CN103852771A - Positioning drifting processing method - Google Patents
Positioning drifting processing method Download PDFInfo
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- CN103852771A CN103852771A CN201210518431.8A CN201210518431A CN103852771A CN 103852771 A CN103852771 A CN 103852771A CN 201210518431 A CN201210518431 A CN 201210518431A CN 103852771 A CN103852771 A CN 103852771A
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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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- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Abstract
A positioning drifting processing method includes the steps that when a positioning terminal is switched from a non-positioning state to a positioning state, judging the state of the positioning terminal at the moment; if the positioning terminal is static, carrying out filtering processing according to static drifting, namely setting filtering delay time according to accumulation time when the positioning terminal is not positioned and the deviation distance between the positioning terminal and a previous effective positioning point, and then in the filtering delay time, obtaining longitude and latitude average values of multiple effective sample points in the filtering delay time to position novel effective position points according to a static position locking algorithm; if the positioning terminal is dynamic, refreshing positioning points by means of received positioning data according to the accumulation time when the positioning terminal is not positioned. The method is suitable for the GPS satellite positioning technology, Beidou satellite positioning technology and other positioning technologies, accords with statistic rules, is simple in data processing, low in implement cost and wide in application range, and meanwhile supports a real-time positioning data processing mode and back-end positioning data processing mode.
Description
Technical field
The present invention relates to satellite positioning tech field, particularly a kind of location drift processing method applicable to gps satellite location, big-dipper satellite location etc.
Background technology
The GPS position application of China is quite extensive at present, from various navigation terminals, monitoring position terminal to mobile phone location microblogging etc., the performance requirement of satnav is also progressively improved, and positioning performance depends primarily on the performance of the integrated GPS reception module of these terminal devices, no matter be the reception module of chip-scale or module level, be below referred to as GPS receiver.Under existing GPS location technology, be subject to the impact of the complicated factors such as atmospheric ionized layer changes, cloud layer blocks, the multipath reflection of periphery high-lager building due to satellite-signal, GPS location often there will be position excursion phenomenon.Be the positional information that GPS receiver resolves out, have deviation in various degree with actual conditions, when deviation has exceeded trueness error allowed band, think location drift has occurred.
Conventionally, GPS receiver, under motion conditions, although also there is the bad situation of signal, by the algorithm process of GPS receiver inside, generally still can calculate and relatively approach actual result.When GPS receiver remains static down, particularly from cold start-up to firm location and remain static time, drift can be more serious.Be embodied in, the location point of location is presented on electronic chart, position is fluid, disorderly and unsystematic, and its circular proable error (CEP) can reach tens hundreds of rice even.This patent mainly, from the aspect of application software, by software processing, solves the location drifting problem under GPS receiver stationary state, hereinafter to be referred as static drift.
The method of common solution GPS location drift mainly contains following several in the industry at present.1, by judging the condition of work of GPS terminal, and then the mode whether control GPS positioning function enables solves.For example, for GPS car-mounted terminal, conventionally judge whether to enable positioning function according to vehicle ACC state, once detect that vehicle is flame-out, close positioning function, thereby avoid static drift.And for example, for the situation (when some terminal is installed, ACC signal being connect to normal electricity, always in effective status) that cannot detect operate outside condition, the method lost efficacy.2, at central platform, the track data of terminal to report is carried out to back-end processing, for example the parameter such as satellite-signal signal to noise ratio (S/N ratio), the trueness error factor corresponding according to location point, filters out suspicious Null Spot; Smooth trajectory filters, and multiple location points are carried out to track fitting, removes and departs from larger location point, then by Recursion process, obtain best matching track etc.This mode lacks real-time, and often data processing operation workload is huge, is difficult to meet the needs of the application scenario of real-time processing.3, carry out location matches by terminal present position point peripheral path or information point on map, directly the longitude and latitude data of correction position point.The method is usually used in terminal guidance, requires navigation terminal need carry map or downloads in real time peripheral map data by wireless network, and higher to the requirement of terminal, the scope of application is less.
Summary of the invention
Fundamental purpose of the present invention is to meet according to locating terminal static drift the feature that circular probability distributes, locator data in locating terminal stationary state and Stillness and motion stateful switchover process is carried out to certain mathematics manipulation, determine the latched position under suitable state switching condition and stationary state, thereby effectively solve the problem of locating terminal static drift.
The present invention adopts following technical scheme:
A kind of disposal route of locating drift, it is characterized in that: the moment that switches to location at locating terminal from delocalization, while first judging this, inscribe the state of locating terminal, if locating terminal is static, according to static drift filtration treatment, according to the accumulated time of locating terminal delocalization and with the offset distance of a upper effective location point, filtration delay time is set, then in filtration delay time, according to static position lock algorithms, the longitude and latitude average of getting some effective sample points of determining in filtration delay time locks new active position point; If locating terminal is dynamically, refresh anchor point according to delocalization accumulated time by the locator data receiving.
Further, to be locating terminal comprise that according to the state of satellite-signal the trueness error factor and signal to noise ratio (S/N ratio) judge the anchor point obtaining after filtering to the positioning mark receiving for effective locator data to described effective location point.
Further, specifically comprise the steps: that locating terminal sets in advance that to filter delay time be accumulated time reference value t1, the t2 of T1, T2 and delocalization, the dynamic locking reference value t3 that fixes time, and T1<T2, t1<t2,
1) judge that whether locating terminal is in static state, if carry out step 2), carry out step 3 if not);
2) whether first locating terminal, in static state, judges locating terminal location, is T2 if filtration delay time is set, and carries out if not step 4);
3) locating terminal, in dynamically, judges whether the accumulated time of locating terminal delocalization is greater than t1, if so, uses the locking position t3 of an effective location point, then refreshes anchor point by new locator data; If not, directly refresh anchor point by new locator data;
4) current anchor point and a upper effective location point are compared, whether the accumulated time that judges locating terminal delocalization is more than or equal to t2, if, arranging and filtering delay time is T2, arranging if not and filtering delay time is T1, then, and in filtration delay time, according to static position lock algorithms, the longitude and latitude average of getting some effective sample points of determining in filtration delay time locks new active position point.
Further, locating terminal sets in advance distance reference value L, in step 4), judges whether the offset distance of locating terminal and a upper effective location point is more than or equal to L, and if so, arranging and filtering delay time is T2, and arranging if not and filtering delay time is T1.
Further, locating terminal sets in advance speed reference v1, the v2 of locating terminal, second direction variable quantity reference value A, and v1<v2, in step 4), locating terminal is in static state, now, locating terminal calculates average velocity at set intervals one time
if
locating terminal recalculates and obtains another new active position point and refresh a upper active position point according to static position lock algorithms; If
locating terminal keeps an active position point calculating according to static position lock algorithms; If continuing for some time direction variable quantity second that meets v > v2 and adjacent positioned point, the speed v of locating terminal continues to be less than A, think that locating terminal is switched to dynamically from static state, within this period, locating terminal still adopts static drift filtration treatment lock in place point.
Further, in step 3), now locating terminal is in dynamically, if the speed v of locating terminal continues one end time and meets v≤v2, think that locating terminal is from being dynamically switched to static state, within this period, refresh anchor point by new locator data, the anchor point that then several is met to static condition and be v≤v2 obtains new active position point according to position static locking algorithm.
Further, described static position lock algorithms specifically comprises the steps: that locating terminal sets and will gather and be m for the total number of sample point of the effective location that calculates according to filtering delay time, and the minimum number that is wherein defined as effective sample point is n, i ∈ [0, m]
A locating terminal gathers the sample point P of multiple effective locations
i, get front n sample point P
0-P
i=n-1composition sample group;
The longitude and latitude average that b calculates all sample points in sample group obtains focus point P ', calculates respectively the distance l of each sample point to this focus point P'
i, and obtain l
imean distance
C will
sample point be designated invalid sample point and eliminate this sample group, all the other are labeled as effective sample point, judge whether i is more than or equal to m, if so, enter steps d; If not, by sample point P
i=i+1add sample group, repeating step b;
D carries out longitude and latitude mean value computation by all effective sample points in sample group and obtains active position point.
Further, invalid sample point is formed to invalid sample group in step c, by effective sample point composition effective sample group, in the time that the invalid sample point number in invalid sample group is more than or equal to n, new invalid sample point of every increase all carries out following steps:
The longitude and latitude average that c1 calculates all sample points in invalid sample group obtains focus point P ', calculates respectively the distance l of each sample point to this focus point P'
i, and obtain l
imean distance
C2 will
sample point eliminate this invalid sample group.
Further, in step c, when the sample point number of invalid sample group is more than or equal to the sample point number of effective sample group, calculate effective sample point now
if
invalid sample group is promoted as effective sample group, and former effective sample group is lowered one's standard or status as invalid sample group.
Further, if in the time that filtration delay time finishes, if do not obtain yet n effective sample point, extend time delay filtration time, until obtain n effective sample point.
Further, in steps d, all effective sample points in effective sample group are carried out to longitude and latitude mean value computation and obtain active position point, the location point after this locking, its velocity amplitude is set to 0, and direction is the direction average of last 5 effective location points.
From the above-mentioned description of this invention, compared with prior art, the present invention has following beneficial effect:
A kind of disposal route of locating drift of the present invention, first locating terminal state is judged, comprise static state, dynamically, static state is switched to dynamically, is dynamically switched to static state, then meet according to locating terminal static drift the feature that circular probability distributes, the algorithm that various states are corresponding is processed, thereby effectively solved the problem of locating terminal static drift.Method of the present invention is applicable to the location technologies such as gps satellite location, big-dipper satellite location, meets statistical law, and data processing is comparatively simple, implementation cost is low, applied widely, and supports real-time processing and two kinds of modes of back-end processing of locator data simultaneously.
Brief description of the drawings
Fig. 1 is the positioning flow figure under locating terminal different conditions of the present invention;
Fig. 2 is the transition between states schematic diagram between locating terminal the dynamic and stalic state of the present invention.
Embodiment
Below by embodiment, the invention will be further described.
A kind of disposal route of locating drift, switch to the moment of location from delocalization at locating terminal, while first judging this, inscribe the state of locating terminal, if locating terminal is static, according to static drift filtration treatment, according to the accumulated time of locating terminal delocalization and with the offset distance of a upper effective location point, filtration delay time is set, then in filtration delay time, according to static position lock algorithms, the longitude and latitude average of getting some effective sample points of determining in filtration delay time locks new active position point; If locating terminal is dynamically, refresh anchor point according to delocalization accumulated time by the locator data receiving.Specifically comprise the steps: with reference to Fig. 1
Taking gps satellite locating terminal as example, GPS position data refreshing frequency is 1s, and locating terminal is per second all can receive a positional information.Locating terminal sets in advance and filters delay time T1=15s, T2=30s, accumulated time reference value t1=60s, the t2=3min of delocalization, speed reference v1=2 kilometer/hour, v2=5 kilometer/hour, distance reference value L=300m, the dynamic locking reference value t3=5s that fixes time, second direction variable quantity reference value A=45 °.Locating terminal receives gps data, first filtering out invalid according to the positioning mark in locator data (effective or invalid) is the data of no-fix, active data for positioning mark, again according to the state of gps satellite signal, judge that trueness error factor PDOP, HDOP, VDOP are all less than 5, and signal to noise ratio (S/N ratio) is greater than 25, qualified reservation is as effective location point.
1) judge that whether locating terminal is in static state, if if the translational speed of locating terminal continues within 5 seconds, to meet above v≤5 kilometer/hour or ACC(has) signal is disarmed state, carry out step 2), carry out step 3 if not);
2) whether first locating terminal, in static state, judges locating terminal location, is 30s if filtration delay time is set, and carries out if not step 4);
3) locating terminal, in dynamically, judges whether the accumulated time of locating terminal delocalization is greater than 60s, if so, uses the locking position 5s of an effective location point, then refreshes anchor point by new locator data; If not, directly refresh anchor point by new locator data;
4) current anchor point and a upper effective location point are compared, whether the accumulated time that judges locating terminal delocalization is more than or equal to 3min or judges the current anchor point of locating terminal and whether a upper effective location point distance is more than or equal to 300m, if, arranging and filtering delay time is 30s, if being less than 3min and being less than 300m with a upper effective location point distance, the accumulated time of delocalization arranges that to filter delay time be 15s, then, according to static position lock algorithms, in filtration delay time, get the longitude and latitude average of filtering some effective sample points of determining in delay time as the longitude and latitude of keyed end, thereby lock a new active position point, the counter O reset of delocalization accumulated time.Locating terminal, before the new active position point of non-locking, keeps locating terminal location disarmed state, the same active position point in position.
Wherein, in step 4), locating terminal is in static state, and now, locating terminal calculates an average velocity every 1min
(unit be kilometer/hour), if
, be quasistatic, locating terminal recalculates and obtains another new active position point and refresh a upper active position point according to static position lock algorithms; If
be complete static, locating terminal keeps an active position point calculating according to static position lock algorithms; If continuing 5s, the speed v of locating terminal (unit for kilometer/hour) meets v > 5, and an adjacent positioned point second direction variable quantity continues to be less than 45 °, think that locating terminal is switched to dynamically (with reference to Fig. 2) from static state, within this period, locating terminal still adopts static drift filtration treatment to determine anchor point.
In step 3), now locating terminal is in dynamically, if continuing 5s, the speed v of locating terminal meets v≤5, think that locating terminal is from being dynamically switched to static state (with reference to Fig. 2), in this 5s, refresh anchor point by new locator data, then get nearest 5 and meet the anchor point that static condition is v≤5, obtain new active position point according to static position lock algorithms.The above-mentioned static position lock algorithms of mentioning specifically comprises the steps: that locating terminal sets and will gather and be m for the total number of sample point of the effective location that calculates according to filtering delay time, the minimum number that is wherein defined as effective sample point is 4, i ∈ [0, m], the sample point of effective location is wherein above-mentioned effective location point.
A locating terminal gathers the sample point P of multiple effective locations
i, get front 4 sample point P
0-P
i=3composition sample group;
The longitude and latitude average that b calculates all sample points in sample group obtains focus point P ', calculates respectively the distance l of each sample point to this focus point P'
i, and obtain l
imean distance
C will
sample point be designated invalid sample point and eliminate this sample group, all the other are labeled as effective sample point, judge whether i is more than or equal to m, if so, enter steps d; If not, by sample point P
i=i+1add sample group, repeating step b;
D carries out longitude and latitude mean value computation by all effective sample points in sample group and obtains active position point.
Wherein, invalid sample point is formed to invalid sample group in step c, by effective sample point composition effective sample group, in the time that the invalid sample point number in invalid sample group is more than or equal to 4, new invalid sample point of every increase all carries out following steps:
The longitude and latitude average that c1 calculates all sample points in invalid sample group obtains focus point P ', calculates respectively the distance l of each sample point to this focus point P'
i, and obtain l
imean distance
C2 will
sample point eliminate this invalid sample group.
In step c, when the sample point number of invalid sample group is more than or equal to the sample point number of effective sample group, calculate effective sample point now
if
invalid sample group is promoted as effective sample group, and former effective sample group is lowered one's standard or status as invalid sample group, and follow-up effective sample point adds current effective sample group processing.
If in the time that filtration delay time finishes, if do not obtain yet 4 effective sample points, extend time delay filtration time, until obtain 4 effective sample points, otherwise, enter steps d.
In steps d, in steps d, all effective sample points in effective sample group are carried out to longitude and latitude mean value computation and obtain active position point, the location point after this locking, its velocity amplitude is set to 0, and direction is the direction average of last 5 effective location points.
Above are only a specific embodiment of the present invention, but design concept of the present invention is not limited to this, allly utilizes this design to carry out the change of unsubstantiality to the present invention, all should belong to the behavior of invading protection domain of the present invention.
Claims (11)
1. locate the disposal route of drift for one kind, it is characterized in that: the moment that switches to location at locating terminal from delocalization, while first judging this, inscribe the state of locating terminal, if locating terminal is static, according to static drift filtration treatment, according to the accumulated time of locating terminal delocalization and with the offset distance of a upper effective location point, filtration delay time is set, then in filtration delay time, according to static position lock algorithms, the longitude and latitude average of getting some effective sample points of determining in filtration delay time locks new active position point; If locating terminal is dynamically, refresh anchor point according to delocalization accumulated time by the locator data receiving.
2. a kind of disposal route of locating drift as claimed in claim 1, is characterized in that: to be locating terminal comprise that according to the state of satellite-signal the trueness error factor and signal to noise ratio (S/N ratio) judge the anchor point obtaining after filtering to the positioning mark receiving for effective locator data to described effective location point.
3. a kind of disposal route of locating drift as claimed in claim 1 or 2, it is characterized in that: specifically comprise the steps: that it is accumulated time reference value t1, the t2 of T1, T2 and delocalization that locating terminal sets in advance filtration delay time, the dynamic locking reference value t3 that fixes time, and T1<T2, t1<t2
1) judge that whether locating terminal is in static state, if carry out step 2), carry out step 3 if not);
2) whether first locating terminal, in static state, judges locating terminal location, is T2 if filtration delay time is set, and carries out if not step 4);
3) locating terminal, in dynamically, judges whether the accumulated time of locating terminal delocalization is greater than t1, if so, uses the locking position t3 of an effective location point, then refreshes anchor point by new locator data; If not, directly refresh anchor point by new locator data;
4) current anchor point and a upper effective location point are compared, whether the accumulated time that judges locating terminal delocalization is more than or equal to t2, if, arranging and filtering delay time is T2, arranging if not and filtering delay time is T1, then, and in filtration delay time, according to static position lock algorithms, the longitude and latitude average of getting some effective sample points of determining in filtration delay time locks new active position point.
4. a kind of disposal route of locating drift as claimed in claim 3, it is characterized in that: locating terminal sets in advance distance reference value L, in step 4), whether the offset distance that judges locating terminal and a upper effective location point is more than or equal to L, if, arranging and filtering delay time is T2, and arranging if not and filtering delay time is T1.
5. a kind of disposal route of locating drift as described in claim 3 or 4, it is characterized in that: locating terminal sets in advance speed reference v1, the v2 of locating terminal, second direction variable quantity reference value A, and v1<v2, in step 4), locating terminal is in static state, and now, locating terminal calculates average velocity at set intervals one time
if
locating terminal recalculates and obtains another new active position point and refresh a upper active position point according to static position lock algorithms; If
locating terminal keeps an active position point calculating according to static position lock algorithms; If continuing for some time direction variable quantity second that meets v > v2 and adjacent positioned point, the speed v of locating terminal continues to be less than A, think that locating terminal is switched to dynamically from static state, within this period, locating terminal still adopts static drift filtration treatment lock in place point.
6. a kind of disposal route of locating drift as claimed in claim 5, it is characterized in that: in step 3), now locating terminal is in dynamically, if the speed v of locating terminal continues one end time and meets v≤v2, think that locating terminal is from being dynamically switched to static state, within this period, refresh anchor point by new locator data, the anchor point that then several is met to static condition and be v≤v2 obtains new active position point according to position static locking algorithm.
7. a kind of disposal route of locating drift as claimed in claim 6, it is characterized in that: described static position lock algorithms specifically comprises the steps: that locating terminal sets and will gather and be m for the total number of sample point of the effective location that calculates according to filtering delay time, the minimum number that is wherein defined as effective sample point is n, i ∈ [0, m]
A locating terminal gathers the sample point P of multiple effective locations
i, get front n sample point P
0-P
i=n-1composition sample group;
The longitude and latitude average that b calculates all sample points in sample group obtains focus point P ', calculates respectively the distance l of each sample point to this focus point P'
i, and obtain l
imean distance
C will
sample point be designated invalid sample point and eliminate this sample group, all the other are labeled as effective sample point, judge whether i is more than or equal to m, if so, enter steps d; If not, by sample point P
i=i+1add sample group, repeating step b;
D carries out longitude and latitude mean value computation by all effective sample points in sample group and obtains active position point.
8. a kind of disposal route of locating drift as claimed in claim 7, it is characterized in that: invalid sample point is formed to invalid sample group in step c, by effective sample point composition effective sample group, in the time that the invalid sample point number in invalid sample group is more than or equal to n, new invalid sample point of every increase all carries out following steps:
The longitude and latitude average that c1 calculates all sample points in invalid sample group obtains focus point P ', calculates respectively the distance l of each sample point to this focus point P'
i, and obtain l
imean distance
C2 will
sample point eliminate this invalid sample group.
9. a kind of disposal route of locating drift as claimed in claim 8, is characterized in that: in step c, when the sample point number of invalid sample group is more than or equal to the sample point number of effective sample group, calculate effective sample point now
if
invalid sample group is promoted as effective sample group, and former effective sample group is lowered one's standard or status as invalid sample group.
10. a kind of disposal route of locating drift as described in claim 7 or 8 or 9, is characterized in that: if in the time that filtration delay time finishes, if do not obtain yet n effective sample point, extend time delay filtration time, until obtain n effective sample point.
11. a kind of disposal routes of locating drift as claimed in claim 10, it is characterized in that: in steps d, all effective sample points in effective sample group are carried out to longitude and latitude mean value computation and obtain active position point, location point after this locking, its velocity amplitude is set to 0, and direction is the direction average of last 5 effective location points.
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