Terminal positioning track fitting method based on Bezier curve

Abstract

The invention belongs to the field of satellite navigation and particularly relates to a terminal positioning track fitting method based on a Bezier curve. The terminal positioning track fitting method comprises: step 1, a curvilinear function of a third-order Bezier curve is as follows: two adjacent sampling points Pn and P(n+1) serve as the starting point and the final point of the third-order Bezier curve, namely P0=Pn, and P3=P(n+1); step 2, P1 is enabled to be equal to a control point Pn' of the Bezier curve of the sampling point Pn; step 3, P2 is enabled to be equal to a control point P(n+1)' of the Bezier curve of the sampling point P(n+1); and step 4, the control point Pn' of the Bezier curve of the sampling point Pn, the sampling point P(n+1) and the sampling point Pn and the control point P(n+1)' of the Bezier curve of the sampling point P(n+1) are substituted into the third-order Bezier curve to obtain: B(t)=Pn(1-t)3+3Pn' t(1-t)2+3P(n+1)'t2(1-5)+Pn+1t3, t belongs to (0,1), and the fitted curve function of the actual track of the positioning terminal can be obtained, and the function is an interpolation function of the function; and step 5, the step1, step2, step3 and step 4 are repeated to calculate the fitted curve function of the next pair of adjacent sampling points until the final sampling point.

Description

technical field [0001] The invention belongs to the field of satellite navigation, and in particular relates to a terminal positioning track fitting method based on a Bezier curve. Background technique [0002] At present, many devices (such as vehicle-mounted terminals, mobile phone terminals and other positioning terminals) mostly have the function of positioning based on GNSS (Global Navigation Satellite System, global satellite navigation system). [0003] The positioning terminal calculates the movement trajectory of the positioning terminal through the positioning data collected during the movement process, which is a process of fitting a continuous trajectory through discrete position coordinate points. Generally, there are two approaches: [0004] The first is to simply connect the coordinate points of adjacent positions with a straight line, that is, linear interpolation. When there are enough sampling points on the curved trajectory, the polyline passing through e...

AI Technical Summary

Problems solved by technology

At present, polynomial interpolation is widely used in engineering. This method can reduce the error between the fitting curve and the actual trajectory curve to a certain extent, but it has higher requirements on the interpolation function. The calculated curves are often quite different

[0006] Therefore, the fitting curve obtained by constructing the interpolation function only by relying on two coordinate points on the trajectory is unreliable.

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