CN108287354B - Automatic data error correction method and device and navigation equipment - Google Patents

Automatic data error correction method and device and navigation equipment Download PDF

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CN108287354B
CN108287354B CN201710015089.2A CN201710015089A CN108287354B CN 108287354 B CN108287354 B CN 108287354B CN 201710015089 A CN201710015089 A CN 201710015089A CN 108287354 B CN108287354 B CN 108287354B
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point
coordinates
jump
combined solution
solution result
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CN108287354A (en
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魏茜茜
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Navinfo Co Ltd
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Navinfo Co Ltd
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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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a method and a device for automatically correcting data, which comprises the following steps of carrying out post-processing differential calculation on collected data to obtain a first combined solution result of a tightly combined mode and a second combined solution result of a loosely combined mode, wherein the method comprises the following steps of: respectively carrying out jump detection on the first combined solution result and the second combined solution result; if the first combined solution result has jump and the second combined solution result has no jump, determining a jump trace point corresponding to the jump from the first combined solution result and determining an error correction trace point from the second combined solution result, wherein the jump trace point and the error correction trace point are in one-to-one correspondence in time; and adjusting the coordinates of the jump track points by using the coordinates of the error correction track points. According to the scheme, the automatic data error correction can be rapidly and accurately realized.

Description

Automatic data error correction method and device and navigation equipment
Technical Field
The present invention relates to the field of geographic information processing technologies, and in particular, to a method and an apparatus for automatically correcting errors in data.
Background
The Global Positioning System (GPS) and the Inertial Navigation System (INS) are the most widely used Navigation Positioning systems. The two systems have advantages and disadvantages, respectively, and the advantages and disadvantages of the two systems have strong complementarity, so that the two systems are mostly used in combination.
The GPS/INS combined system has two combined modes: loose combination mode and tight combination mode. The pine combination mode is mainly used for navigation positioning based on the positions and the speeds measured by the GPS and the INS, and post-processing differential solution is generally carried out on the data of the GPS and the INS by adopting Kalman filtering to obtain a final combination solution result. Different from the loose combination mode, the tight combination mode mainly carries out navigation positioning based on pseudo range and pseudo range rate, and a combined solution result can be obtained by adopting Kalman filtering.
When the mobile measuring vehicle acquires data, if the measuring vehicle passes through an area such as a bridge bottom and the like which is easy to shield a GPS signal, jump often exists in a combined solution result obtained by the tightly combined mode, and the usability of finally obtained map data is seriously influenced.
At present, most of the methods manually and repeatedly adjust various parameters of the combined mode to perform repeated post-processing differential calculation for many times so as to eliminate jump. In such a way, the error correction process is mainly based on the experience of personnel, and has the defects of low efficiency, poor accuracy and the like.
Disclosure of Invention
The invention aims to provide a method and a device for automatically correcting data, which are beneficial to quickly and accurately realizing automatic data correction.
In order to achieve the above object, in a first aspect, the present invention provides a method for automatic error correction of data, the method comprising:
respectively carrying out jump detection on the first combined solution result and the second combined solution result; the calculation method of the first combined solution result and the second combined solution result comprises the following steps: carrying out post-processing differential solution on the acquired data to obtain a first combined solution result of the tightly combined mode and a second combined solution result of the loosely combined mode;
if the first combined solution result has jump and the second combined solution result has no jump, determining a jump trace point corresponding to the jump from the first combined solution result and determining an error correction trace point from the second combined solution result, wherein the jump trace point and the error correction trace point are in one-to-one correspondence in time;
and adjusting the coordinates of the jump track points by using the coordinates of the error correction track points.
Optionally, performing jump detection on the first combined solution result includes:
calculating second-order difference of adjacent track points in the first combined solution result;
and if the second-order difference is larger than a preset jump detection threshold value, judging that jump exists in the first combined solution result.
Optionally, determining the jump trace point and the error correction trace point includes:
calculating the coordinate difference of corresponding track points in the first combined solution result and the second combined solution result to two sides by taking the jump as a center until the coordinate difference is not larger than a preset difference value, and obtaining a first endpoint and a second endpoint in the first combined solution result and a third endpoint and a fourth endpoint in the second combined solution result, wherein the first endpoint corresponds to the third endpoint in time, and the second endpoint corresponds to the fourth endpoint in time;
determining a track point between the first end point and the second end point as the jump track point;
and determining the track point between the third end point and the fourth end point as the error correction track point.
Optionally, the adjusting the coordinates of the jump track point by using the coordinates of the error correction track point includes:
calculating the corrected coordinates of the jump track point by using the coordinates of the error correction track point, the coordinate difference between the first end point and the third end point and the coordinate difference between the second end point and the fourth end point;
and adjusting the coordinates of the jump track points into the corrected coordinates.
Optionally, the corrected coordinates of the jump trajectory point are calculated by the following formula:
CT＝CL+(AT–AL)+[(BT–BL)-(AT–AL)]*SAC/SAB，
wherein A isTCoordinates representing a first endpoint; a. theLCoordinates representing a third endpoint; b isTCoordinates representing a second endpoint; b isLCoordinates representing a fourth endpoint; cTRepresenting the corrected coordinates of the jump track points; cLRepresenting coordinates of the error correction track points; sACRepresenting the distance between the error correction track point and the third endpoint; sABIndicating the distance between the third and fourth end points.
Optionally, the acquired data is high-precision lane data, and after the coordinates of the error-correcting track point are used to adjust the coordinates of the jump track point, the method further includes:
interrupting a continuous track of a first combined solution result for completing automatic data error correction by using a preset hanging point of a basic road network to generate a geometric shape of a line point structure, wherein the preset hanging point is obtained by recording when data of the basic road network is collected;
performing one-to-one matching on the lines in the geometric shapes and the lines in the basic road network according to the corresponding relation recorded during data acquisition;
judging whether the points in the geometric shapes have reference attributes stored in a preset configuration table or not, wherein the reference attributes represent a type of hanging points;
if the point in the geometric shape has the reference attribute stored in the preset configuration table, virtually hooking the point and two lines which are connected with the point in front and back; otherwise, the point and two lines connected with the point in front and back are subjected to entity hanging connection.
Optionally, the virtually hooking the point and two lines that are consecutive to the point in front and back includes:
acquiring the end point coordinates of one end of each line connected with the point, and selecting one end point coordinate as the coordinate of the point;
making attribute information of the virtual hanging connection: and recording the identity marks of two lines which are continuous with the point on the point, and recording the identity marks of the point on each line.
Optionally, the method further comprises:
splicing the two lines together using a coordinate difference between the end point coordinates;
and calculating the curvature values of the two spliced lines.
Optionally, the physically hooking the point and two lines that are consecutive to the point includes:
acquiring the end point coordinates of one end of each line connected with the point, and taking the end point coordinates as the coordinates of the point if the two end point coordinates are the same; if the coordinates of the two end points are different, smoothing the coordinates of the two end points, and taking the processed coordinates as the coordinates of the point and the coordinates of one end of each line connected with the point;
making attribute information of the entity hanging connection: and recording the identity marks of two lines which are continuous with the point on the point, and recording the identity marks of the point on each line.
In a second aspect, the present invention provides an apparatus for automatic data error correction, the apparatus comprising:
a jump detection module, configured to perform jump detection on the first combined solution result and the second combined solution result respectively; the calculation method of the first combined solution result and the second combined solution result comprises the following steps: carrying out post-processing differential solution on the acquired data to obtain a first combined solution result of the tightly combined mode and a second combined solution result of the loosely combined mode;
a trace point determining module, configured to determine a jump trace point corresponding to the jump from the first combined solution result and determine an error correction trace point from the second combined solution result when the first combined solution result has the jump and the second combined solution result has no jump, where the jump trace point and the error correction trace point are in one-to-one correspondence in time;
and the coordinate adjusting module is used for adjusting the coordinates of the jump track points by utilizing the coordinates of the error correction track points.
Optionally, the jump detection module includes:
the difference calculation module is used for calculating the second-order difference of adjacent track points in the first combined solution result;
and the jump judging module is used for judging that jump exists in the first combined solution result when the second-order difference is greater than a preset jump detection threshold value.
Optionally, the track point determining module includes:
a coordinate difference calculation module, configured to calculate, with the jump as a center, a coordinate difference between corresponding trace points in the first combined solution result and the second combined solution result to two sides until the coordinate difference is not greater than a preset difference value, to obtain a first endpoint and a second endpoint in the first combined solution result, and a third endpoint and a fourth endpoint in the second combined solution result, where the first endpoint corresponds to the third endpoint in time, and the second endpoint corresponds to the fourth endpoint in time;
a jump track point determining module, configured to determine a track point between the first end point and the second end point as the jump track point;
and the error correction track point determining module is used for determining the track point between the third end point and the fourth end point as the error correction track point.
Optionally, the coordinate adjusting module includes:
the corrected coordinate calculation module is used for calculating the corrected coordinate of the jump track point by using the coordinate difference between the error correction track point, the first end point and the third end point and the second end point and the fourth end point;
and the coordinate adjusting submodule is used for adjusting the coordinates of the jump track points into the corrected coordinates.
Optionally, the modified coordinate calculation module calculates the modified coordinate of the jump trajectory point according to the following formula:
CT＝CL+(AT–AL)+[(BT–BL)-(AT–AL)]*SAC/SAB，
wherein A isTCoordinates representing a first endpoint; a. theLCoordinates representing a third endpoint; b isTCoordinates representing a second endpoint; b isLCoordinates representing a fourth endpoint; cTRepresenting the corrected coordinates of the jump track points; cLRepresenting coordinates of the error correction track points; sACRepresenting the distance between the error correction track point and the third endpoint; sABIndicating the distance between the third and fourth end points.
Optionally, the acquired data is high-precision lane data, and the apparatus further includes:
the geometric shape generation module is used for interrupting a continuous track of a first combined solution result of completing automatic data error correction by using a preset hanging point of a basic road network to generate a geometric shape of a line point structure, wherein the preset hanging point is obtained by recording when data of the basic road network is collected;
the matching module is used for performing one-to-one matching on the lines in the geometric shapes and the lines in the basic road network according to the corresponding relation recorded during data acquisition;
the judging module is used for judging whether the points in the geometric shapes have reference attributes stored in a preset configuration table or not, and the reference attributes represent a type of hanging points;
the virtual hooking module is used for virtually hooking the point and two lines which are connected with the point in front and back when the point in the geometric shape has the reference attribute stored in the preset configuration table;
and the entity hooking module is used for hooking the point in the geometric shape and two lines which are connected with the point in front and back when the point does not have the reference attribute stored in the preset configuration table.
Optionally, the virtual hooking module is configured to obtain an endpoint coordinate of an end of each line connected to the point, and select one endpoint coordinate as the coordinate of the point; making attribute information of the virtual hanging connection: and recording the identity marks of two lines which are continuous with the point on the point, and recording the identity marks of the point on each line.
Optionally, the apparatus further comprises:
a curvature value calculation module for splicing the two lines together by using a coordinate difference between the end point coordinates; and calculating the curvature values of the two spliced lines.
Optionally, the entity hooking module is configured to obtain an endpoint coordinate of one end of each line that is connected to the point, and if the two endpoint coordinates are the same, take the endpoint coordinate as the coordinate of the point; if the coordinates of the two end points are different, smoothing the coordinates of the two end points, and taking the processed coordinates as the coordinates of the point and the coordinates of one end of each line connected with the point; making attribute information of the entity hanging connection: and recording the identity marks of two lines which are continuous with the point on the point, and recording the identity marks of the point on each line.
In the data automatic error correction scheme, after a first combination solution result of a tight combination mode and a second combination solution result of a loose combination mode are obtained, jump detection can be automatically triggered; if the jump detection result is: and if the first combined solution result has jump and the second combined solution result does not have jump, the data correction is required currently. Correspondingly, the jump track point can be determined from the first combined solution result, and the error correction track point for correcting the coordinate of the jump track point can be determined from the second combined solution result, so that the coordinate of the jump track point can be weighted and adjusted based on the coordinate of the error correction track point. According to the scheme, the data automatic error correction can be rapidly and accurately realized, seamless connection between the track of the adjusted area and the track of the unadjusted area in the first combined solution result can be ensured, and the data correction precision can be improved.
Drawings
FIG. 1 is a flow chart of an automatic data error correction method according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a method for detecting a jump according to an embodiment of the present invention;
FIG. 3 is an exemplary diagram of coordinate adjustment in an embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for adjusting coordinates of jump track points in the embodiment of the present invention;
FIG. 5 is a flow chart illustrating a high-precision data processing method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a dot-on-line structure in an embodiment of the invention;
FIG. 7 is a flow chart of an intelligent error correction method according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of an automatic data error correction apparatus according to an embodiment of the disclosure;
FIG. 9 is a schematic structural diagram of a high-precision data processing apparatus according to an embodiment of the present invention;
fig. 10 is a block diagram of a navigation device according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic flow chart of an automatic data error correction method according to an embodiment of the present invention. The method may comprise the steps of:
and 101, respectively carrying out jump detection on the first combined solution result and the second combined solution result.
The scheme of the embodiment of the invention can automatically carry out jump detection on the post-processing data, and correct the combined solution result of the tight combination mode according to the combined solution result of the loose combination mode when needed, thereby being beneficial to quickly and accurately realizing automatic error correction of the data.
Here, the first combined solution result and the second combined solution result may be obtained in advance by the following method: and carrying out post-processing differential calculation on the acquired data to obtain a first combined solution result of the tight combination mode and a second combined solution result of the loose combination mode.
As an example, the GPS/INS collected data and the base station data may be imported into commercial software (e.g., insertialexploid) for post-processing differential solution, resulting in a first combined solution result for the tightly combined mode and a second combined solution result for the loosely combined mode.
It can be understood that the combined solution result can be embodied as a vehicle path with time and coordinates, that is, the track points in the combined solution result have two kinds of attribute data: and acquiring time and three-dimensional coordinates, wherein the track points in the first combined solution result and the second combined solution result are in one-to-one correspondence in time.
The embodiment of the present invention provides a scheme for automatically performing jump detection, and the following explains a detection process by taking jump detection in a first combined solution result as an example. Referring to fig. 1, a flow chart of a jump detection method in the embodiment of the present invention is further included, and the method may include the following steps:
step 201, calculating a second order difference of adjacent track points in the first combined solution result.
Step 202, if the second order difference is greater than a preset jump detection threshold, it is determined that a jump exists in the first combined solution result.
Usually, a jump peak can be determined by at least 3 trace points, so the embodiment of the invention can calculate the second-order difference of adjacent trace points and judge whether jump exists by combining with a preset jump detection threshold. The preset jump detection threshold may be determined according to the accuracy of the generated map, for example, the preset jump detection threshold may be 10cm, which is not specifically limited in the embodiment of the present invention. It can be understood that if the second order difference is greater than the preset jump detection threshold, it indicates that the map accuracy requirement is not met here, and there is a jump.
The second-order difference of the adjacent track points can be understood as that the difference processing of three-dimensional coordinates is carried out on the adjacent track points to obtain the coordinate difference of the adjacent track points; then, on the basis of the coordinate difference of the adjacent track points, a second order difference is carried out, that is, the difference is carried out by using the adjacent coordinate difference, so that a second order difference of the adjacent track points can be obtained. It is to be understood that the term adjacent trace points herein refers to trace points in the first combined solution result.
When detecting the jump of the second combined solution result, the solution shown in fig. 1 may be referred to for implementation, and details are not described here.
And 102, if the first combined solution result has jump and the second combined solution result has no jump, determining jump trace points corresponding to the jump from the first combined solution result and determining error correction trace points from the second combined solution result, wherein the jump trace points and the error correction trace points are in one-to-one correspondence in time.
And 103, adjusting the coordinates of the jump track points by using the coordinates of the error correction track points.
In general, the tight combination mode theoretically has higher combination accuracy and can be used when the number of visible satellites is less than 4, so that the map data is generated mainly by using the combination solution result of the tight combination. Considering that the jump with poor track quality may exist in the post-processing data of the close combination mode, the embodiment of the invention can objectively and accurately correct the jump by using the post-processing data of the loose combination mode.
The embodiment of the invention can use the combined solution result of the two modes to carry out weighted splicing to realize the correction of the hopping data. The method specifically comprises the following two processing actions:
1. and determining jump track points and error correction track points.
Referring to fig. 2, a schematic flow chart of a method for determining a jump trace point and an error correction trace point in the embodiment of the present invention is shown, which may include the following steps:
step 301, calculating coordinate differences of corresponding track points in the first combined solution result and the second combined solution result to two sides by using the jump as a center until the coordinate differences are not greater than a preset difference value, and obtaining a first endpoint and a second endpoint in the first combined solution result and a third endpoint and a fourth endpoint in the second combined solution result, wherein the first endpoint corresponds to the third endpoint in time, and the second endpoint corresponds to the fourth endpoint in time.
Step 302, determining a trace point between the first end point and the second end point as the jump trace point; and determining the track point between the third end point and the fourth end point as the error correction track point.
The following describes an embodiment of the present invention with reference to the example shown in fig. 3.
For each jump, when the end point of the adjustment region is determined, after the jump peak is located, the coordinate difference of the trace point near the peak in the two modes can be calculated, and the combined solution difference between the two modes can be obtained. Generally, the closer to the spike, the larger the coordinate difference (i.e., the larger the combined solution difference).
Specifically, if the coordinate difference of the track points adjacent to the peak in the two modes is larger than a preset difference value, the track points move towards two sides by taking the jump as the center, the coordinate difference between other track points corresponding to each other in time is continuously calculated until the end points of the adjustment area are determined, and then the movement towards two sides is stopped.
In the example shown in fig. 3, if the coordinate differences a and b are not greater than the preset difference, the end point of the adjustment region is represented as a in the first combined solution resultTAnd BTThe jump trace point is located at ATAnd BTAll track points which participate in the calculation of the coordinate difference and have the coordinate difference larger than the preset difference value; the end point of the adjustment region is represented as A in the second combined solution resultLAnd BLThe error correction trace point is located at ALAnd BLAnd the trace points are in one-to-one correspondence with the jump trace points. Wherein A isTAnd ALCorresponding in time, BTAnd BLCorresponding in time.
In the embodiment of the present invention, the preset difference may be determined according to the map precision, for example, the preset difference is 1cm, and this may not be specifically limited in the embodiment of the present invention.
2. And adjusting the coordinates of the jump track points.
Referring to fig. 4, a schematic flow chart of a method for adjusting coordinates of jump track points in the embodiment of the present invention is shown, which may include the following steps:
step 401, calculating the corrected coordinates of the jump track point by using the coordinates of the error correction track point, the coordinate difference between the first end point and the third end point, and the coordinate difference between the second end point and the fourth end point.
And step 402, adjusting the coordinates of the jump track point to the corrected coordinates.
As an example, the coordinates of the jump trajectory point may be adjusted in a weighted manner according to the distance. Specifically, the corrected coordinates of the jump trace point can be calculated by the following formula:
CT＝CL+(AT–AL)+[(BT–BL)-(AT–AL)]*SAC/SAB。
wherein A isTCoordinates representing a first endpoint; a. theLCoordinates representing a third endpoint; b isTCoordinates representing a second endpoint; b isLCoordinates representing a fourth endpoint; cTRepresenting the corrected coordinates of the jump track points; cLRepresenting coordinates of the error correction track points; sACRepresenting the distance between the error correction track point and the third endpoint; sABIndicating the distance between the third and fourth end points.
In connection with the example illustrated in fig. 3, when coordinate adjustment is performed on any trace point in the adjustment area, for example, trace point C, if the trace point is represented as C in the second combined solution resultL，CLAnd ALThe distance between them is denoted as SAC，ALAnd BLThe distance between them represents SABAnd then the coordinates of the track point C after the correction of the first combined solution result are as follows: cT＝CL+a+(b–a)*SAC/SAB. Wherein a represents ATAnd ALThe difference in coordinates between; b represents BTAnd BLThe difference in coordinates between; sABMay be ALAnd BLA straight-line distance therebetween, can also be ALAnd BLThe curve distance of the tracks between; in the same way, SACThe distance may also be a straight line distance or a curved line distance, which may not be specifically limited in the embodiment of the present invention.
It can be understood that the jump in the embodiment of the present invention may be one jump point, or may be a jump area formed by at least two jump points. In any case, the above scheme can be used to determine the adjustment region, and coordinate value adjustment is performed on the corresponding track point in the first combined solution result by using the coordinate value in the second combined solution result, so as to correct the jump existing in the first combined solution result. Specific implementations are described above with reference to which, however, no further description is given here.
In summary, in the solution of the embodiment of the present invention, when the first combined solution result and the second combined solution result are obtained, the jump detection may be triggered to be automatically performed, and when it is determined that automatic data error correction is required (a jump exists in the first combined solution result and a jump does not exist in the second combined solution result), coordinates of a corresponding trajectory point in the first combined solution result are adjusted based on the second combined solution result. According to the scheme, the data automatic error correction can be rapidly and accurately realized, seamless connection between the track of the adjusted area and the track of the unadjusted area in the first combined solution result can be ensured, and the data correction precision can be improved.
Specifically, the data subjected to post-processing differential calculation in the embodiment of the invention can be low-precision data acquired by a common mobile measuring vehicle; or, the data can also be high-precision data collected by a high-precision mobile measuring vehicle. The high-precision data can be data collected by an ADAS measuring vehicle or an HAD measuring vehicle. Usually, the mobile measuring vehicle runs on a specified lane to collect lane-level data, and the field industry uses the lane-level data as road-level data to carry out hitching processing.
As an example, the data subjected to post-processing differential calculation in the embodiment of the present invention is high-precision lane data, and after the automatic error correction of the data is completed by using the above scheme, all entity hooks of the high-precision data can be manufactured. In consideration of the fact that the coordinate needs to be smoothed in the process of entity hooking treatment, the workload is large, and the manufacturing result is difficult to be ensured to completely meet the standard requirement. Therefore, the embodiment of the invention also provides the following high-precision data processing scheme, which is beneficial to reducing the whole workload of hitching processing.
Referring to fig. 5, a flow chart of a high-precision data processing method according to an embodiment of the invention is shown. The method may further comprise the steps of:
step 501, a preset hanging point of a basic road network is utilized to break a continuous track of a first combined solution result of completing automatic data error correction, and a geometric shape of a line point structure is generated, wherein the preset hanging point is obtained by recording when data of the basic road network is collected.
Step 502, performing one-to-one matching on the lines in the geometric shape and the lines in the basic road network according to the corresponding relation recorded during data acquisition.
In the embodiment of the present invention, the basic road network may be understood as low-precision data, and the preset hanging point may be determined during the processing of the basic road network and stored in the attribute information of the basic road network. In general, the preset hang point may break one line link into two lines. For example, the preset hitching point may be a sign on a roadway, a ramp, a roundabout, etc.
Specifically, according to the preset hang point, the interruption processing can be performed on the continuous track of the first combined solution result for completing the automatic data error correction. For example, a sign on a lane may break a link; alternatively, the ramp may also act as a hang point, breaking a link, generating a geometry that includes a line, dot structure, as it enters the ramp from the main road.
Generally, high-precision data can be issued according to low-precision data, so that the link of the basic road network and the link of the high-precision data can be matched one to one through the corresponding relation between the high-precision track recorded during field collection and the link string of the basic road network, that is to say, which low-precision data the high-precision data specifically refers to is determined.
Step 503, determine whether the point in the geometric shape has a reference attribute stored in a preset configuration table, where the reference attribute represents a type of hanging point.
Step 504, if the point in the geometric shape has the reference attribute stored in the preset configuration table, virtual hooking is performed on the point and two lines which are connected with the point in front and back.
And 505, if the point in the geometric shape does not have the reference attribute stored in the preset configuration table, performing entity hooking on the point and two lines which are connected with the point in front and back.
When the measuring vehicle acquires data, the data of the main road is preferentially acquired when the measuring vehicle encounters the main road and the ramp. In this way, the non-main road condition of the specified lane can be written into the preset configuration table as a reference attribute. For example, when a measuring vehicle collects data of a certain lane, for a road condition that a main lane enters a ramp, the ramp can be written into a preset configuration table as a reference attribute, so that the ramp can be used as a type of hanging point. For another example, when the measuring vehicle collects data of another lane, for a road condition that the main lane enters the roundabout, the roundabout can be written into a preset configuration table as a reference attribute, so that the roundabout can be used as another type of hanging point.
Specifically, according to the reference attributes (for example, the reference attributes are ramp, roundabout, etc.) stored in the preset configuration table, when the normal road network link at the position corresponding to the high-precision data has the reference attributes stored in the configuration table, virtual hitching can be performed on the hitching point and two links connected in front of and behind the hitching point.
Referring to the geometry shown in fig. 6, for virtual suspension, it can be understood that the coordinates of the suspension point are the same as the coordinates of the end point of a link. Specifically, the coordinates of the end point a of link1 and the coordinates of the end point B of link2 may be obtained, and then one of the end point coordinates is selected as the coordinates of the suspension point C. That is, in the hooking process, the coordinate does not need to be smoothed, which is beneficial to reducing the workload.
After the coordinates of the hanging points are obtained, the attribute information of the virtual hanging can be made. Specifically, the identity of two lines following the hook point may be recorded on the hook point, and the identity of the hook point may be recorded on each line. That is, by creating the attribute information, it is possible to specify which link is connected to the link point and which link is connected to the link point.
As an example, in the solution of the embodiment of the present invention, the two lines may be spliced together by using a coordinate difference between the end point coordinates; and calculating the curvature values of the two spliced lines. Specifically, referring to the geometry shown in FIG. 6, if the coordinate difference between endpoint A and endpoint B is L, link2 may be shifted left by L, splicing link1 and link2 together, i.e., both endpoints have the same coordinates; alternatively, the link1 may be shifted to the right by L, and the link1 and the link2 may be spliced together, which is not specifically limited in the embodiment of the present invention. Therefore, after splicing is completed, the curvature values of the two links are calculated, and the turning area is smoother.
Referring to the geometry shown in fig. 6, for a physical hang it can be understood that the coordinates of the hang point are the same as the coordinates of the end points of the two links. Specifically, the coordinates of the endpoint a of link1 and the coordinates of the endpoint B of link2 may be obtained. If the coordinates of the two end points are the same, taking the coordinates of the end points as the coordinates of the hanging point C; if the coordinates of the two end points are different, the coordinates of the two end points can be smoothed, and the processed coordinates are used as the coordinates of the end point B and the hanging point C of the end point A, link2 of the link 1.
As an example, the smoothing processing in the embodiment of the present invention may take coordinates between the endpoint a of link1 and the endpoint B of link2 as processed coordinates, which may not be specifically limited in the embodiment of the present invention.
After the coordinates of the hanging points are obtained, attribute information of entity hanging can be made. Specifically, the identity of two lines following the hook point may be recorded on the hook point, and the identity of the hook point may be recorded on each line. That is, by creating the attribute information, it is possible to specify which link is connected to the link point and which link is connected to the link point.
In another embodiment of the present invention, in order to describe the present invention more completely, the application process of the technical solution of the present invention combined with the outside can be understood with reference to the content in fig. 7.
First, the navigation system (which may also be other navigation systems) using the GNSS and INS combination collects corresponding raw position data S701. The original position data is the original position data including latitude and longitude information.
And S702, respectively calculating original position data by using the loose combination mode and the tight combination mode, and respectively obtaining high-precision data of the corresponding loose combination mode and the tight combination mode, namely an unlocking result set of the loose combination mode and an unlocking result set of the tight combination mode.
And S703, starting to compare by a high-precision differential comparison method, and judging whether jump exists. Here, a threshold may be set, and whether there is a jump may be determined by the threshold. This operation is the execution content of step S101, and will not be described here.
And S704, extracting jump data, if jump exists in the first combined solution result and jump does not exist in the second combined solution result, determining jump track points corresponding to the jump from the first combined solution result, and determining error correction track points from the second combined solution result. This step is the step S102.
And S705, adjusting the coordinates of the jump track point by using the coordinates of the error correction track point by using a track point weighting substitution method.
By way of example only, it is possible to use,
and determining two points A and B with the difference between the tight combination solution and the loose combination solution smaller than a threshold value on two sides of the jump. Respectively setting the compact combination coordinates as AT and BT, respectively setting the loose combination coordinates as AL and BL, and respectively calculating the difference a as AT-AL and the difference b as BT-BL;
calculating the length s from the point A to the point B;
and replacing the loose combination point between the point A and the point B to a tight combination point.
Assuming any point C between points A and B, where the loose combination is labeled with CL and the distance from point A is cs, the coordinates of the C point's replacement to the tight combination is CL + a + (B-a) × cs/s.
4) And replacing the obtained result.
The replacement mode ensures that the replaced track can be seamlessly connected with the tight combination, and the correction precision is also ensured.
And S706, finally obtaining a high-precision product or system.
And S707, issuing the product or the system for application.
In summary, in the embodiment of the present invention, the attribute information of the basic road network is used to interrupt the high-precision trajectory data, and after the links of the high-precision data and the links of the low-precision data are matched one by one, the hooking manner between the point lines can be determined according to the reference attribute stored in the preset configuration table. If the entity is hung, smoothing is carried out on the coordinates, and the coordinates of the hanging points are ensured to be consistent with the end point coordinates of the two links; if virtual on-hook is carried out, one of the end point coordinates of the two links is selected as the coordinate of the on-hook point without carrying out smoothing processing. According to the scheme, the whole workload of hitching treatment is reduced.
Corresponding to the method shown in fig. 1, the embodiment of the present invention further provides an automatic data error correction apparatus. Referring to fig. 8, a schematic diagram of a data automatic error correction apparatus is shown, which may include:
a jump detection module 801, configured to perform jump detection on the first combined solution result and the second combined solution result respectively; here, the first combined solution result and the second combined solution result may be obtained in advance by the following method: and carrying out post-processing differential calculation on the acquired data to obtain a first combined solution result of the tight combination mode and a second combined solution result of the loose combination mode.
A trace point determining module 802, configured to determine a jump trace point corresponding to the jump from the first combined solution result and determine an error correction trace point from the second combined solution result when the first combined solution result has the jump and the second combined solution result has no jump, where the jump trace point and the error correction trace point are in one-to-one correspondence in time;
and the coordinate adjusting module 803 is configured to adjust the coordinates of the jump track points by using the coordinates of the error correction track points.
Optionally, the jump detection module includes:
the difference calculation module is used for calculating the second-order difference of adjacent track points in the first combined solution result;
and the jump judging module is used for judging that jump exists in the first combined solution result when the second-order difference is greater than a preset jump detection threshold value.
Optionally, the track point determining module includes:
a coordinate difference calculation module, configured to calculate, with the jump as a center, a coordinate difference between corresponding trace points in the first combined solution result and the second combined solution result to two sides until the coordinate difference is not greater than a preset difference value, to obtain a first endpoint and a second endpoint in the first combined solution result, and a third endpoint and a fourth endpoint in the second combined solution result, where the first endpoint corresponds to the third endpoint in time, and the second endpoint corresponds to the fourth endpoint in time;
a jump track point determining module, configured to determine a track point between the first end point and the second end point as the jump track point;
and the error correction track point determining module is used for determining the track point between the third end point and the fourth end point as the error correction track point.
Optionally, the coordinate adjusting module includes:
the corrected coordinate calculation module is used for calculating the corrected coordinate of the jump track point by using the coordinate difference between the error correction track point, the first end point and the third end point and the second end point and the fourth end point;
and the coordinate adjusting submodule is used for adjusting the coordinates of the jump track points into the corrected coordinates.
Optionally, the modified coordinate calculation module calculates the modified coordinate of the jump trajectory point according to the following formula: cT＝CL+(AT–AL)+[(BT–BL)-(AT–AL)]*SAC/SAB，
Wherein A isTCoordinates representing a first endpoint; a. theLCoordinates representing a third endpoint; b isTCoordinates representing a second endpoint; b isLCoordinates representing a fourth endpoint; cTRepresenting the corrected coordinates of the jump track points; cLRepresenting coordinates of the error correction track points; sACRepresenting the distance between the error correction track point and the third endpoint; sABIndicating the distance between the third and fourth end points.
In the embodiment of the present invention, after obtaining the first combined solution result and the second combined solution result, the jump detection module 801 may be triggered to automatically perform jump detection; if the jump detection module 801 determines that there is a jump in the first combined solution result and there is no jump in the second combined solution result, that is, it indicates that data correction is currently required, and accordingly, the trace point determination module 802 may determine a jump trace point from the first combined solution result and determine an error correction trace point for adjusting coordinates of the jump trace point from the second combined solution result. In this way, the coordinate adjustment module 803 may perform weighting adjustment on the coordinates of the jump trace points based on the coordinates of the error correction trace points. The embodiment scheme of the invention is beneficial to quickly and accurately realizing the automatic error correction of the data, and the coordinate correction scheme can also ensure that the track of the adjusted area and the track of the unadjusted area are in seamless connection in the first combined solution result, thereby being beneficial to improving the precision of data correction.
Corresponding to the method shown in fig. 6, if the acquired data is high-precision lane data, the embodiment of the present invention further provides a high-precision data processing apparatus. Referring to fig. 9, a schematic diagram of a high-precision data processing apparatus is shown, which may include:
a geometric shape generating module 901, configured to interrupt a continuous trajectory of a first combined solution result obtained after completing automatic data error correction by using a preset hanging point of a basic road network, and generate a geometric shape of a line point structure, where the preset hanging point is obtained by recording when data of the basic road network is acquired;
a matching module 902, configured to perform one-to-one matching on the lines in the geometric shape and the lines in the basic road network according to a correspondence recorded during data acquisition;
a determining module 903, configured to determine whether a point in the geometric shape has a reference attribute stored in a preset configuration table, where the reference attribute represents a type of hanging point;
a virtual hooking module 904, configured to, when a point in the geometric shape has a reference attribute stored in a preset configuration table, perform virtual hooking on the point and two lines continuing from the point to the front and back;
and an entity hooking module 905, configured to, when a point in the geometric shape does not have the reference attribute stored in the preset configuration table, perform entity hooking on the point and two lines that are consecutive to the point.
Optionally, the virtual hooking module is configured to obtain an endpoint coordinate of an end of each line connected to the point, and select one endpoint coordinate as the coordinate of the point; making attribute information of the virtual hanging connection: and recording the identity marks of two lines which are continuous with the point on the point, and recording the identity marks of the point on each line.
Optionally, the apparatus further comprises:
a curvature value calculation module for splicing the two lines together by using a coordinate difference between the end point coordinates; and calculating the curvature values of the two spliced lines.
Optionally, the entity hooking module is configured to obtain an endpoint coordinate of one end of each line that is connected to the point, and if the two endpoint coordinates are the same, take the endpoint coordinate as the coordinate of the point; if the coordinates of the two end points are different, smoothing the coordinates of the two end points, and taking the processed coordinates as the coordinates of the point and the coordinates of one end of each line connected with the point; making attribute information of the entity hanging connection: and recording the identity marks of two lines which are continuous with the point on the point, and recording the identity marks of the point on each line.
Furthermore, an embodiment of the present invention provides a navigation apparatus, as shown in fig. 10, the navigation apparatus including: a data module 505, a search module 510, a navigation module 515, an entertainment module 520, a communications module 525, an in-vehicle fun drive operating system 500, a sensing system 550, and a user interaction module. Optionally, the user interaction module includes an information entry module 530, an intelligent voice interaction module 535, an analysis module 540, and a display module 545. Wherein:
a data module 505, configured to store and update electronic map data, where the electronic map data is navigation electronic map data processed by the automatic data error correction device disclosed in any one of the related embodiments;
a search module 510, configured to perform a search operation according to a user instruction and output a search result;
the navigation module 515 is configured to provide two-dimensional/three-dimensional path planning and navigation services for the user according to the obtained navigation instruction;
an entertainment module 520 for providing games, music and other audio-visual entertainment items; the communication module 525 is used for acquiring updated map data, dynamic traffic information and one-to-one or group voice/video communication;
an information entry module 530, configured to receive an instruction manually input by a user through a touch screen or a key;
an intelligent voice interaction module 535, configured to receive a user voice instruction, perform voice wakeup and voice control, and perform voice output on a result of executing the user voice instruction;
the analysis module 540 is used for performing voice recognition, semantic analysis and instruction conversion on the user voice instruction and notifying the corresponding module to execute the recognized user voice instruction; wherein, the user voice command is the expression of any sentence pattern in any language;
the display module 545 is used for displaying the search result provided by the search module, the navigation path provided by the navigation module, the map data provided by the data module and the dynamic traffic information provided by the communication module, and displaying the dynamic traffic information in a voice, two-dimensional/three-dimensional graphic and/or text mode;
the vehicle-mounted driving interest operating system 500 is used for providing operating environment and support for the modules;
and the sensing system 550 is used for monitoring vehicle state and road condition information and providing real-time dynamic information for the driving interest operating system.
It should be noted that, because the method and the system for data automatic error correction described in any of the foregoing embodiments have the above technical effects, a navigation device using the method and the system for data automatic error correction described in any of the foregoing embodiments should also have corresponding technical effects, and a specific implementation process thereof is similar to that in the foregoing embodiments and will not be described again.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.

Claims (11)

1. A method for automatic error correction of data, the method comprising:
respectively carrying out jump detection on the first combined solution result and the second combined solution result; the calculation method of the first combined solution result and the second combined solution result comprises the following steps: carrying out post-processing differential solution on the acquired data to obtain a first combined solution result of the tightly combined mode and a second combined solution result of the loosely combined mode;
determining a jump trace point corresponding to the jump from the first combined solution result and determining an error correction trace point from the second combined solution result under the condition that the jump exists in the first combined solution result and the jump does not exist in the second combined solution result, wherein the jump trace point and the error correction trace point are in one-to-one correspondence in time;
and adjusting the coordinates of the jump track points according to the coordinates of the error correction track points.
2. The method of claim 1, wherein detecting a transition of the first combined solution result comprises:
calculating second-order difference of adjacent track points in the first combined solution result;
and if the second-order difference is larger than a preset jump detection threshold value, judging that jump exists in the first combined solution result.
3. The method of claim 1, wherein:
the determining the jump trace point and the error correction trace point further includes:
calculating the coordinate difference of corresponding track points in the first combined solution result and the second combined solution result to two sides by taking the jump as a center until the coordinate difference is not larger than a preset difference value, and obtaining a first endpoint and a second endpoint in the first combined solution result and a third endpoint and a fourth endpoint in the second combined solution result, wherein the first endpoint corresponds to the third endpoint in time, and the second endpoint corresponds to the fourth endpoint in time;
determining a track point between the first end point and the second end point as the jump track point;
and determining the track point between the third end point and the fourth end point as the error correction track point.
4. The method of claim 3, wherein:
the adjusting the coordinates of the jump track point by using the coordinates of the error correction track point further includes:
calculating the corrected coordinates of the jump track point by using the coordinates of the error correction track point, the coordinate difference between the first end point and the third end point and the coordinate difference between the second end point and the fourth end point;
and adjusting the coordinates of the jump track points into the corrected coordinates.
5. The method according to any one of claims 1 to 4, wherein the collected data is high-precision lane data, and after the coordinates of the jump track point are adjusted by using the coordinates of the error-correcting track point, the method further comprises:
interrupting a continuous track of a first combined solution result for completing automatic data error correction by using a preset hanging point of a basic road network to generate a geometric shape of a line point structure, wherein the preset hanging point is obtained by recording when data of the basic road network is collected;
performing one-to-one matching on the lines in the geometric shapes and the lines in the basic road network according to the corresponding relation recorded during data acquisition;
judging whether the points in the geometric shapes have reference attributes stored in a preset configuration table or not, wherein the reference attributes represent a type of hanging points;
if the point in the geometric shape has the reference attribute stored in the preset configuration table, virtually hooking the point and two lines which are connected with the point in front and back, wherein the virtually hooking means that the endpoint coordinate of one end of each line which is connected with the point in the two lines is obtained, and one endpoint coordinate is selected as the coordinate of the point; otherwise, carrying out entity hooking on the point and two lines which are connected with the point in front and back, wherein the entity hooking is to obtain the endpoint coordinate of one end of each line connected with the point in the two lines, and if the two endpoint coordinates are the same, taking the endpoint coordinate as the coordinate of the point; and if the coordinates of the two end points are different, performing smoothing processing on the coordinates of the two end points, and taking the processed coordinates as the coordinates of the point and the coordinates of one end of each line, which is connected with the point.
6. The method of claim 5, wherein:
the virtually hooking the point and the two lines which are connected with the point in the front-back direction further comprises:
acquiring the end point coordinates of one end of each line connected with the point, and selecting one end point coordinate as the coordinate of the point;
making attribute information of the virtual hanging connection: recording the identity of two lines connected with the point on the point, and recording the identity of the point on each line;
and/or the presence of a gas in the gas,
the physically hanging the point and the two lines connected with the point in front and back further comprises:
acquiring the end point coordinates of one end of each line connected with the point, and taking the end point coordinates as the coordinates of the point if the two end point coordinates are the same; if the coordinates of the two end points are different, smoothing the coordinates of the two end points, and taking the processed coordinates as the coordinates of the point and the coordinates of one end of each line connected with the point;
making attribute information of the entity hanging connection: and recording the identity marks of two lines which are continuous with the point on the point, and recording the identity marks of the point on each line.
7. The method of claim 6, further comprising, for a virtual hook:
splicing the two lines together using a coordinate difference between the end point coordinates; specifically, one of the two lines is moved based on a coordinate difference between the two lines and an end point of one end of the point connection, so that the two lines and the end point of one end of the point connection have the same coordinate;
and calculating the curvature values of the two spliced lines.
8. An apparatus for automatic error correction of data, the apparatus comprising:
a jump detection module for respectively carrying out jump detection on the first combined solution result and the second combined solution result; the calculation method of the first combined solution result and the second combined solution result comprises the following steps: carrying out post-processing differential solution on the acquired data to obtain a first combined solution result of the tightly combined mode and a second combined solution result of the loosely combined mode;
a trace point determining module, configured to determine a jump trace point corresponding to the jump from the first combined solution result and determine an error correction trace point from the second combined solution result when the first combined solution result has the jump and the second combined solution result has no jump, where the jump trace point and the error correction trace point are in one-to-one correspondence in time;
and the coordinate adjusting module is used for adjusting the coordinates of the jump track points by utilizing the coordinates of the error correction track points.
9. The apparatus of claim 8, wherein:
the jump detection module includes:
the difference calculation module is used for calculating the second-order difference of adjacent track points in the first combined solution result;
a jump determining module, configured to determine that a jump exists in the first combined solution result when the second-order difference is greater than a preset jump detection threshold;
the track point determination module comprises:
a coordinate difference calculation module, configured to calculate, with the jump as a center, a coordinate difference between corresponding trace points in the first combined solution result and the second combined solution result to two sides until the coordinate difference is not greater than a preset difference value, to obtain a first endpoint and a second endpoint in the first combined solution result, and a third endpoint and a fourth endpoint in the second combined solution result, where the first endpoint corresponds to the third endpoint in time, and the second endpoint corresponds to the fourth endpoint in time;
a jump track point determining module, configured to determine a track point between the first end point and the second end point as the jump track point;
the error correction track point determining module is used for determining track points between the third end point and the fourth end point as the error correction track points;
the coordinate adjustment module includes:
the corrected coordinate calculation module is used for calculating the corrected coordinate of the jump track point by using the coordinate difference between the error correction track point, the first end point and the third end point and the second end point and the fourth end point;
and the coordinate adjusting submodule is used for adjusting the coordinates of the jump track points into the corrected coordinates.
10. The apparatus of claim 9, wherein the collected data is high precision lane data, the apparatus further comprising:
the geometric shape generation module is used for interrupting a continuous track of a first combined solution result of completing automatic data error correction by using a preset hanging point of a basic road network to generate a geometric shape of a line point structure, wherein the preset hanging point is obtained by recording when data of the basic road network is collected;
the matching module is used for performing one-to-one matching on the lines in the geometric shapes and the lines in the basic road network according to the corresponding relation recorded during data acquisition;
the judging module is used for judging whether the points in the geometric shapes have reference attributes stored in a preset configuration table or not, and the reference attributes represent a type of hanging points;
the virtual hooking module is used for virtually hooking the point and two lines which are connected with the point in front and back when the point in the geometric shape has the reference attribute stored in the preset configuration table; the virtual hooking is to obtain the end point coordinate of one end of each line connected with the point, and select one end point coordinate as the coordinate of the point;
the entity hooking module is used for hooking the point and two lines which are connected with the point in front and back when the point in the geometric shape does not have the reference attribute stored in the preset configuration table; the entity hooking means that an endpoint coordinate of one end of each line connected with the point in the two lines is obtained, and if the two endpoint coordinates are the same, the endpoint coordinate is taken as the coordinate of the point; if the coordinates of the two end points are different, smoothing the coordinates of the two end points, and taking the processed coordinates as the coordinates of the point and the coordinates of one end of each line connected with the point;
a curvature value calculation module for virtually hooking, splicing the two lines together by using a coordinate difference between the end point coordinates, specifically, moving one of the lines based on the coordinate difference between the end points of the two lines and the end point of the end point connected with the point, so that the end points of the two lines and the end point connected with the point have the same coordinate; and calculating the curvature values of the two spliced lines.
11. A navigation device, comprising:
a data module, for storing and updating electronic map data, the electronic map data being navigation electronic map data processed by the data automatic error correction device according to any one of claims 8-10;
the search module is used for executing search operation according to the user instruction and outputting a search result;
the navigation module is used for providing two-dimensional/three-dimensional path planning and navigation service for the user according to the obtained navigation instruction;
the entertainment module is used for providing games, music and other video entertainment items;
the communication module is used for acquiring updated map data, dynamic traffic information and one-to-one or group voice/video communication;
the information entry module is used for receiving an instruction manually input by a user through a touch screen or a key;
the intelligent voice interaction module is used for receiving a user voice instruction, performing voice awakening and voice control and outputting a result of executing the user voice instruction in a voice mode;
the analysis module is used for carrying out voice recognition, semantic analysis and instruction conversion on the user voice instruction and informing the corresponding module to execute the recognized user voice instruction; wherein, the user voice command is the expression of any sentence pattern in any language;
the display module is used for displaying the search result provided by the search module, and the navigation path provided by the navigation module, the map data provided by the data module and the dynamic traffic information provided by the communication module are displayed in a voice, two-dimensional/three-dimensional graphic representation and/or text mode;
the driving interest operating system is used for providing operating environment and support for the modules;
and the sensing system is used for monitoring the vehicle state and road condition information and providing real-time dynamic information for the driving interest operating system.
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