CN103852771B - A kind of processing method of fix drift - Google Patents
A kind of processing method of fix drift Download PDFInfo
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- CN103852771B CN103852771B CN201210518431.8A CN201210518431A CN103852771B CN 103852771 B CN103852771 B CN 103852771B CN 201210518431 A CN201210518431 A CN 201210518431A CN 103852771 B CN103852771 B CN 103852771B
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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 kind of processing method of fix drift, when positioning terminal switches to positioning from delocalization, first judge to be inscribed when this state of positioning terminal, if positioning terminal is static state, then according to static drift filtration treatment, accumulated time i.e. according to positioning terminal delocalization and filtering delay time is set with the offset distance of upper one effective anchor point, then in filtering delay time, according to static position lock algorithms, take the longitude and latitude average of some effective sample points determined in filtering delay time to lock new active position point；If positioning terminal is dynamic, anchor point is refreshed with the location data for receiving according to delocalization accumulated time.The method of the present invention is applied to the location technologies such as gps satellite positioning, big-dipper satellite positioning, meets statistical law, and data processing is relatively simple, implementation cost is low, applied widely, and supports the real-time processing and back-end processing two ways of location data simultaneously.
Description
Technical field
Gps satellite positioning, big-dipper satellite positioning are applicable to the present invention relates to technical field of satellite, particularly one kind
Deng fix drift processing method.
Background technology
The GPS location application of current China is quite extensive, micro- to mobile phone location from various navigation terminals, monitoring position terminal
Win, the performance requirement to satellite fix is also stepped up, and positioning performance to depend primarily on these terminal devices integrated
The performance of GPS receiver module, the either receiving module of chip-scale or module level, hereinafter referred to as GPS.Existing
Under GPS positioning technology, because satellite-signal is subject to the multipath of atmospheric ionized layer change, cloud cover, periphery high-lager building anti-
The influence of complicated factor such as penetrate, GPS location often occurs position excursion phenomenon.The position letter that i.e. GPS is resolved
, there is different degrees of deviation with actual conditions, when deviation has exceeded trueness error allowed band, then it is assumed that there occurs positioning in breath
Drift.
Generally, GPS is under motion conditions, although there is also the bad situation of signal, but by GPS
The algorithm process in portion, still can typically calculate relatively actual result.When GPS remains static down,
Particularly when cold start-up is under just positioning and remain static, drift can be more serious.It is embodied in, the position that will be positioned
On the electronic map, position is fluid, disorderly and unsystematic, and its circular proable error (CEP) can reach tens or even hundreds of for point display
Rice.The main aspect from application software of this patent, by software processing, solves the fix drift under GPS inactive state
Problem, hereinafter referred to as static drift.
The method of solution GPS location drift common in the industry at present mainly has following several.1st, by judging GPS terminal
Condition of work, and then control the mode whether GPS location function enables to solve.For example for GPS car-mounted terminals, generally according to
Whether vehicle ACC condition adjudgements enable positioning function, once detecting vehicle stall, then close positioning function, quiet so as to avoid
State is drifted about.And during for outside condition of work cannot be detected（For example when some terminals are installed ACC signals are connect into normal electricity, i.e.,
It is constantly in effective status）, then the method is failure.2nd, rear end is carried out to the track data of terminal to report in central platform
Reason, such as, according to parameters such as the corresponding satellite-signal signal to noise ratio of location point, the trueness error factors, suspicious Null Spot is filtered
Fall；Smooth trajectory is filtered, and track fitting is carried out to multiple location points, is removed and is deviateed larger location point, then by Recursion process,
Obtain optimal fitting track etc..This mode lacks real-time, and often data processing operation workload is huge, it is difficult to suitable
In requisition for the application scenario of real-time processing.3rd, position is carried out with terminal present position point peripheral path or information point on map
Match somebody with somebody, the longitude and latitude degrees of data of direct correction position point.The method is usually used in terminal guidance, it is desirable to which navigation terminal need to carry map or logical
Cross wireless network and download peripheral map data in real time, the requirement to terminal is higher, and the scope of application is smaller.
The content of the invention
The characteristics of being distributed it is a primary object of the present invention to meet circular probability according to positioning terminal static drift, to positioning eventually
End inactive state and the static location data with motion state handoff procedure carry out certain Mathematical treatment, it is determined that appropriate
Latched position under state switching condition and inactive state, so as to efficiently solve the problem of positioning terminal static drift.
The present invention is adopted the following technical scheme that：
A kind of processing method of fix drift, it is characterised in that：When positioning terminal switches to positioning from delocalization,
First judge to be inscribed when this state of positioning terminal, if positioning terminal is static state, according to static drift filtration treatment, i.e., according to fixed
The accumulated time of position terminal delocalization and filtering delay time is set with the offset distance of upper one effective anchor point, then exists
In filtering delay time, according to static position lock algorithms, the warp of some effective sample points determined in filtering delay time is taken
Latitude average locks new active position point；If positioning terminal is dynamic, use what is received according to delocalization accumulated time
Location data refreshes anchor point.
Further, effective anchor point is that positioning of the positioning terminal to receiving is designated effective location data root
Include that the trueness error factor and signal to noise ratio carry out resulting anchor point after judgement filtering according to the state of satellite-signal.
Further, following steps are specifically included：It is T1, T2 and indefinite that positioning terminal pre-sets filtering delay time
Accumulated time reference value t1, t2 of position, dynamic locking time reference value t3, and T1<T2、t1<t2,
1）Whether positioning terminal is judged in static state, if then carrying out step 2）If otherwise carrying out step 3);
2) positioning terminal is in static state, judges whether positioning terminal positions first, if then set filtering delay time being
T2, if otherwise carrying out step 4）；
3）Whether positioning terminal is in dynamic, the accumulated time of positioning terminal delocalization is judged more than t1, if so, then using
The position locking t3 of one effective anchor point, then refreshes anchor point with new location data；If it is not, then directly with new positioning number
According to refreshing anchor point；
4）Current anchor point is compared with upper one effective anchor point, judges whether the accumulated time of positioning terminal delocalization is big
In or equal to t2, if so, then set filtering delay time for T2, if it is T1 otherwise to set filtering delay time, then, filtering
In delay time, according to static position lock algorithms, the longitude and latitude of some effective sample points determined in filtering delay time is taken
Average locks new active position point.
Further, positioning terminal pre-sets distance reference value L, in step 4）In, judge that positioning terminal has with upper one
Whether the offset distance for imitating anchor point is more than or equal to L, if so, it is T2 then to set filtering delay time, if otherwise setting filtering
Delay time is T1.
Further, positioning terminal pre-sets speed reference v1, v2 of positioning terminal, second direction change amount reference value
A, and v1<V2, in step 4）In, positioning terminal is in static state, and now, positioning terminal calculates once average speed at regular intervals
DegreeIfThen positioning terminal is recalculated according to static position lock algorithms and obtains another new active position point
Refresh upper active position point；IfThen upper one of positioning terminal holding is calculated according to static position lock algorithms
The active position point for arriving；If the speed v of positioning terminal continues for some time the second direction change for meeting v ＞ v2 and adjacent positioned point
Amount is continuously less than A, then it is assumed that positioning terminal is switched to dynamic from static state, and within this time, positioning terminal is still using static state
Drift filtration treatment locking anchor point.
Further, in step 3）In, now positioning terminal is in dynamic, if the speed v of positioning terminal continues one end
Between meet v≤v2, then it is assumed that positioning terminal is switched to static state from dynamic, within this time, refreshes fixed with new location data
Several are then met the static conditions i.e. anchor point of v≤v2 and obtain new effective according to position static locking algorithm by site
Location point.
Further, the static position lock algorithms specifically include following steps：When positioning terminal is according to filtering time delay
Between set and to gather and the sample point total number of effective positioning for calculating is m, wherein being defined as the minimum of effective sample point
Number is n, i ∈ [0, m],
The sample point P of the multiple effectively positioning of a positioning terminals collectioni, take preceding n sample point P0-PI=n-1Composition sample group；
The longitude and latitude that b calculates all sample points in sample group is worth to focus point P ', each sample point is calculated respectively and is arrived
Focus point P' apart from li, and obtain liAverage distance
C willSample point be designated invalid sample point and eliminate the sample group, remaining be labeled as effective sample
Whether this point, judge i more than or equal to m, if so, then entering step d；If it is not, then by sample point PI=i+1Add sample group, weight
Multiple step b；
All effective samples in sample group are clicked through latitude mean value computation of passing through and obtain active position point by d.
Further, invalid sample point is constituted into invalid sample group in step c, effective sample point is constituted into effective sample
Group, when the invalid sample point number in invalid sample group is more than or equal to n, often increasing a new invalid sample point is all carried out
Following steps：
The longitude and latitude that c1 calculates all sample points in invalid sample group is worth to focus point P ', and each sample is calculated respectively
Point is to focus point P' apart from li, and obtain liAverage distance
C2 willSample point eliminate the invalid sample group.
Further, in step c, when the sample of the sample point number more than or equal to effective sample group of invalid sample group
Point number, calculates now effective sample pointIfThen invalid sample group is promoted as effective sample group, original
It is invalid sample group that effect sample group is lowered one's standard or status.
Further, if at the end of delay time is filtered, if not obtaining n effective sample point yet, extending time delay
The filter time, until obtaining n effective sample point.
Further, in step d, all effective samples in effective sample group are clicked through into latitude mean value computation of passing through and is obtained final product
To active position point, the location point after the locking, its velocity amplitude is set to 0, and direction is that the direction of last 5 effective anchor points is equal
Value.
From the above-mentioned description of this invention, compared with prior art, the present invention has the advantages that：
A kind of processing method of fix drift of the invention, first judges positioning terminal state, including static, dynamic
State, static state are switched to dynamic, switching at runtime to static, and the spy of circular probability distribution is then met according to positioning terminal static drift
Point, is processed the corresponding algorithm of various states, so as to efficiently solve the problem of positioning terminal static drift.It is of the invention
Method is applied to the location technologies such as gps satellite positioning, big-dipper satellite positioning, meets statistical law, and data processing is relatively simple, real
Low cost is applied, it is applied widely, and the real-time processing and back-end processing two ways of location data are supported simultaneously.
Brief description of the drawings
Fig. 1 is the positioning flow figure under positioning terminal different conditions of the present invention；
Fig. 2 is the transition between states schematic diagram between positioning terminal dynamic of the present invention and static state.
Specific embodiment
Below by way of specific embodiment, the invention will be further described.
A kind of processing method of fix drift, when positioning terminal switches to positioning from delocalization, when first judging this
The state of positioning terminal is inscribed, it is according to static drift filtration treatment, i.e., indefinite according to positioning terminal if positioning terminal is static state
The accumulated time of position and filtering delay time is set with the offset distance of upper one effective anchor point, then when time delay is filtered
Interior, according to static position lock algorithms, the longitude and latitude average for taking some effective sample points determined in filtering delay time is come
The new active position point of locking；If positioning terminal is dynamic, according to the delocalization accumulated time location data brush for receiving
New definition point.Specifically include following steps：Reference picture 1
By taking gps satellite positioning terminal as an example, GPS location data refreshing frequency can all be received for 1s, i.e. positioning terminal are per second
One positional information.Positioning terminal pre-sets filtering delay time T1=15s, T2=30s, the accumulated time reference value of delocalization
T1=60s, t2=3min, v1=2 kilometers/hour of speed reference, v2=5 kilometers/hour, distance reference value L=300m, dynamic locking
Reference value of fixing time t3=5s, second direction change amount reference value A=45 °.Positioning terminal receives gps data, first according to positioning number
Positioning mark in（It is effective or invalid）The data of invalid i.e. no-fix are filtered out, are effective data for positioning mark,
Further according to the state of gps satellite signal, judge that trueness error factor PDOP, HDOP, VDOP are less than 5, and signal to noise ratio is big
It is qualified to be retained as effective anchor point in 25.
1）Whether positioning terminal is judged in static state, if the translational speed of positioning terminal continues to meet within more than 5 seconds v≤5 public affairs
In/hour or ACC（If）Signal is disarmed state, then carry out step 2）If otherwise carrying out step 3);
2) positioning terminal is in static state, judges whether positioning terminal positions first, if then set filtering delay time being
30s, if otherwise carrying out step 4）；
3）Whether positioning terminal is in dynamic, the accumulated time of positioning terminal delocalization is judged more than 60s, if so, then using
The position locking 5s of a upper effective anchor point, then refreshes anchor point with new location data；If it is not, then directly with new positioning
Refresh Data anchor point；
4）Current anchor point is compared with upper one effective anchor point, judges whether the accumulated time of positioning terminal delocalization is big
In or equal to 3min or judge positioning terminal current anchor point with upper one effective anchor point distance whether more than or equal to 300m,
If so, then set filtering delay time be 30s, if the accumulated time of delocalization less than 3min and with upper one effective anchor point distance
It is 15s that filtering delay time is then set less than 300m, then, according to static position lock algorithms, is taken in filtering delay time
The longitude and latitude average of some effective sample points determined in delay time is filtered as the longitude and latitude of keyed end, so as to lock one
New active position point, delocalization accumulated time counter O reset.Positioning terminal was protected before the new active position point of non-locking
Hold positioning terminal positioning disarmed state, a position ibid active position point.
Wherein, in step 4）In, positioning terminal is in static state, and now, positioning terminal calculates once average speed every 1min
Degree（Unit for kilometer/hour）If,, as quasistatic, then positioning terminal according to static position lock algorithms again
It is calculated another new active position point and refreshes upper active position point；IfIt is then full static state, then positioning terminal is protected
Hold an active position point being calculated according to static position lock algorithms；If the speed v of positioning terminal（Unit is public affairs
In/hour）Continue 5s and meet v ＞ 5, and adjacent positioned point second direction change amount is continuously less than 45 °, then it is assumed that positioning terminal is from quiet
State is switched to dynamic（Reference picture 2）, within this time, positioning terminal still determines positioning using static drift filtration treatment
Point.
In step 3）In, now positioning terminal is in dynamic, if the speed v of positioning terminal continues 5s and meets v≤5, recognizes
For positioning terminal is switched to static state from dynamic（Reference picture 2）, in the 5s, anchor point is refreshed with new location data, then take
Nearest 5 meet the static conditions i.e. anchor point of v≤5, and new active position point is obtained according to static position lock algorithms.It is above-mentioned
The static position lock algorithms mentioned specifically include following steps：Positioning terminal will be gathered according to filtering delay time setting and is used in combination
In the sample point total number of the effective positioning for calculating be m, wherein be defined as the minimum number of effective sample point for 4, i ∈ [0, m],
The sample point of effective positioning therein is above-mentioned effective anchor point.
The sample point P of the multiple effectively positioning of a positioning terminals collectioni, take preceding 4 sample point P0-Pi=3Composition sample group；
The longitude and latitude that b calculates all sample points in sample group is worth to focus point P ', each sample point is calculated respectively and is arrived
Focus point P' apart from li, and obtain liAverage distance
C willSample point be designated invalid sample point and eliminate the sample group, remaining be labeled as effective sample
Whether this point, judge i more than or equal to m, if so, then entering step d；If it is not, then by sample point PI=i+1Add sample group, weight
Multiple step b；
All effective samples in sample group are clicked through latitude mean value computation of passing through and obtain active position point by d.
Wherein, invalid sample point is constituted into invalid sample group in step c, effective sample point is constituted into effective sample group,
When the invalid sample point number in invalid sample group is more than or equal to 4, often increase new invalid sample point all carry out as
Lower step：
The longitude and latitude that c1 calculates all sample points in invalid sample group is worth to focus point P ', and each sample is calculated respectively
Point is to focus point P' apart from li, and obtain liAverage distance
C2 willSample point eliminate the invalid sample group.
In step c, when the sample point number of the sample point number more than or equal to effective sample group of invalid sample group, meter
Calculate now effective sample pointIfThen invalid sample group is promoted as effective sample group, original effect sample group drop
Lattice are invalid sample group, and follow-up effective sample point adds current effective sample group treatment.
If at the end of delay time is filtered, if not obtaining 4 effective sample points yet, extending time delay filtration time, directly
To 4 effective sample points are obtained, conversely, into step d.
In step d, in step d, all effective samples in effective sample group are clicked through and passes through latitude mean value computation i.e.
Active position point, the location point after the locking are obtained, its velocity amplitude is set to 0, and direction is that the direction of last 5 effective anchor points is equal
Value.
The specific embodiment of the present invention is above are only, but design concept of the invention is not limited thereto, all profits
The change that unsubstantiality is carried out to the present invention is conceived with this, the behavior for invading the scope of the present invention all should be belonged to.
Claims (8)
1. a kind of processing method of fix drift, it is characterised in that：When positioning terminal switches to positioning from delocalization, first
Judge to be inscribed when this state of positioning terminal, if positioning terminal is static state, according to static drift filtration treatment, i.e., according to positioning
The accumulated time of terminal delocalization and filtering delay time is set with the offset distance of upper one effective anchor point, then in mistake
In filter delay time, according to static position lock algorithms, the longitude and latitude of some effective sample points determined in filtering delay time is taken
Average is spent to lock new active position point；If positioning terminal is dynamic, according to determining for receiving of delocalization accumulated time
Position Refresh Data anchor point；
The static position lock algorithms specifically include following steps：Positioning terminal will be gathered simultaneously according to filtering delay time setting
The sample point total number of the effective positioning for calculating is m, wherein the minimum number for being defined as effective sample point is n, i ∈ [0,
M],
The sample point P of the multiple effectively positioning of a positioning terminals collectioni, take preceding n sample point P0-PI=n-1Composition sample group；
The longitude and latitude that b calculates all sample points in sample group is worth to focus point P', each sample point is calculated respectively heavy to this
Heart point P' apart from li, and obtain liAverage distance
C willSample point be designated invalid sample point and eliminate the sample group, remaining be labeled as effective sample point,
Whether i is judged more than or equal to m, if so, then entering step d；If it is not, then by sample point PI=i+1Add sample group, repeat step
b；
All effective samples in sample group are clicked through latitude mean value computation of passing through and obtain active position point by d；
Invalid sample point is constituted into invalid sample group in step c, effective sample point is constituted into effective sample group, work as invalid sample
When invalid sample point number in group is more than or equal to n, often increasing a new invalid sample point all carries out following steps：
The longitude and latitude that c1 calculates all sample points in invalid sample group is worth to focus point P', each sample point is calculated respectively and is arrived
Focus point P' apart from li, and obtain liAverage distance
C2 willSample point eliminate the invalid sample group；When the sample point number of invalid sample group is more than or waits
In the sample point number of effective sample group, now effective sample point is calculatedIf Then invalid sample group liter
Lattice are effective sample group, and it is invalid sample group that original effect sample group is lowered one's standard or status.
2. a kind of processing method of fix drift as claimed in claim 1, it is characterised in that：Effective anchor point is positioning
The positioning that end-on is received is designated effective location data includes the trueness error factor and letter according to the state of satellite-signal
Make an uproar than carrying out resulting anchor point after judgement filtering.
3. a kind of processing method of fix drift as claimed in claim 1, it is characterised in that：Specifically include following steps：It is fixed
Position terminal pre-sets accumulated time reference value t1, t2 that filtering delay time is T1, T2 and delocalization, dynamic locking time
Reference value t3, and T1<T2、t1<t2,
1) whether positioning terminal is judged in static state, if then carrying out step 2), if otherwise carrying out step 3)；
2) positioning terminal is in static state, judges whether positioning terminal positions first, if it is T2 then to set filtering delay time, if
Otherwise carry out step 4)；
3) whether positioning terminal is in dynamic, the accumulated time of positioning terminal delocalization is judged more than t1, if so, then use one having
The position locking t3 of anchor point is imitated, then refreshes anchor point with new location data；If it is not, then directly with new location data brush
New definition point；
4) current anchor point is compared with upper one effective anchor point, judge positioning terminal delocalization accumulated time whether be more than or
Equal to t2, if so, it is T2 then to set filtering delay time, if it is T1 otherwise to set filtering delay time, then, in filtering time delay
In time, according to static position lock algorithms, the longitude and latitude average of some effective sample points determined in filtering delay time is taken
To lock new active position point.
4. a kind of processing method of fix drift as claimed in claim 3, it is characterised in that：Positioning terminal pre-sets distance
Reference value L, in step 4) in, judge whether positioning terminal is more than or equal to L with the offset distance of upper one effective anchor point, if
It is that filtering delay time is then set for T2, if it is T1 otherwise to set filtering delay time.
5. the processing method of a kind of fix drift as described in claim 3 or 4, it is characterised in that：Positioning terminal pre-sets
Speed reference v1, v2 of positioning terminal, second direction change amount reference value A, and v1<V2, in step 4) in, positioning terminal is in
Static state, now, positioning terminal calculates an average speed at regular intervalsIfThen positioning terminal is according to quiet
State position lock algorithms are recalculated and obtain the another new active position point upper active position point of refreshing；IfThen
Positioning terminal keeps a upper active position point being calculated according to static position lock algorithms；If the speed v of positioning terminal
The second direction change amount for meeting v ＞ v2 and adjacent positioned point is continued for some time continuously less than A, then it is assumed that positioning terminal is from static state
Dynamic is switched to, within this time, positioning terminal is still using static drift filtration treatment locking anchor point.
6. a kind of processing method of fix drift as claimed in claim 5, it is characterised in that：In step 3) in, now position
Terminal is in dynamic, if the speed v of positioning terminal continues one end time and meets v≤v2, then it is assumed that positioning terminal is from switching at runtime
To static state, within this time, anchor point is refreshed with new location data, several are then met into static conditions i.e. v≤v2
Anchor point obtain new active position point according to position static locking algorithm.
7. a kind of processing method of fix drift as claimed in claim 1, it is characterised in that：If terminating in filtering delay time
When, if not obtaining n effective sample point yet, extend time delay filtration time, until obtaining n effective sample point.
8. a kind of processing method of fix drift as claimed in claim 7, it is characterised in that：In step d, by effective sample
All effective samples click through latitude mean value computation of passing through and obtain active position point, the location point after the locking, its speed in group
Value is set to 0, and direction is the last 5 direction averages of effective anchor point.
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