Method and system for determining motion trajectory of mobile terminal

Abstract

The present invention provides a method and system for determining a motion trajectory of a mobile terminal, wherein the method comprises: determining a front position point and a rear position point of a missing area based on trajectory information recorded by a mobile terminal; wherein the missing area is an area where trajectory information is missing; the front position point is a non-missing point closest to the missing area before the missing area; the rear position point is a non-missing point closest to the missing area after the missing area; determining that the distance between the front position point and the rear position point is not less than a preset distance threshold; if it is determined that the time difference between the front position point and the rear position point is not greater than a first preset time threshold, determining the motion trajectory of the missing area according to an interpolation method, otherwise, determining the motion trajectory of the missing area based on historical trajectory information recorded by the mobile terminal; determining the motion trajectory of the mobile terminal according to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area. The accuracy of the generated motion trajectory can be improved.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a method and system for determining a motion trajectory of a mobile terminal. Background Art

[0002] At present, with the development of positioning technology and people's demand for monitoring movement trajectories when running, cycling or driving, users can carry mobile terminals and use sports applications to collect the location points of mobile terminals at different times, and then determine the user's movement trajectory by connecting these location points. Among them, the location points of the mobile terminal can be represented by longitude and latitude coordinates and map coordinates mapped to the map, so that the presented movement trajectory contains richer information.

[0003] However, during the actual movement of the user, it may be impossible to obtain accurate location information, for example, the GPS signal reception quality is poor, the GPS signal cannot be received, or the data cannot be obtained due to disconnection from the server. This will cause the obtained movement trajectory to be discontinuous or inaccurate, and it is impossible to present the accurate movement trajectory to the user. Therefore, it is necessary to fill in the missing location information and optimize the generated movement trajectory.

[0004] In the prior art, the missing positions in the motion trajectory are mostly filled by simple average interpolation or linear interpolation, without considering relevant factors such as the time and speed of the user's travel. The trajectory is completed in a single way without considering different types of missing positions, which is inefficient and has large errors.

[0005] Therefore, how to provide a method and system for determining the motion trajectory of a mobile terminal, comprehensively consider the motion status of the user's travel and related factors such as historical data, and improve the accuracy of the generated motion trajectory has become an urgent problem to be solved. Summary of the invention

[0006] The method and system for determining the motion trajectory of a mobile terminal provided by the present invention are used to solve the above-mentioned problems existing in the prior art, comprehensively consider relevant factors such as the motion state of the user's travel and historical data, and improve the accuracy of the generated motion trajectory.

[0007] The present invention provides a method for determining a motion trajectory of a mobile terminal, comprising:

[0008] Based on the trajectory information recorded by the mobile terminal, determine the front position point and the rear position point of the missing area; wherein the missing area is a section of the motion trajectory of the mobile terminal where the trajectory information is missing; the front position point is a non-missing point closest to the missing area before the missing area; the rear position point is a non-missing point closest to the missing area after the missing area;

[0009] Determining that the distance between the front position point and the rear position point is not less than a preset distance threshold;

[0010] If it is determined that the time difference between the front position point and the rear position point is not greater than a first preset time threshold, determining the motion trajectory of the missing area according to an interpolation method; otherwise, determining the motion trajectory of the missing area based on historical trajectory information recorded by the mobile terminal;

[0011] The motion trajectory of the mobile terminal is determined according to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area.

[0012] According to a method for determining a motion trajectory of a mobile terminal provided by the present invention, after the step of determining the front position point and the rear position point of the missing area based on the trajectory information recorded by the mobile terminal, the method further includes:

[0013] If it is determined that the distance between the front position point and the rear position point is less than a preset distance threshold, the motion trajectory of the missing area is determined according to the average value of the front position point and the rear position point.

[0014] According to a method for determining a motion trajectory of a mobile terminal provided by the present invention, determining a front position point and a rear position point of a missing area based on trajectory information recorded by the mobile terminal specifically includes:

[0015] Based on the trajectory information recorded by the mobile terminal, sampling is performed at a preset time interval, and the initial position chain table is determined according to the trajectory information corresponding to the sampling point;

[0016] Remove the drift data and ping-pong switching error data in the initial position chain table to determine the target position chain table;

[0017] Based on the target position linked list, determining the missing region and the front position point and the back position point of the missing region;

[0018] The data in the initial position linked list and the target position linked list are arranged in chronological order.

[0019] According to a method for determining a motion trajectory of a mobile terminal provided by the present invention, if it is determined that the time difference between the front position point and the rear position point is not greater than a first preset time threshold, determining the motion trajectory of the missing area according to an interpolation method specifically includes:

[0020] If it is determined that the time difference between the front position point and the rear position point is less than a second preset time threshold, determining the missing area motion trajectory according to a linear interpolation method; wherein the second preset time threshold is less than the first preset time threshold;

[0021] If it is determined that the time difference between the front position point and the rear position point is not less than the second preset time threshold and not greater than the first preset time threshold, the missing area is interpolated and filled based on the position information and time information corresponding to the front position point and the rear position point to determine the motion trajectory of the missing area.

[0022] According to a method for determining a motion trajectory of a mobile terminal provided by the present invention, determining the motion trajectory of the missing area based on historical trajectory information recorded by the mobile terminal specifically includes:

[0023] Determine a front dwelling point and a rear dwelling point of the missing region; wherein the front dwelling point is a dwelling point that is closest to the missing region before the missing region; and the rear dwelling point is a dwelling point that is closest to the missing region after the missing region;

[0024] Based on the position information and time information of the previous and next dwelling points, and according to the historical trajectory information, determining a target historical trajectory sequence;

[0025] Based on the target historical trajectory sequence, the motion trajectory of the missing area is determined.

[0026] According to a method for determining a motion trajectory of a mobile terminal provided by the present invention, the method of determining a target historical trajectory sequence based on the position information and time information of the previous and next dwelling points and the historical trajectory information specifically includes:

[0027] Based on the position information of the front dwelling point and the rear dwelling point, a target area is determined; wherein the target area includes: a circular area with the front dwelling point as the center and a first preset value as the radius, and a circular area with the rear dwelling point as the center and a second preset value as the radius;

[0028] Determining the residence time range of the front residence point and the rear residence point based on the time information of the front residence point and the rear residence point;

[0029] Based on the historical trajectory information, a target historical trajectory sequence is determined; wherein the target historical trajectory sequence is located within the target area and within the residence time range.

[0030] According to a method for determining a motion trajectory of a mobile terminal provided by the present invention, determining the motion trajectory of the missing area based on the target historical trajectory sequence specifically includes:

[0031] Based on the target historical trajectory sequence, determining a target historical trajectory sequence fitting equation;

[0032] Determine the corresponding target filling position point according to the target historical trajectory sequence fitting equation;

[0033] The missing area is filled according to the target filling position point, and the motion trajectory of the missing area is determined.

[0034] According to a method for determining a motion trajectory of a mobile terminal provided by the present invention, interpolating and filling the missing area based on the position information and time information corresponding to the front position point and the rear position point to determine the motion trajectory of the missing area specifically includes:

[0035] Determine the motion information of the front position point and the rear position point based on the position information and time information corresponding to the front position point and the rear position point; wherein the motion information includes: speed and acceleration;

[0036] Based on the position information, time information and motion information corresponding to the front position point and the rear position point, and according to the motion law of the front position point and the rear position point, determine the corresponding target filling position point;

[0037] The missing area is filled according to the target filling position point, and the motion trajectory of the missing area is determined.

[0038] The present invention also provides a motion trajectory determination system for a mobile terminal, comprising: a position determination unit, a distance determination unit, a time determination unit and a trajectory generation unit;

[0039] The position determination unit is used to determine the front position point and the rear position point of the missing area based on the trajectory information recorded by the mobile terminal; wherein the missing area is a section of the motion trajectory of the mobile terminal where the trajectory information is missing; the front position point is a non-missing point that is closest to the missing area before the missing area; and the rear position point is a non-missing point that is closest to the missing area after the missing area;

[0040] The distance judgment unit is used to determine whether the distance between the front position point and the rear position point is not less than a preset distance threshold;

[0041] The time judgment unit is used to determine the motion trajectory of the missing area according to the interpolation method if it is determined that the time difference between the front position point and the rear position point is not greater than the first preset time threshold, otherwise, determine the motion trajectory of the missing area based on the historical trajectory information recorded by the mobile terminal;

[0042] The trajectory generating unit is used to determine the motion trajectory of the mobile terminal according to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area.

[0043] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method for determining the motion trajectory of a mobile terminal as described above are implemented.

[0044] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the above-mentioned methods for determining a motion trajectory of a mobile terminal are implemented.

[0045] The method and system for determining the motion trajectory of a mobile terminal provided by the present invention determine the front position point and the rear position point closest to the missing area, and determine the motion trajectory of the missing area by using the interpolation method when there is less missing data in the moving state of the mobile terminal, and by using the historical data fitting method when there is more missing data. Taking into account relevant factors such as the time and speed of the user's travel and historical data, different methods are used to fill in different missing types to improve the accuracy of the generated motion trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 is a flow chart of a method for determining a motion trajectory of a mobile terminal provided by the present invention;

[0048] Figure 2 It is a schematic diagram of the flow of the method for determining the motion trajectory of a mobile terminal provided by the present invention;

[0049] Figure 3 is a structural schematic diagram of a motion trajectory determination system for a mobile terminal provided by the present invention;

[0050] Figure 4 It is a schematic diagram of the physical structure of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] There are three methods for filling missing motion trajectories in the prior art:

[0053] (1) Fill the missing data directly with the average value of the non-missing points. This method is suitable for simple data processing and has high efficiency, but the accuracy cannot be guaranteed.

[0054] (2) Interpolation algorithms can be divided into linear interpolation, Bezier curve interpolation, spline curve interpolation, and cubic interpolation according to different interpolation principles. Taking the interpolation of GPS trajectories based on third-order Bezier curves as an example, the existing interpolation algorithms do not consider the actual situation of user movement or stillness, and when the trajectory points are dense enough, the trajectory of the moving body can be approximately restored by connecting them with straight lines or smooth curves. However, if the sampling rate is low, the fitting effect is poor.

[0055] (3) Use existing road data to match location points to roads and fill in missing values. Due to the complexity of motion paths, this filling method is dependent on road data and is difficult to be universal.

[0056] In order to solve the above problem, the present invention provides a method for determining a motion trajectory of a mobile terminal.

[0057] Figure 1 is a flow chart of a method for determining a motion trajectory of a mobile terminal provided by the present invention. Figure 1 As shown, the present invention provides a method for determining a motion trajectory of a mobile terminal, comprising:

[0058] Step S1, based on the trajectory information recorded by the mobile terminal, determine the front position point and the rear position point of the missing area; wherein the missing area is a section of the motion trajectory of the mobile terminal where the trajectory information is missing; the front position point is a non-missing point closest to the missing area before the missing area; the rear position point is a non-missing point closest to the missing area after the missing area;

[0059] Step S2, determining that the distance between the front position point and the rear position point is not less than a preset distance threshold;

[0060] Step S3, if it is determined that the time difference between the front position point and the rear position point is not greater than the first preset time threshold, determining the motion trajectory of the missing area according to the interpolation method; otherwise, determining the motion trajectory of the missing area based on the historical trajectory information recorded by the mobile terminal;

[0061] Step S4: determining the motion trajectory of the mobile terminal according to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area.

[0062] It should be noted that the execution subject of the above method may be a computer device, such as a mobile terminal and a server.

[0063] Optionally, the original data of the mobile terminal is parsed. The original location signaling data of the mobile terminal includes 4G and 2 / 3G signaling data. The signaling data collected and reported to the gateway is parsed, and the user's information is anonymized and privacy data is desensitized, and pushed to a large database cluster for real-time caching and full data storage respectively.

[0064] The collected 4G and 2 / 3G signaling data are integrated and associated with the relevant base station data to determine the trajectory information recorded by the mobile terminal.

[0065] It should be noted that in the present invention, the mobile terminal can be a mobile phone, a tablet, a smart watch, a sports bracelet and other devices. The specific type can be selected according to actual conditions, and the present invention does not limit this.

[0066] Figure 2 FIG. 1 is a flow chart of a method for determining a motion trajectory of a mobile terminal provided by the present invention. Figure 2 As shown, taking a mobile phone as an example, during the movement, data may be lost or unavailable due to factors such as signal or mobile phone failure. When the mobile terminal records the movement trajectory, some sections of the complete movement trajectory may lack corresponding trajectory information. The sections lacking corresponding trajectory information are regarded as missing areas.

[0067] It is understandable that due to the different reasons that lead to the missing area, the duration of the missing area and the number of missing position points therein may vary. For example, when the time granularity is 5 minutes, the duration of the missing area is 9 minutes, and one or two position points may be missing. When the duration of the missing area is 12 minutes, two or three position points may be missing.

[0068] It should be noted that the duration corresponding to the missing area is related to the time granularity of the mobile terminal collecting trajectory information, which will also affect the time range corresponding to the missing area and the number of missing location points therein. Specifically, the setting of the time granularity can be adjusted according to actual needs, and the present invention is not limited to this.

[0069] In step S1, based on the trajectory information recorded by the mobile terminal (mobile phone), the missing area is determined, and based on time, the non-missing point at the previous moment of the missing area is determined as the front position point, and the non-missing point at the next moment of the missing area is determined as the back position point.

[0070] In step S2, the distance between the two points is calculated based on the determined front position point and rear position point, and the relationship between the distance between the two points and a preset distance threshold is determined.

[0071] If it is determined that the distance between the front position point and the rear position point is not less than the preset distance threshold, it can be determined that the mobile terminal is in motion in the missing area, and the time relationship is further determined.

[0072] After determining that the mobile terminal is in motion, in step S3, it is necessary to determine the relationship between the time difference between the front position point and the rear position point and the first time threshold.

[0073] If it is determined that the time difference between the front position point and the rear position point is not greater than the first preset time threshold, it means that the number of position points in the missing area is small at this time, and the motion trajectory of the missing area is determined according to the interpolation method.

[0074] If it is determined that the time difference between the previous position point and the next position point is greater than the first preset time threshold, it means that there are a large number of position points in the missing area at this time. Simply relying on mathematical methods to fill in the position points according to the interpolation method will result in a large trajectory error. At this time, the motion trajectory of the missing area is determined based on the historical trajectory information recorded by the mobile terminal.

[0075] It should be noted that, in the present invention, the preset distance threshold is used to determine the motion state of the mobile terminal, and the first preset time threshold is used to determine the number of position points in the missing area. The specific values ​​of the preset distance threshold and the first preset time threshold can be adjusted according to actual conditions (for example, according to the time difference between adjacent position points, 4 times the time difference between adjacent position points is used as the first preset time threshold for matching), and the present invention does not limit this.

[0076] Secondly, in the present invention, based on the historical trajectory information recorded by the mobile terminal, the method for determining the motion trajectory of the missing area can be based on the matching data of the mobile terminal in the missing area, selecting similar trajectories as reference points, filling the missing area, and determining the trajectory of the missing area. Alternatively, the historical data is screened according to time and space, and the historical data that matches the missing area in both time and space is selected as a reference to determine the trajectory of the missing area. The specific filling method can be adjusted according to the actual situation, and the present invention does not limit this.

[0077] Step S4, comprehensively determining the complete motion trajectory of the mobile terminal according to the non-missing motion trajectory corresponding to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area determined after filling.

[0078] Furthermore, it is understandable that there may be more than one missing area in the motion trajectory of the mobile terminal, and each missing area can be filled using the method provided by the present invention.

[0079] The method for determining the motion trajectory of a mobile terminal provided by the present invention determines the front position point and the rear position point closest to the missing area, and determines the distance between the front position point and the rear position point, and the corresponding time difference and the size relationship of the preset threshold value. When the mobile terminal is in motion, if there is less missing data, the motion trajectory of the missing area is determined by the interpolation method, and if there is more missing data, the motion trajectory of the missing area is determined by the historical data fitting method. Taking into account the relevant factors such as the time speed of the user's travel and historical data, different methods are used to fill in different missing types to improve the accuracy of the generated motion trajectory.

[0080] Furthermore, in one embodiment, according to a method for determining a motion trajectory of a mobile terminal provided by the present invention, after the step of determining the front position point and the rear position point of the missing area based on the trajectory information recorded by the mobile terminal, the method further includes:

[0081] If it is determined that the distance between the front position point and the rear position point is less than a preset distance threshold, the motion trajectory of the missing area is determined according to the average value of the front position point and the rear position point.

[0082] Optionally, if it is determined that the distance between the front position point and the rear position point is less than a preset distance threshold, it can be determined that the mobile terminal may be in a stationary state or a powered-off state in the missing area.

[0083] At this time, if the missing sequence Z of the missing area of ​​the trajectory sequence is determined u ={z 1 ,z 2 ,…,z x +, where the front position point and the rear position point are z i and z j , where z x =(lat x ,lon x ), lat x ,lon x are the latitude and longitude of the location point, respectively.

[0084] The missing trajectory sequence Z can be filled with the average of the previous and next position points u .

[0085] That is, in the missing sequence,

[0086] The method for determining the motion trajectory of a mobile terminal provided by the present invention determines the front position point and the rear position point that are closest to the missing area, and according to the distance between the front position point and the rear position point, and the corresponding time difference and the size relationship of the preset threshold value. When it is determined that the mobile terminal may be in a stationary state or a power-off state in the missing area, the average value of the front position point and the rear position point is used to fill the missing trajectory sequence. When the mobile terminal is in motion, if there is less missing data, the interpolation method is used to determine the motion trajectory of the missing area. When there is more missing data, the historical data fitting method is used to determine the motion trajectory of the missing area. Taking into account relevant factors such as the time and speed of the user's travel and historical data, targeted solutions are proposed for different states, thereby improving the efficiency and accuracy of the algorithm.

[0087] Further, in one embodiment, according to a method for determining a motion trajectory of a mobile terminal provided by the present invention, determining the front position point and the rear position point of the missing area based on the trajectory information recorded by the mobile terminal specifically includes:

[0088] Based on the trajectory information recorded by the mobile terminal, sampling is performed at a preset time interval, and the initial position chain table is determined according to the trajectory information corresponding to the sampling point;

[0089] Remove the drift data and ping-pong switching error data in the initial position chain table to determine the target position chain table;

[0090] Based on the target position linked list, determining the missing region and the front position point and the back position point of the missing region;

[0091] The data in the initial position linked list and the target position linked list are arranged in chronological order.

[0092] Optionally, considering that the original data obtained by the mobile terminal may contain some error data in the trajectory information due to inaccurate positioning or base station switching, the original data needs to be cleaned and preprocessed, and the user's signaling data is formed into a target location list by time.

[0093] Based on the trajectory information recorded by the mobile terminal, determine the front position point and the rear position point of the missing area, specifically including:

[0094] Based on the trajectory information recorded by the mobile terminal, sampling is performed according to the preset time interval (time granularity), the corresponding position point and time are determined according to the trajectory information corresponding to the sampling point, the relevant data of the position point obtained by sampling are arranged in chronological order, and the initial position list is determined.

[0095] By converting data into a data linked list and sampling it evenly, we can measure time and space at the same scale, gain in-depth understanding of user location information at the granularity of the sampling time interval, provide a more accurate trajectory model, and provide better data support for traffic planning and scientific location prediction.

[0096] For example, according to the mobile user code and timestamp, all data of the same user for one day are extracted, the signaling data is sorted by time, and the initial user location zipper data with a time granularity of 5 minutes is formed after aggregation, as shown in Table 1:

[0097]

[0098]

[0099] Table 1

[0100] It should be noted that the sampling time interval can be adjusted according to actual needs, and the present invention does not limit this.

[0101] Remove the drift data and ping-pong switching error data in the initial position list and determine the target position list.

[0102] Drift data removal:

[0103] If the location point set of each user in the initial location list is Z′ u ={z′ 1 ,z′ 2 ,…,z′ x +, take the position point z′ in turn i , position point z′ i+1 ,calculate Calculate the mean μ and variance σ of the velocity sequence, and judge the velocity of each point. If (v′ i -μ) 2 >3σ, then the point is a drift point, and z′ i delete.

[0104] Among them, dist(z′ i ,z′ i+1 ) is the position point z′ i , position point z′ i+1 distance.

[0105] Removal of ping-pong switching error data:

[0106] The ping-pong switching data is characterized by the position point z i ′ and position point z′ i+1 Different from the position point z′ i+2 same.

[0107] calculate If it is greater than the threshold TH p (1.5-2 can be taken according to the actual situation, and the specific value is not limited), the position point z′ i+1 delete.

[0108] Based on the determined target position linked list, determine whether there is a time point missing corresponding data, determine the missing area, and determine the front position point and the back position point of the missing area.

[0109] The method for determining the motion trajectory of a mobile terminal provided by the present invention first cleans and preprocesses the original data, and forms a position list according to time for the user's signaling data; for each missing user's position list, by determining the front position point and the rear position point closest to the missing area, according to the distance between the front position point and the rear position point, and the corresponding time difference and the size relationship of the preset threshold, the user's static and moving state is judged, and the type of missing point is determined. When the mobile terminal is in motion, if there is less missing data, the interpolation method is used to determine the motion trajectory of the missing area. If there is more missing data, the historical data fitting method is used to determine the motion trajectory of the missing area. Taking into account the time and speed of the user's travel and historical data and other related factors, different methods are used to fill in different missing types to improve the accuracy of the generated motion trajectory.

[0110] Further, in one embodiment, according to a method for determining a motion trajectory of a mobile terminal provided by the present invention, if it is determined that the time difference between the front position point and the rear position point is not greater than a first preset time threshold, determining the motion trajectory of the missing area according to an interpolation method specifically includes:

[0111] If it is determined that the time difference between the front position point and the rear position point is less than a second preset time threshold, determining the missing area motion trajectory according to a linear interpolation method; wherein the second preset time threshold is less than the first preset time threshold;

[0112] If it is determined that the time difference between the front position point and the rear position point is not less than the second preset time threshold and not greater than the first preset time threshold, the missing area is interpolated and filled based on the position information and time information corresponding to the front position point and the rear position point to determine the motion trajectory of the missing area.

[0113] Optional, such as Figure 2 As shown, the case where the time difference is not greater than the first preset time threshold is further divided into two categories according to the second preset time threshold which is less than the first preset time threshold. At this time, if it is determined that the time difference between the front position point and the rear position point is not greater than the first preset time threshold, the motion trajectory of the missing area is determined according to the interpolation method, specifically including:

[0114] Determine the relationship between the second preset time threshold and the time difference between the front position point and the rear position point.

[0115] If it is determined that the time difference between the front position point and the rear position point is less than the second preset time threshold, the motion trajectory of the missing area is determined according to the linear interpolation method.

[0116] If it is determined that the time difference between the front position point and the rear position point is not less than the second preset time threshold and not greater than the first preset time threshold, the missing area is interpolated and filled based on the position information and time information corresponding to the front position point and the rear position point to determine the motion trajectory of the missing area.

[0117] For example, when the time granularity is 5 minutes, if the previous and next position points z i ,z j Distance dist(z i ,z j ) at the distance threshold TH d In addition, the user is considered to have moved. Calculate the time difference t(z i ,z j ), the first preset time threshold is set to TH t1 The second preset time threshold is set to 30 minutes. t2 is 10 minutes. If the time difference t(z i ,z j ) is less than 10 minutes. At this time, it is considered that the position sequence is missing a position point (abnormal drift point). Most of these missing values ​​are abnormal drift points eliminated in the preprocessing. The position of the missing point is calculated by linear interpolation to determine the missing point z x Latitude and longitude.

[0118]

[0119] Among them, dist(z i ,z j )>TH d , t(z i ,z j ) <TH t2 .

[0120] If the time difference t(z i ,z j ) is greater than or equal to 10 minutes and less than 30 minutes, that is, TH t2 ≤t(z i ,z j ) <TH t1According to the missing time, it is considered that the position sequence is missing 2-5 position points (small-range missing). The user moves in a small range. The position information and time information corresponding to the previous position point and the next position point are interpolated and filled in the missing area (motion interpolation) according to the motion relationship between the previous position point and the next position point to calculate the position of the missing point.

[0121] Further, it is understandable that in the present invention, historical trajectory information is used to assist in filling in the case where there are many missing area position points. However, the more missing area position points there are, the lower the filling accuracy will be. A third time threshold greater than the first time threshold may also be set. If it is determined that the time difference is greater than the third time threshold, it is considered that there are too many missing position points, and filling will affect the accuracy of the motion trajectory, and the missing area will not be filled.

[0122] For example, the first time threshold is set to 30 minutes, the third time threshold is set to 50 minutes, and the time difference exceeds the third time threshold, that is, t(z i ,z j )>TH t3 , it is considered that there are more than 10 missing location points (missing data is difficult to fill and marked as abnormal), and if the time difference is in the range of 30-50 minutes, it is considered that there are indeed 6-10 location points (large-scale missing).

[0123] It should be noted that, in the present invention, the second preset time threshold is used to determine the number of location points in the missing area, and further subdivide the number interval divided by the first preset time threshold. The specific value of the second preset time threshold can be adjusted according to actual conditions, and the present invention does not limit this.

[0124] The method for determining the motion trajectory of a mobile terminal provided by the present invention determines the front position point and the rear position point closest to the missing area, and determines whether the missing area of ​​the terminal is stationary or in motion according to the distance between the front position point and the rear position point. According to the size relationship between the corresponding time difference and the preset threshold, the missing area in the motion state of the mobile terminal is divided into three types according to the number of missing position points. In the case of a large amount of missing data, the motion trajectory of the missing area is determined by the historical data fitting method. In the case of less missing data, the interpolation method is used to determine the motion trajectory of the missing area, wherein the case of less missing data is further subdivided, and linear interpolation and motion interpolation are performed respectively. Taking into account the time and speed of the user's travel and relevant factors such as historical data, different methods are used to fill in different missing types to improve the accuracy of the generated motion trajectory.

[0125] Further, in one embodiment, according to a method for determining a motion trajectory of a mobile terminal provided by the present invention, determining the motion trajectory of the missing area based on the historical trajectory information recorded by the mobile terminal specifically includes:

[0126] Determine a front dwelling point and a rear dwelling point of the missing region; wherein the front dwelling point is a dwelling point that is closest to the missing region before the missing region; and the rear dwelling point is a dwelling point that is closest to the missing region after the missing region;

[0127] Based on the position information and time information of the previous and next dwelling points, and according to the historical trajectory information, determining a target historical trajectory sequence;

[0128] Based on the target historical trajectory sequence, the motion trajectory of the missing area is determined.

[0129] Optional, for example, when the time granularity is 5 minutes, if the previous and next position points z i ,z j Distance dist(z i ,z j ) at the distance threshold TH d In addition, the user is considered to have moved. Calculate the time difference t(z i ,z j ), the first preset time threshold is set to TH t1 The second preset time threshold is set to 30 minutes. t2 is 10 minutes. If the time difference t(z i ,z j ) is greater than 30 minutes, that is, TH t1 ≤t(z i ,z j ), at this time, based on the historical trajectory information recorded by the mobile terminal, the motion trajectory of the missing area is determined.

[0130] Determine the front dwelling point and the rear dwelling point of the missing region; wherein the front dwelling point is the dwelling point closest to the missing region before the missing region; and the rear dwelling point is the dwelling point closest to the missing region after the missing region.

[0131] Specifically, the method for determining the dwell point is as follows: Taking the last dwell point of the missing area as an example, if the position point z i and z i+1 The distance between i ,z i+1 ) at the preset distance threshold TH d Inside, z i ,z i+1 Merge and compare with the next position point in order until it cannot be merged, and obtain the merged area. The time of the first position point of the merged area is recorded as t m , the time of the last position is t n, the time difference is t(m,n). If the fourth time threshold TH is preset t4 (1h can be taken according to actual conditions, and the specific value is not limited), the point determined after merging is regarded as the post-residence point.

[0132] It is understandable that there may be a situation where the time difference t(m,n) exceeds the preset fourth time threshold. At this time, the data within the threshold can be selected as the dwell point, or the position before the front position point is selected as the front dwell point based on the front position point and the position point after the rear position point is selected as the rear dwell point. The specific selection method can be adjusted according to the actual situation, and the present invention does not limit this.

[0133] It should be noted that the position point z i and z i+1 When merging, you can select z i The longitude and latitude of the merged point can also be selected as z i+1 The longitude and latitude of the merged position point is used as the merged position point, and the present invention does not limit this. Secondly, the above-mentioned method for determining the dwelling point only introduces the method from the perspective of determining the rear dwelling point. The method for determining the front dwelling point has the same core idea as the above-mentioned method, and only needs to be adaptively adjusted, which will not be repeated here.

[0134] Based on the determined location information of the previous and subsequent dwelling points (the latitude and longitude of the dwelling points) and time information (the time corresponding to the dwelling points), the historical trajectory information is segmented to determine a target historical trajectory sequence in the historical trajectory information that can match the missing area.

[0135] It should be noted that how to use the location information and time information of the residence point as the basis for screening, and the specific method of screening out the target historical trajectory sequence that meets the conditions in the historical trajectory information (it can be to determine the data located near the connection line of the previous and next residence points in the historical trajectory information within the time period of the previous and next residence points. Or determine the target range based on the location information of the previous and next residence points, and determine the target historical trajectory sequence that meets both the time range and the target range), can be adjusted according to actual conditions, and the present invention is not limited to this.

[0136] The determined target historical trajectory sequence is used to fill in the motion trajectory of the missing area.

[0137] The method for determining the motion trajectory of a mobile terminal provided by the present invention determines the front position point and the rear position point closest to the missing area, and determines the distance between the front position point and the rear position point, and the corresponding time difference and the size relationship of the preset threshold value. When the mobile terminal is in motion, if there is less missing data, the motion trajectory of the missing area is determined by the interpolation method. If there is more missing data, the motion trajectory of the missing area is determined by the historical data fitting method, and the user's historical location data is fully utilized. Taking into account the travel characteristics of different users, the data set used during fitting is more comprehensive, the utilization rate of information is improved, and a complete user travel chain is formed. Taking into account the relevant factors such as the time speed of the user's travel and historical data, different methods are used to fill in different missing types to improve the accuracy of the generated motion trajectory.

[0138] Further, in one embodiment, according to a method for determining a motion trajectory of a mobile terminal provided by the present invention, the determining of a target historical trajectory sequence based on the position information and time information of the previous and next dwelling points and the historical trajectory information specifically includes:

[0139] Based on the position information of the front dwelling point and the rear dwelling point, a target area is determined; wherein the target area includes: a circular area with the front dwelling point as the center and a first preset value as the radius, and a circular area with the rear dwelling point as the center and a second preset value as the radius;

[0140] Determining the residence time range of the front residence point and the rear residence point based on the time information of the front residence point and the rear residence point;

[0141] Based on the historical trajectory information, a target historical trajectory sequence is determined; wherein the target historical trajectory sequence is located within the target area and within the residence time range.

[0142] Optionally, based on the position information of the previous and next dwell points, the previous dwell point of the missing position sequence is recorded as z p , the next stop after the missing position sequence is z q , with z p , z q The center of the circle is , the preset value R is the radius, the circular area is determined, and the area covered by the two circular areas is taken as the target area.

[0143] It should be noted that the radii of the two circular areas can be the same value or different values, and the specific size of the radius can be adjusted according to actual conditions (for example, set to 10 meters), and the present invention does not limit this.

[0144] Based on the time information of the previous dwell point and the next dwell point, the dwell time range t(p,q) of the previous dwell point and the next dwell point is determined.

[0145] Based on the historical trajectory information, the target historical trajectory sequence whose starting and ending points in the historical database are located within the target area and within the residence time range is searched.

[0146] The method for determining the motion trajectory of a mobile terminal provided by the present invention determines the front position point and the rear position point closest to the missing area, and determines the distance between the front position point and the rear position point, and the corresponding time difference with the preset threshold value. When the mobile terminal is in motion, if there is less missing data, the interpolation method is used to determine the motion trajectory of the missing area. If there is more missing data, based on the determined target area and the residence time range, the historical data matching the missing area is determined in the historical data, and the motion trajectory of the missing area is determined by the historical data fitting method, making full use of the user's historical location data, taking into account the travel characteristics of different users, the data set used in fitting is more comprehensive, the utilization rate of information is improved, and a complete user travel chain is formed. Taking into account the time and speed of the user's travel and related factors such as historical data, different methods are used to fill in different missing types to improve the accuracy of the generated motion trajectory.

[0147] Further, in one embodiment, according to a method for determining a motion trajectory of a mobile terminal provided by the present invention, determining the motion trajectory of the missing area based on the target historical trajectory sequence specifically includes:

[0148] Based on the target historical trajectory sequence, determining a target historical trajectory sequence fitting equation;

[0149] Determine the corresponding target filling position point according to the target historical trajectory sequence fitting equation;

[0150] The missing area is filled according to the target filling position point, and the motion trajectory of the missing area is determined.

[0151] Optionally, based on the position points (position information) and moments (time information) corresponding to the target historical trajectory sequence, a curve is fitted to determine a fitting equation for the target historical trajectory sequence.

[0152] According to the fitting equation of the target historical trajectory sequence, the position determined in the corresponding equation of the target historical trajectory sequence fitting curve corresponding to the moment when the position point needs to be filled is selected as the corresponding target filling position point. According to the target filling position point, the missing area is filled and the motion trajectory of the missing area is determined.

[0153] For example, let the position point of the trajectory sequence in the historical database that meets the conditions be z" x , according to z" x Fitting trajectory equation According to the least squares principle, determine The fitting coefficients a, b, c and d when they are at their minimum values.

[0154] According to the best fitting curve Interpolate the missing position points z within the same time granularity (for example, 5 minutes, in the missing area, determine a target filling position point every five minutes) x As the target filling position point, the motion trajectory of the missing area is further determined.

[0155] It should be noted that the specific type of the curve corresponding to the target historical trajectory sequence fitting equation and the corresponding fitting method can be adjusted according to actual conditions, and the present invention does not limit this.

[0156] The method for determining the motion trajectory of a mobile terminal provided by the present invention determines the front position point and the rear position point closest to the missing area, and determines the distance between the front position point and the rear position point, and the corresponding time difference with the preset threshold value. When the mobile terminal is in motion, if there is less missing data, the motion trajectory of the missing area is determined by interpolation. If there is more missing data, based on the determined target area and the residence time range, the historical data matching the missing area is determined in the historical data, and the motion trajectory of the missing area is determined by the historical data fitting method, and the historical trajectory sequence fitting equation is determined. According to the fitting equation, the user's historical position data is fully utilized, and the travel characteristics of different users are taken into consideration to determine the motion trajectory corresponding to the missing area, thereby improving the utilization rate of information and forming a complete user travel chain. Taking into account the time and speed of the user's travel and related factors such as historical data, different methods are used to fill in different missing types to improve the accuracy of the generated motion trajectory.

[0157] Further, in one embodiment, according to a method for determining a motion trajectory of a mobile terminal provided by the present invention, interpolating and filling the missing area based on the position information and time information corresponding to the previous position point and the next position point to determine the motion trajectory of the missing area specifically includes:

[0158] Determine the motion information of the front position point and the rear position point based on the position information and time information corresponding to the front position point and the rear position point; wherein the motion information includes: speed and acceleration;

[0159] Based on the position information, time information and motion information corresponding to the front position point and the rear position point, and according to the motion law of the front position point and the rear position point, determine the target filling position point corresponding to the second target moment;

[0160] The missing area is filled according to the target filling position point, and the motion trajectory of the missing area is determined.

[0161] Optionally, based on the position information and time information corresponding to the previous position point and the next position point, the missing area is interpolated and filled to determine the motion trajectory of the missing area, specifically including:

[0162] Based on the position information (i.e., longitude and latitude) and time information (the time corresponding to the position points) corresponding to the front position point and the rear position point, the motion information of the front position point and the rear position point is determined; wherein the motion information includes: speed and acceleration;

[0163] The calculation formula is:

[0164]

[0165]

[0166]

[0167]

[0168] Among them, v i is the position point z i The speed, t i is the position point z i The corresponding moment, m is the position point z i The acceleration of n is the position point z i The derivative of acceleration. The naming rules of other parameters are similar and will not be repeated here.

[0169] Based on the position information, time information and motion information corresponding to the front position point and the rear position point, the motion law of the front position point and the rear position point can be determined, and the target filling position point corresponding to the second target moment can be determined;

[0170] Use motion interpolation algorithm to calculate the missing point z x Latitude and longitude:

[0171] Set the position point z x The speed is v x , then z x It can be expressed as

[0172]

[0173]

[0174] The position point z obtained by the above formula x As the target filling position point, fill the missing area and determine the motion trajectory of the missing area.

[0175] The method for determining the motion trajectory of a mobile terminal provided by the present invention determines the front position point and the rear position point closest to the missing area, and determines the distance between the front position point and the rear position point, and the corresponding time difference and the size relationship of the preset threshold value. When the mobile terminal is in motion, if there is less missing data, the motion trajectory of the missing area is determined by the interpolation method, and if there is more missing data, the motion trajectory of the missing area is determined by the historical data fitting method. The case with less missing data is further subdivided, and linear interpolation is used for the case where the amount of data is extremely small, and the missing area can be quickly filled using the relevant information of the front and rear position points. In another case, the motion law of the front and rear position points of the missing area is determined, and motion interpolation is performed, which can more accurately restore the motion trajectory of the missing area and improve the accuracy of motion trajectory fitting. Taking into account the time and speed of the user's travel and historical data and other related factors, different methods are used to fill in different missing types to improve the accuracy of the generated motion trajectory.

[0176] The method of filling the missing area of ​​the motion track according to different situations can be expressed by the following formula:

[0177]

[0178] If the time granularity is 5 minutes, TH t1 For 30 minutes, TH t2 For 10 minutes, TH t3 When the time is 50 minutes, the present invention can handle 70% of the position missing situations, exceeding TH t3 The user is marked as abnormal and this trip is not considered.

[0179] Based on the above conditions, the motion trajectory determination method of the mobile terminal provided by the present invention is tested. The testing method is to delete 20 known trajectory data of a user on a certain day, and then fill the deleted data by the above method. The filled data is compared with the data before deletion. After comparison, it can be obtained that 30% of the data errors are within 20m, and 56% of the data errors are between 20 and 50m.

[0180] Compared with other common methods, the method provided by the present invention has a relatively high efficiency in filling. The accuracy and efficiency evaluation of filling data using the method provided by the present invention, the least squares algorithm, and the cubic spline interpolation are shown in Table 2.

[0181] algorithm Mean square error Run time Position filling algorithm 0.05 0.087 Least Squares Algorithm 0.08 0.13 Cubic spline interpolation 0.08 0.105

[0182] Table 2

[0183] Furthermore, after position filling, a complete user position list is formed and stored in the historical database, as shown in Table 3.

[0184] ID User ID Cell Code longitude latitude Timestamp 0 *******1 16453723 113.2318 23.16 20200101010000 1 *******1 16453723 113.2322 23.17 20200101010500 2 *******1 16453723 113.2318 23.16 20200101011000 3 *******1 16453723 113.2338 23.16 20200101011517 4 *******1 16453723 113.2309 23.16 20200101012018

[0185] Table 3

[0186] It should be noted that the above verification method and the position linked list determined after filling the missing area are only used as a specific example to supplement the method provided by the present invention, and the present invention does not limit this.

[0187] Figure 3 is a structural diagram of a system for determining a motion trajectory of a mobile terminal provided by the present invention, such as Figure 3 As shown, the present invention also provides a motion trajectory determination system for a mobile terminal, comprising: a position determination unit 310, a distance determination unit 320, a time determination unit 330 and a trajectory generation unit 340;

[0188] The position determination unit 310 is used to determine the front position point and the rear position point of the missing area based on the trajectory information recorded by the mobile terminal; wherein the missing area is a section of the motion trajectory of the mobile terminal where the trajectory information is missing; the front position point is a non-missing point that is closest to the missing area before the missing area; and the rear position point is a non-missing point that is closest to the missing area after the missing area.

[0189] The distance determination unit 320 is used to determine whether the distance between the front position point and the rear position point is not less than a preset distance threshold;

[0190] The time judgment unit 330 is configured to determine the missing area motion trajectory according to an interpolation method if it is determined that the time difference between the front position point and the rear position point is not greater than a first preset time threshold; otherwise, determine the missing area motion trajectory based on the historical trajectory information recorded by the mobile terminal;

[0191] The trajectory generating unit 340 is configured to determine the motion trajectory of the mobile terminal according to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area.

[0192] Optionally, the original data of the mobile terminal is parsed. The original location signaling data of the mobile terminal includes 4G and 2 / 3G signaling data. The signaling data collected and reported to the gateway is parsed, and the user's information is anonymized and privacy data is desensitized, and pushed to a large database cluster for real-time caching and full data storage respectively.

[0193] The collected 4G and 2 / 3G signaling data are integrated and associated with the relevant base station data to determine the trajectory information recorded by the mobile terminal.

[0194] It should be noted that in the present invention, the mobile terminal can be a mobile phone, a tablet, a smart watch, a sports bracelet and other devices. The specific type can be selected according to actual conditions, and the present invention does not limit this.

[0195] Figure 2 FIG. 1 is a flow chart of a method for determining a motion trajectory of a mobile terminal provided by the present invention. Figure 2 As shown, taking a mobile phone as an example, during the movement, data may be lost or unavailable due to factors such as signal or mobile phone failure. When the mobile terminal records the movement trajectory, some sections of the complete movement trajectory may lack corresponding trajectory information. The sections lacking corresponding trajectory information are regarded as missing areas.

[0196] It is understandable that due to the different reasons that lead to the missing area, the duration of the missing area and the number of missing position points therein may vary. For example, when the time granularity is 5 minutes, the duration of the missing area is 9 minutes, and one or two position points may be missing. When the duration of the missing area is 12 minutes, two or three position points may be missing.

[0197] It should be noted that the duration corresponding to the missing area is related to the time granularity of the mobile terminal collecting trajectory information, which will also affect the time range corresponding to the missing area and the number of missing location points therein. Specifically, the setting of the time granularity can be adjusted according to actual needs, and the present invention is not limited to this.

[0198] The location determination unit 310 is used to determine the missing area based on the trajectory information recorded by the mobile terminal (mobile phone), and based on time, determine the non-missing point of the missing area at the previous moment as the front position point, and the non-missing point of the missing area at the next moment as the back position point.

[0199] The distance judgment unit 320 is used to calculate the distance between the two points according to the determined front position point and the rear position point, and to judge the size relationship between the distance between the two points and a preset distance threshold.

[0200] If it is determined that the distance between the front position point and the rear position point is not less than the preset distance threshold, it can be determined that the mobile terminal is in motion in the missing area, and the time relationship is further determined.

[0201] After determining that the mobile terminal is in motion, the time judgment unit 330 is used to judge the relationship between the time difference between the front position point and the rear position point and the first time threshold.

[0202] If it is determined that the time difference between the front position point and the rear position point is not greater than the first preset time threshold, it means that the number of position points in the missing area is small at this time, and the motion trajectory of the missing area is determined according to the interpolation method.

[0203] If it is determined that the time difference between the previous position point and the next position point is greater than the first preset time threshold, it means that there are a large number of position points in the missing area at this time. Simply relying on mathematical methods to fill in the position points according to the interpolation method will result in a large trajectory error. At this time, the motion trajectory of the missing area is determined based on the historical trajectory information recorded by the mobile terminal.

[0204] It should be noted that, in the present invention, the preset distance threshold is used to determine the motion state of the mobile terminal, and the first preset time threshold is used to determine the number of position points in the missing area. The specific values ​​of the preset distance threshold and the first preset time threshold can be adjusted according to actual conditions (for example, according to the time difference between adjacent position points, 4 times the time difference between adjacent position points is used as the first preset time threshold for matching), and the present invention does not limit this.

[0205] Secondly, in the present invention, based on the historical trajectory information recorded by the mobile terminal, the method for determining the motion trajectory of the missing area can be based on the matching data of the mobile terminal in the missing area, selecting similar trajectories as reference points, filling the missing area, and determining the trajectory of the missing area. Alternatively, the historical data is screened according to time and space, and the historical data that matches the missing area in both time and space is selected as a reference to determine the trajectory of the missing area. The specific filling method can be adjusted according to the actual situation, and the present invention does not limit this.

[0206] The trajectory generating unit 340 is used to comprehensively determine the complete motion trajectory of the mobile terminal according to the non-missing motion trajectory corresponding to the trajectory information recorded by the mobile terminal and the missing area motion trajectory determined after filling.

[0207] Furthermore, it can be understood that there may be more than one missing position in the position list, and each missing position can be filled using the method provided by the present invention.

[0208] The motion trajectory determination system of the mobile terminal provided by the present invention determines the front position point and the rear position point closest to the missing area, and determines the distance between the front position point and the rear position point, and the corresponding time difference and the size relationship of the preset threshold value. When the mobile terminal is in motion, if there is less missing data, the motion trajectory of the missing area is determined by the interpolation method, and if there is more missing data, the motion trajectory of the missing area is determined by the historical data fitting method. Taking into account the relevant factors such as the time speed of the user's travel and historical data, different methods are used to fill in different missing types to improve the accuracy of the generated motion trajectory.

[0209] It should be noted that the motion trajectory determination system of the mobile terminal provided by the present invention is used to execute the motion trajectory determination method of the mobile terminal, and its specific implementation is consistent with the method implementation, which will not be repeated here.

[0210] Figure 4 is a schematic diagram of the physical structure of an electronic device provided by the present invention, such as Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 411, a memory 412 and a bus 413, wherein the processor 410, the communication interface 411, and the memory 412 communicate with each other through the bus 413. The processor 410 can call the logic instructions in the memory 412 to execute the following method: based on the trajectory information recorded by the mobile terminal, determine the front position point and the rear position point of the missing area; wherein the missing area is a segment of the motion trajectory of the mobile terminal where the trajectory information is missing; the front position point is a non-missing point that is closest to the missing area before the missing area; the rear position point is a non-missing point that is closest to the missing area after the missing area; determine that the distance between the front position point and the rear position point is not less than a preset distance threshold; if it is determined that the time difference between the front position point and the rear position point is not greater than a first preset time threshold, determine the motion trajectory of the missing area according to the interpolation method, otherwise, determine the motion trajectory of the missing area based on the historical trajectory information recorded by the mobile terminal; determine the motion trajectory of the mobile terminal according to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area.

[0211] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer power screen (which can be a personal computer, a server, or a network power screen, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0212] Further, the present invention discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the method for determining the motion trajectory of a mobile terminal provided by the above-mentioned method embodiments, for example, including: determining a front position point and a rear position point of a missing area based on the trajectory information recorded by the mobile terminal; wherein the missing area is a segment of the motion trajectory of the mobile terminal where the trajectory information is missing; the front position point is a non-missing point that is closest to the missing area before the missing area; the rear position point is a non-missing point that is closest to the missing area after the missing area; determining that the distance between the front position point and the rear position point is not less than a preset distance threshold; if it is determined that the time difference between the front position point and the rear position point is not greater than a first preset time threshold, determining the motion trajectory of the missing area according to an interpolation method, otherwise, determining the motion trajectory of the missing area based on the historical trajectory information recorded by the mobile terminal; determining the motion trajectory of the mobile terminal according to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area.

[0213] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the motion trajectory determination method of a mobile terminal provided in the above-mentioned embodiments, for example, comprising: determining a front position point and a rear position point of a missing area based on the trajectory information recorded by the mobile terminal; wherein the missing area is a segment of the motion trajectory of the mobile terminal where the trajectory information is missing; the front position point is a non-missing point that is closest to the missing area before the missing area; the rear position point is a non-missing point that is closest to the missing area after the missing area; determining that the distance between the front position point and the rear position point is not less than a preset distance threshold; if it is determined that the time difference between the front position point and the rear position point is not greater than a first preset time threshold, determining the motion trajectory of the missing area according to an interpolation method, otherwise, determining the motion trajectory of the missing area based on the historical trajectory information recorded by the mobile terminal; determining the motion trajectory of the mobile terminal according to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area.

[0214] The system embodiment described above is merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0215] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer power screen (which can be a personal computer, a server, or a network power screen, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0216] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining a motion trajectory of a mobile terminal, characterized in that: include: Based on the trajectory information recorded by the mobile terminal, determine the front position point and the rear position point of the missing area; wherein the missing area is a section of the motion trajectory of the mobile terminal where the trajectory information is missing; the front position point is a non-missing point closest to the missing area before the missing area; the rear position point is a non-missing point closest to the missing area after the missing area; Determining that the distance between the front position point and the rear position point is not less than a preset distance threshold; If it is determined that the time difference between the front position point and the rear position point is not greater than a first preset time threshold, determining the motion trajectory of the missing area according to an interpolation method; otherwise, determining the motion trajectory of the missing area based on historical trajectory information recorded by the mobile terminal; Determining the motion trajectory of the mobile terminal according to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area; The determining the movement trajectory of the missing area based on the historical trajectory information recorded by the mobile terminal specifically includes: Determine a front dwelling point and a rear dwelling point of the missing region; wherein the front dwelling point is a dwelling point that is closest to the missing region before the missing region; and the rear dwelling point is a dwelling point that is closest to the missing region after the missing region; Based on the position information and time information of the previous and next dwelling points, and according to the historical trajectory information, determining a target historical trajectory sequence; Determining the missing area motion trajectory based on the target historical trajectory sequence; The determining of the target historical trajectory sequence based on the position information and time information of the previous residence point and the next residence point and according to the historical trajectory information specifically includes: Based on the position information of the front dwelling point and the rear dwelling point, a target area is determined; wherein the target area includes: a circular area with the front dwelling point as the center and a first preset value as the radius, and a circular area with the rear dwelling point as the center and a second preset value as the radius; Determining the residence time range of the front residence point and the rear residence point based on the time information of the front residence point and the rear residence point; Based on the historical trajectory information, a target historical trajectory sequence is determined; wherein the target historical trajectory sequence is located within the target area and within the residence time range.

2. The method for determining the motion trajectory of a mobile terminal according to claim 1, characterized in that: After the step of determining the front position point and the rear position point of the missing area based on the track information recorded by the mobile terminal, the method further includes: If it is determined that the distance between the front position point and the rear position point is less than a preset distance threshold, the motion trajectory of the missing area is determined according to the average value of the front position point and the rear position point.

3. The method for determining the motion trajectory of a mobile terminal according to claim 1, characterized in that: The determining of the front position point and the rear position point of the missing area based on the track information recorded by the mobile terminal specifically includes: Based on the trajectory information recorded by the mobile terminal, sampling is performed at a preset time interval, and the initial position chain table is determined according to the trajectory information corresponding to the sampling point; Remove the drift data and ping-pong switching error data in the initial position chain table to determine the target position chain table; Based on the target position linked list, determining the missing region and the front position point and the back position point of the missing region; The data in the initial position linked list and the target position linked list are arranged in chronological order.

4. The method for determining the motion trajectory of a mobile terminal according to claim 1, characterized in that: If it is determined that the time difference between the front position point and the rear position point is not greater than the first preset time threshold, determining the motion trajectory of the missing area according to the interpolation method specifically includes: If it is determined that the time difference between the front position point and the rear position point is less than a second preset time threshold, determining the missing area motion trajectory according to a linear interpolation method; wherein the second preset time threshold is less than the first preset time threshold; If it is determined that the time difference between the front position point and the rear position point is not less than the second preset time threshold and not greater than the first preset time threshold, the missing area is interpolated and filled based on the position information and time information corresponding to the front position point and the rear position point to determine the motion trajectory of the missing area.

5. The method for determining the motion trajectory of a mobile terminal according to claim 1, characterized in that: The determining the missing area motion trajectory based on the target historical trajectory sequence specifically includes: Based on the target historical trajectory sequence, determining a target historical trajectory sequence fitting equation; Determine the corresponding target filling position point according to the target historical trajectory sequence fitting equation; The missing area is filled according to the target filling position point, and the motion trajectory of the missing area is determined.

6. The method for determining the motion trajectory of a mobile terminal according to claim 3, characterized in that: Based on the position information and time information corresponding to the front position point and the rear position point, the missing area is interpolated and filled to determine the motion trajectory of the missing area, specifically including: Determine the motion information of the front position point and the rear position point based on the position information and time information corresponding to the front position point and the rear position point; wherein the motion information includes: speed and acceleration; Based on the position information, time information and motion information corresponding to the front position point and the rear position point, and according to the motion law of the front position point and the rear position point, determine the corresponding target filling position point; The missing area is filled according to the target filling position point, and the motion trajectory of the missing area is determined.

7. A system for determining a motion trajectory of a mobile terminal, characterized in that: include: Position determination unit, distance determination unit, time determination unit and trajectory generation unit; The position determination unit is used to determine the front position point and the rear position point of the missing area based on the trajectory information recorded by the mobile terminal; wherein the missing area is a section of the motion trajectory of the mobile terminal where the trajectory information is missing; the front position point is a non-missing point that is closest to the missing area before the missing area; and the rear position point is a non-missing point that is closest to the missing area after the missing area; The distance judgment unit is used to determine whether the distance between the front position point and the rear position point is not less than a preset distance threshold; The time judgment unit is used to determine the motion trajectory of the missing area according to the interpolation method if it is determined that the time difference between the front position point and the rear position point is not greater than the first preset time threshold, otherwise, determine the motion trajectory of the missing area based on the historical trajectory information recorded by the mobile terminal; The trajectory generating unit is used to determine the motion trajectory of the mobile terminal according to the trajectory information recorded by the mobile terminal and the motion trajectory of the missing area; The determining of the motion trajectory of the missing area based on the historical trajectory information recorded by the mobile terminal specifically includes: determining a front dwelling point and a rear dwelling point of the missing area; wherein the front dwelling point is a dwelling point closest to the missing area before the missing area; the rear dwelling point is a dwelling point closest to the missing area after the missing area; based on the position information and time information of the front dwelling point and the rear dwelling point, according to the historical trajectory information, determining a target historical trajectory sequence; based on the target historical trajectory sequence, determining the motion trajectory of the missing area; The method of determining a target historical trajectory sequence based on the position information and time information of the preceding and succeeding dwelling points and the historical trajectory information specifically includes: determining a target area based on the position information of the preceding and succeeding dwelling points; wherein the target area includes: a circular area with the preceding and succeeding dwelling points as the center and a first preset value as the radius, and a circular area with the succeeding dwelling points as the center and a second preset value as the radius; determining a residence time range of the preceding and succeeding dwelling points based on the time information of the preceding and succeeding dwelling points; and determining a target historical trajectory sequence based on the historical trajectory information; wherein the target historical trajectory sequence is within the range of the target area and within the residence time range.

8. An electronic device, characterized in that: It includes a memory and a processor, and the processor and the memory communicate with each other through a bus; the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the motion trajectory determination method of the mobile terminal as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for determining the motion trajectory of a mobile terminal as described in any one of claims 1 to 6 is implemented.

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