CN115930961A

CN115930961A - Navigation positioning point drift identification method and device, identification equipment and storage medium

Info

Publication number: CN115930961A
Application number: CN202110963122.0A
Authority: CN
Inventors: 沈辉; 孟俊; 程亚; 刘翩
Original assignee: Fengtu Technology Shenzhen Co Ltd
Current assignee: Fengtu Technology Shenzhen Co Ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2023-04-07

Abstract

The application provides a navigation positioning point drift identification method, a navigation positioning point drift identification device and a computer readable storage medium. The navigation positioning point drift identification method comprises the following steps: acquiring a target positioning point of a navigation object and a plurality of reference positioning points in front of the target positioning point; determining reference deviation information according to the positioning point information of each reference positioning point; determining deviation information to be verified according to the positioning point information of the target positioning point and the positioning point information of the reference positioning point; and comparing the deviation information to be verified with the reference deviation information to obtain a drift identification result of the target positioning point. Therefore, the reference deviation information is used as the comparison information when the navigation object does not drift, compared with a scheme that a fixed numerical value is used as the comparison information when the navigation object does not drift, the reference information is more flexible, the navigation object under different scenes can be adaptively adjusted, the navigation positioning point drift identification accuracy is higher, and the universality is higher.

Description

Navigation positioning point drift identification method and device, identification equipment and storage medium

Technical Field

The application relates to the field of navigation, in particular to a navigation positioning point drift identification method, a navigation positioning point drift identification device and a computer readable storage medium.

Background

With the popularization of the Global Positioning System (GPS), more and more users obtain planned routes of vehicles or walking in real time through terminals provided on vehicles or navigation systems on mobile phones. However, in the conventional navigation process, the GPS in both the vehicle and the mobile phone generates a positioning drift phenomenon due to signal shielding, weak signal receiving capability of the terminal, and the like, and affects the accuracy of path planning and navigation.

In the prior art, usually, a calculation is performed according to a locating point to be verified and a locating point which is confirmed not to generate a drift point, and then a calculation result is compared with a preset threshold value to determine whether the locating point to be verified drifts, and if the drift occurs, the locating point to be verified is filtered. However, since this method has a fixed threshold, it has relatively high recognition accuracy only for a specific scene, and is not versatile.

Disclosure of Invention

The application provides a navigation positioning point drift identification method, a navigation positioning point drift identification device and a computer readable storage medium, and aims to solve the problems that the existing drift point processing method can not ensure the accuracy of positioning point drift identification and is not high in universality.

In a first aspect, the present application provides a navigation positioning point drift identification method, where the method includes:

acquiring a target positioning point of a navigation object and a plurality of reference positioning points in front of the target positioning point;

determining reference deviation information according to the positioning point information of each reference positioning point;

determining deviation information to be verified according to the positioning point information of the target positioning point and the positioning point information of the reference positioning point;

and comparing the deviation information to be verified with the reference deviation information to obtain a drift identification result of the target positioning point.

In one possible implementation manner of the present application, the reference deviation information includes at least one of a reference route circle center angle, a reference displacement angle, a reference speed angle, and a reference maximum distance;

the determining of the datum deviation information according to the locating point information of each datum locating point includes:

calculating the reference movement distance of the navigation object according to the positioning position of each reference positioning point, and calculating the circle center angle of the reference route of the navigation object according to a preset radius and the reference movement distance;

acquiring the speed direction of the navigation object at each reference positioning point, and calculating to obtain a reference speed angle of the navigation object according to each speed direction;

calculating to obtain at least two reference displacements according to the positioning positions of the reference positioning points, and calculating to obtain a reference displacement angle of the navigation object according to the reference displacements, wherein the reference displacements are displacements between adjacent reference positioning points;

and calculating to obtain the reference maximum distance of the navigation object according to the movement speed, the positioning time and the preset maximum acceleration of each reference positioning point.

In a possible implementation manner of the present application, the calculating a reference maximum distance of the navigation object according to a motion speed, a positioning time, and a preset maximum acceleration of each reference positioning point includes:

calculating to obtain the maximum motion speed between the reference positioning points and the time corresponding to the maximum motion speed according to the preset maximum acceleration and the motion speed and the positioning time of each reference positioning point;

and calculating to obtain the reference maximum distance of the navigation object according to the maximum movement speed, the time corresponding to the maximum movement speed, the movement speed and the positioning time of each reference positioning point.

In a possible implementation manner of the present application, the deviation information to be verified includes at least one of a circle center angle of the route to be verified, a speed angle to be verified, a displacement angle to be verified, and a maximum distance to be verified;

the determining the deviation information to be verified according to the positioning point information of the target positioning point and the positioning point information of the reference positioning point comprises the following steps:

calculating a movement distance to be verified according to the positioning position of the target positioning point and the positioning position of the reference positioning point, and calculating to obtain a circle center angle of a route to be verified of the navigation object according to the preset radius and the movement distance to be verified;

calculating to obtain a speed angle to be verified of the navigation object according to the movement direction of the target positioning point and the movement direction of the reference positioning point;

calculating to obtain the displacement to be verified according to the positioning position of the target positioning point and the positioning position of the reference positioning point, and calculating to obtain a displacement angle to be verified of the navigation object according to the displacement to be verified;

and calculating to obtain the maximum distance to be verified of the navigation object according to the movement speed of the target positioning point, the movement speed of the reference positioning point, the positioning time of the target positioning point, the positioning time of the reference positioning point and the maximum acceleration.

In a possible implementation manner of the present application, the comparing the deviation information to be verified with the reference deviation information to obtain a drift identification result of the target locating point includes:

extracting at least one of a circle center angle of the route to be verified, a speed angle to be verified, a displacement angle to be verified and a maximum distance to be verified in the deviation information to be verified;

extracting at least one of a reference route circle center angle, a reference speed angle, a reference displacement angle and a reference maximum distance from the reference deviation information;

comparing the circle center angle of the to-be-verified route with the circle center angle of the reference route, comparing the speed angle of to-be-verified with the reference speed angle, comparing the displacement angle of to-be-verified with the reference displacement angle, and/or comparing the maximum distance of to-be-verified with the reference maximum distance, so as to obtain a drift identification result of the target positioning point.

In a possible implementation manner of the present application, the comparing the circle center angle of the to-be-verified route with the circle center angle of the reference route, comparing the to-be-verified displacement angle with the reference displacement angle, comparing the to-be-verified speed angle with the reference speed angle, and/or comparing the to-be-verified maximum distance with the reference maximum distance to obtain the drift identification result of the target positioning point includes:

if the absolute value of the angle difference between the circle center angle of the route to be verified and the circle center angle of the reference route is larger than the preset maximum turning angle difference, determining that the target positioning point drifts;

if the absolute value of the angle difference between the speed angle to be verified and the reference speed angle is larger than the preset maximum turning angle difference, determining that the target positioning point drifts;

if the absolute value of the angle difference between the displacement angle to be checked and the reference displacement angle is larger than a preset maximum turning angle difference, determining that the target positioning point drifts; and/or

And if the absolute value of the path difference between the maximum path to be checked and the reference maximum path is larger than the preset maximum tolerance path difference, judging that the target positioning point drifts.

In a possible implementation manner of the present application, after the comparing the deviation information to be verified with the reference deviation information to obtain a drift identification result of the target positioning point, the method further includes:

determining the initial advancing direction of the navigation object according to the positioning position of each datum positioning point;

determining a navigation deviation distance and a navigation deviation angle according to the deviation information to be verified and the reference deviation information;

if the navigation deviation distance is larger than a preset maximum tolerance route difference and the navigation deviation angle is smaller than or equal to a preset maximum turning angle difference, taking a point at a preset basic displacement distance on a ray corresponding to the initial advancing direction as a determined correction positioning point, and replacing the target positioning point with the correction positioning point to correct the drift.

In a second aspect, the present application provides a navigation positioning point drift identification device, which includes:

the navigation device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a target positioning point of a navigation object and a plurality of reference positioning points in front of the target positioning point;

the benchmark determining unit is used for determining benchmark deviation information according to the positioning point information of each benchmark positioning point;

a unit for determining deviation information to be verified, which is used for determining deviation information to be verified according to the positioning point information of the target positioning point and the positioning point information of the reference positioning point;

and the identification unit is used for comparing the deviation information to be verified with the reference deviation information to obtain a drift identification result of the target positioning point.

In one possible implementation manner of the present application, the reference deviation information includes at least one of a reference route center angle, a reference displacement angle, a reference speed angle, and a reference maximum distance; the reference determination unit is further configured to:

calculating to obtain at least two reference displacements according to the positioning positions of the reference positioning points, and calculating to obtain a reference displacement angle of the navigation object according to the reference displacements, wherein the reference displacement is the displacement between the adjacent reference positioning points;

In one possible implementation manner of the present application, the reference determining unit is further configured to:

In a possible implementation manner of the present application, the deviation information to be verified includes at least one of a circle center angle of the route to be verified, a speed angle to be verified, a displacement angle to be verified, and a maximum distance to be verified; the reference determination unit is further configured to:

calculating a movement distance to be verified according to the positioning position of the target positioning point and the positioning position of the reference positioning point, and calculating to obtain a circle center angle of the route to be verified of the navigation object according to the preset radius and the movement distance to be verified;

In one possible implementation manner of the present application, the identification unit is further configured to:

And if the absolute value of the path difference between the maximum path to be verified and the reference maximum path is larger than the preset maximum tolerance path difference, judging that the target positioning point drifts.

In a possible implementation manner of the present application, the navigation positioning point drift identification apparatus further includes a correction unit, where the correction unit is configured to:

if the navigation deviation distance is larger than a preset maximum tolerance path difference and the navigation deviation angle is smaller than or equal to a preset maximum turning angle difference, a point at a preset basic displacement distance on a ray corresponding to the initial advancing direction is used as a determined correction positioning point, and the target positioning point is replaced by the correction positioning point to correct drift.

In a third aspect, the present application further provides a navigation positioning point drift identification device, where the navigation positioning point drift identification device includes a processor and a memory, where the memory stores a computer program, and the processor executes any of the steps in the navigation positioning point drift identification method provided in the present application when calling the computer program in the memory.

In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is loaded by a processor to execute the steps in the navigation positioning point drift identification method.

In summary, the present application includes: acquiring a target positioning point of a navigation object and a plurality of reference positioning points in front of the target positioning point; determining reference deviation information according to the positioning point information of each reference positioning point; determining deviation information to be verified according to the positioning point information of the target positioning point and the positioning point information of the reference positioning point; and comparing the deviation information to be verified with the reference deviation information to obtain a drift identification result of the target positioning point. Therefore, the reference deviation information is used as the comparison information when the navigation object does not drift, compared with a scheme that a fixed numerical value is used as the comparison information when the navigation object does not drift, the reference information is more flexible, the navigation object under different scenes can be adaptively adjusted, the navigation positioning point drift identification accuracy is higher, and the universality is higher.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of an application scenario of a navigation positioning point drift identification method provided in an embodiment of the present application;

fig. 2 is a schematic flow chart of a navigation positioning point drift identification method provided in the embodiment of the present application;

fig. 3 (a) -3 (d) are explanatory diagrams of the reference deviation information provided in the embodiment of the present application;

FIG. 4 is a schematic diagram of one of comparing reference deviation information and deviation information to be verified provided in the embodiments of the present application;

FIG. 5 is a schematic flow chart of the correction drift provided in the embodiments of the present application;

FIG. 6 is a schematic structural diagram of an embodiment of a navigation positioning point drift identification apparatus provided in the embodiment of the present application;

fig. 7 is a schematic structural diagram of an embodiment of a navigation positioning point drift identification device provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the embodiments of the present application, it should be understood that the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known processes have not been described in detail in order not to obscure the description of the embodiments of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in the embodiments herein.

The embodiment of the application provides a navigation positioning point drift identification method, a navigation positioning point drift identification device and a computer readable storage medium. The navigation positioning point drift identification device can be integrated in navigation positioning point drift identification equipment, and the navigation positioning point drift identification equipment can be a server or a terminal and other equipment.

First, before describing the embodiments of the present application, the related contents of the embodiments of the present application with respect to the application context will be described.

A navigation Positioning point drift recognition device is generally equipped with a GPS (Global Positioning System) Positioning System. For example, the GPS positioning system may be installed in a mobile phone, a tablet, a vehicle, and other devices, and a user may control the navigation positioning point drift recognition device through a navigation app (Application), for example, the user may set a positioning route of the navigation positioning point drift recognition device through the navigation app.

The execution main body of the navigation positioning point drift identification method in the embodiment of the present application may be the navigation positioning point drift identification device provided in the embodiment of the present application, or different types of navigation positioning point drift identification devices such as a server device, a physical host, or a User Equipment (UE) integrated with the navigation positioning point drift identification device, where the navigation positioning point drift identification device may be implemented in a hardware or software manner, and the UE may specifically be a terminal device such as a smart phone, a tablet computer, a notebook computer, a palm computer, a desktop computer, or a Personal Digital Assistant (PDA).

The navigation positioning point drift identification device can adopt a working mode of independent operation or can also adopt a working mode of a device cluster.

Referring to fig. 1, fig. 1 is a schematic view of a scene of a navigation positioning point drift identification system provided in an embodiment of the present application. The navigation positioning point drift identification system may include a navigation positioning point drift identification device 100, and a navigation positioning point drift identification device is integrated in the navigation positioning point drift identification device 100.

In addition, as shown in fig. 1, the navigation positioning point drift recognition system may further include a memory 200 for storing data, such as text data.

It should be noted that the scene schematic diagram of the navigation positioning point drift identification system shown in fig. 1 is only an example, and the navigation positioning point drift identification system and the scene described in the embodiment of the present application are for more clearly illustrating the technical solution of the embodiment of the present application, and do not form a limitation on the technical solution provided in the embodiment of the present application.

In the embodiment of the present application, a navigation positioning point drift identification device is used as an execution main body, and for simplicity and convenience of description, the execution main body will be omitted in the following method embodiments.

Referring to fig. 2, fig. 2 is a schematic flowchart of a navigation positioning point drift identification method according to an embodiment of the present application. It should be noted that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in an order different from that shown or described herein. The navigation positioning point drift identification method specifically comprises the following steps 201 to 204, wherein:

201. and acquiring a target positioning point of a navigation object and a plurality of reference positioning points in front of the target positioning point.

The navigation object may be any device loaded with a GPS positioning system. Illustratively, the navigation object may be a vehicle equipped with a GPS positioning system, or may be a mobile phone terminal equipped with a GPS positioning system. For example, the navigation object may be a logistics transportation vehicle equipped with a GPS positioning system. The GPS positioning satellite may acquire information of the logistics transportation vehicle, then obtain parameters such as a position of the logistics transportation vehicle, a time at the position, a movement speed and a movement direction at the position, and send the obtained parameters to the GPS positioning system. Since the user moves together with an object such as a device, a terminal, or a server in some scenarios, for example, in the case where the user holds a mobile phone terminal equipped with a GPS positioning system, or the driver drives a logistics transportation vehicle equipped with a GPS positioning system, the user or the driver can also be understood as a navigation object.

It should be noted that, when the navigation object is a vehicle, because the navigation object has a fast motion speed and is easy to enter a region with poor signal, such as a mountain area or a tunnel, the navigation positioning point drift identification method in the embodiments of the present application and any embodiments below is often used when the navigation object is a vehicle.

The navigation positioning point drift identification equipment can acquire information of the navigation object once at each sampling moment so as to form a navigation positioning point containing navigation object information. For example, the navigation positioning point may be a positioning point formed in the visual map after the navigation positioning point drift identification device collects the information of the navigation object. For example, the navigation positioning point may be a positioning point formed in a visual map of a certain navigation app after the navigation positioning point drift identification device collects information of a running vehicle loaded with a GPS positioning system. As described above, a navigation fix contains information about a navigation object acquired by a GPS satellite at an acquisition time. For example, in a navigation positioning point, the position of the navigation object, the positioning time at the position, the movement speed and the movement direction at the position, and other parameters may be included. The navigation positioning point drift identification equipment can obtain information such as the motion state of the navigation object by analyzing the navigation positioning point.

The target positioning point refers to a navigation positioning point for drift identification at present. For example, the navigation positioning point drift recognition device may set the navigation positioning point with the latest positioning time as the target positioning point in order to recognize whether the navigation object has drifted in real time. For example, the navigation positioning point drift identification device performs the latest information acquisition on the navigation object at the position of 16. And at the next sampling time 16. In addition, the navigation positioning point drift identification device may also select any point in all navigation positioning points as a target positioning point, which is not limited in the embodiment of the present application.

The reference positioning point is a navigation positioning point of which the positioning time is prior to that of the target positioning point in all navigation positioning points formed by the navigation positioning point drift identification equipment, and the reference positioning point is a navigation positioning point which is confirmed not to drift. The reference positioning point has the function of providing credible reference information for drift identification, namely providing an evaluation standard for the drift identification, if the target positioning point meets the standard, the target positioning point is not drifted, and if the target positioning point does not meet the standard, the target positioning point is drifted. Illustratively, in order to ensure the accuracy of drift identification, the navigation positioning point drift identification device may extract a plurality of navigation positioning points which are most adjacent to the target positioning point from all navigation positioning points as reference positioning points. Assume that the navigation positioning point drift identification device performs information acquisition on the navigation object every 2 seconds from 16. If the target localization point is the navigation localization point with localization time of 16.

In addition, the navigation positioning point drift identification equipment can extract a navigation positioning point as a reference positioning point at a preset time interval. Still by assuming the above description, if the target anchor point is a navigation anchor point with a positioning time of 16.

202. And determining reference deviation information according to the positioning point information of each reference positioning point.

The positioning point information refers to information obtained when the navigation positioning point drift identification device performs information acquisition on the navigation object, and the positioning point information may specifically include a position, time at the position, a movement speed and a movement direction at the position, and other parameters.

The reference deviation information refers to information determined according to the relationship between the reference positioning points. The reference deviation information can be regarded as standard comparison information for identifying drift. For example, the reference deviation information may be determined based on the relationship of the moving direction between the anchor points, or based on the positional relationship between the anchor points. For example, when the navigation object turns, the moving direction or the speed direction of the navigation object changes, so that the speed directions contained in different reference positioning points are different, that is, the reference positioning points generate angle deviation. When the reference deviation information is determined according to the position relationship between the reference positioning points, the reference deviation information may further include the movement distance of the navigation object between the reference positioning points, and the navigation positioning point drift identification device may calculate the movement distance according to the movement speed, the positioning time and other information included in each reference positioning point.

The reason why the reference deviation information is adopted and the positioning point information of the reference positioning points is not directly adopted is that the drift identification is performed according to the positioning point information isolated by each reference positioning point, and the reference deviation information contains the positioning point information of at least two reference positioning points, so that the reference deviation information is related to the continuous motion state of the navigation object and is more accurate.

The reference deviation information may specifically include at least one of a reference route center angle, a reference displacement angle, a reference speed angle, and a reference maximum distance. The navigation positioning point drift identification equipment can obtain the reference deviation information according to any one or more of the following methods:

(1A) And calculating the reference movement distance of the navigation object according to the positioning position of each reference positioning point, and calculating the circle center angle of the reference route according to a preset radius and the reference movement distance.

The reference movement distance may refer to a linear distance between two reference positioning points, or may refer to a distance obtained by averaging linear distances between a plurality of pairs of reference positioning points. For example, the navigation positioning point drift identification device may select a pair of adjacent reference positioning points from the reference positioning points, and then calculate the reference movement distance according to the respective positioning positions of the pair of reference positioning points. Or, the navigation positioning point drift identification device may select a pair of adjacent reference positioning points according to a certain rule, for example, the navigation positioning point drift identification device may select a pair of reference positioning points with the latest positioning time from the reference positioning points, so as to improve the representativeness of the reference deviation information.

In addition, the navigation positioning point drift identification device may also extract a pair of reference positioning points at intervals instead of selecting adjacent reference positioning points, and one or more reference positioning points may be spaced between the pair of reference positioning points. It should be noted that, in order to ensure that the standard of the reference deviation information is uniform in the whole drift identification process, the navigation positioning point drift identification device may calculate the linear offset distance in unit time according to the linear distance between a pair of reference positioning points, and use the calculation result as the reference movement distance. For example, the navigation positioning point drift recognition device may divide the straight-line distance between two reference positioning points by the positioning time difference between the two reference positioning points to obtain the reference movement distance. Assuming that the navigation positioning point drift identification device selects 3 reference positioning points a, B, C, which respectively correspond to the positioning time of 16.

In some embodiments, the navigation positioning point drift identification device may use a distance obtained by averaging the straight-line distances between each of the plurality of pairs of reference positioning points as the reference movement distance. For example, the navigation positioning point drift identification device may select multiple pairs of adjacent reference positioning points from the reference positioning points, then calculate the straight-line distance for each pair of reference positioning points, and then average the straight-line distances to obtain the reference movement distance. Similarly, in the embodiment of the present application, the navigation positioning point drift identification device may also extract each pair of reference positioning points at intervals, and at this time, as described above, in order to ensure that the standard of the reference deviation information in the whole drift identification process is uniform, the straight line offset distance in unit time may be calculated according to the straight line distance, and then the straight line offset distances are averaged to obtain the reference movement distance.

On the other hand, the navigation positioning point drift recognition device may also estimate the movement distance of the navigation object according to the movement speed and the positioning time of the reference positioning point, or estimate the movement distance of the navigation object by another method, and use the calculated movement distance as the reference movement distance.

Because the time intervals between the positioning of the reference positioning points are small, generally in the order of seconds, the calculated reference movement distance can be approximately regarded as the turning arc length of the target object when the target object turns. After the reference movement distance is obtained, the navigation positioning point drift identification device can calculate a corresponding central angle of the navigation object when the reference movement distance is used as the turning arc length, namely the central angle of the reference route, according to the preset radius and the reference movement distance. The reference route circle center angle can be used for representing the turning degree of the navigation object when the drift is not generated. The navigation positioning point drift identification equipment can calculate the circle center angle of the reference route according to the formula (1):

wherein, theta is the angle of the center of a circle of the reference route, L is the reference movement distance, and R is the preset radius. For better visualization, reference may be made to fig. 3 (a), where a and B in fig. 3 (a) are reference positioning points, θ is a reference route circle center angle, L is a reference movement distance, and R is a preset radius.

The navigation positioning point drift recognition device may take the minimum turning radius of the vehicle as a preset radius, for example, may take 6 meters as the preset radius.

Through the method in the step (1A), the navigation positioning point drift identification equipment can obtain the standard circle center angle of the navigation object when the navigation object turns when the navigation object does not drift.

(2A) And acquiring the speed direction of the navigation object at each reference positioning point, and calculating to obtain a reference speed angle of the navigation object according to each speed direction.

The speed direction refers to a moving direction of the navigation object when the navigation object is located at the reference positioning point. For example, the navigation positioning point drift identification device may calculate the movement direction corresponding to each reference positioning point by the following method: the navigation positioning point drift identification equipment acquires a reference positioning point A and a navigation positioning point B which is closest to the reference positioning point A, and determines the movement direction corresponding to the reference positioning point A according to the position relation of the two positioning points, for example, the direction pointing to A from B can be used as the movement direction corresponding to the reference positioning point A.

The reference speed angle may be an included angle obtained by averaging speed direction included angles between two reference positioning points, or an included angle obtained by averaging speed direction included angles between a plurality of pairs of reference positioning points, which may be specifically referred to as the method for calculating the reference movement distance in step (1A), and is not described herein again.

In addition, the navigation positioning point drift identification device may also extract a pair of reference positioning points at intervals instead of selecting adjacent reference positioning points, and one or more reference positioning points may be spaced between the pair of reference positioning points. It should also be noted that, in order to ensure that the standard of the reference deviation information is uniform in the whole drift identification process, the navigation positioning point drift identification device may calculate the speed direction deviation angle in unit time according to the speed direction included angle of the pair of reference positioning points, and use the calculation result as the reference speed angle. Specifically, reference may be made to the method for calculating the reference movement distance in step (1A), which is not described herein again.

In some embodiments, the navigation positioning point drift identification device may use an angle obtained by averaging the speed direction included angles between each of the plurality of pairs of reference positioning points as the reference speed angle. Specifically, reference may be made to the method for calculating the reference movement distance in step (1A), which is not described herein again.

The reference speed angle can also be used to represent the degree of turning of the navigation object, and a larger reference speed angle indicates a larger turning angle of the navigation object when turning, and a smaller reference speed angle indicates a smaller turning angle of the navigation object when turning. Therefore, by the method in the step (2A), the navigation positioning point drift identification device can obtain the turning degree of the navigation object when the navigation object turns without drifting. For better visualization, reference may be made to fig. 3 (B), where a and B in fig. 3 (B) are reference positioning points, A1 and B1 are speed directions of a and B, respectively, and a reference speed angle is an included angle between A1 and B2.

(3A) And calculating to obtain at least two reference displacements according to the positioning positions of the reference positioning points, and calculating to obtain a reference displacement angle of the navigation object according to the reference displacements, wherein the reference displacement is the displacement between the adjacent reference positioning points.

The reference displacement may be a displacement formed from an adjacent reference positioning point located at a positioning time before to an adjacent reference positioning point located at a positioning time after. For example, the navigation positioning point drift identification device may select a pair of adjacent reference positioning points from the reference positioning points, and then calculate the reference displacement according to the respective positioning positions of the pair of reference positioning points. Or, the navigation positioning point drift identification device may select a pair of adjacent reference positioning points according to a certain rule. Specifically, reference may be made to the method for calculating the reference movement distance in step (1A), which is not described herein again.

The basic displacement angle may refer to a displacement included angle of two reference displacements, or an angle obtained by averaging all the obtained displacement included angles after calculating a plurality of displacement included angles according to a plurality of reference displacements. Specifically, reference may be made to the method for calculating the reference movement distance in step (1A), which is not described herein again. Similarly, in order to ensure that the standard of the reference deviation information is uniform in the whole drift identification process, the navigation positioning point drift identification equipment can calculate the displacement included angle deviation angle in unit time according to the displacement included angle, and the calculation result is used as the reference displacement angle. For example, the navigation positioning point drift identification device calculates a displacement included angle c according to the displacement a and the displacement b, and among the reference positioning points corresponding to the displacement a and the reference positioning points corresponding to the displacement b, the reference positioning point with the earliest positioning time is the reference positioning point with the positioning time of 16. For better visualization, refer to fig. 3 (C), A, B, C in fig. 3 (C) is the reference positioning point, the positioning time of a is the first, and the positioning time of C is the last. A2 is the reference displacement of A pointing to B, B2 is the reference displacement of B pointing to C, and the reference displacement angle is the included angle between A2 and B2.

It should be noted that, because at least two reference displacements are required to calculate the basic displacement angle, when the reference deviation information is obtained in step (3A), the navigation positioning point drift identification device needs to obtain at least 3 reference positioning points.

The reference displacement angle may also be used to represent the degree of turning of the navigation object, and a larger reference displacement angle indicates a larger turning angle of the navigation object when turning, and a smaller reference displacement angle indicates a smaller turning angle of the navigation object when turning. Therefore, by the method in the step (3A), the navigation positioning point drift identification device can obtain the turning degree of the navigation object when the navigation object turns without drifting.

(4A) And calculating to obtain the reference maximum distance of the navigation object according to the movement speed, the positioning time and the preset maximum acceleration of each reference positioning point.

The navigation positioning point drift identification equipment can take the theoretical maximum acceleration of the vehicle as the preset maximum acceleration. For example, for a current vehicle, the fastest time to increase the travel speed to 100 km/h is theoretically 5 seconds, in which case the calculated acceleration is 0.5g, and g is the gravitational acceleration. Therefore, the navigation positioning point drift identification device can take 0.5g as the preset maximum acceleration.

For convenience of understanding, a method for calculating a reference maximum distance of the navigation object according to a movement speed, a positioning time, and a preset maximum acceleration of each reference positioning point may specifically include:

(1) And calculating to obtain the maximum motion speed between the reference positioning points and the time corresponding to the maximum motion speed according to the preset maximum acceleration and the motion speed and the positioning time of each reference positioning point.

(2) And calculating to obtain the reference maximum distance of the navigation object according to the maximum movement speed, the time corresponding to the maximum movement speed, the movement speed and the positioning time of each reference positioning point.

When the navigation positioning point drift recognition device calculates the reference maximum distance, the calculation may be performed only according to two reference positioning points, or may be performed according to more than two reference positioning points. It can be understood that when the movement speeds and the positioning times of the two reference positioning points are determined, the maximum distance which can be reached between the two reference positioning points is the distance which is passed in the movement process of uniformly accelerating at the maximum acceleration first and then uniformly decelerating at the maximum acceleration.

Referring to fig. 3 (d), a method for calculating the reference maximum distance is described with reference to fig. 3 (d). Fig. 3 (d) is a graph of the movement speed of the reference positioning point versus the positioning time, where the Y-axis represents the movement speed and the X-axis represents the positioning time. Wherein A and B are both reference positioning points, and the movement speeds of A and B are v respectively ₁ And v ₂ The positioning time is t ₁ And t ₂ . And C is the maximum speed point corresponding to the maximum motion speed which can be reached when the navigation object performs uniform acceleration motion at the maximum acceleration from the point A, and the point B can be reached when the navigation object performs uniform deceleration motion at the maximum acceleration from the point C. Therefore, the area enclosed by the trapezoid ACBED in fig. 3 (D) is the reference maximum distance, and the points D and E are obtained as follows: AC and BC are connected and then perpendicular lines AD and AE are made along the Y axis through points a and B, respectively, where D and E are both on the X axis. Since the absolute values of the acceleration in the uniform acceleration and uniform deceleration processes are the same, the absolute values of the slopes of the straight line AC and the straight line BC are equal, and since C is the intersection point of the straight line AC and the straight line BC, the positioning time of the point C can be calculated by knowing the intersection points F and G of the straight lines AC and BC and the X axis, respectively. Specifically, since the slope of the straight line AC is known and the moving speed and the positioning time of the point a are known, the positioning time t of F can be calculated ₃ Similarly, the positioning time t of G can be calculated ₄ Then the navigation positioning point drift identification equipment only needs to calculate t ₃ And t ₄ The average value of C is obtained, and the positioning time t of C can be obtained ₅ . After the navigation positioning point drift identification equipment obtains the positioning time of C, the navigation positioning point drift identification equipment obtains the positioning time and the movement speed of A or the positioning time and the movement of BVelocity, and maximum acceleration, the velocity v of the motion of C can be calculated ₃ . Therefore, the navigation positioning point drift identification equipment can calculate and obtain the reference maximum distance according to the formula (2):

wherein L is _max Is the reference maximum distance.

In some embodiments, the navigation positioning point drift identification device may also obtain the maximum speed point in other manners. Referring to fig. 3 (d), for example, the navigation positioning point drift recognition device may calculate a straight line passing through the point a and having the maximum acceleration as the slope, and calculate a straight line passing through the point B and having the negative of the maximum acceleration as the slope, and calculate the intersection of the two straight lines, and then the navigation positioning point drift recognition device may obtain the point of maximum velocity,

It should be noted that the calculation process and the expression in fig. 3 (d) are only for convenience of description, and are not to be understood as a limitation to the embodiment of the present application, and the navigation positioning point drift identification apparatus may obtain the maximum speed point by any calculation method.

203. And determining deviation information to be verified according to the positioning point information of the target positioning point and the positioning point information of the reference positioning point.

The deviation information to be verified is determined according to the relation between the target positioning point and the reference positioning point. Similar to the reference deviation information, the deviation information to be verified can be determined according to the relationship of the movement directions between the reference positioning points or according to the position relationship between the reference positioning points. The difference is that when the navigation positioning point drift identification device determines the deviation information to be verified, the deviation information to be verified needs to be determined according to the positioning point information of the target positioning point and the positioning point information of the reference positioning point at the same time, so that when the target positioning point drifts, the positioning point information of the target positioning point contains abnormal information, and the deviation information to be verified also contains abnormal information generated when the target positioning point drifts. Therefore, the deviation information to be verified can be used as a basis for judging whether the target positioning point drifts.

The reason for adopting the deviation information to be verified instead of directly adopting the positioning point information of the target positioning point can refer to the description of the reference deviation information, which is not described herein again.

The deviation information to be verified may specifically include at least one of a circle center angle of the route to be verified, a speed angle to be verified, a displacement angle to be verified, and a maximum distance to be verified. The navigation positioning point drift identification equipment can obtain deviation information to be verified according to any one or more of the following methods:

(1B) And calculating the movement distance to be verified according to the positioning position of the target positioning point and the positioning position of the reference positioning point, and calculating to obtain the circle center angle of the route to be verified of the navigation object according to the preset radius and the movement distance to be verified.

(2B) And calculating to obtain the speed angle to be verified of the navigation object according to the movement direction of the target positioning point and the movement direction of the reference positioning point.

(3B) And calculating to obtain the displacement to be verified according to the positioning position of the target positioning point and the positioning position of the reference positioning point, and calculating to obtain the displacement angle to be verified of the navigation object according to the displacement to be verified.

(4B) And calculating to obtain the maximum distance to be verified of the navigation object according to the movement speed of the target positioning point, the movement speed of the reference positioning point, the positioning time of the target positioning point, the positioning time of the reference positioning point and the maximum acceleration.

For the explanation of step (1B), step (2B) and step (4B), reference may be made to the explanation of step (1A), step (2A) and step (4A), which is not repeated herein, and only supplementary explanation is made for step (3B):

the process of calculating the displacement to be verified by the navigation positioning point drift recognition device is similar to the manner of calculating the reference displacement in the step (3B), and is not repeated herein. When the displacement angle to be verified is obtained through calculation according to the displacement to be verified, various modes can be provided.

In some embodiments, the navigation positioning point drift identification device may obtain 2 neighboring reference positioning points nearest to the target positioning point from all the reference positioning points, then calculate to obtain a reference displacement according to the 2 neighboring reference positioning points, and then use a displacement included angle between the reference displacement and the displacement to be verified as a displacement angle to be verified.

In other embodiments, the navigation positioning point drift identification device may further obtain a movement direction of a reference positioning point used in calculating the displacement to be verified, and then, an included angle between the movement direction and the displacement to be verified is used as a displacement angle to be verified.

It should be noted that, in order to make the reference deviation information correspond to the deviation information to be verified, if step 203 can be implemented only through step (1B), that is, the deviation information to be verified only includes the center angle of the route to be verified, step 202 can be implemented at least through step (1A), that is, the reference deviation information at least includes the center angle of the reference route. The same reason applies to the case that the deviation information to be verified includes other deviation information, and is not described again.

204. And comparing the deviation information to be verified with the reference deviation information to obtain a drift identification result of the target positioning point.

The navigation positioning point drift identification device can judge whether the deviation between the deviation information to be verified and the reference deviation information is too large by comparing the deviation information to be verified and the reference deviation information, if the deviation between the deviation information to be verified and the reference deviation information is too large, the positioning point information of the target positioning point is abnormal, and the navigation positioning point drift identification device can judge that the target positioning point drifts, which is described by the following examples:

although the sizes of the circle center angles of the route during turning may be different for different navigation objects, when the navigation positioning points do not drift, the circle center angle of the route calculated according to the navigation positioning points may fluctuate slightly above and below a standard circle center angle, for example, when the navigation object is a vehicle, the circle center angle of the route within 1 second is unlikely to fluctuate more than a preset angle threshold value, for example, is unlikely to fluctuate more than 18 ° compared with the standard circle center angle. If the fluctuation exceeds the preset angle threshold, the deviation information to be verified contains abnormal information, and the navigation positioning point drift identification equipment can judge that the target positioning point has drifted. The navigation positioning point drift identification equipment can obtain a standard circle center angle of a navigation object when the navigation object does not drift by calculating the circle center angle of the reference route, then compares the circle center angle of the route to be verified with the circle center angle of the reference route to obtain a fluctuation value between the circle center angle of the route to be verified and the standard circle center angle, and then can judge whether the obtained fluctuation value exceeds a preset threshold value or not, and if the obtained fluctuation value exceeds the preset threshold value, the target positioning point drift is indicated.

In addition to the above-mentioned methods of step 201-step 204, the navigation positioning point drift identification device may also calculate a calculated displacement distance between the target positioning point and the reference positioning point directly according to the positioning position of the target positioning point and the positioning position of the reference positioning point, then compare the calculated displacement distance with a preset maximum displacement distance, and if the calculated displacement distance is greater than the maximum displacement distance, it indicates that the calculated displacement distance has exceeded the maximum displacement distance theoretically reachable by the navigation object, so the navigation positioning point drift identification device determines that the target positioning point drifts.

When the navigation positioning point drift identification equipment is used for comparison, different comparison modes can be provided according to the information contained in the deviation information to be verified and the reference deviation information. Referring to fig. 4, the comparing the deviation information to be verified with the reference deviation information to obtain a drift identification result of the target locating point includes:

301. and extracting at least one of the circle center angle of the route to be verified, the speed angle to be verified, the displacement angle to be verified and the maximum distance to be verified in the deviation information to be verified.

302. And extracting at least one of a reference route circle center angle, a reference speed angle, a reference displacement angle and a reference maximum distance in the reference deviation information.

303. Comparing the circle center angle of the to-be-verified route with the circle center angle of the reference route, comparing the speed angle of to-be-verified with the reference speed angle, comparing the displacement angle of to-be-verified with the reference displacement angle, and/or comparing the maximum distance of to-be-verified with the reference maximum distance, so as to obtain a drift identification result of the target positioning point.

Step 303 may specifically include the following steps:

(1C) And if the absolute value of the angle difference between the circle center angle of the route to be verified and the circle center angle of the reference route is larger than the preset maximum turning angle difference, judging that the target positioning point drifts.

(2C) And if the absolute value of the angle difference between the speed angle to be verified and the reference speed angle is greater than the preset maximum turning angle difference, determining that the target positioning point drifts.

(3C) And if the absolute value of the angle difference between the displacement angle to be verified and the reference displacement angle is greater than the preset maximum turning angle difference, determining that the target positioning point drifts.

The maximum turning angle difference may be a maximum fluctuation value of the turning angle of the navigation object in a certain time range. For example, when the navigation target is a vehicle, the maximum fluctuation value of the turning angle in 1 second is theoretically 18 °, and therefore 18 ° can be regarded as the maximum turning angle difference. If the absolute value of the angle difference between the circle center angle of the route to be verified and the circle center angle of the reference route in the step (a) is larger than the maximum turning angle difference; (b) The absolute value of the angle difference between the speed angle to be checked and the reference speed angle is larger than the maximum turning angle difference; (c) The absolute value of the angle difference between the displacement angle to be verified and the reference displacement angle is larger than the maximum turning angle difference; if at least one of the positioning points is true, the navigation positioning point drift identification equipment can judge that the target positioning point has drifted. In order to increase the accuracy of the judgment, the navigation positioning point drift identification device can also judge that the target positioning point has drifted under the condition that (a), (b) and (c) are all established.

(4C) And if the absolute value of the path difference between the maximum path to be verified and the reference maximum path is larger than the preset maximum tolerance path difference, judging that the target positioning point drifts.

The maximum tolerated displacement difference is similar to the maximum turning angle difference in definition, and refers to a maximum fluctuation value of a maximum distance that the navigation object can move within a certain time range, and if the absolute value of the distance difference is greater than the tolerated distance difference, this indicates that the maximum distance to be verified is too large, the locating point information of the target locating point contains abnormal information, and the navigation locating point drift identification device can determine that the target locating point has drifted.

It should be noted that, in the comparison, the navigation positioning point drift identification device needs to select an adopted comparison method according to the types of the deviation information included in the reference deviation information and the deviation information to be verified. For example, when the reference deviation information includes the center angle of the reference route and the deviation information to be verified includes the center angle of the route to be verified, the navigation positioning point drift identification device may adopt the comparison method in step (1C). If the reference deviation information simultaneously contains the reference route circle center angle and the reference speed angle, and the deviation information to be verified simultaneously contains the to-be-verified route circle center angle and the to-be-verified speed angle, the navigation positioning point drift identification device can simultaneously adopt the comparison method in the step (1C) and the step (2C) to improve the judgment precision, and can also adopt one comparison method in the step (1C) and the step (2C) to accelerate the judgment speed.

In summary, the embodiments of the present application include: acquiring a target positioning point of a navigation object and a plurality of reference positioning points in front of the target positioning point; determining reference deviation information according to the positioning point information of each reference positioning point; determining deviation information to be verified according to the positioning point information of the target positioning point and the positioning point information of the reference positioning point; and comparing the deviation information to be verified with the reference deviation information to obtain a drift identification result of the target positioning point. Therefore, the reference deviation information is used as the comparison information when the navigation object does not drift, compared with a scheme that a fixed numerical value is used as the comparison information when the navigation object does not drift, the method is more flexible, and the comparison information can be adaptively adjusted according to the navigation object in different scenes, so that the method is higher in universality.

After the target positioning point is determined to have drifted, the navigation positioning point drift identification device can correct the drifted target positioning point in order to reduce the waste of data. Referring to fig. 5, at this time, after the deviation information to be verified and the reference deviation information are compared to obtain a drift identification result of the target anchor point, the method further includes:

401. and determining the initial advancing direction of the navigation object according to the positioning position of each reference positioning point.

The initial traveling direction refers to an actual traveling direction of the navigation object, and may be a macroscopic moving direction of the navigation object in a moving process, or a moving direction of the navigation object at the time of positioning a target positioning point. In order to obtain the actual traveling direction, for example, if the initial traveling direction is a macroscopic moving direction of the navigation object during the movement process, the navigation positioning point drift identification device may divide the reference positioning point into a plurality of pairs of adjacent reference positioning points, and then calculate a traveling direction according to the positioning position of each reference positioning point in each pair of adjacent reference positioning points. Assuming that a pair of adjacent reference positioning points includes a reference positioning point a and a reference positioning point B, the reference positioning point a precedes the reference positioning point B, the navigation positioning point drift identification device may regard the direction pointing from a to B as the traveling direction of the pair of adjacent reference positioning points. After obtaining all the traveling directions, the navigation positioning point drift identification device may calculate the initial traveling direction of the navigation object according to the obtained traveling directions, for example, calculate the angle difference between each calculated traveling direction and the true north direction, respectively. And averaging the angle differences to obtain an average angle difference between the initial advancing direction and the due north direction, and then calculating by the navigation positioning point drift identification equipment according to the average angle difference and the due north direction to obtain the initial advancing direction.

If the initial traveling direction refers to the moving direction of the navigation object at the time of positioning the target positioning point, the navigation positioning point drift identification device may acquire a reference positioning point most adjacent to the target positioning point, for example, reference positioning point C, and the navigation positioning point drift identification device may use the direction pointing to the target positioning point from C as the initial traveling direction.

It should be noted that, the method for acquiring the initial traveling direction is not limited in the embodiments of the present application, and the above example is only for convenience of explanation and understanding.

It will be appreciated that the initial direction of travel also includes start point information, and typically the navigational anchor point drift identification device may use the anchor point of reference that is most adjacent to the target anchor point as the start point of the initial direction of travel.

402. And determining a navigation deviation distance and a navigation deviation angle according to the deviation information to be verified and the reference deviation information.

The meaning of the navigation deviation path is similar to the meaning of the absolute value of the path difference in the step (4C), and the step (4C) may also be referred to in the method for determining the navigation deviation path according to the deviation information to be checked and the reference deviation information, which is not specifically described in detail.

The meaning of the navigation deviation angle is similar to the meaning of the absolute value of the angle difference in any step of the step (1C), the step (2C) or the step (3C), and the method for determining the navigation deviation angle according to the deviation information to be verified and the reference deviation information may refer to any step of the step (1C), the step (2C) or the step (3C), which is not specifically described in detail.

403. If the navigation deviation distance is larger than a preset maximum tolerance route difference and the navigation deviation angle is smaller than or equal to a preset maximum turning angle difference, taking a point at a preset basic displacement distance on a ray corresponding to the initial advancing direction as a determined correction positioning point, and replacing the target positioning point with the correction positioning point to correct the drift.

When the navigation deviation distance is greater than the preset maximum tolerance route difference and the navigation deviation angle is less than or equal to the preset maximum turning angle difference, it is indicated that the target positioning point drifts, but the actual traveling direction, i.e. the initial traveling direction is not abnormal, so the navigation positioning point drift identification device can continuously determine a corrected positioning point for replacing the target positioning point at a proper position in the initial traveling direction. Specifically, the navigation positioning point drift identification device may use a point at a preset basic displacement distance on a ray corresponding to the initial travel direction as the determination correction positioning point. The base displacement distance may be set in advance according to the type of the navigation target, and for example, the base displacement distance may be set to 50 meters, which is larger, for a vehicle, and 5 meters, which is smaller, for a human.

In order to better implement the navigation positioning point drift identification method in the embodiment of the present application, on the basis of the navigation positioning point drift identification method, an embodiment of the present application further provides a navigation positioning point drift identification device, as shown in fig. 6, which is a schematic structural diagram of an embodiment of the navigation positioning point drift identification device in the embodiment of the present application, and the navigation positioning point drift identification device 500 includes:

an obtaining unit 501, configured to obtain a target positioning point of a navigation object and a plurality of reference positioning points before the target positioning point;

a reference determining unit 502, configured to determine reference deviation information according to the positioning point information of each positioning point;

a to-be-verified determining unit 503, configured to determine to-be-verified deviation information according to the positioning point information of the target positioning point and the positioning point information of the reference positioning point;

an identifying unit 504, configured to compare the deviation information to be verified with the reference deviation information, so as to obtain a drift identification result of the target locating point.

In one possible implementation manner of the present application, the reference deviation information includes at least one of a reference route center angle, a reference displacement angle, a reference speed angle, and a reference maximum distance; the reference determination unit 502 is further configured to:

calculating the reference movement distance of the navigation object according to the positioning position of each reference positioning point, and calculating the circle center angle of the reference route of the navigation object according to the preset radius and the reference movement distance;

In a possible implementation manner of the present application, the reference determining unit 502 is further configured to:

In a possible implementation manner of the present application, the deviation information to be verified includes at least one of a circle center angle of the route to be verified, a speed angle to be verified, a displacement angle to be verified, and a maximum distance to be verified; the reference determination unit 502 is further configured to:

In a possible implementation manner of the present application, the identifying unit 504 is further configured to:

if the absolute value of the angle difference between the speed angle to be checked and the reference speed angle is larger than a preset maximum turning angle difference, determining that the target positioning point drifts;

if the absolute value of the angle difference between the displacement angle to be verified and the reference displacement angle is larger than the preset maximum turning angle difference, determining that the target positioning point drifts; and/or

In a possible implementation manner of the present application, the navigation positioning point drift identification apparatus 500 further includes a modification unit 505, where the modification unit 505 is configured to:

In a specific implementation, the above units may be implemented as independent entities, or may be combined arbitrarily to be implemented as the same or several entities, and the specific implementation of the above units may refer to the foregoing method embodiments, which are not described herein again.

Since the navigation positioning point drift identification device can execute the steps of the navigation positioning point drift identification method in any embodiment corresponding to fig. 1 to fig. 5, the beneficial effects that can be realized by the navigation positioning point drift identification method in any embodiment corresponding to fig. 1 to fig. 5 can be realized, for details, see the foregoing description, and are not repeated herein.

In addition, in order to better implement the navigation positioning point drift identification method in the embodiment of the present application, based on the navigation positioning point drift identification method, an embodiment of the present application further provides a navigation positioning point drift identification device, referring to fig. 7, fig. 7 shows a schematic structural diagram of the navigation positioning point drift identification device in the embodiment of the present application, specifically, the navigation positioning point drift identification device provided in the embodiment of the present application includes a processor 601, and the processor 601 is configured to implement each step of the navigation positioning point drift identification method in any embodiment corresponding to fig. 1 to 5 when executing a computer program stored in a memory 602; alternatively, the processor 601 is configured to implement the functions of the units in the corresponding embodiment of fig. 7 when executing the computer program stored in the memory 602.

Illustratively, a computer program may be partitioned into one or more modules/units, which are stored in the memory 602 and executed by the processor 601 to implement embodiments of the present application. One or more modules/units may be a series of computer program instruction segments capable of performing certain functions, the instruction segments being used to describe the execution of a computer program in a computer device.

The navigation positioning point drift identification device may include, but is not limited to, a processor 601, a memory 602. It will be understood by those skilled in the art that the illustration is merely an example of the navigation positioning point drift recognition device, and does not constitute a limitation of the navigation positioning point drift recognition device, and may include more or less components than those shown, or combine some components, or different components, for example, the electronic device may further include an input-output device, a network access device, a bus, etc., and the processor 601, the memory 602, the input-output device, the network access device, etc., are connected through the bus.

The Processor 601 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general processor can be a microprocessor or the processor can be any conventional processor and the like, the processor is a control center of the navigation positioning point drift identification device, and various interfaces and lines are utilized to connect all parts of the whole navigation positioning point drift identification device.

The memory 602 may be used for storing computer programs and/or modules, and the processor 601 may implement various functions of the computer apparatus by executing or executing the computer programs and/or modules stored in the memory 602 and calling data stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, video data, etc.) created from the use of the navigation positioning point drift recognition device, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the navigation positioning point drift identification device, the navigation positioning point drift identification device and the corresponding units thereof described above may refer to the description of the navigation positioning point drift identification method in any embodiment corresponding to fig. 1 to fig. 5, and are not described herein again in detail.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, an embodiment of the present application provides a computer-readable storage medium, where a plurality of instructions are stored, where the instructions can be loaded by a processor to execute steps in the navigation positioning point drift identification method in any embodiment corresponding to fig. 1 to 5 in the present application, and specific operations refer to descriptions of the navigation positioning point drift identification method in any embodiment corresponding to fig. 1 to 5, which are not described herein again.

Wherein the computer-readable storage medium may include: read Only Memory (ROM), random Access Memory (RAM), magnetic or optical disks, and the like.

Since the instructions stored in the computer-readable storage medium can execute the steps in the navigation positioning point drift identification method in any embodiment corresponding to fig. 1 to fig. 5 in the present application, the beneficial effects that can be achieved by the navigation positioning point drift identification method in any embodiment corresponding to fig. 1 to fig. 5 in the present application can be achieved, for details, see the foregoing description, and are not repeated herein.

The method, the device, the identification equipment and the computer-readable storage medium for identifying the drift of the navigation positioning point provided by the embodiment of the application are described in detail, a specific example is applied in the description to explain the principle and the implementation of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and the application scope may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A navigation positioning point drift identification method is characterized by comprising the following steps:

2. The navigation positioning point drift identification method of claim 1,

the reference deviation information includes at least one of a reference route circle center angle, a reference displacement angle, a reference speed angle, and a reference maximum distance;

3. The method for identifying the drift of the navigation positioning point according to claim 2, wherein the step of calculating the reference maximum distance of the navigation object according to the movement speed, the positioning time and the preset maximum acceleration of each reference positioning point comprises the following steps:

4. The navigation positioning point drift identification method according to claim 2, wherein the deviation information to be verified comprises at least one of a circle center angle of a route to be verified, a speed angle to be verified, a displacement angle to be verified and a maximum distance to be verified;

the determining deviation information to be verified according to the positioning point information of the target positioning point and the positioning point information of the reference positioning point comprises the following steps:

5. The method for identifying drift of a navigation positioning point according to claim 1, wherein the step of comparing the deviation information to be verified with the reference deviation information to obtain the drift identification result of the target positioning point comprises:

extracting at least one of the circle center angle of the route to be verified, the speed angle to be verified, the displacement angle to be verified and the maximum distance to be verified in the deviation information to be verified;

6. The method for identifying drift of a navigation positioning point according to claim 5, wherein the comparing the circle center angle of the to-be-verified route with the circle center angle of the reference route, comparing the displacement angle to be verified with the reference displacement angle, comparing the speed angle to be verified with the reference speed angle, and/or comparing the maximum distance to be verified with the reference maximum distance to obtain the drift identification result of the target positioning point comprises:

7. The method for identifying the drift of the navigation positioning point according to claims 1 to 6, wherein after the deviation information to be verified and the reference deviation information are compared to obtain the drift identification result of the target positioning point, the method further comprises:

determining the initial advancing direction of the navigation object according to the positioning position of each reference positioning point;

8. A navigation positioning point drift identification method device is characterized by comprising the following steps:

9. A navigation fix drift identification device, characterized by comprising a processor and a memory, wherein the memory stores a computer program, and the processor executes the navigation fix drift identification method according to any one of claims 1 to 7 when calling the computer program in the memory.

10. A computer readable storage medium, characterized in that it has a computer program stored thereon, which is loaded by a processor to execute the steps of the method for identifying drift of a navigation fix according to any one of claims 1 to 7.