodiment, the method further includes：
Obtain the corresponding first fitting vector R of nth bar compressed tracks trace segments of outputn' and (n+1)th compressed tracks trace segments Corresponding second fitting vector Rn+1', the first fitting vector Rn' and the described second fitting vector Rn+1' adjacent；Described first It is fitted vector Rn' by the first starting point Pns' and First terminal point Pne' form, the second fitting vector Rn+1' by the second starting point P(n+1)s' and the second terminal P(n+1)e' form；N is the integer more than or equal to 1 and less than or equal to N；
If the First terminal point Pne' extremely the described second fitting vector Rn+1' distance be less than predetermined threshold value δ, then according to described in First terminal point Pne' in the described second fitting vector Rn+1' on subpoint Px', and the second final on trajectory P(n+1)e' form original Beginning vector Rm；
Export the first fitting vector RnAnd the original vector Rm。
In another embodiment, the method further includes：
Obtain the corresponding first fitting vector R of nth bar compressed tracks trace segments of outputn' and (n+1)th compressed tracks trace segments Corresponding second fitting vector Rn+1', the first fitting vector Rn' and the described second fitting vector Rn+1' adjacent；Described first It is fitted vector Rn' by the first starting point Pns' and First terminal point Pne' form, the second fitting vector Rn+1' by the second starting point P(n+1)s' and the second terminal P(n+1)e' form；N is the integer more than or equal to 1 and less than or equal to N；
If the First terminal point Pne' extremely the described second fitting vector Rn+1' distance be more than the predetermined threshold value δ, described One fitting vector Rn' and the second fitting vector Rn+1' extension line intersect at intersection point Px', and meet γ1>0 and γ2>0, or Person γ1<0 and γ2<0, and the first fitting vector Rn' and the described second fitting vector Rn+1' angle γ3Meet | γ3| Less than or equal to default angle value γm, then according to the first starting point Pns' and the intersection point Px' form original vector Ra；According to institute State intersection point Px' and the second terminal P(n+1)e' form original vector Rb；
Wherein, γ1Represent the first fitting vector Rn' extended line and line segment Pne’P(n+1)s' angle, the line segment Pne’P(n+1)s' represent the First terminal point Pne' and the second terminal P(n+1)s' formed line segment；
γ2Represent the second fitting vector Rn+1' extended line and the line segment Pne’P(n+1)s' angle；
γ3Represent the first fitting vector Rn' extended line and the described second fitting vector Rn+1' extended line folder Angle；
γmRepresent the line segment Pne’P(n+1)s' and the second fitting vector Rn+1' relatively described first is fitted vector Rn’ The angle threshold of deflection, the γmBoundary is between (pi/2, π)；
Export the original vector RaAnd Rb。
It is described according to the fitting vector R in another embodimenti-1' and the original vector Ri, fitting arrow is calculated Measure Ri', including：
According to
θ’i=θ 'i-1+asin(di/ri)/i
Calculate the fitting vector Ri' angle, θ 'i, wherein, riDescribed in expression；
According to ri'=riDetermine the fitting vector Ri' length ri', wherein, riRepresent the start track point Ps and institute State at the distance between i-th point.
It is described according to the fitting vector R in another embodimenti-1' and the original vector Ri, fitting arrow is calculated Measure Ri', including：
If ri-ri-1＜ δ,
Then basis
θ’i=θ 'i-1+asin(di/ri)/m
Calculate the fitting vector Ri' angle, θ 'i, wherein, m=ri/ δ, riRepresent i-th of tracing point described in Start track point PsDistance, ri-1Represent the i-th -1 tracing point to the start track point PsDistance；
According to ri'=riDetermine the fitting vector Ri' length ri’。
It is described according to the fitting vector R in another embodimenti-1' and the original vector Ri, fitting arrow is calculated Measure Ri', including：
According to
θ’i=θ 'i-1+asin(di/ri)/(i* (1+logi)),
Calculate the fitting vector Ri' angle, θ 'i；
Wherein, riRepresent i-th of tracing point PiTo the start track point PsDistance；
According to ri'=riDetermine the fitting vector Ri' length ri’。
It is described according to the fitting vector R in another embodimenti-1' and the original vector Ri, fitting arrow is calculated Measure Ri', including：
According to
θ’i=θ 'i-1+asin(di/ri)/(m*(1+logm))
Calculate the fitting vector Ri' angle, θ 'i；
Wherein, riRepresent i-th of tracing point to the start track point PsDistance；M=ri/δ；
According to ri'=riDetermine the fitting vector Ri' length ri’.Track data processing method provided by the invention, Pass through start track point PsAnd i-th of tracing point PiPosition, obtain the PiWith the PsThe vector R formedi, and according to Ri-1' and the Ri, R is calculatedi', the Ri-1' represent the PsFormed to all tracing points between the i-th -1 tracing point Track line segment fitting vector.Track data processing method is provided using the embodiment of the present invention, for each newly-increased track When point data is compressed, it is only necessary to get the rail that all tracing points between previous tracing point and start track point are formed The fitting vector R of trace segmentsi-1', in Ri-1' on the basis of, the vector that is formed according to newly-increased tracing point and initial track point, i.e., It can obtain the compressed track line segment of process that all tracing points between newly-increased tracing point and start track point are formed, compression The process of calculating need to only be handled newly-increased tracing point, and only needs are handled once all tracing points in path segment, greatly Computation complexity is reduced greatly, improves efficiency of data compression.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing Have technology describe needed in attached drawing do one and simply introduce, it should be apparent that, drawings in the following description are this hairs Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of track data processing method of the embodiment of the present invention；
Fig. 2 is using Ri-1' terminal Pi-1' it is used as start track point PsReconfigure new fitting vector Ri' obtain two The schematic diagram of bar compressed tracks trace segments；
Fig. 3 is using i-th of tracing point PiAs start track point PsReconfigure new fitting vector Ri' obtain two The schematic diagram of bar compressed tracks trace segments；
Fig. 4 is the schematic diagram for the first embodiment repaired to discrete compressed tracks trace segments；
Fig. 5 is the schematic diagram for second of the embodiment repaired to discrete compressed tracks trace segments.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art All other embodiments obtained without creative efforts, belong to the scope of protection of the invention.
Track data of embodiment of the present invention processing method is used to be compressed the track data that mobile terminal collects.Example Such as, gather automobile track data in the process of moving and be compressed.
Fig. 1 is the flow chart of track data processing method of the embodiment of the present invention.
Referring to Fig. 1, track data processing method provided in an embodiment of the present invention includes：
S101：Obtain start track point PsAnd i-th of tracing point PiPosition, and start track point PsTo i-th -1 A tracing point Pi-1Between all tracing points formed the i-th -1 track line segment fitting vector Ri-1', the fitting vector Ri-1' represent the compressed tracks trace segments that the i-th -1 track line segment obtains after compression；I be more than or equal to 1 and less than etc. In the integer of N, N represents the quantity of all tracing points；
Specifically, as i=1, according to start track point PsAnd with the 1st tracing point PiPosition, obtain the P1With institute State PsThe initialization vector R of formation1, and the PsWith the PiThe fitting vector R of the track line segment of formation1', for as follow-up The input initial value of step.
S102：According to the start track point PsAnd i-th of tracing point PiPosition, obtain the PiWith the Ps The original vector R of formationi, and according to fitting vector Ri-1' and the original vector Ri, fitting vector R is calculatedi', the plan Resultant vector Ri' represent the PsThe fitting for i-th track line segment that all tracing points between to i-th of tracing point are formed Vector, i.e., the compressed tracks trace segments that described i-th track line segment obtains after compression；
Above-mentioned steps S102 is repeated, when i=N, obtains the start track point PsWith the n-th tracing point PNFitting vector RN’。
S103：As i=N, the fitting vector R is exportedi', the start track point is obtained to the n-th tracing point Between all tracing points formed the corresponding compressed tracks trace segments of the N articles track line segment.
As i=N, stop calculating the Ri', i.e., compression is completed to all N number of tracing points and calculate, what is finally obtained is described RN' represent the start track point PsThe track line segment formed to the n-th tracing point passes through compressed track line segment. Export the RN', that is, complete the compression of the track line segment.
Track data processing method of the embodiment of the present invention, passes through start track point PsAnd i-th of tracing point PiPosition, obtain To the PiWith the PsThe vector R formedi, and according to Ri-1' and the Ri, R is calculatedi', the Ri-1' represent institute State PsThe fitting vector of the track line segment formed to all tracing points between the i-th -1 tracing point.Using the embodiment of the present invention Track data processing method is provided, when being compressed for each newly-increased track point data, it is only necessary to get previous rail The fitting vector R for the track line segment that all tracing points between mark point and start track point are formedi-1', in Ri-1' on the basis of, The vector formed according to newly-increased tracing point and initial track point, you can obtain between newly-increased tracing point and start track point The compressed track line segment of process that all tracing points are formed, compress calculating process only need to be to newly-increased tracing point at Manage, only needs processing once, greatly reduces computation complexity to all tracing points in path segment, improves data compression effect Rate.
In order to reduce the error during compression calculates, further, data processing method of the embodiment of the present invention, is also wrapped Include：
Calculate i-th of tracing point PiTo the fitting vector Ri-1' the distance between di；
Judge the diWhether predetermined threshold value δ is more than；
If the diMore than or equal to the predetermined threshold value δ, the R is exportedi-1', determine new start track point PS is new；
It is then described according to the start track point PsAnd i-th of tracing point PiPosition, obtain the PiWith the Ps The original vector R formedi, and according to fitting vector Ri-1' and the original vector Ri, the fitting vector is calculated Ri', including：
According to the new start track point PS is newAnd i-th of tracing point PiPosition, obtain i-th of tracing point PiWith the start track point PS is newThe original vector R formedi, and according to the fitting vector Ri-1' and the original vector Ri, the fitting vector R is calculatedi’。
Wherein, the predetermined threshold value δ is used to represent compressed error, works as diDuring more than or equal to the predetermined threshold value δ, explanation The error of compression process reaches the upper limit, it is necessary to be modified.At this time, the R is exportedi-1', and according to new start track point Ps Reconfigure the Ri’。
Further, there is running data loss during turning around in vehicle in order to prevent, at data of the embodiment of the present invention Reason method, further includes：
Determine the fitting vector Ri-1' length r 'n-1With the original vector RiLength ri, work as ri-r’i-1＜-δ When, redefine the start track point Ps。
Specifically, it is described to determine new start track point P in the first implementationS is new, including：
By the fitting vector Ri-1' terminal Pi-1' or the i-th -1 tracing point Pi-1It is arranged to the new starting rail Mark point PS is new；
It is then described according to the new start track point PS is newAnd i-th of tracing point PiPosition, obtain described i-th Tracing point PiWith the new start track point PS is newThe original vector R of formationi, and according to the fitting vector Ri-1' and the original Beginning vector Ri, fitting vector R is calculatedi', including：
According to the fitting vector Ri-1' terminal Pi-1' and i-th of tracing point PiPosition, obtain the fitting Vector Ri’；
Alternatively,
According to the i-th -1 tracing point Pi-1With i-th of tracing point PiPosition, obtain i-th of tracing point PiWith The i-th -1 tracing point Pi-1The original vector R of formationi；And according to the fitting vector Ri-1' and the original vector Ri, meter Calculation obtains the fitting vector Ri’。
Fig. 2 is using Ri-1' terminal Pi-1' it is used as start track point PsReconfigure new fitting vector Ri' obtain two The schematic diagram of bar compressed tracks trace segments.
R is used referring to Fig. 2, working asi-1' terminal Pi-1' it is used as start track point PsReconfigure fitting vector Ri' when, obtain To new compressed tracks trace segments and compressed tracks trace segments before be the first continuous line segment being connected.
It is described to determine new start track point in order to improve the compression ratio of track line segment in second of implementation PS is new, including：
By i-th of tracing point PiIt is arranged to the new start track point Ps。
Fig. 3 is using i-th of tracing point PiAs start track point PsReconfigure new fitting vector Ri' obtain two The schematic diagram of bar compressed tracks trace segments.
I-th of tracing point P is used referring to Fig. 3, working asiAs start track point PsReconfigure fitting vector Ri' when, obtain To new compressed tracks trace segments and compressed tracks trace segments before be non-continuous line segment.Path line is continuously compressed in order to obtain Section is, it is necessary to repair the discontinuous line segment.
Fig. 4 is the track line segment repaired according to the first embodiment to discrete compressed tracks trace segments Schematic diagram.
Referring to Fig. 4, in order to be repaired to the discontinuous line segment, the method further includes：
Obtain the corresponding first fitting vector R of nth bar compressed tracks trace segments of outputn' and (n+1)th compressed tracks trace segments Corresponding second fitting vector Rn+1', the first fitting vector Rn' and the described second fitting vector Rn+1' adjacent；Described first It is fitted vector Rn' by the first starting point Pns' and First terminal point Pne' form, the second fitting vector Rn+1' by the second starting point P(n+1)s' and the second terminal P(n+1)e' form；N is the integer more than or equal to 1 and less than or equal to N；
If the First terminal point Pne' extremely the described second fitting vector Rn+1' distance be less than predetermined threshold value δ, then according to described in First terminal point Pne' in the described second fitting vector Rn+1' on subpoint Px', and the second final on trajectory P(n+1)e' form original Beginning vector Rm；
Export the first fitting vector RnAnd the original vector Rm。
Fig. 5 is the track line segment repaired according to second of embodiment to discrete compressed tracks trace segments Schematic diagram.
Referring to Fig. 5, in order to be repaired to the discontinuous line segment, the method further includes：
Obtain the corresponding first fitting vector R of nth bar compressed tracks trace segments of outputn' and (n+1)th compressed tracks trace segments Corresponding second fitting vector Rn+1', the first fitting vector Rn' and the described second fitting vector Rn+1' adjacent；Described first It is fitted vector Rn' by the first starting point Pns' and First terminal point Pne' form, the second fitting vector Rn+1' by the second starting point P(n+1)s' and the second terminal P(n+1)e' form；N is the integer more than or equal to 1 and less than or equal to N；
If the First terminal point Pne' extremely the described second fitting vector Rn+1' distance be more than the predetermined threshold value δ, described One fitting vector Rn' and the second fitting vector Rn+1' extension line intersect at intersection point Px', and meet γ1>0 and γ2>0, or Person γ1<0 and γ2<0, and the first fitting vector Rn' and the described second fitting vector Rn+1' angle γ3Meet | γ3| Less than or equal to default angle value γm, then according to the first starting point Pns' and the intersection point Px' form original vector Ra；According to institute State intersection point Px' and the second terminal P(n+1)e' form original vector Rb；
Wherein, γ1Represent the first fitting vector Rn' extended line and line segment Pne’P(n+1)s' angle, the line segment Pne’P(n+1)s' represent the First terminal point Pne' and the second terminal P(n+1)s' formed line segment；
γ2Represent the second fitting vector Rn+1' extended line and the line segment Pne’P(n+1)s' angle；
γ3Represent the first fitting vector Rn' extended line and the described second fitting vector Rn+1' extended line folder Angle；
γmRepresent the line segment Pne’P(n+1)s' and the second fitting vector Rn+1' relatively described first is fitted vector Rn’ The angle threshold of deflection, the γmBoundary is between (pi/2, π)；
Export the original vector RaAnd Rb。
The situation in both the above embodiment is removed, it is directly defeated when being repaired to discrete compressed tracks trace segments Go out the first fitting vector Rn', the second fitting vector Rn+1', and the First terminal point Pne' and second starting point P(n+1)s' formed original vector.
It is specifically, described according to the fitting vector R on the basis of above-described embodimenti-1' and the original vector Ri, Fitting vector R is calculatedi', including：
According to
θ’i=θ 'i-1+asin(di/ri)/i
Calculate the fitting vector Ri' angle, θ 'i, wherein, riDescribed in expression；
According to ri'=riDetermine the fitting vector Ri' length ri', wherein, riRepresent the start track point Ps and institute State at the distance between i-th point.
In order to further improve the efficiency of compression process, avoid being compressed invalid tracing point calculating, the basis The fitting vector Ri-1' and the original vector Ri, fitting vector R is calculatedi', including：
If ri-ri-1＜ δ,
Then basis
θ’i=θ 'i-1+asin(di/ri)/m
Calculate the fitting vector Ri' angle, θ 'i, wherein, m=ri/ δ, riRepresent i-th of tracing point described in Start track point PsDistance, ri-1Represent the i-th -1 tracing point to the start track point PsDistance；
According to ri'=riDetermine the fitting vector Ri' length ri’。
Specifically, if the i-th -1 tracing point PsIt is available point, works as ri-ri-1>During=δ, i-th of tracing point It is available point, otherwise, i-th of tracing point is Null Spot.For available point i, you can calculate the R according to formula (2)i’ Angle, θ 'i.For Null Spot, θ ' is not involved iniCalculating.
In order to further improve the compression accuracy to track line segment, reduce the upper limit of worst error, described in the basis It is fitted vector Ri-1' and the original vector Ri, fitting vector R is calculatedi', including：
According to
θ’i=θ 'i-1+asin(di/ri)/(i* (1+logi)),
Calculate the fitting vector Ri' angle, θ 'i；
Wherein, riRepresent i-th of tracing point PiTo the start track point PsDistance；
According to ri'=riDetermine the fitting vector Ri' length ri’。
Alternatively, in order to further improve the compression accuracy to track line segment, the upper limit of worst error is reduced, another It is described according to the fitting vector R in embodimenti-1' and the original vector Ri, fitting vector R is calculatedi', including：
According to
θ’i=θ 'i-1+asin(di/ri)/(m*(1+logm))
Calculate the fitting vector Ri' angle, θ 'i；
Wherein, riRepresent i-th of tracing point to the start track point PsDistance；M=ri/δ；
According to ri'=riDetermine the fitting vector Ri' length ri’。
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to The relevant hardware of programmed instruction is crossed to complete.Foregoing program can be stored in a computer, mobile phone or other portable units In read/write memory medium.The program upon execution, execution the step of including above-mentioned each method embodiment；And foregoing storage is situated between Matter includes：ROM, RAM, magnetic disc or CD etc. are various can be with the medium of store program codes.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to Can so modify to the technical solution described in foregoing embodiments, either to which part or all technical characteristic into Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims (10)

  1. A kind of 1. track data processing method, it is characterised in that including：
    Obtain start track point PsAnd i-th of tracing point PiPosition, and start track point PsTo the i-th -1 tracing point Pi-1Between all tracing points formed the i-th -1 track line segment fitting vector Ri-1', the fitting vector Ri-1' represent institute State the compressed tracks trace segments that the i-th -1 track line segment obtains after compression；I be more than or equal to 1 and less than or equal to N integer, N Represent the quantity of all tracing points；
    According to the start track point PsAnd i-th of tracing point PiPosition, obtain the PiWith the PsWhat is formed is original Vector Ri, and according to fitting vector Ri-1' and the original vector Ri, fitting vector R is calculatedi', the fitting vector Ri’ Represent the PsThe fitting vector for i-th track line segment that all tracing points between to i-th of tracing point are formed, i.e. institute State the compressed tracks trace segments that i-th track line segment obtains after compression；
    As i=N, the fitting vector R is exportedi', the start track point is obtained to all tracks between n-th tracing point The corresponding compressed tracks trace segments of the N articles track line segment that point is formed.
  2. 2. according to the method described in claim 1, it is characterized in that, further include：
    Calculate i-th of tracing point PiTo the fitting vector Ri-1' the distance between di；
    Judge the diWhether predetermined threshold value δ is more than；
    If the diMore than or equal to the predetermined threshold value δ, the R is exportedi-1', determine new start track point PS is new；
    It is then described according to the start track point PsAnd i-th of tracing point PiPosition, obtain the PiWith the PsFormed The original vector Ri, and according to fitting vector Ri-1' and the original vector Ri, the fitting vector R is calculatedi', bag Include：
    According to the new start track point PS is newAnd i-th of tracing point PiPosition, obtain i-th of tracing point PiWith The start track point PS is newThe original vector R formedi, and according to the fitting vector Ri-1' and the original vector Ri, The fitting vector R is calculatedi’。
  3. 3. according to the method described in claim 2, it is characterized in that, described determine new start track point PS is new, including：
    By the fitting vector Ri-1' terminal Pi-1' or the i-th -1 tracing point Pi-1It is arranged to the new start track point PS is new；
    It is then described according to the new start track point PS is newAnd i-th of tracing point PiPosition, obtain i-th of track Point PiWith the new start track point PS is newThe original vector R of formationi, and according to the fitting vector Ri-1' and the original arrow Measure Ri, fitting vector R is calculatedi', including：
    According to the fitting vector Ri-1' terminal Pi-1' and i-th of tracing point PiPosition, obtain the fitting vector Ri’；
    Alternatively,
    According to the i-th -1 tracing point Pi-1With i-th of tracing point PiPosition, obtain i-th of tracing point PiWith it is described The i-th -1 tracing point Pi-1The original vector R of formationi；And according to the fitting vector Ri-1' and the original vector Ri, calculate To the fitting vector Ri’。
  4. 4. according to the method described in claim 2, it is characterized in that, described determine new start track point PS is new, including：
    By i-th of tracing point PiIt is arranged to the new start track point PS is new。
  5. 5. according to the method described in claim 4, it is characterized in that, further include：
    Obtain the corresponding first fitting vector R of nth bar compressed tracks trace segments of outputn' and (n+1)th compressed tracks trace segments correspondence The second fitting vector Rn+1', the first fitting vector Rn' and the described second fitting vector Rn+1' adjacent；First fitting Vector Rn' by the first starting point Pns' and First terminal point Pne' form, the second fitting vector Rn+1' by the second starting point P(n+1)s' and Second terminal P(n+1)e' form；N is the integer more than or equal to 1 and less than or equal to N；
    If the First terminal point Pne' extremely the described second fitting vector Rn+1' distance be less than predetermined threshold value δ, then according to described first Terminal Pne' in the described second fitting vector Rn+1' on subpoint Px', and the second terminal P(n+1)e' form original vector Rm；
    Export the first fitting vector Rn' and the original vector Rm。
  6. 6. according to the method described in claim 4, it is characterized in that, further include：
    Obtain the corresponding first fitting vector R of nth bar compressed tracks trace segments of outputn' and (n+1)th compressed tracks trace segments correspondence The second fitting vector Rn+1', the first fitting vector Rn' and the described second fitting vector Rn+1' adjacent；First fitting Vector Rn' by the first starting point Pns' and First terminal point Pne' form, the second fitting vector Rn+1' by the second starting point P(n+1)s' and Second terminal P(n+1)e' form；N is the integer more than or equal to 1 and less than or equal to N；
    If the First terminal point Pne' extremely the described second fitting vector Rn+1' distance be more than the predetermined threshold value δ, described first intends Resultant vector Rn' and the second fitting vector Rn+1' extension line intersect at intersection point Px', and meet γ1>0 and γ2>0, or γ1 <0 and γ2<0, and the first fitting vector Rn' and the described second fitting vector Rn+1' angle γ3Meet | γ3| it is less than Equal to default angle value γm, then according to the first starting point Pns' and the intersection point Px' form original vector Ra；According to the friendship Point Px' and the second terminal P(n+1)e' form original vector Rb；
    Wherein, γ1Represent the first fitting vector Rn' extended line and line segment Pne’P(n+1)s' angle, the line segment Pne’ P(n+1)s' represent the First terminal point Pne' and the second terminal P(n+1)s' formed line segment；
    γ2Represent the second fitting vector Rn+1' extended line and the line segment Pne’P(n+1)s' angle；
    γ3Represent the first fitting vector Rn' extended line and the described second fitting vector Rn+1' extended line angle；
    γmRepresent the line segment Pne’P(n+1)s' and the second fitting vector Rn+1' relatively described first is fitted vector Rn' deflection Angle threshold, the γmBoundary is between (pi/2, π)；
    Export the original vector RaAnd Rb。
  7. 7. according to claim 2-6 any one of them methods, it is characterised in that described according to the fitting vector Ri-1' and institute State original vector Ri, fitting vector R is calculatedi', including：
    According to
    θ’i=θ 'i-1+asin(di/ri)/i
    Calculate the fitting vector Ri' angle, θ 'i；
    According to ri'=riDetermine the fitting vector Ri' length ri', wherein, riRepresent the start track point Ps and described the The distance between i tracing point.
  8. 8. according to claim 2-6 any one of them methods, it is characterised in that described according to the fitting vector Ri-1' and institute State original vector Ri, fitting vector R is calculatedi', including：
    If ri-ri-1<δ,
    Then basis
    θ’i=θ 'i-1+asin(di/ri)/m
    Calculate the fitting vector Ri' angle, θ 'i, wherein, m=ri/ δ, riRepresent i-th of tracing point to the starting rail Mark point PsDistance, ri-1Represent the i-th -1 tracing point to the start track point PsDistance；
    According to ri'=riDetermine the fitting vector Ri' length ri’。
  9. 9. according to claim 2-6 any one of them methods, it is characterised in that described according to the fitting vector Ri-1' and institute State original vector Ri, fitting vector R is calculatedi', including：
    According to
    θ’i=θ 'i-1+asin(di/ri)/(i* (1+logi)),
    Calculate the fitting vector Ri' angle, θ 'i；
    Wherein, riRepresent i-th of tracing point PiTo the start track point PsDistance；
    According to ri'=riDetermine the fitting vector Ri' length ri’。
  10. 10. according to claim 2-6 any one of them methods, it is characterised in that described according to the fitting vector Ri-1' and The original vector Ri, fitting vector R is calculatedi', including：
    According to
    θ’i=θ 'i-1+asin(di/ri)/(m*(1+logm))
    Calculate the fitting vector Ri' angle, θ 'i；
    Wherein, riRepresent i-th of tracing point to the start track point PsDistance；M=ri/δ；
    According to ri'=riDetermine the fitting vector Ri' length ri’。
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