CN107390243A - A kind of GNSS location datas and geography fence critical point thresholding method - Google Patents
A kind of GNSS location datas and geography fence critical point thresholding method Download PDFInfo
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- CN107390243A CN107390243A CN201710430950.1A CN201710430950A CN107390243A CN 107390243 A CN107390243 A CN 107390243A CN 201710430950 A CN201710430950 A CN 201710430950A CN 107390243 A CN107390243 A CN 107390243A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of GNSS location datas and geography fence critical point threshold decision technology, comprise the following steps：1) the GNSS geographical position coordinates in ground parking area and prohibition parking area domain, are gathered；2) diamond and prohibition parking area domain geographical coordinate, are subjected to electronic disposal；The coordinate data of electronic disposal carries out Data Matching with GIS map, forms electronic geographic fence；3), judged according to vehicle location and electronic geographic fence, it is in the range of fence or outside fence scope to draw bicycle.The present invention is to use the bicycle GNSS location datas with satellite positioning device to be matched with the threshold value of fence critical point, judge whether to stop into parking area or prohibition parking area domain, precision can reach more than 95%, it can realize and carry out standardized administration is parked to bicycle, share bicycle standardized administration and run in order providing a set of economical and practical solution for city.
Description
Technical field
It is specially a kind of to be directed to GNSS positioning functions the present invention relates to intelligent traffic administration system and shared economic field
Bicycle park the GNSS location datas and geography fence critical point threshold decision technology of management.
Background technology
Popularized with the life idea of low-carbon environment-friendly, bicycle trip is increasingly favored by people, with bicycle quantity
It is more and more, park more and more disorderly, or even influence the traffic safety of car lane, it is serious to have impact on city look and feel and people
Normal trip.Therefore how quickly to judge whether bicycle parking place turns into designated area or in the domain of prohibition parking area to compel to be essential
Will.
Current bicycle management method is mainly：The parking area established by bluetooth cognition technology, that is, utilize Bluetooth technology
Carry out bicycle and park management, be to sense stake, the blue-tooth device that bicycle passes through itself by establishing fixed bluetooth in parking area
Stake is perceived with the bluetooth of FX to establish the link, it is ensured that near designated area, this method needs on ground the storing cycle
Fixed bluetooth parking stake is established, it is necessary to carry out substantial amounts of capital construction work, it is necessary to install blue-tooth device additional to bicycle.And the program is only
Supervision in parking area can be provided for bicycle, because prohibition parking area domain is more wide, can not be covered comprehensively by bluetooth, therefore nothing
Method meets the vehicle management that prohibition parking area domain is provided for city manager.The popularization of bicycle quantity and abruptly increase, have become city
One something to write home about of traffic administration person's headache, traffic administration problem, has put into effect caused by urban is disorderly parked for bicycle
Related management regulation, or even using the method for being included in personal integrity archives remind or constrain bicycle user.
GNSS system -- GNSS is Global Navigation Satellite System abbreviation, and Chinese translation is：
GLONASS.
Early in the 1990s mid-term start, European Union is in order to break the U.S. in satellite fix, navigation, time service market
Monopoly position, huge market interest is obtained, increase European job opportunity, be directed to an ambitious people always
With GLONASS plan, referred to as Global Navigation Satellite System.The plan is in two steps
Implement：The first step is that the first generation whole world for the GLONASS systems for establishing a GPS system for comprehensively utilizing the U.S. and Russia is led
Satellite system of navigating (being referred to as GNSS-1, i.e., the EGNOS built up later at that time)；Second step establishes one and is totally independent of the U.S.
Second generation GLONASS outside the GLONASS systems of GPS system and Russia, i.e., building
Galileo satellite navigation positioning system.As can be seen here, it is not a single constellation systems as soon as GNSS is from coming out, but one
It is individual including GPS, GLONASS etc. including synthesis constellation systems.In recent years, GPS manufacturer releases high-performance one after another
GNSS receiver.Smart 78/88, Smart 8800 such as PENTAX, the latter are even more that can be upgraded to 72 passages, turn into real
GNSS receiver in meaning.
GIS GIS-Geographic Information System (GeographicInformationSystem or Geo-Informationsystem,
GIS it is " GeoscienceInformation System " or " environment and resources information system ") to be sometimes referred to as.It is a kind of specific highly important sky
Between information system.It is under the support of computer hardware and software system, to earth top layer (including atmosphere) space all or in part
In relevant geographic distribution data be acquired, store, managing, computing, the technological system analyzed, be shown and described.
Above-mentioned bicycle management method or regulation, current bicycle can be alleviated to a certain extent and disorderly park phenomenon；But
How to provide it is a kind of can by science, rationally, the method that easily mode guides, simple and management bicycle correctly picks and places,
Through being a good problem to study.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, the invention provides one kind to utilize GNSS system and the geographical letters of GIS
Breath system, the fence of electronic geographical position sign is realized to bicycle parking area, and with adding GNSS geodatas
The bicycle of positioner carry out the threshold value of critical point and matched, final realize rationally is parked and made in predetermined region merely
Technology, parking for bicycle can be just managed without installing any auxiliary equipment additional on ground, it is ensured that each bicycle energy
It is enough to be parked in specified region, and the bicycle parked in prohibition parking area can be identified,
The object of the present invention is achieved like this：
A kind of GNSS location datas and geography fence critical point threshold decision technology, comprise the following steps：
1) the GNSS geographical position coordinates in ground parking area and prohibition parking area domain, are gathered；
2) diamond and prohibition parking area domain geographical coordinate, are subjected to electronic disposal；The coordinate data and GIS of electronic disposal
Map carries out Data Matching, forms electronic geographic fence；
3), judged according to vehicle location and electronic geographic fence, draw bicycle be in the range of the fence or
Outside fence scope：
Described step 1)：Gather the GNSS geographical position coordinates in ground parking area and prohibition parking area domain；Using GNSS
The geodetic latitude and geodetic altitude of system direct measurement ground point；The pattern of GNSS measurement work includes static state, rapid static, standard
Dynamic and true dynamic relative positioning；Dynamic (Real Time Kinematic-RTK) e measurement technology in real time, is with carrier phase
Real-time differential measurement technology according to observed quantity, it is the developing new breakthrough of e measurement technology.RTK technologies are also known as carrier wave
Phase difference technology, it is the difference method of two survey station carrier phase observed quantities of real-time processing；
Described step 2)：Diamond and prohibition parking area domain geographical coordinate are subjected to electronic disposal；The seat of electronic disposal
Mark data and carry out Data Matching with GIS map, form electronic geographic fence；By the WGS84 coordinates of collecting device with changing into high moral
Scheme the Mars coordinate system of acquiescence, ensure that fence data match with electronic map location, be finely adjusted then in conjunction with actual coordinate；
GNSS with its high-precision, round-the-clock, high efficiency, it is multi-functional, easy to operate, be widely used the features such as it is famous.GNSS measures work
Pattern existing a variety of, such as static state, rapid static, Quasi dynamic and dynamic relative positioning.Dynamic (Real Time in real time
Kinematic-RTK) e measurement technology, it is the real-time differential measurement technology according to carrier phase observed quantity, it is measurement skill
The developing new breakthrough of art.RTK technologies are also known as carrier phase difference technology, are that real-time two survey station carrier phases of processing are seen
The difference method of measurement.RTK positioning principles are as shown in Figure 1：
The basic thought of real time dynamic measurement is：A receiver is disposed on base station, to all visible GNSS satellites
Continuous Observation is carried out, and is observed data, is sent to user observation station in real time by radio transmission facility.In subscriber station
On, receiver, by radio accepting device, receives the observation number that base station transmits while GNSS satellite signal is received
According to then according to the principle of relative positioning, the three-dimensional coordinate and its precision of subscriber station being calculated and be shown in real time, so as to real-time
Ground judges whether calculation result succeeds, and to reduce redundancy observation, shortens observation time.
RTK gathers several key technologies during geography fence data, and RTK is related to the solution of carrier phase ambiguity, evaluates
The quality of RTK gathered data quality depends on three principal elements：Precision, reliability and the time for trying to achieve fixed solution.During collection
There is following technical problem should be noted that：
RTK initialization needs together on fence initial point, still to observe a few minutes at certain first, enter when starting RTK measurements
Row initial work.If having ready conditions, several points that the repetition measurement that should try one's best had been surveyed, to check initialization, base station and flowing
Stand receiver parameter setting correctness.Satellite-signal losing lock in observation process, to keep to observation satellite it is continuous with
Track.Once generation losing lock, it is necessary to re-start initialization.In the place of satellite losing lock, a few minutes are still observed.Complete initial
After change, repetition measurement point on the point nearby surveyed is returned to as far as possible, to check the stability of receiver satellite-signal.
Dynamic Measurement reliability inspection should carry out rapid static survey before measurement terminates on the culture point surveyed
Amount.It is required that GPS receivers still observe a few minutes at that point.In observation process, together with the same of the base station received
Step observation data, resolve integral cycle unknown and the three-dimensional coordinate of measurement point in real time.Then compared with dynamic measurement results, because
Compared with being measured with dynamic, the stability and precision of static measurement will be high, so further checked the knot of dynamic measurement
Fruit.
For RTK application under present condition, distance of the rover station away from base station is usually no more than 20km.But with
The constantly improve of data transmission set Performance And Reliability and raising, the enhancing of data processing software function, this distance will
Constantly expand.
After the day data of processing one collection after data acquisition, same day processing initial data of trying one's best simultaneously exports various GIS
The GIS data of form.
Described step 3)：Judged according to vehicle location and electronic geographic fence, drawing bicycle is enclosed in electronics
In the range of column or outside fence scope：To install GNSS positioning chips in shared bicycle smart lock, when shared bicycle stops
Star pattern is received, it is necessary to start positioning chip and start during car action launching, receives big-dipper satellite, gps satellite, while receive the Big Dipper
The differential data of CORS base stations；By being sent data to after realizing high accuracy positioning to vehicle in GIS database, electricity is incorporated in
The fence region marked on sub- map carries out coordinate matching and critical point threshold decision；Described fence coordinate acquisition
It is entirely WGS84 with the shared bicycle smart lock elements of a fix, therefore is calculated in electronic disposal process using unified Coordinate Conversion
Method, ensure the uniformity of data deviation；
Described judgement shares whether bicycle has a power failure in sub- fence area (including critical zone), the side collected using neighbour
Fence is carried out mesh space division first, makes fence region by different element mesh by boundary's recognizer, the algorithm
Lattice form, and determine border degree according to fence particle and apart from fence frontier distance, border degree judges each share certainly
Whether location data of driving a vehicle is boundary element or element of noise；
Described judges whether bicycle is as follows into fence deterministic process step：
Got ready with shared bicycle location data (longitude and latitude) in map, be half with 1000 meters using the point as circle
Footpath carries out virtual fence setting and screening, finds all effective fence region and number in virtual fence；
Secondly, the particle for the fence selected in progress anchor point with brush carries out Distance Judgment, compares particle with sharing
The distance of bicycle anchor point, determine sole electron fence；
Again, shared bicycle anchor point is carried out with fence unit grid and border degree to judge, it is fixed such as in grid
Justice is stopped in fence for vehicle.Such as on the degree of border, enter the analysis of row bound degree and judge, grid ladder is defined by convolution algorithm
Degree, with gradient operator, approximation obtains the Grad of each dimension corresponding to grid, then therefrom chooses maximum absolute value
Grad is compared with to the elements of a fix and judges.
Positive beneficial effect：The present invention is to use bicycle GNSS location datas and fence with satellite positioning device
The threshold value of critical point is matched, and judges whether to stop that into parking area or prohibition parking area domain, precision more than 95% can be reached, and is led to
The management that economical and practical mode carries out parking area to the bicycle with satellite positioning device to greatest extent is crossed, without on ground
Face installs any auxiliary equipment additional, can be achieved just with the existing positioner of vehicle.Can realize to bicycle park into
Row standardized administration, share bicycle standardized administration and run in order providing a set of economical and practical solution for city.
Brief description of the drawings
Fig. 1 is RTK positioning principle block diagrams.
Embodiment
A kind of GNSS location datas and geography fence critical point threshold decision technology, comprise the following steps：
1) the GNSS geographical position coordinates in ground parking area and prohibition parking area domain, are gathered；
2) diamond and prohibition parking area domain geographical coordinate, are subjected to electronic disposal；The coordinate data and GIS of electronic disposal
Map carries out Data Matching, forms electronic geographic fence；
3), judged according to vehicle location and electronic geographic fence, draw bicycle be in the range of the fence or
Outside fence scope：
Described step 1)：Gather the GNSS geographical position coordinates in ground parking area and prohibition parking area domain；Using GNSS
The geodetic latitude and geodetic altitude of system direct measurement ground point；The pattern of GNSS measurement work includes static state, rapid static, standard
Dynamic and true dynamic relative positioning；Dynamic (Real Time Kinematic-RTK) e measurement technology in real time, is with carrier phase
Real-time differential measurement technology according to observed quantity, it is the developing new breakthrough of e measurement technology.RTK technologies are also known as carrier wave
Phase difference technology, it is the difference method of two survey station carrier phase observed quantities of real-time processing；
Described step 2)：Diamond and prohibition parking area domain geographical coordinate are subjected to electronic disposal；The seat of electronic disposal
Mark data and carry out Data Matching with GIS map, form electronic geographic fence；By the WGS84 coordinates of collecting device with changing into high moral
Scheme the Mars coordinate system of acquiescence, ensure that fence data match with electronic map location, be finely adjusted then in conjunction with actual coordinate；
Described step 3)：Judged according to vehicle location and electronic geographic fence, drawing bicycle is enclosed in electronics
In the range of column or outside fence scope：To install GNSS positioning chips in shared bicycle smart lock, when shared bicycle stops
Star pattern is received, it is necessary to start positioning chip and start during car action launching, receives big-dipper satellite, gps satellite, while receive the Big Dipper
The differential data of CORS base stations；By being sent data to after realizing high accuracy positioning to vehicle in GIS database, electricity is incorporated in
The fence region marked on sub- map carries out coordinate matching and critical point threshold decision；Described fence coordinate acquisition
It is entirely WGS84 with the shared bicycle smart lock elements of a fix, therefore is calculated in electronic disposal process using unified Coordinate Conversion
Method, ensure the uniformity of data deviation；
Described judgement shares whether bicycle has a power failure in sub- fence area (including critical zone), the side collected using neighbour
Fence is carried out mesh space division first, makes fence region by different element mesh by boundary's recognizer, the algorithm
Lattice form, and determine border degree according to fence particle and apart from fence frontier distance, border degree judges each share certainly
Whether location data of driving a vehicle is boundary element or element of noise；
Described judges whether bicycle is as follows into fence deterministic process step：
Got ready with shared bicycle location data (longitude and latitude) in map, be half with 1000 meters using the point as circle
Footpath carries out virtual fence setting and screening, finds all effective fence region and number in virtual fence；
Secondly, the particle for the fence selected in progress anchor point with brush carries out Distance Judgment, compares particle with sharing
The distance of bicycle anchor point, determine sole electron fence；
Again, shared bicycle anchor point is carried out with fence unit grid and border degree to judge, it is fixed such as in grid
Justice is stopped in fence for vehicle.Such as on the degree of border, enter the analysis of row bound degree and judge, grid ladder is defined by convolution algorithm
Degree, with gradient operator, approximation obtains the Grad of each dimension corresponding to grid, then therefrom chooses maximum absolute value
Grad is compared with to the elements of a fix and judges.
2) diamond and prohibition parking area domain geographical coordinate, are subjected to electronic disposal；The coordinate data and GIS of electronic disposal
Map carries out Data Matching, forms electronic geographic fence；
The WGS84 coordinates of collecting device are changed into the Mars coordinate system of high moral map acquiescence, ensure fence data and electronics
Map location matches, and is finely adjusted then in conjunction with actual coordinate.
WGS84 coordinate systems：It is geographic coordinate system general in the world, that is, our latitude, longitudes for often saying.Such as 08
The longitude and latitude of year Wenchuan earthquake report is namely based on this coordinate system.And we survey and draw common some equipment ratio and collecting device
And using this coordinate system as reference.
Mars coordinate system：The reason for being primarily due to national security in order to protect some than more sensitive coordinate position,
All first outposts of the tax office for obtaining map datum in China are exactly State Bureau of Surveying and Mapping, in all maps that they produce WGS84's
On the basis of carry out one-time pad encryption, it is that is, so-called according to certain coordinate offset algorithm to another coordinate system, this seat
Mark system is distinctive and is change, and he is habitually called Mars coordinate system by everybody.Exactly because Mars coordinate system is deposited
The data for directly taking collection measuring apparatus collection at us show there is deviation all the time on map, and reason is exactly because two seats
Caused by mark system is all different.
Many different earth coordinates benchmark, when different coordinate basis or different navigation system be present, it is necessary to
Pay attention to mutual transformational relation, error predominantly rotation, translation, scaling and local deformation etc. of topographic map.It is main to entangle
Correction method is the coordinate grid site of the coordinate axiom and swept molding method first with topographic map, and piecemeal is carried out as corresponding control point
Positioning and orientation, are corrected using single order or higher order polynomial-fitting to map, be the characteristics of this method using topographic map as
Benchmark, coordinate grid site is automatically determined using computer technology, then piecemeal is corrected, and its shortcoming is to work as in initial land form figure not properly
It can not then be carried out during grid, at this moment need to determine to correct control point using other methods.The method that this programme uses is to utilize
GNSS Measured Coordinates are as control point is corrected, and step is corrects the selection at control point and measurement, the reduction of coordinate and multinomial is intended
Close and correct.
Map calibration control point is the control point for carrying out map calibration, and its coordinate on map can be by certain
Method for measurement obtain, corresponding coordinate on the spot is positioned by GNSS or other measuring methods determine, then using suitably entangling
Positive model is obtained with the conversion parameter of map calibration, by originally in the presence of deformation fence region be corrected as it is true with it is empty
Between the unified electronic map region in position.Selection corrects control point and typically requires that a bit distribution is uniform, readily identified and suitable
GNSS is measured.Therefore, also need to that first reconnaissance measures again on the spot in fence sometimes, it is fence such as road junction, open
Road fence flex point etc..The method of GPS measurements can use single point dynamic orientation measurement (15~100m), difference measurement
The methods of (0.1~10.0m), high-precision static measurement (grade) or real-time dynamic positioning (RTK) measurement (Centimeter Level), map
On correction control point can be measured using appropriate software.
Obtain correct control point after, due to GNSS measurement coordinate be WGS84 coordinates, and numerical map using
Mars coordinate, therefore first want between the two under reduction to the coordinate system of same nature, this just needs the coordinate for knowing numerical map
Basic parameter, it can thus realize Coordinate Conversion between the two.If the coordinate system of numerical map is sat for unknown right angle
Mark system, then first can be converted to Gauss rectangular co-ordinate by gps coordinate, then relatively or by both be included using coordinate in image
Upper comparison, if both coordinates have obvious difference, first outline calculates both translation constants, or corresponding correct is controlled
Point coordinates makees centralization, then the GPS control points after translation are shown on map, roughly by its coordinate difference as translation constant
Check both matching degrees.
Due to digital map deformation except including translate, rotate, scale in addition to local deformation also be present, therefore using one
As coordinate transformation model (translation, rotation and scaling) be likely difficult to solve the problems, such as local deformation and inhomogeneous deformation, for
This map, correct the big more options fitting of a polynomial of model, such as an order polynomial, quadratic polynomial or cubic polynomial.
Fitting of a polynomial xg=a1+a2xp+a3yp yg=b1+b2xp+b3yp
Quadratic polynomial fitting xg=a1+a2xp+a3yp+a4 xpyp+a5 x2 p+a6y2 p yg=b1+b2xp+
b3yp+b4 xpyp+b5x2 p+b6y2 p
Cubic polynomial fitting xg=a1+a2 xp+a3yp+a4 xpyp+a5x2 p+a6y2 p+a7 x2pyp+a8
Xpy2 p+a9 x3 p+a 10y3 p yg=b1+b2 xp+b3yp+b4 xpyp+b5 x2 p+b6y2 p+b7x2 pyp+b8
xpy2 p+b9x3 p+b10y3 p
In formula：(xg, yg) represents the Gaussian parabolic line that GPS measurements obtain；(xp, yp) is that corresponding map is sat
Mark, as treat the map reference of restitution point；A1, a2, a3 ... and b1, b2, b3 ... are respectively multinomial x and y coefficient to be asked
Because two system numbers are incoherent, therefore the number of required Control point should be no less than the number of one of which coefficient.When
Solving Linear is directly pressed when both are equal, when the number at control point is more than the number of coefficient, then by least square method
Solve.Which kind of model is selected to correct map, it is necessary to which property, the engineer's scale of map and areal extent deformed according to the map etc. is determined
It is fixed, it is however generally that, the homogeneous deformation for small area scope can use an order polynomial, otherwise should use high-order moment.
3), judged according to vehicle location and electronic geographic fence, drawing bicycle is gone back in the range of fence
It is outside fence scope.
To install GNSS positioning chips in shared bicycle smart lock, when shared bicycle parking action launching, it is necessary to
Start positioning chip and start star pattern of receiving, reception big-dipper satellite, gps satellite, while receive the differential data of Big Dipper CORS base stations,
Current CORS Technical comparings are ripe, compared with traditional RTK system, CORS effective operation scope increase, positioning precision and
Reliability is improved, and can be carried out round-the-clock, multi-functional, multipurpose, using wide service using CORS, be substantially increased sky
Between basic data utilization rate.
(1) satellite fix principle：
The continuous broadcast navigation message of satellite, in the message the position comprising satellite and send the time.If the position of user terminal
Put and represented with the time with x, y, z and t；Assuming that there is n satellite, the position of i-th satellite and time are represented with xi, yi, zi and ti,
Then i-th satellite and the distance D of user are：
(c is the light velocity, and ti is that message sends the time, and t is receiving the time)
Above-mentioned formula has individual problem：User time t is inaccurate relative to the atomic clock of navigation system, if clock correction b
Represent, the receiving terminal presentation time is expressed as t ', then above-mentioned formula is：
Have an x, y, z, tetra- unknown numbers of b, as long as therefore have more than 4 satellites, it is possible to simultaneous solution.
(2) Differential positioning
There is the accuracy that many disturbing factors influence constant in above-mentioned formula, therefore the navigation system in real world is (such as
GPS, Russian GLONASS and the Big Dipper of China in the U.S.) there is several meters of error.For example current dipper system is in the Asian-Pacific area
Average positioning precision be：Horizontal 10m, elevation 10m, rate accuracy 0.2m, by when precision be better than 20ns.In order to improve positioning accurate
Degree, in addition to the satellite of the sky, this method is aided with Big Dipper ground base station (CORS).The position of base station accurately measures,
After satellite navigation signals are received, corresponding information is formed by data handling system, via hands such as satellite, broadcast, mobile communication
Section real-time broadcasting gives shared bicycle smart lock terminal, realizes centimeter-level positioning service.
By being sent data to after realizing high accuracy positioning to vehicle in GIS database, electronic map subscript is incorporated in
The fence region of note carries out coordinate matching and critical point threshold decision, due to fence coordinate acquisition and shared bicycle
The smart lock elements of a fix are entirely WGS84, therefore use unified coordinates transformation method in electronic disposal process, ensure that data are inclined
The uniformity of difference.For efficient identification fence border, judge whether shared bicycle has a power failure in sub- fence area (including face
Battery limit (BL) domain), use a kind of Boundary Recognition algorithm of neighbour's collection.Fence is carried out mesh space division by the algorithm first,
Fence region is made up of different unit grids, determined according to fence particle and apart from fence frontier distance
Border degree, border degree judge each whether shared bicycle location data is boundary element or element of noise.
Whether fence deterministic process is entered as follows：
Got ready with shared bicycle location data (longitude and latitude) in map, be half with 1000 meters using the point as circle
Footpath carries out virtual fence setting and screening, finds all effective fence region and number in virtual fence.
Secondly, the particle for the fence selected in progress anchor point with brush carries out Distance Judgment, compares particle with sharing
The distance of bicycle anchor point, determine sole electron fence.
Again, shared bicycle anchor point is carried out with fence unit grid and border degree to judge, it is fixed such as in grid
Justice is stopped in fence for vehicle.Such as on the degree of border, enter the analysis of row bound degree and judge, grid ladder is defined by convolution algorithm
Degree, with gradient operator, approximation obtains the Grad of each dimension corresponding to grid, then therefrom chooses maximum absolute value
Grad is compared with to the elements of a fix and judges.
Whole management application scenarios are as follows：Data sharing is carried out by standard data interface and each dispensing enterprise, by ground
The geography fence region finished pushes to shared enterprise APP after carrying out high precision collecting and electronic disposal, and such as riding user can
With according to APP prompting vehicle is stopped nearby in fence, parking latch moment upload GNSS location datas, platform judge
Location data then terminates charging in fence, if will not carry out alarm in platform.
Below I combine the process stopped in fence of a shared bicycle formed respectively from fence, electronics
Fence push, the positioning of shared bicycle parking, vehicle location and fence matching judgment whether in region, judged result enters
Five flows of row processing illustrate.
Fence is formed：Due to determining whether to be parked in parking area (fence), first to start to delimit fence,
Real parking area delimited at the crossing of each urban planning, is mostly rectangular region, after the completion of delimitation, using Big Dipper height
Precision acquisition equipment completes the longitude and latitude collection of four flex point coordinates of rectangular region, it is desirable to which acquisition precision error is in 10mm+
In the range of 1ppm, the flex point coordinate collected is bound and imported into Coordinate Conversion software according to fence title, completed
WGS84 is converted into Mars coordinate.
Fence pushes：The data organization for completing conversion coordinate is represented into different fences into a table, gauge outfit with ID numberings
Unique encodings, the subsidiary 4 groups of latitude and longitude coordinates points of each ID, first coordinate points are the upper left angle point position of fence, are then pressed
According to being arranged in order clockwise.A table is pushed into enterprise management platform, enterprise's supervising platform pushes to APP ends and shown.
Shared bicycle parking positioning：Shared bicycle installation intelligent positioning lock, lockset have on and off operating state, work as pass
When lock status starts, wake up positioning chip and receive satellite data and CORS data of checking the mark and carry out high accuracy positioning.
Whether vehicle location is with fence matching judgment in region：Compare shared bicycle location data and electronics encloses
The regional extent and borderline region on column, when location data is in fence, it is defined as in fence；Location data is kept off in electronics
Outside fence, it is defined as not stopping into fence.
Judged result is handled：User, which rides, to be docked in fence, is prompted normal termination charging at APP ends, is completed to ride
OK.Ride and be parked in outside fence, prompted at APP ends and guide nearest fence position to be parked.
Claims (6)
1. a kind of GNSS location datas and geography fence critical point threshold decision technology, it is characterised in that comprise the following steps：
1) the GNSS geographical position coordinates in ground parking area and prohibition parking area domain, are gathered；
2) diamond and prohibition parking area domain geographical coordinate, are subjected to electronic disposal；The coordinate data and GIS map of electronic disposal
Data Matching is carried out, forms electronic geographic fence；
3), judged according to vehicle location and electronic geographic fence, show that bicycle is in the range of the fence or electronics
Outside fence scope.
2. a kind of GNSS location datas according to claim 1 and geography fence critical point threshold decision technology, its feature
It is described step 1)：Gather the GNSS geographical position coordinates in ground parking area and prohibition parking area domain；Using GNSS system
The geodetic latitude and geodetic altitude of direct measurement ground point；The pattern of GNSS measurement work includes static state, rapid static, Quasi dynamic
With true dynamic relative positioning；Dynamic (Real Time Kinematic-RTK) e measurement technology in real time, is observed with carrier phase
Real-time differential measurement technology according to amount, it is the developing new breakthrough of e measurement technology.RTK technologies are also known as carrier phase
Differential technique, it is the difference method of two survey station carrier phase observed quantities of real-time processing.
3. a kind of GNSS location datas according to claim 1 and geography fence critical point threshold decision technology, its feature
It is described step 2)：Diamond and prohibition parking area domain geographical coordinate are subjected to electronic disposal；The number of coordinates of electronic disposal
Data Matching is carried out according to GIS map, forms electronic geographic fence；The WGS84 coordinates of collecting device are changed into high moral map to write from memory
The Mars coordinate system recognized, ensure that fence data match with electronic map location, be finely adjusted then in conjunction with actual coordinate.
4. a kind of GNSS location datas according to claim 1 and geography fence critical point threshold decision technology, its feature
It is described step 3)：Judged according to vehicle location and electronic geographic fence, it is to be in fence model to draw bicycle
In enclosing or outside fence scope：To install GNSS positioning chips in shared bicycle smart lock, when shared bicycle parking moves
Star pattern is received, it is necessary to start positioning chip and start when work starts, receives big-dipper satellite, gps satellite, while receive Big Dipper CORS bases
The differential data stood；By being sent data to after realizing high accuracy positioning to vehicle in GIS database, electronic map is incorporated in
The fence region of upper mark carries out coordinate matching and critical point threshold decision；Described fence coordinate acquisition and shared
The bicycle smart lock elements of a fix are entirely WGS84, therefore use unified coordinates transformation method in electronic disposal process, are ensured
The uniformity of data deviation.
5. a kind of GNSS location datas according to claim 4 and geography fence critical point threshold decision technology, its feature
It is：Judge whether shared bicycle has a power failure in sub- fence area (including critical zone), the Boundary Recognition collected using neighbour is calculated
Fence is carried out mesh space division first, fence region is made up of different unit grids, root by method, the algorithm
Border degree is determined according to fence particle and apart from fence frontier distance, border degree judges each shared bicycle positioning number
According to whether being boundary element or element of noise.
6. a kind of GNSS location datas according to claim 4 and geography fence critical point threshold decision technology, its feature
Judge whether bicycle is as follows into fence deterministic process step described in being：
Got ready in map with shared bicycle location data (longitude and latitude), using the point as circle, entered with 1000 meters for radius
Row virtual fence is set and screening, finds all effective fence region and number in virtual fence；
Secondly, the particle for the fence selected in progress anchor point with brush carries out Distance Judgment, compares particle with sharing voluntarily
The distance of car anchor point, determine sole electron fence；
Again, carry out shared bicycle anchor point with fence unit grid and border degree to judge, such as in grid, be defined as
Vehicle stops in fence.Such as on the degree of border, enter the analysis of row bound degree and judge, grid gradient is defined by convolution algorithm, transported
With gradient operator, approximation obtains the Grad of each dimension corresponding to grid, then therefrom chooses the gradient of maximum absolute value
Value is compared with to the elements of a fix and judges.
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