CN109870713B - GPS track curve generation method and device - Google Patents
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Abstract
The invention provides a GPS track curve generation method and a device, wherein the method comprises the following steps: s1: grid division: establishing a virtual grid by taking a coordinate plane of a Web Mercator projection coordinate system as a datum plane and an origin as a datum point; s2: acquiring track points: screening and collecting the effective track points acquired in real time and the corrected track points into a grid; s3: and (3) curve generation: and connecting the GPS track points collected in the grid into a line in real time. The device comprises a grid division module, a track point acquisition module and a curve generation module. The GPS track curve generation method is an on-line and real-time track curve generation method for acquiring track point coordinates and judging and screening track points, and utilizes divided grids to combine with specific rules to acquire and screen the track points in real time, so that redundant information of uploaded track data is greatly reduced, the storage space of a server is saved, and meanwhile, a good display effect of the track curve is ensured.
Description
Technical Field
The invention belongs to the technical field of GPS track data processing, and particularly relates to a GPS track curve generation method and device.
Background
The Global Positioning System (GPS) can be used to obtain the position information of the Positioning terminal in real time, and each time the position information is obtained can be regarded as a sampling point, which includes corresponding time information and position information. And displaying each sampling point on a map according to the coordinate position, and sequentially connecting lines according to the time sequence to obtain a complete historical track curve.
When the position data is acquired by using a GPS system, the interference of surrounding environments (such as water surfaces, tall buildings and the like) exists, the deviation distance between a track point acquired by position acquisition equipment and a normal track is large, a large number of abnormal points exist in the acquired track data, and the generated track curve has obvious deviation with an actual route; when the position acquisition equipment stays in a certain point or area for a long time, a large number of repeated points are generated near the same point, so that the transmitted track data volume is multiplied, and the network transmission pressure is increased; in addition, the existence of a large number of repeated points can cause the disk storage to be multiplied, and the query and retrieval efficiency of the track data at the later stage is influenced.
Disclosure of Invention
In view of the above, the present invention provides a GPS trajectory curve generation method, which overcomes the defects in the prior art by selectively collecting trajectory points, and also provides a GPS trajectory curve generation device.
The invention provides a GPS track curve generation method, which comprises the following steps:
s1, grid division: establishing a virtual grid by taking a coordinate plane of a Web Mercator projection coordinate system as a datum plane and an origin as a datum point;
further, the specific step of step S1 is:
the method comprises the steps of taking a coordinate plane of a Web Mercator projection coordinate system as a reference plane and an origin as a reference point, creating a virtual grid according to a fixed grid size (GridSize), wherein the size of the virtual grid is preferably 5-10 m according to the precision range of the current mainstream civil GPS positioning equipment, and for any point P (x, y) in the Web Mercator projection coordinate system, the corresponding grid number is defined as [ x/GridSize ] _[ y/GridSize ], [ ] representing rounding operation.
S2, acquiring track points: the method comprises the steps of acquiring GPS track points of a current position from a GPS system in real time, converting coordinates of the GPS track points into Web Mercator coordinates, judging whether the GPS track points of the current position are effective track points or abnormal track points by combining the Web Mercator coordinates, screening and retaining the effective track points in a virtual grid if the GPS track points are the effective track points, and screening and retaining the corrected abnormal track points in the virtual grid if the GPS track points are the abnormal track points;
further, the specific step of step S2 is:
s21, acquiring a GPS track point of the current position in real time from a GPS system, and converting the coordinate of the GPS track point into a Web Mercator coordinate;
s22, if the precision of the current track point is better than a first set threshold value, the current track point is judged to be an effective track point, and the step S23 is further executed, otherwise, the step S25 is executed;
s23, judging whether track points exist in the current grid or not for the current track points, and realizing the judgment by correlating the track points and recording grid numbers, wherein for any track point P (x, y), the grid number of the grid where the track point is located is [ x/GridSize ] _ [ y/GridSize ], if no track point exists in the corresponding grid within the current time period, the current track point is collected into the corresponding grid, otherwise, the step S24 is executed;
s24, judging whether to collect the current track point according to the time interval between the current track point and the previous sampling point in the grid, if the time interval is smaller than a second set threshold value, not collecting the current track point, otherwise, collecting the current track point into the corresponding grid;
s25, firstly, judging whether track points exist in the corresponding grid in the current time period, if so, not collecting the track points in the grid, otherwise, calculating the speed according to the distance and the time difference between two continuous track points, if the speed is greater than a third set threshold value, judging that the current track points are abnormal track points, and going to step S26, otherwise, not collecting the current track points;
s26, correcting the abnormal track points with the number exceeding a fourth set threshold value by using a Kalman filter, returning the corrected track points to execute the step S23 according to the collection rule of effective track points, wherein the number of the continuous abnormal points is less than that of the track points with the fourth set threshold value and the track points are not collected into the grid;
and S27, real-time screening effective track points or corrected abnormal track points acquired in the steps S23, S24 and S26, calculating an included angle between two vectors formed by three sampling points according to the currently acquired GPS track points and the previous two sampling points, and removing the sampling points at the middle positions in the grid if the included angle is smaller than a fifth set threshold value.
The first set threshold is 10m, the second set threshold is 20 minutes, the third set threshold is 120km/h, the fourth set threshold is 3, and the fifth set threshold is 15 degrees.
S3, curve generation: and connecting the GPS track points collected in the step S2 in the virtual grid into a line in real time.
The invention also provides a GPS track curve generation device, which comprises a grid division module, a track point acquisition module and a curve generation module, wherein:
a network division module: establishing a virtual grid according to a given fixed grid size (GridSize) by taking a coordinate plane of a Web Mercator projection coordinate system as a reference plane and an origin as a reference point, wherein the grid size is preferably 5-10 m according to the precision range of the current mainstream civil GPS positioning equipment, and for any point P (x, y) in the Web Mercator projection coordinate system, the corresponding grid number is defined as [ x/GridSize ] _[ y/GridSize ], [ ] representing rounding operation;
track point acquisition module: the system is used for acquiring GPS track points of the current position from a GPS system in real time, converting the coordinates of the GPS track points into Web Mercator coordinates, judging whether the current track points are effective track points or abnormal track points, and screening and retaining the effective track points and the corrected track points in corresponding grids;
a curve generation module: the method is used for connecting the GPS track points collected in the grid into a line in real time.
Further, the trace point acquisition module comprises:
effective track point judging unit: and the method is used for judging whether the current track point is an effective track point. If the precision of the current track point is higher than a first set threshold value and corresponds to no track point in the grid, or corresponds to track point in the grid but the time interval between the current track point and the previous sampling point in the grid is larger than a second set threshold value, the current track point is judged to be an effective track point;
an abnormal track point judgment unit: and the method is used for judging whether the current track point is an abnormal track point. If the precision of the current track point is lower than a first set threshold value and the speed calculated through the distance and the time difference between two continuous track points is greater than a third set threshold value, judging that the current track point is an abnormal track point;
an abnormal trajectory point correction unit: the method comprises the steps that a Kalman filter is used for carrying out filtering correction on abnormal track points of which the number of continuous abnormal points exceeds a fourth set threshold;
track point screening unit: the method is used for screening effective track points or corrected abnormal track points in the collected grids in real time, calculating vector change of 3 continuous track points in the current time period, calculating included angles between two vectors formed by the 3 track points, and removing the track points at the middle positions in the grids if the included angles are smaller than a fifth set threshold value.
The technical scheme provided by the invention has the beneficial effects that: compared with the prior GPS track curve generation method which obtains all track point coordinates and then carries out processing such as abnormal point filtering, smooth denoising, track point thinning and the like to obtain a final track curve, the GPS track curve generation method is an on-line and real-time track curve generation method which obtains track point coordinates and judges and screens track points, and the divided grids are combined with specific rules to carry out real-time acquisition and screening on the track points, thereby greatly reducing redundant information of uploaded track data, saving the storage space of a server and simultaneously ensuring the good display effect of the track curve.
Drawings
Fig. 1 is a flowchart of a GPS trajectory curve generation method provided by the present invention.
Fig. 2 is a block diagram of a GPS trajectory curve generation device according to the present invention.
Fig. 3 is a flowchart of the trace point acquisition step provided by the present invention.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
The present embodiment provides a method for generating a GPS track curve, as shown in fig. 1, including the steps of:
s1, grid division: establishing a virtual grid by taking a coordinate plane of a Web Mercator projection coordinate system as a datum plane and an origin as a datum point;
the specific method of step S1 is:
a virtual grid is created according to a fixed grid size (GridSize) by taking a coordinate plane of a Web Mercator projection coordinate system as a reference plane and an origin as a reference point (the origin of the Web Mercator projection coordinate system is the intersection point of the equator and the initial meridian), the size of the virtual grid is 510 meters, preferably, the size of the virtual grid is 5 meters, and for any point P (x, y) under the Web Mercator projection coordinate system, the corresponding grid number is defined as [ x/GridSize ] _[ y/GridSize ], [ ] represents the rounding operation.
S2, track point acquisition: acquiring GPS track points of a current position in real time from a GPS system, converting the coordinates of the GPS track points into Web Mercator coordinates, judging whether the current track points are effective track points or abnormal track points, and screening and retaining the effective track points and the corrected abnormal track points in a virtual grid;
specifically, for the current track point obtained from the GPS system in real time, if the accuracy is better than 10m, the current track point is determined to be an effective track point, and it is further determined whether there is a track point in the current grid.
It should be noted that, the judgment of whether there are track points in the current grid is realized by associating the track points and recording the grid numbers, and for any track point P (x, y), the grid number of the grid where it is located is denoted as [ x/gridSize ] _[ y/gridSzie ].
If the corresponding grid track points are not tracked in the current time period, acquiring the current track points into the corresponding grid, otherwise, further judging whether to acquire the current track points according to the time interval between the current track points and the previous sampling points in the grid, if the time interval is less than 20 minutes, not acquiring the current track points, otherwise, acquiring the current track points into the corresponding grid.
And if the precision of the current track point is lower than 10m and the speed calculated through the distance and the time difference between two continuous track points is greater than 120km/h, the current track point is considered as an abnormal track point.
And (3) correcting the abnormal track points with the number exceeding 3 by using a Kalman filter aiming at the abnormal track points with the number exceeding 3, and then acquiring the corrected track points into the grid according to the acquisition rule of the effective track points.
It should be noted that, for other non-abnormal trace points with lower point location accuracy, for example, the point location accuracy of the current trace point is lower than 10m and the trace point exists in the corresponding grid in the current time period, or the point location accuracy of the current trace point is lower than 10m and the speed calculated by the distance between two consecutive points and the time difference is less than 120km/h, and the trace point is not collected into the grid; the number of the continuous abnormal track points is less than 3, and the continuous abnormal track points are not collected into the grid.
The method comprises the steps of screening effective track points or corrected abnormal track points in a collected grid in real time, calculating an included angle between two vectors formed by three sampling points according to the GPS track points and the first two samples of the GPS track points in the collected grid at present, and removing the sampling points of the middle positions in the grid if the included angle is smaller than 15 degrees.
S3, a curve generation step: and connecting the GPS track points collected in the grid into a line in real time.
The present embodiment provides a GPS track curve generating device, as shown in fig. 2, including a mesh division module, a track point acquisition module, and a curve generating module.
A network division module: establishing a virtual grid according to a given fixed grid size (GridSize) by taking a coordinate plane of a Web Mercator projection coordinate system as a reference plane and an origin as a reference point, wherein the grid size is preferably 5-10 m according to the precision range of the current mainstream civil GPS positioning equipment, and for any point P (x, y) in the Web Mercator projection coordinate system, the corresponding grid number is defined as [ x/GridSize ] _[ y/GridSize ], [ ] representing rounding operation;
track point acquisition module: the process is as shown in fig. 3, and is used for acquiring a GPS track point of a current position from a GPS system in real time, converting the coordinate of the GPS track point into a Web Mercator coordinate, judging whether the current track point is an effective track point or an abnormal track point, and screening and retaining the effective track point and the corrected track point in a corresponding grid;
a curve generation module: the method is used for connecting the GPS track points collected in the grid into a line in real time.
Specifically, the trace point acquisition module further includes:
effective track point judging unit: and the method is used for judging whether the current track point is an effective track point. If the precision of the current track point is higher than 10m and corresponds to a trackless track point in the grid, or corresponds to a track point in the grid but the time interval between the current track point and the previous sampling point in the grid is more than 20 minutes, judging that the current track point is an effective track point;
an abnormal track point judgment unit: and the method is used for judging whether the current track point is an abnormal track point. If the precision of the current track point is lower than 10m and the speed calculated through the distance and the time difference between two continuous track points is greater than 120km/h, judging that the current track point is an abnormal track point;
an abnormal trajectory point correction unit: the method is used for carrying out filtering correction on the abnormal track points with the number of continuous abnormal points exceeding 3 by means of a Kalman filter;
track point screening unit: the method is used for screening effective track points or corrected abnormal track points in the collected grids in real time, calculating vector change of 3 continuous track points in the current time period, calculating an included angle between two vectors formed by the 3 track points, and removing the track points at the middle positions in the grids if the included angle is smaller than 15 degrees.
Through the description of the present embodiment, it is clear to those skilled in the art that the method of the present embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation manner in many cases. Based on such understanding, the technical solution of the present invention or the portions contributing to the prior art may be essentially embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g. mobile phone, computer, server, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A GPS track curve generation method is characterized by comprising the following steps:
s1, grid division: establishing a virtual grid by taking a coordinate plane of a Web Mercator projection coordinate system as a datum plane and an origin as a datum point;
s2, acquiring track points: the method comprises the steps of acquiring GPS track points of a current position from a GPS system in real time, converting coordinates of the GPS track points into Web Mercator coordinates, judging whether the GPS track points of the current position are effective track points or abnormal track points by combining the Web Mercator coordinates, screening and retaining the effective track points in a virtual grid if the GPS track points are the effective track points, and screening and retaining the corrected abnormal track points in the virtual grid if the GPS track points are the abnormal track points;
step S2 specifically includes:
s21, acquiring a GPS track point of the current position from a GPS system in real time, and converting the coordinate of the GPS track point into a Web Mercator coordinate;
s22, if the precision of the current track point is better than a first set threshold value, the current track point is judged to be an effective track point, and the step S23 is further executed, otherwise, the step S25 is executed;
s23, for the current track point, if the corresponding grid has track points in the current time period, further executing the step S24, otherwise, collecting the current track point into the corresponding grid;
s24, judging whether to collect the current track point according to the time interval between the current track point and the previous sampling point in the grid, if the time interval is smaller than a second set threshold value, not collecting the current track point, otherwise, collecting the current track point into the corresponding grid;
s25, firstly, judging whether track points exist in the corresponding grid in the current time period, if so, not collecting the track points in the grid, otherwise, calculating the speed according to the distance and the time difference between two continuous track points, if the speed is greater than a third set threshold value, judging that the current track points are abnormal track points, and going to step S26, otherwise, not collecting the current track points;
s26, correcting the abnormal track points with the number exceeding a fourth set threshold value by using a Kalman filter, returning the corrected track points to execute the step S23 according to the collection rule of effective track points, wherein the number of the continuous abnormal points is less than that of the track points with the fourth set threshold value and the track points are not collected into the grid;
s27, real-time screening is conducted on the effective track points or the corrected abnormal track points collected in the grids in the steps S23, S24 and S26, an included angle between two vectors formed by three sampling points is calculated according to the GPS track points and the previous two sampling points collected in the grids at present, and if the included angle is smaller than a fifth set threshold value, sampling points in the middle positions are removed from the grids;
s3, curve generation: and connecting the GPS track points collected in the step S2 in the virtual grid into a line in real time.
2. The method for generating a GPS track curve according to claim 1, wherein in step S1, the process of creating the virtual grid includes: and establishing a virtual grid by taking a coordinate plane of a Web Mercator projection coordinate system as a reference plane and an origin as a reference point, wherein the size of the virtual grid is 5-10 m, and the grid number corresponding to any point in the virtual grid is determined by the coordinate value and the grid size.
3. The method according to claim 1, wherein the first threshold value is 10m, and the second threshold value is 20 minutes.
4. The method as claimed in claim 1, wherein the third threshold is 120km/h, the fourth threshold is 3, and the fifth threshold is 15 degrees.
5. The utility model provides a GPS orbit curve generation device which characterized in that, includes meshing module, track point acquisition module and curve generation module, wherein:
a network division module: establishing a virtual grid according to the given fixed grid size by taking a coordinate plane of a Web Mercator projection coordinate system as a datum plane and an origin as a datum point, wherein the grid size of the virtual grid is 5-10 m, and a grid number corresponding to any point in the virtual grid is determined by a coordinate value and the grid size;
track point acquisition module: the system comprises a GPS system, a Web Mercator, a virtual grid and a virtual grid, wherein the GPS system is used for acquiring GPS track points of a current position in real time from the GPS system, converting the coordinates of the GPS track points into Web Mercator coordinates, judging whether the current track points are effective track points or abnormal track points, and screening and retaining the effective track points and the corrected abnormal track points in the virtual grid; the track point acquisition module comprises:
effective track point judging unit: the system is used for judging whether the current track point is an effective track point, and if the precision of the current track point is superior to a first set threshold and corresponds to a track-free point in a grid, or corresponds to a track point in the grid but the time interval between the current track point and a previous sampling point in the grid is greater than a second set threshold, the current track point is judged to be the effective track point;
an abnormal track point judgment unit: the method comprises the steps of judging whether a current track point is an abnormal track point, and if the precision of the current track point is lower than a first set threshold value and the speed calculated through the distance and time difference between two continuous track points is greater than a third set threshold value, judging that the current track point is the abnormal track point;
an abnormal trajectory point correction unit: the method comprises the steps that a Kalman filter is used for carrying out filtering correction on abnormal track points of which the number of continuous abnormal points exceeds a fourth set threshold;
track point screening unit: the system is used for screening the collected effective track points or corrected abnormal track points in the grid in real time, calculating the vector change of 3 continuous track points in the current time period, calculating the included angle between two vectors formed by the 3 track points, and removing the track points at the middle position in the grid if the included angle is smaller than a fifth set threshold;
a curve generation module: the method is used for connecting the GPS track points collected in the grid into a line in real time.
6. The apparatus according to claim 5, wherein the first threshold value is 10m, and the second threshold value is 20 minutes.
7. The apparatus as claimed in claim 5, wherein the third threshold is 120km/h, the fourth threshold is 3, and the fifth threshold is 15 degrees.
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| CN111310070B (en) * | 2019-12-20 | 2024-03-08 | 东软集团股份有限公司 | Method and device for determining frequent trips, storage medium and electronic equipment |
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| CN111654290B (en) * | 2020-04-24 | 2023-10-31 | 北京中交兴路车联网科技有限公司 | Method, device, equipment and storage medium for compressing vehicle track data |
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