CN111953845A - Vehicle driving positioning method and device, electronic equipment and medium - Google Patents
Vehicle driving positioning method and device, electronic equipment and medium Download PDFInfo
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- CN111953845A CN111953845A CN202010700710.0A CN202010700710A CN111953845A CN 111953845 A CN111953845 A CN 111953845A CN 202010700710 A CN202010700710 A CN 202010700710A CN 111953845 A CN111953845 A CN 111953845A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The invention provides a vehicle driving positioning method, a vehicle driving positioning device, electronic equipment and a storage medium, wherein the method is applied to an application program APP on a mobile terminal, and comprises the following steps: when detecting that a vehicle starts to run, the APP requests GPS positioning and starts a timer to start timing; when the timer reaches a preset interval time, the APP judges whether the current GPS positioning is interrupted; and if the GPS positioning is interrupted, the APP requests the GPS positioning again until the corresponding positioning coordinate point information in the running process of the vehicle is obtained. In the invention, a preset interval time is preset on a timer, when the timer reaches the preset interval time, the APP judges whether the current GPS positioning is interrupted, and when the GPS positioning is interrupted, the corresponding positioning coordinate point information during the running of the vehicle is obtained by requesting the GPS positioning again, thereby improving the precision of the GPS positioning during the running of the vehicle.
Description
Technical Field
The present invention relates to the field of mobile terminal technologies, and in particular, to a vehicle driving positioning method and apparatus, an electronic device, and a storage medium.
Background
Along with the rise of industries such as network appointment vehicles, express transportation and the like. Under the condition of more and more business development, the requirement on the accuracy of the running distance of the vehicle is higher and higher. In general, the distance is directly calculated by using the longitude and latitude of the starting point and the end point, and the distances between every two points are cumulatively added to obtain the final total distance data.
However, in the related art, since the distance calculated using the start point and the end point is a straight distance, such a straight distance has a large error from the actual travel distance; particularly, in a weak network environment or an environment with weak GPS signals, the positioning coordinate point of the vehicle may not be obtained, and the distance is lost, so that the calculated total distance has an error with the actual distance due to the lack of many key coordinate points of the vehicle. Moreover, in the running process of the vehicle, if the App is backed to the background, the App is possibly forced to be backed out (namely, the App is killed by the system) for some reasons, and a plurality of coordinate points can be lost due to the fact that the vehicle cannot be positioned in real time, so that the calculated distance is inaccurate. Or the vehicle can be located in a floating position due to the vehicle speed under the conditions of traffic jam, acceleration, deceleration, turning around and the like, and the current position of the vehicle cannot be accurately located.
Therefore, how to accurately position the running vehicle in the running process of the vehicle is a technical problem to be solved at present.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a method for positioning a vehicle during traveling, so as to solve the technical problem in the prior art that the position of a traveling vehicle cannot be accurately positioned when a GPS signal is weak or a network is poor, thereby resulting in poor positioning of the traveling vehicle.
Correspondingly, the embodiment of the invention also provides a device for determining the travel distance of the mobile terminal, electronic equipment and a storage medium device, which are used for ensuring the realization and application of the method.
In order to solve the problems, the invention is realized by the following technical scheme:
a first aspect provides a vehicle driving positioning method, which is applied to an application APP on a mobile terminal, and includes:
when detecting that a vehicle starts to run, the APP requests GPS positioning and starts a timer to start timing;
when the timer reaches a preset interval time, the APP judges whether the current GPS positioning is interrupted;
and if the GPS positioning is interrupted, the APP requests the GPS positioning again until the corresponding positioning coordinate point information in the running process of the vehicle is obtained.
Optionally, when the timer reaches the preset interval time, the APP determines whether the current GPS positioning is interrupted, including:
when the timer reaches the preset interval time, the APP judges whether the APP normally operates in the background currently through sending a heartbeat packet to the server, and then judges whether the current GPS positioning is interrupted.
Optionally, when the timer reaches a preset interval time, the APP determines whether the current GPS positioning is interrupted by sending a heartbeat packet to the server, including:
when the timer reaches a preset interval time, the APP sends a heartbeat packet to the server;
if the APP receives a response fed back by the server within a set time, determining that the APP normally operates in the background, and judging that the GPS positioning is normal;
and if the response fed back by the server is not received within a set time, determining that the APP is killed in the background, and judging that the GPS positioning is interrupted.
Optionally, after determining that the GPS positioning is interrupted, the method further includes:
and the APP receives a silence push notification sent by the server, wherein the silence push notification is used for indicating that the server does not receive a heartbeat packet sent by the APP within a set time, and actively awakening the notification of the APP so as to execute the step of requesting the GPS positioning again.
Optionally, the method further includes:
after the GPS positioning is requested again, the APP acquires GPS positioning coordinate point information during the running of the vehicle at preset intervals;
the APP determines a first distance between the acquired first GPS positioning coordinate point information and adjacent second GPS positioning coordinate point information;
and if the first distance is not greater than the preset distance threshold, judging that the adjacent second GPS positioning coordinate point information is qualified, storing the second GPS positioning coordinate point information, continuously judging whether the distance between the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the second GPS positioning coordinate point information is greater than the preset distance threshold, and if not, continuously carrying out iterative judgment until the vehicle runs to the end.
Optionally, the method further includes:
if the distance is larger than the preset distance threshold, judging that the second GPS positioning coordinate point information is wrong, and filtering the second GPS positioning coordinate point information;
determining a second distance between next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the first GPS positioning coordinate point information;
if the second distance is larger than a preset distance threshold value which is two times larger than the first distance, the APP judges that the next GPS positioning coordinate point information of the second GPS positioning coordinate point information is wrong, and the next GPS positioning coordinate point information is filtered;
the APP continuously and sequentially iteratively judges whether a third distance between next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the first GPS positioning coordinate point information is larger than a preset distance threshold of three times or not until qualified GPS positioning coordinate point information is obtained, and the qualified GPS positioning coordinate point information is stored;
the APP continuously and iteratively judges whether the distance between the next GPS positioning coordinate point information adjacent to the qualified GPS positioning coordinate point information and the qualified GPS positioning coordinate point information is larger than a preset threshold value or not until the vehicle runs;
if the second distance is not larger than the two times of the preset distance threshold, the APP judges that the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information is qualified, saves the next GPS positioning coordinate point information, and continuously iteratively judges whether the distance between the next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the second GPS positioning coordinate point information is larger than the preset distance threshold or not until the vehicle runs to the end.
A second aspect provides a positioning apparatus for vehicle driving, the apparatus being applied to a mobile terminal, the apparatus comprising:
the request module is used for requesting GPS positioning when the vehicle is detected to start running;
the starting module is used for starting a timer to start timing when the request module requests GPS positioning;
the first judgment module is used for judging whether the current GPS positioning is interrupted or not when the timer started by the starting module reaches the preset interval time;
and the re-request module is used for re-requesting the GPS positioning when the first judgment module judges that the GPS positioning is interrupted until the corresponding positioning coordinate point information in the running process of the vehicle is obtained.
Optionally, the first determining module is specifically configured to determine whether the APP is currently running normally in the background by sending a heartbeat packet to the server when the timer started by the starting module reaches the preset interval time, so as to determine whether the current GPS positioning is interrupted.
Optionally, the first determining module includes:
the sending module is used for sending a heartbeat packet to the server when the timer started by the starting module reaches a preset interval time;
the first receiving module is used for receiving the response fed back by the server within set time;
the first determining module is used for determining that the application program normally runs in the background and judging that the GPS positioning is normal when the first receiving module receives the response fed back by the server;
and the second determining module is used for determining that the APP is killed by the system in the background and judging that the GPS positioning is interrupted when the first receiving module does not receive the response fed back by the server.
Optionally, the apparatus further comprises:
a second receiving module, configured to receive a silence push notification sent by the server after the second determining module determines that the GPS positioning is interrupted, where the silence push notification is used to indicate that the server does not receive a heartbeat packet sent by an APP within a set time, and actively wake up a notification of the APP;
the re-request module is further configured to re-request GPS positioning when the second receiving module receives the silence push notification sent by the server.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring GPS positioning coordinate point information in the running process of the vehicle at preset time intervals after the re-request module re-requests GPS positioning;
the first distance determining module is used for determining a first distance between the acquired first GPS positioning coordinate point information and adjacent second GPS positioning coordinate point information;
the second judgment module is used for judging whether the first distance is not greater than a preset distance threshold value or not;
the third determining module is used for determining that the information of the adjacent second GPS positioning coordinate point is qualified when the second determining module determines that the first distance is not greater than the preset distance threshold;
the first storage module is used for storing the second GPS positioning coordinate point information when the third determination module determines that the second GPS positioning coordinate point information is qualified;
and the first iteration judgment module is used for continuously iteratively judging whether the distance between the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the second GPS positioning coordinate point information is greater than the preset distance threshold value or not until the vehicle finishes running.
Optionally, the apparatus further comprises:
a fourth determining module, configured to determine that the second GPS positioning coordinate point information is wrong when the second determining module determines that the first distance is greater than the preset distance threshold;
the first filtering module is used for filtering the second GPS positioning coordinate point information when the fourth determining module determines that the second GPS positioning coordinate point information is wrong;
a second distance determining module, configured to determine a second distance between next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the first GPS positioning coordinate point information;
the third judging module is used for judging whether the second distance is larger than a double preset distance threshold value;
a fifth determining module, configured to determine that information of a next GPS positioning coordinate point of the second GPS positioning coordinate point information is wrong when the third determining module determines that the second distance is greater than a preset distance threshold twice;
the second filtering module is used for filtering the next GPS positioning coordinate point information when the fifth determining module determines that the next GPS positioning coordinate point information of the second GPS positioning coordinate point information is wrong;
the second iteration judgment module is used for continuously and sequentially iterating and judging whether a third distance between next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the first GPS positioning coordinate point information is larger than a preset distance threshold value which is three times larger than the first GPS positioning coordinate point information or not until qualified GPS positioning coordinate point information is obtained;
the second storage module is used for storing the qualified GPS positioning coordinate point information when the iteration judgment module judges the qualified GPS positioning coordinate point information;
the third iteration judgment module is used for continuously iteratively judging whether the distance between the next GPS positioning coordinate point information adjacent to the qualified GPS positioning coordinate point information and the qualified GPS positioning coordinate point information meets a preset threshold value or not until the driving is finished;
a sixth determining module, configured to determine that, when the third determining module determines that the second distance is not greater than a preset distance threshold of two times, a next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information is qualified;
the third storage module is used for storing the next GPS positioning coordinate point information when the sixth determination module determines that the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information is qualified;
and the fourth iteration judgment module is used for continuously iterating and judging whether the distance between the next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the second GPS positioning coordinate point information is larger than a preset distance threshold value or not until the vehicle runs.
A third aspect provides an electronic device comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method for locating a vehicle movement described above.
A fourth aspect provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps in the method of positioning for vehicle travel as described above.
A fifth aspect provides a computer program product, wherein instructions of the computer program product, when executed by a processor of an electronic device, cause the electronic device to execute the steps of the vehicle driving location method described above.
Compared with the prior art, the embodiment of the invention has the following advantages:
in the implementation of the invention, when detecting that a vehicle starts to run, an APP on a mobile terminal requests GPS positioning and starts a timer to start timing; when the timer reaches the preset interval time, the APP judges whether the current GPS positioning is interrupted, if the GPS positioning is interrupted, the APP requests the GPS positioning again until the positioning coordinate point information of vehicle running is obtained. That is to say, in the embodiment of the present invention, a preset interval time is set on a timer in advance, when the timer reaches the preset interval time, the APP determines whether the current GPS positioning is interrupted, and when the GPS positioning is interrupted, the APP acquires the positioning coordinate point information corresponding to the vehicle in the traveling process by requesting the GPS positioning again, so as to improve the accuracy of the GPS positioning in the traveling process of the vehicle.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
FIG. 1 is a flow chart of a method for locating a vehicle in motion according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a positioning device for vehicle driving according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first determining module according to an embodiment of the present invention;
FIG. 4 is another schematic structural diagram of a positioning device for vehicle driving according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a positioning device for vehicle driving according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an application example of a vehicle-driving positioning system according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, a flowchart of a positioning method for vehicle driving according to an embodiment of the present invention is shown, where the method is applied to an application APP on a mobile terminal, and specifically includes the following steps:
step 101: when detecting that a vehicle runs, the APP requests GPS positioning and starts a timer to start timing;
step 102: when the timer reaches a preset interval time, the APP judges whether the current GPS positioning is interrupted;
step 103: and if the GPS positioning is interrupted, the APP re-requests the GPS positioning until the corresponding positioning coordinate point information is obtained.
The positioning method for vehicle driving provided by the embodiment of the invention can be applied to a mobile terminal, a server, a client, a back end or a system and the like, and is not limited herein.
The following describes in detail specific implementation steps of a vehicle driving positioning method according to an embodiment of the present invention with reference to fig. 1. The method is applied to an application program APP on the mobile terminal.
Step 101 is executed, when detecting that a vehicle starts to run, an APP requests GPS positioning, and starts a timer to start timing;
in this step, when the vehicle starts to travel, if should go on fixing a position to this vehicle of traveling, then need click earlier and get into the application program APP of installing on mobile terminal, APP detects this vehicle when beginning to travel promptly, start GPS location, request GPS location promptly, in this embodiment, for avoiding leading to APP to be killed by the backstage owing to other factors, GPS lasts the location interrupt, in this embodiment, APP starts a timer when requesting GPS location, time through the timer that opens, it needs to explain that, can set up preset interval to this timer in advance, for example, the preset interval that sets up is: 5 seconds, 8 seconds, 10 seconds, 13 seconds, 15 seconds, etc., and this embodiment is not limited, and may also be adaptively adjusted as needed, and this embodiment is not limited.
Secondly, executing step 102, when the timer reaches a preset interval time, the APP judges whether the current GPS positioning is interrupted, and if the GPS positioning is interrupted, executing step 103;
in this step, when the timer reaches a preset interval time, the APP detects whether the current GPS is interrupted, for example, every 10s detects whether the current GPS positioning is interrupted, no operation is performed without interruption, and if the current GPS positioning is interrupted, step 103 is executed.
In this step, the purpose of determining the interruption of GPS positioning is to further detect whether the APP is killed at the back (i.e. the APP is forced to exit the program in the background), because the continuous positioning of the GPS cannot guarantee that the APP can run in the background for a long time, and may be killed by the system due to other threads or external factors, and at this time, the positioning is interrupted. That is, if the APP is killed in the background, GPS continuous positioning is interrupted.
Next, step 1023 is executed, and if the GPS positioning is interrupted, the APP re-requests GPS positioning until positioning coordinate point information of vehicle travel is acquired.
In the step, the GPS positioning is interrupted, the APP needs to request the GPS positioning again until the positioning coordinate point information of the vehicle running is obtained, otherwise, the above process is continuously executed.
In the implementation of the invention, when detecting that a vehicle starts to run, an APP on a mobile terminal requests GPS positioning and starts a timer to start timing; when the timer reaches the preset interval time, the APP judges whether the current GPS positioning is interrupted, if the GPS positioning is interrupted, the APP requests the GPS positioning again until the positioning coordinate point information of vehicle running is obtained. That is to say, in the embodiment of the present invention, a preset interval time is set on a timer in advance, when the timer reaches the preset interval time, the APP determines whether the current GPS positioning is interrupted, and when the GPS positioning is interrupted, the APP acquires the positioning coordinate point information corresponding to the vehicle in the traveling process by requesting the GPS positioning again, so as to improve the accuracy of the GPS positioning in the traveling process of the vehicle.
Optionally, in another embodiment, on the basis of the foregoing embodiment, when the timer reaches a preset interval time, the determining, by the APP, whether the current GPS positioning is interrupted includes:
when the timer reaches the preset interval time, the APP judges whether the APP normally operates in the background currently through sending a heartbeat packet to the server, and then judges whether the current GPS positioning is interrupted, wherein the heartbeat packet is used for judging whether the APP normally operates in the background currently.
That is to say, in this embodiment, when the timer reaches the preset interval time, the APP sends a heartbeat packet to the server; if the server receives the heartbeat packet, a response packet is fed back to the APP to indicate that the APP normally operates in the background, and further, if the APP normally operates in the background, the GPS positioning can be judged to normally operate; if the server does not receive the heartbeat packet within a set time (for example, 25 seconds, 30 seconds, or 25 seconds, etc., without limitation in this embodiment), and does not feed back a response packet to the APP, it is indicated that the APP has been killed in the background, and further, if the APP has been killed in the background, it may be determined that the GPS positioning is interrupted. And if the GPS positioning is interrupted, the APP can request the GPS positioning again until the corresponding positioning coordinate point information in the running process of the vehicle is obtained.
It should be noted that, both the APP and the server are provided with a timer, and the time set on the timer may be the same or different, which is not limited in this embodiment.
In the embodiment of the invention, when the timer reaches the preset interval time, the heartbeat packet technology can be utilized to judge whether the APP normally operates in the background currently (namely whether the APP is killed at the back end) so as to judge whether the GPS positioning is interrupted, and when the GPS positioning is interrupted, the GPS positioning can be requested again, so that the position where the vehicle runs can be accurately positioned, and the positioning efficiency of the mobile terminal on the running vehicle is improved.
Optionally, in another embodiment, on the basis of the foregoing embodiment, after determining that the GPS positioning is interrupted, the method may further include:
and the APP receives a silence push notification sent by the server, wherein the silence push notification is used for indicating that the server does not receive a heartbeat packet sent by the APP within a set time, and actively awakening the notification of the background APP so as to execute the step of requesting the GPS positioning again.
In this embodiment, after determining that the GPS positioning is interrupted, it indicates that the APP has been killed in the background, and since the server cannot receive the heartbeat packet sent by the APP within the set time, it may be considered that the APP has been killed in the background, and actively send a silent push notification to the APP, and actively wake up the APP in the background. So as to let the App can not be killed at the background for a long time, that is to say, this App has been killed at the background after, the server is active to send silence propelling movement notice to the App, initiatively awaken this App at background up, so that after awakening up the App, the GPS location is requested again, the longitude and latitude coordinate point of the position that should be done mark point locating information promptly driving vehicle current place in the location coordinate point information that obtains the vehicle to correspond in going.
In the embodiment of the invention, after the interruption of the GPS positioning is judged, the APP is awakened through the silent push notification sent by the server, and the GPS positioning is requested again, so that the position of the running vehicle can be accurately positioned, and the positioning efficiency of the mobile terminal on the running vehicle is improved.
Optionally, in another embodiment, on the basis of the above embodiment, the method may further include:
after the GPS positioning is requested again, the APP acquires GPS positioning coordinate point information during the running of the vehicle at preset intervals; the APP determines a first distance between the acquired first GPS positioning coordinate point information and adjacent second GPS positioning coordinate point information;
and if the first distance is not greater than the preset distance threshold, judging that the adjacent second GPS positioning coordinate point information is qualified, storing the second GPS positioning coordinate point information, and continuously and iteratively judging whether the distance between the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the second GPS positioning coordinate point information is greater than the preset distance threshold or not until the vehicle is driven to finish.
If the distance is larger than the preset distance threshold, judging that the second GPS positioning coordinate point information is wrong, and filtering the second GPS positioning coordinate point information;
determining a second distance between next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the first GPS positioning coordinate point information;
if the second distance is larger than a preset distance threshold value which is two times larger than the first distance, the APP judges that the next GPS positioning coordinate point information of the second GPS positioning coordinate point information is wrong, and the next GPS positioning coordinate point information is filtered;
the APP continuously and sequentially iteratively judges whether a third distance between next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the first GPS positioning coordinate point information is larger than a preset distance threshold of three times or not until qualified GPS positioning coordinate point information is obtained, and the qualified GPS positioning coordinate point information is stored;
the APP continuously and iteratively judges whether the distance between the next GPS positioning coordinate point information adjacent to the qualified GPS positioning coordinate point information and the qualified GPS positioning coordinate point information meets a preset threshold value or not until the vehicle runs;
if the second distance is not larger than the two times of the preset distance threshold, the APP judges that the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information is qualified, saves the next GPS positioning coordinate point information, and continuously iteratively judges whether the distance between the next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the second GPS positioning coordinate point information is larger than the preset distance threshold or not until the vehicle runs to the end.
In the embodiment, the preset distance threshold is obtained through calculation in advance and is related to the maximum driving speed and time of the vehicle, if the distance is calculated every 5s, the maximum driving distance and the minimum driving distance of the vehicle within 5s are set, the Chinese high-speed limit is 120km/h, and the maximum driving distance within 5s is 200m and the minimum driving distance is 0m under the assumption that the maximum speed of the vehicle can reach 150 km/h. Therefore, the preset distance threshold is set to be 200 meters, and if the distance between two coordinate points of the vehicle running in 5 seconds is calculated to be more than 200m, the obtained coordinate points drift, namely, one coordinate point does not exist. Of course, the preset distance threshold may be adaptively adjusted according to needs, and this embodiment is not limited.
After setting the maximum distance and the minimum distance traveled within 5s as a preset distance threshold (for example, 200 meters), we obtain a coordinate point of a position where the vehicle travels every 5s, which is called a next coordinate point, the next coordinate point is adjacent to a previous coordinate point, and the previous coordinate point is a qualified coordinate point, then calculate a distance between the previous coordinate point and the next coordinate point, then determine whether the distance is greater than the preset distance threshold (for example, 200m), if the distance between the two coordinates exceeds 200m, then consider that the currently obtained next coordinate point is definitely inaccurate, that is, the coordinate point drifts, at this time, filter out the coordinate point, continue to obtain the next coordinate point of the next coordinate point, calculate a distance between the next coordinate point and the previous coordinate point, and then compare the distance with the preset distance threshold, when the last coordinate point is unqualified, the vehicle running time is accumulated to 10s, the maximum distance is accumulated to 400m, the distance between the newly-acquired next coordinate point and the last point is compared with a preset distance threshold, if the distance between the two points is smaller than or equal to the preset distance threshold, the next coordinate point is considered to be qualified, the next coordinate point is stored so as to be convenient to use the coordinate point as a correct coordinate point, whether the distance between the next coordinate point and the acquired next coordinate point is larger than the preset distance threshold or not is calculated, the time interval returns to 5s, the maximum distance returns to 200m, if the coordinate point acquired again is unqualified, the process larger than the preset threshold is continuously executed, and if the coordinate point is qualified, the process smaller than or equal to the preset distance is executed.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 2, a schematic structural diagram of a positioning device for vehicle driving according to an embodiment of the present invention is shown, where the device is applied to a mobile terminal, and specifically includes the following modules: a request module 201, an initiating module 202, a first judging module 203 and a re-request module 204, wherein,
the request module 201 is used for requesting GPS positioning when the vehicle is detected to start running;
the starting module 202 is configured to start a timer to start timing when the requesting module requests GPS positioning;
the first determining module 203 is configured to determine whether the current GPS positioning is interrupted when the timer started by the starting module reaches a preset interval time;
the re-request module 204 is configured to re-request GPS positioning until obtaining positioning coordinate point information corresponding to the vehicle in the driving process when the first determination module 203 determines that the GPS positioning is interrupted.
Optionally, in another embodiment, on the basis of the foregoing embodiment, the first determining module 203 is specifically configured to determine whether the APP currently runs normally in the background by sending a heartbeat packet to a server when the timer started by the starting module reaches a preset interval time, so as to determine whether the current GPS positioning is interrupted.
Optionally, in another embodiment, on the basis of the foregoing embodiment, the first determining module 203 includes: a sending module 301, a first receiving module 302, a first determining module 303 and a second determining module 304, which are schematically shown in fig. 3, wherein,
the sending module 301 is configured to send a heartbeat packet to the server when the timer started by the starting module 202 reaches a preset interval time;
the first receiving module 302 is configured to receive a response of the server feedback within a set time;
the first determining module 303 is configured to determine that the application program normally runs in the background and determine that the GPS positioning is normal when the first receiving module 302 receives the response fed back by the server;
the second determining module 304 is configured to determine that the APP has been killed by the system in the background and determine that the GPS positioning is interrupted when the first receiving module 302 does not receive the response of the server feedback.
Optionally, in another embodiment, on the basis of the above embodiment, the apparatus further includes: a second receiving module 401, whose structural schematic diagram is shown in fig. 4, wherein,
the second receiving module 401 is configured to receive a silence push notification sent by the server after the second determining module 304 determines that the GPS positioning is interrupted, where the silence push notification is used to indicate that the server does not receive a heartbeat packet sent by an APP within a set time, and actively wake up the notification of the APP;
the re-request 203 is further configured to re-request GPS positioning when the second receiving module 401 receives the silent push notification sent by the server.
Optionally, in another embodiment, on the basis of the above embodiment, the apparatus further includes: a schematic structural diagram of the obtaining module 501, the first distance determining module 502, the second determining module 503, the third determining module 504, the first storing module 505, and the first iteration determining module 506 is shown in fig. 5, wherein
The acquiring module 501 is configured to acquire GPS positioning coordinate point information during vehicle driving at preset intervals after the re-requesting module 204 re-requests GPS positioning;
the first distance determining module 502 is configured to determine a first distance between the acquired first GPS positioning coordinate point information and an adjacent second GPS positioning coordinate point information;
the second determining module 503 is configured to determine whether the first distance is not greater than a preset distance threshold;
the third determining module 504 is configured to determine that the information of the second adjacent GPS positioning coordinate point is qualified when the second determining module determines that the first distance is not greater than the preset distance threshold;
the first storage module 505 is configured to store the second GPS positioning coordinate point information when the third determining module 504 determines that the second GPS positioning coordinate point information is qualified;
the first iterative determination module 506 is configured to continue to iteratively determine whether a distance between next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the second GPS positioning coordinate point information is greater than the preset distance threshold until the vehicle is finished running.
Optionally, in another embodiment, on the basis of the above embodiment, the apparatus may further include: a fourth determining module, a first filtering module, a second distance determining module, a third judging module, a fifth determining module, a second filtering module, a second iteration judging module, a second storage module, a third iteration judging module, a sixth determining module, a third storage module and a fourth iteration judging module, wherein,
a fourth determining module, configured to determine that the second GPS positioning coordinate point information is wrong when the second determining module determines that the first distance is greater than the preset distance threshold;
the first filtering module is used for filtering the second GPS positioning coordinate point information when the fourth determining module determines that the second GPS positioning coordinate point information is wrong;
a second distance determining module, configured to determine a second distance between next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the first GPS positioning coordinate point information;
the third judging module is used for judging whether the second distance is larger than a double preset distance threshold value;
a fifth determining module, configured to determine that information of a next GPS positioning coordinate point of the second GPS positioning coordinate point information is wrong when the third determining module determines that the second distance is greater than a preset distance threshold twice;
the second filtering module is used for filtering the next GPS positioning coordinate point information when the fifth determining module determines that the next GPS positioning coordinate point information of the second GPS positioning coordinate point information is wrong;
the second iteration judgment module is used for continuously and sequentially iterating and judging whether a third distance between next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the first GPS positioning coordinate point information is larger than a preset distance threshold value which is three times larger than the first GPS positioning coordinate point information or not until qualified GPS positioning coordinate point information is obtained;
the second storage module is used for storing the qualified GPS positioning coordinate point information when the iteration judgment module judges the qualified GPS positioning coordinate point information;
the third iteration judgment module is used for continuously iteratively judging whether the distance between the next GPS positioning coordinate point information adjacent to the qualified GPS positioning coordinate point information and the qualified GPS positioning coordinate point information meets a preset threshold value or not until the driving is finished;
a sixth determining module, configured to determine that, when the third determining module determines that the second distance is not greater than a preset distance threshold of two times, a next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information is qualified;
the third storage module is used for storing the next GPS positioning coordinate point information when the sixth determination module determines that the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information is qualified;
and the fourth iteration judgment module is used for continuously iterating and judging whether the distance between the next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the second GPS positioning coordinate point information is larger than a preset distance threshold value or not until the vehicle runs.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
For easy understanding, please refer to fig. 6, which is a schematic diagram of an application example of a positioning system for vehicle driving according to an embodiment of the present invention, the system comprises an application program APP (mobile terminal APP for short) on the mobile terminal and a background server, when the vehicle starts to run, the GPS is started for continuous positioning to ensure that the App is not killed forcibly, the App can accurately record the coordinate points of the current vehicle running no matter in the foreground or the background, the correct coordinate points for arranging the driving can be taken every 5 seconds, the distance between the coordinate points acquired later and the coordinate points judged to be correct in the front is calculated in turn, and comparing the distance with a corresponding preset distance threshold value, filtering out unqualified coordinate points obtained due to weak GPS signals or bad network conditions or road conditions, storing correct coordinate points, and transmitting the correct coordinate points to a background. The process specifically comprises the following steps:
as shown in fig. 6, when detecting that the vehicle starts to run, the APP starts GPS continuous positioning, and in order to avoid interruption of GPS continuous positioning due to other factors, simultaneously starts a timer, if it is detected at every 10s interval that the current GPS positioning is interrupted, if the GPS positioning is not interrupted, no processing is performed, if the GPS is interrupted, the APP re-requests positioning information until the positioning information is returned, otherwise, the above-mentioned flow is continuously executed.
In the embodiment, the continuous GPS positioning cannot guarantee that the App can run for a long time in the background, the App may be killed by the system due to other threads or external factors, and if the App is killed by the system in the background, the GPS positioning at this time is interrupted, in this embodiment, a scheme of detecting the GPS positioning at intervals of 10s (taking 10s as an example, but not limited in practical application) is adopted, that is, the App sends a heartbeat packet at intervals of 10s in the background (such as a server), the heartbeat packet is for the background to know that the App is currently running in the background, if the server cannot receive the heartbeat packet within a set time (such as 30s), the server considers that the App is currently killed by the system in the background, at this time, the background (such as the server) sends a silence push notification to the App, and wakes up the App in the background without perception by the user, after the APP is awakened (namely sending silent pushing of the graph and background awakening of the APP), the GPS positioning is requested again, and the above flow is executed.
Further, due to the fact that the GPS is not the same in the coordinate points returned each time, the GPS returns the coordinate points in a small range around the vehicle as the center, and if the vehicle is stationary, the APP records and stores the coordinate points, so that errors are increased.
In this embodiment, it is assumed that a coordinate point is acquired every preset time (for example, 5s, but the practical application is not limited thereto) while the vehicle is traveling, and is stored locally, and the distance between the coordinate point and the previous coordinate point is calculated, and if the record does not exceed a preset distance threshold, the coordinate points are qualified, and the calculated distances between the qualified coordinate points are accumulated, but the unqualified coordinate points should not be within the calculation range.
It should be noted that, in the embodiment of the present invention, since the distance is calculated every 5s, the maximum distance and the minimum distance traveled by the vehicle within 5s are set, and the chinese high-speed limit is 120km/h, and assuming that the maximum speed of the vehicle can reach 150km/h, the maximum distance traveled within 5s is 200m, and the minimum distance is 0 m. The maximum driving distance is also referred to as a preset distance threshold.
After setting the maximum distance and the minimum distance traveled within 5s, acquiring a coordinate point every 5s, calculating the distance between the coordinate point (e.g. the second point) and the previous coordinate point (i.e. the first point in the graph), comparing whether the distance exceeds a preset distance threshold (e.g. 200m), if the distance exceeds the preset distance threshold 200m, it is determined that the second point is unqualified and inaccurate, i.e. the coordinate point (i.e. the second point) drifts, filtering out the coordinate point, continuing to take the next coordinate point (i.e. the third point), and comparing the distance between the next coordinate point (i.e. the third point) and the previous coordinate point (i.e. the first point) with twice the preset distance threshold (i.e. 400m), because when the previous coordinate point is unqualified, the time is accumulated to 10s (i.e. the time between the first point and the third point is 10s), the maximum distance is added up to 400m (i.e. the row distance between the first point and the third point is 400m, the distance between the newly taken coordinate point (i.e. the third point) and the last coordinate point (the first point) is compared with twice the preset distance threshold (i.e. 400m), if the distance between the two points is within the preset distance threshold range, the coordinate point is considered to be qualified, the coordinate point is recorded locally and is used as the next newly acquired coordinate point to be compared, the interval returns to 5s, the maximum distance returns to 200m, if the coordinate point is not qualified (i.e. the second point and the third point are both unqualified, the time between the first point and the fourth point is calculated to be 15s, and the distance is 600m), the procedure of judging the unqualified point is continuously executed, and if the coordinate point is qualified, the procedure of judging the qualified point is continuously executed, which is not described in detail herein.
In this embodiment, the correct coordinate point is stored each time, and in order to avoid the loss of the stored coordinate point and the calculated distance, in this embodiment, the distance data may be uploaded to the server each time after the distance is calculated. If the network is disconnected, the correct distance data is stored locally, and is uploaded to the server after the network is restored.
It should be noted that, in the embodiment illustrated in fig. 6, the first point (where, the point is a coordinate point, the same below), the second point, and the third point are taken as examples, and the determination process of each point obtained subsequently is similar to the implementation process of the embodiment, which is described in detail above, and is not described again here.
An embodiment of the present invention further provides an electronic device, including: the positioning method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the positioning method embodiment for vehicle driving is realized, the same technical effect can be achieved, and the description is omitted here for avoiding repetition.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned embodiment of the vehicle driving positioning method, and can achieve the same technical effect, and is not described herein again to avoid repetition. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
Optionally, an embodiment of the present invention further provides a mobile terminal, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, where the computer program, when executed by the processor, implements each process of the above-mentioned vehicle driving positioning method embodiment, and can achieve the same technical effect, and is not described herein again to avoid repetition.
In an exemplary embodiment, a computer program product is further provided, and when instructions in the computer program product are executed by a processor of an electronic device, the electronic device is enabled to execute each process of the above-described embodiment of the vehicle driving positioning method, and the same technical effect can be achieved, and details are not repeated here to avoid repetition.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminals (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The present invention provides a method, an apparatus, an electronic device and a storage medium for positioning a vehicle, which are described in detail above, and a specific example is applied in the present disclosure to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (14)
1. A positioning method for vehicle driving is characterized in that the method is applied to an application program APP on a mobile terminal, and the method comprises the following steps:
when detecting that a vehicle starts to run, the APP requests GPS positioning and starts a timer to start timing;
when the timer reaches a preset interval time, the APP judges whether the current GPS positioning is interrupted;
and if the GPS positioning is interrupted, the APP requests the GPS positioning again until the corresponding positioning coordinate point information in the running process of the vehicle is obtained.
2. The method of claim 1, wherein when the timer reaches a preset interval, the APP determines whether the current GPS positioning is interrupted, comprising:
when the timer reaches the preset interval time, the APP judges whether the APP normally operates in the background currently through sending a heartbeat packet to the server, and then judges whether the current GPS positioning is interrupted.
3. The method as claimed in claim 2, wherein when the timer reaches a preset interval, the APP determines whether the current GPS positioning is interrupted by sending a heartbeat packet to the server, including:
when the timer reaches a preset interval time, the APP sends a heartbeat packet to the server;
if the APP receives a response fed back by the server within a set time, determining that the APP normally operates in the background, and judging that the GPS positioning is normal;
and if the response fed back by the server is not received within a set time, determining that the APP is killed in the background, and judging that the GPS positioning is interrupted.
4. The method according to any one of claims 1 to 3, wherein after determining the GPS positioning interruption, the method further comprises:
and the APP receives a silence push notification sent by the server, wherein the silence push notification is used for indicating that the server does not receive a heartbeat packet sent by the APP within a set time, and actively awakening the notification of the APP so as to execute the step of requesting the GPS positioning again.
5. The method according to any one of claims 1 to 3, further comprising:
after the GPS positioning is requested again, the APP acquires GPS positioning coordinate point information during the running of the vehicle at preset intervals;
the APP determines a first distance between the acquired first GPS positioning coordinate point information and adjacent second GPS positioning coordinate point information;
and if the first distance is not greater than the preset distance threshold, judging that the adjacent second GPS positioning coordinate point information is qualified, storing the second GPS positioning coordinate point information, continuously judging whether the distance between the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the second GPS positioning coordinate point information is greater than the preset distance threshold, and if not, continuously carrying out iterative judgment until the vehicle runs to the end.
6. The method of claim 5, further comprising:
if the distance is larger than the preset distance threshold, judging that the second GPS positioning coordinate point information is wrong, and filtering the second GPS positioning coordinate point information;
determining a second distance between next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the first GPS positioning coordinate point information;
if the second distance is larger than a preset distance threshold value which is two times larger than the first distance, the APP judges that the next GPS positioning coordinate point information of the second GPS positioning coordinate point information is wrong, and the next GPS positioning coordinate point information is filtered;
the APP continuously and sequentially iteratively judges whether a third distance between next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the first GPS positioning coordinate point information is larger than a preset distance threshold of three times or not until qualified GPS positioning coordinate point information is obtained, and the qualified GPS positioning coordinate point information is stored;
the APP continuously and iteratively judges whether the distance between the next GPS positioning coordinate point information adjacent to the qualified GPS positioning coordinate point information and the qualified GPS positioning coordinate point information is larger than a preset threshold value or not until the vehicle runs;
if the second distance is not larger than the two times of the preset distance threshold, the APP judges that the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information is qualified, saves the next GPS positioning coordinate point information, and continuously iteratively judges whether the distance between the next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the second GPS positioning coordinate point information is larger than the preset distance threshold or not until the vehicle runs to the end.
7. A positioning device for vehicle driving, which is applied to a mobile terminal, and comprises:
the request module is used for requesting GPS positioning when the vehicle is detected to start running;
the starting module is used for starting a timer to start timing when the request module requests GPS positioning;
the first judgment module is used for judging whether the current GPS positioning is interrupted or not when the timer started by the starting module reaches the preset interval time;
and the re-request module is used for re-requesting the GPS positioning when the first judgment module judges that the GPS positioning is interrupted until the corresponding positioning coordinate point information in the running process of the vehicle is obtained.
8. The apparatus of claim 7,
the first judgment module is specifically used for judging whether the APP is normally operated at the background currently by sending a heartbeat packet to the server when the timer started by the starting module reaches the preset interval time, and further judging whether the current GPS positioning is interrupted.
9. The apparatus of claim 8, wherein the first determining module comprises:
the sending module is used for sending a heartbeat packet to the server when the timer started by the starting module reaches a preset interval time;
the first receiving module is used for receiving the response fed back by the server within set time;
the first determining module is used for determining that the application program normally runs in the background and judging that the GPS positioning is normal when the first receiving module receives the response fed back by the server;
and the second determining module is used for determining that the APP is killed by the system in the background and judging that the GPS positioning is interrupted when the first receiving module does not receive the response fed back by the server.
10. The apparatus of any one of claims 7 to 9, further comprising:
a second receiving module, configured to receive a silence push notification sent by the server after the second determining module determines that the GPS positioning is interrupted, where the silence push notification is used to indicate that the server does not receive a heartbeat packet sent by an APP within a set time, and actively wake up a notification of the APP;
the re-request module is further configured to re-request GPS positioning when the second receiving module receives the silence push notification sent by the server.
11. The apparatus of any one of claims 7 to 10, further comprising:
the acquisition module is used for acquiring GPS positioning coordinate point information in the running process of the vehicle at preset time intervals after the re-request module re-requests GPS positioning;
the first distance determining module is used for determining a first distance between the acquired first GPS positioning coordinate point information and adjacent second GPS positioning coordinate point information;
the second judgment module is used for judging whether the first distance is not greater than a preset distance threshold value or not;
the third determining module is used for determining that the information of the adjacent second GPS positioning coordinate point is qualified when the second determining module determines that the first distance is not greater than the preset distance threshold;
the first storage module is used for storing the second GPS positioning coordinate point information when the third determination module determines that the second GPS positioning coordinate point information is qualified;
and the first iteration judgment module is used for continuously iteratively judging whether the distance between the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the second GPS positioning coordinate point information is greater than the preset distance threshold value or not until the vehicle finishes running.
12. The apparatus of claim 11, further comprising:
a fourth determining module, configured to determine that the second GPS positioning coordinate point information is wrong when the second determining module determines that the first distance is greater than the preset distance threshold;
the first filtering module is used for filtering the second GPS positioning coordinate point information when the fourth determining module determines that the second GPS positioning coordinate point information is wrong;
a second distance determining module, configured to determine a second distance between next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information and the first GPS positioning coordinate point information;
the third judging module is used for judging whether the second distance is larger than a double preset distance threshold value;
a fifth determining module, configured to determine that information of a next GPS positioning coordinate point of the second GPS positioning coordinate point information is wrong when the third determining module determines that the second distance is greater than a preset distance threshold twice;
the second filtering module is used for filtering the next GPS positioning coordinate point information when the fifth determining module determines that the next GPS positioning coordinate point information of the second GPS positioning coordinate point information is wrong;
the second iteration judgment module is used for continuously and sequentially iterating and judging whether a third distance between next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the first GPS positioning coordinate point information is larger than a preset distance threshold value which is three times larger than the first GPS positioning coordinate point information or not until qualified GPS positioning coordinate point information is obtained;
the second storage module is used for storing the qualified GPS positioning coordinate point information when the iteration judgment module judges the qualified GPS positioning coordinate point information;
the third iteration judgment module is used for continuously iteratively judging whether the distance between the next GPS positioning coordinate point information adjacent to the qualified GPS positioning coordinate point information and the qualified GPS positioning coordinate point information meets a preset threshold value or not until the driving is finished;
a sixth determining module, configured to determine that, when the third determining module determines that the second distance is not greater than a preset distance threshold of two times, a next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information is qualified;
the third storage module is used for storing the next GPS positioning coordinate point information when the sixth determination module determines that the next GPS positioning coordinate point information adjacent to the second GPS positioning coordinate point information is qualified;
and the fourth iteration judgment module is used for continuously iterating and judging whether the distance between the next GPS positioning coordinate point information adjacent to the next GPS positioning coordinate point information and the second GPS positioning coordinate point information is larger than a preset distance threshold value or not until the vehicle runs.
13. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, which computer program, when being executed by the processor, carries out the steps of the vehicle driving localization method according to one of claims 1 to 6.
14. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps in the method of locating a vehicle movement according to any one of claims 1 to 6.
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