Vehicle-mounted POS-based highway alignment feature recognition and parameter calculation method

Abstract

The invention discloses a vehicle-mounted POS-based highway alignment feature recognition and parameter calculation method and belongs to the technical field of a combined navigation positioning system and measurement. The method comprises acquiring vehicle position parameters, a velocity parameter and an attitude parameter, extracting heading angle information and a sampling point mileage, calculating outline curvature distribution of all the sections, dividing initial highway alignment into a linear part and a circular curve part, adjusting window sizes of the linear line and circular curve, calculating easement curve alignment parameters, and carrying out statistics on the change of the all-section curvature along with the mileage according to the linear alignment parameters, the circular curve alignment parameters and the easement curve alignment parameters to obtain the optimized alignment features and parameters of all the sections. The data acquisition method can provide the attitude information of the carrier, improve the efficiency and accuracy, reduce white noise-caused influence through MFM-smoothed heading angle information, effectively eliminates grain noise and solves the problem of huge calculated amount. The window automatic recognition method greatly reduces human factor-caused influence and reduces workload.

Description

technical field [0001] The invention belongs to the field of combined navigation and positioning system and measurement technology, and in particular relates to a road alignment feature recognition and parameter calculation method based on a vehicle-mounted POS. Background technique [0002] The collection and calculation of highway alignment data is an important task in the process of highway popularization survey. At present, there are mainly two research methods for road alignment calculation at home and abroad: (1) research on the selection and combination of basic elements of road design and alignment fitting based on mathematical models; (2) research on the selection of basic elements of road design combined with CAD technology Combination and linear fitting. Relevant foreign scholars tend to identify road alignment first and then study, including arc length-curvature method, slope method and comprehensive method. Relevant domestic scholars tend to conduct in-depth r...

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Problems solved by technology

[0007] In summary, the use of CAD spline method has many human factors interference, which is not conducive to the research of automatic identification and calculation theory of highway alignment

Based on the curvature method, azimuth method and comprehensive method, the joint adjustment method, azimuth method and least squares method all use vehicle-mounted GPS data to study the calculation method of road alignment parameters. In complex environments such as satellite signals are affected by occlusion or multi-path, and the car body cannot guarantee to drive strictly in accordance with the center line and the car body shakes, the calculated curvature or azimuth will fluctuate based on a certain trend, even if a specific sampling step is selected Calculation will also lose the accuracy of judgment, which is not conducive to the recognition and calculation of line shape

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