Road network and gnss matching method for maintenance decision

Abstract

The application provides a road network and GNSS matching method for maintenance decision, comprising: for any road section data in the road network, based on GNSS data and original line stake data, obtaining current first matching GNSS data of a preset stake position in the line; performing adaptive unit division on the road section data to obtain a divided unit set; for any unit in the unit set, based on the current first matching GNSS data, combining historical first matching GNSS data of the preset stake position, obtaining representative matching GNSS data of the preset stake position; based on the current first matching GNSS data and the representative matching GNSS data, obtaining second matching GNSS data of the current preset stake position; based on the second matching GNSS data and GNSS data matched road condition detection data, obtaining road condition result data of the current preset stake position. The method is used to solve the defect of low matching precision of the road network and GNSS in the prior art.

Description

Technical Field

[0001] This invention relates to the field of road inspection technology, and in particular to a road network and GNSS matching method for maintenance decision-making. Background Technology

[0002] A Global Navigation Satellite System (GNSS) is a space-based radio navigation and positioning system that provides users with all-weather three-dimensional coordinates, velocity, and time information at any location on the Earth's surface or in near-Earth space. It consists of one or more satellite constellations and the augmentation systems required to support specific tasks.

[0003] Scientific road maintenance decisions rely on accurate predictions of road performance, which in turn depend on long-term observations (requiring precise matching of multiple measurements at the same measuring point). Furthermore, highway maintenance decisions typically involve dividing the road into independent decision-making units based on mileage markers, and the location of road maintenance work is closely related to these mileage markers. However, there is often an error between highway mileage markers and actual mileage. Currently, high-precision road network and GNSS matching data are scarce, resulting in low matching accuracy between road performance testing results and the actual road network. This hinders effective scientific road maintenance decisions, necessitating a high-precision road network and GNSS matching method for maintenance decision-making.

[0004] GNSS, as an absolute spatial positioning technology widely used in vehicles, has the characteristics of good continuity and is not affected by measurement distance. Establishing a high-precision matching relationship between GNSS trajectory information and highway mileage markers is helpful for matching road performance test results with the actual road network, which is of great significance for the scientific formulation of maintenance decisions. Summary of the Invention

[0005] This invention provides a road network and GNSS matching method for maintenance decision-making, which solves the problem of low matching accuracy between road network and GNSS in the prior art, realizes high-precision matching of GNSS trajectory information, and provides a reference for the scientific designation of maintenance decisions.

[0006] This invention provides a road network and GNSS matching method for maintenance decision-making, comprising:

[0007] Acquire GNSS data, raw route stationing data, and road condition detection data;

[0008] For any road segment in the road network, based on the GNSS data and the original line station data, obtain the current first matching GNSS data at the preset station position in the line;

[0009] For any road segment data in the road network, the road segment data is adaptively divided into units to obtain the set of divided units;

[0010] For any unit in the unit set, based on the current first matching GNSS data and combined with the historical first matching GNSS data at the preset station location, representative matching GNSS data at the preset station location is obtained;

[0011] Based on the current first matched GNSS data and the representative matched GNSS data, obtain the second matched GNSS data of the current preset station location;

[0012] Based on the second matched GNSS data and the road condition detection data of the GNSS data matching, obtain the road condition result data of the current preset station position, and update the historical first matched GNSS data of the preset station position.

[0013] The road network and GNSS matching method for maintenance decision-making provided by the present invention further includes:

[0014] Anomaly processing is performed on the GNSS data based on vehicle speed constraints.

[0015] According to the present invention, a road network and GNSS matching method for maintenance decision-making includes anomaly processing of the GNSS data based on vehicle speed constraints, comprising:

[0016] The distance between the preset interval measurement points is obtained by using the original GNSS data of the preset interval measurement points, and the movement time between the preset interval measurement points is obtained by using the signal acquisition time matched with the original GNSS data. The ratio of the distance between the preset interval measurement points to the movement time of the preset interval measurement points is used as the first driving speed.

[0017] The first driving speed is filtered to obtain the second driving speed;

[0018] Based on the second driving speed V r and preset minimum driving speed V min The driving speed threshold T is adaptively obtained, and the calculation formula for the driving speed threshold T is as follows:

[0019] V r =max(V r V min )

[0020] T = k * V r '+b

[0021] Where k and b are preset constants;

[0022] Based on the first driving speed and the driving speed threshold T, it is determined whether the current GNSS data is abnormal. If the first driving speed is greater than the driving speed threshold T, the current GNSS data is marked as abnormal data and this abnormal data is removed.

[0023] According to the present invention, a road network and GNSS matching method for maintenance decision-making includes, for any road segment data in the road network, obtaining the current first matching GNSS data at a preset station position in the route based on the GNSS data and the original route station data, comprising:

[0024] Based on the GNSS data, the distance between two adjacent GNSS measurement points in the GNSS data is calculated according to the longitude and latitude in the GNSS data;

[0025] Based on the original line station data, obtain the distance between two adjacent original line station numbers;

[0026] For any station in the original line stationing data, based on the time of the current stationing data acquisition, obtain GNSS data that matches the current stationing;

[0027] For any two adjacent original line station numbers, they are recorded as the starting station number and the ending station number respectively according to the order of data collection. The GNSS data that matches the starting station number is recorded as the starting GNSS data, and the GNSS data that matches the ending station number is recorded as the ending GNSS data.

[0028] For any two adjacent original line station numbers, based on the distance between the two adjacent GNSS measurement points, the cumulative distance between the starting point GNSS data and the ending point GNSS data is obtained;

[0029] For any two adjacent original route station numbers, the distance scaling factor k is determined based on the ratio of the distance between the original route station numbers to the cumulative distance between the starting point GNSS data and the ending point GNSS data. s ;

[0030] For any preset station position in the current preset station position, obtain the starting station position and the ending station position corresponding to the current preset station position;

[0031] For any preset station position among any two adjacent original line station positions, calculate the distance S1 from the preset station position to the starting station position, and combine it with the distance scaling factor k. s By using the cumulative distance S2 between the current GNSS and the starting point GNSS, the current first matching GNSS data at the preset station position in the line is obtained, where abs(S1-k s *S2)>ε1, where ε1 is the distance matching error.

[0032] According to the present invention, a road network and GNSS matching method for maintenance decision-making includes, for any road segment data in the road network, adaptively dividing the road segment data into units to obtain a set of divided units, including:

[0033] For any road segment data in the road network, the road segment data is divided into a first set of non-overlapping units according to a preset reference unit division length L.

[0034] For any unit in the first unit set, according to the preset unit partitioning coefficient k u (k u ≥1), extending the length at both ends of the unit respectively. The resulting set of partitioned units is obtained, where k u ≥1.

[0035] According to the present invention, a road network and GNSS matching method for maintenance decision-making is provided, wherein for any unit in the unit set, based on the current first-matched GNSS data and combined with the historical first-matched GNSS data at a preset station location, representative matching GNSS data at the preset station location is obtained, including:

[0036] For any preset station location within any unit in the unit set, the current first matching GNSS data and the historical first matching GNSS data are combined to form the first matching GNSS data set for the preset station location;

[0037] Based on the mean longitude and mean latitude, the representative GNSS data of the first matched GNSS data set is calculated;

[0038] Calculate the distance d between any GNSS data in the first matched GNSS data set and the representative GNSS data. ij , where d ij Let d be the distance between the j-th measuring point in the i-th measurement and the representative GNSS, and let d ij The measurement error of the current GNSS data is recorded;

[0039] The average absolute error of each measurement within the unit is statistically analyzed.

[0040] If the average absolute error of each measurement within the unit is less than a preset error threshold, then the representative GNSS data is used as the representative matching GNSS data for the preset station location. Otherwise, the GNSS data corresponding to the measurement number with the largest average absolute error among multiple measurements is deleted from the first matching GNSS set to obtain a new first matching GNSS set. Based on the longitude and latitude average values, the representative matching GNSS data of the first matching GNSS data set is recalculated.

[0041] According to the present invention, a road network and GNSS matching method for maintenance decision-making includes obtaining second matching GNSS data for the current preset station position based on the current first matching GNSS data and representative matching GNSS data, comprising:

[0042] For any unit in the unit set, calculate the deviation distance between the representative matching GNSS data and the first matching GNSS data at any preset station position within the unit;

[0043] According to the order of the preset station numbers, the deviation distances are sorted, and the units are divided into secondary units according to the deviation regularity to obtain secondary units, and the current secondary unit is marked as a regular deviation unit.

[0044] For any unit in the secondary unit, if the current secondary unit is a regularly deviating unit, then the first matching GNSS data is corrected according to the deviation pattern to obtain the second matching GNSS data of the current preset station position.

[0045] According to the present invention, a road network and GNSS matching method for maintenance decision-making is provided. If the current secondary unit is a regularly deviating unit, then according to the deviation pattern, the first matched GNSS data is corrected to obtain the second matched GNSS data for the current preset station position, including:

[0046] If the current secondary unit is a regularly deviating unit, the deviation distance after sorting according to the order of the preset station positions is used to obtain the difference in deviation distance between adjacent preset station positions.

[0047] Calculate the mean and variance of the deviation distance difference;

[0048] If the ratio of the variance to the mean is less than a preset ratio threshold, the first matched GNSS data is corrected based on the deviation distance and the distance between two adjacent GNSS measurement points to obtain the second matched GNSS data for the current preset station position.

[0049] According to the present invention, a road network and GNSS matching method for maintenance decision-making includes obtaining road condition result data at the current preset station position based on the second matched GNSS data and the road condition detection data of the GNSS data matching, and updating the historical first matched GNSS data at the preset station position, comprising:

[0050] By matching the acquisition time of GNSS data with the acquisition time of detection mileage data, the mapping relationship between GNSS data and detection mileage data is obtained. Based on the mapping relationship between road condition detection data and detection mileage data, road condition detection data that matches the GNSS data is obtained.

[0051] Based on the second matched GNSS data and the road condition detection data of the GNSS data matching, obtain the road condition result data of the current preset station position;

[0052] Update the historical first-match GNSS data for the preset station location.

[0053] According to the present invention, a road network and GNSS matching method for maintenance decision-making is provided, wherein the GNSS data is obtained through a GNSS locator, and the original line station data is obtained by combining the line image data with image processing, or by manual marking.

[0054] This invention provides a road network and GNSS matching method for maintenance decision-making. It acquires GNSS data, original route marker data, and road condition detection data through road network information acquisition equipment. For any road segment in the road network, firstly, based on the GNSS data and the original route marker data, the current first matching GNSS data at a preset route marker position is obtained, i.e., preliminary matching GNSS data under the current environment. The road segment data is adaptively divided into units, obtaining a set of units. At the unit level, for any unit in the unit set, based on the current first matching GNSS data and combined with the historical first matching GNSS data at the preset route marker position, representative matching GNSS data at the preset route marker position is obtained. Then, based on the current first matching GNSS data and the representative matching GNSS data, second matching GNSS data at the current preset route marker position is obtained, i.e., the corrected matching GNSS data based on the current first matching GNSS data. This establishes a high-precision matching relationship between GNSS trajectory information and road mileage markers. Based on the second matching GNSS data and the road condition detection data matched with the GNSS data, road condition result data at the current preset route marker position is obtained, realizing the matching of road condition detection data with the actual road network. This invention addresses the shortcomings of existing technologies in terms of low matching accuracy between road networks and GNSS data, achieving high-precision matching of GNSS trajectory information and providing a reference for the scientific formulation of maintenance decisions. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0056] Figure 1 This is a flowchart illustrating the road network and GNSS matching method for maintenance decision-making provided by the present invention. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0058] The following is combined Figure 1 This invention describes a road network and GNSS matching method for maintenance decision-making.

[0059] like Figure 1 As shown, this embodiment of the invention provides a road network and GNSS matching method for maintenance decision-making, specifically including the following steps (the numbering of each step in this embodiment is only for distinguishing steps and does not restrict the specific execution order of each step):

[0060] Step S1: Obtain GNSS data, raw line station data, and road condition detection data.

[0061] GNSS data, raw route marker data, and road condition detection data are acquired under normal driving conditions using road network acquisition equipment. GNSS data is acquired via a GNSS locator, simultaneously obtaining the signal acquisition time matched to the GNSS data. Raw route marker data is obtained by acquiring image data along the road using industrial cameras in the road network acquisition equipment, combined with image processing technology to obtain the raw route markers; alternatively, it can be obtained through manual marking, i.e., inspection personnel manually record the raw route marker information during on-board inspections. Road condition detection data includes: highway technical condition data, roadbed technical condition data, pavement technical condition data, bridge and tunnel structure technical condition data, and roadside facility technical condition data, etc.

[0062] Step S2: For any road segment data in the road network, based on the GNSS data and the original line station data, obtain the current first matching GNSS data at the preset station position in the line.

[0063] Based on GNSS data and original line station data, the current first matching GNSS data at the preset station location in the line is obtained, i.e., the preliminary matching GNSS data.

[0064] Step S3: For any road segment data in the road network, perform adaptive unit division on the road segment data to obtain the set of divided units.

[0065] For any road segment data in the road network, the road segment data is adaptively divided into units to obtain a set of units. At the unit level, the similarity of multiple GNSS measurement results at the same preset station location within the unit is analyzed to improve the accuracy of the obtained GNSS data matching the preset station location, thereby obtaining representative matching GNSS data for the preset station location.

[0066] Step S4: For any unit in the unit set, based on the current first matching GNSS data and combined with the historical first matching GNSS data of the preset station location, obtain the representative matching GNSS data of the preset station location.

[0067] Based on the current first-match GNSS data and the historical first-match GNSS data, obtain a GNSS result that is stably matched with the preset station position, so as to correct and optimize the current matching GNSS data.

[0068] Step S5: Based on the current first matched GNSS data and the representative matched GNSS data, obtain the second matched GNSS data of the current preset station location.

[0069] Based on the current first-match GNSS data and representative-match GNSS data, obtain second-match GNSS data that better reflects the actual situation.

[0070] Step S6: Based on the second matched GNSS data and the road condition detection data matched by GNSS data, obtain the road condition result data of the current preset station position, and update the historical first matched GNSS data of the preset station position.

[0071] Based on the second matching GNSS data and the road condition detection data of GNSS data matching, the road condition result data of the current preset station position is obtained, so as to realize the matching of road condition detection data with the actual road network.

[0072] This invention provides a road network and GNSS matching method for maintenance decision-making. It acquires GNSS data, original route marker data, and road condition detection data through a road network information acquisition device. For any road segment in the road network, firstly, based on the GNSS data and the original route marker data, the current first matching GNSS data at a preset route marker position is obtained, i.e., preliminary matching GNSS data under the current environment. The road segment data is adaptively divided into units, obtaining a set of units. At the unit level, for any unit in the unit set, based on the current first matching GNSS data and combined with the historical first matching GNSS data at the preset route marker position, representative matching GNSS data at the preset route marker position is obtained. Then, based on the current first matching GNSS data and the representative matching GNSS data, second matching GNSS data at the current preset route marker position is obtained, i.e., the corrected matching GNSS data based on the current first matching GNSS data. This establishes a high-precision matching relationship between GNSS trajectory information and road mileage markers. Based on the second matching GNSS data and the road condition detection data matched with the GNSS data, road condition result data at the current preset route marker position is obtained, realizing the matching of road condition detection data with the actual road network. This invention addresses the shortcomings of existing technologies in terms of low matching accuracy between road networks and GNSS data, achieving high-precision matching of GNSS trajectory information and providing a reference for the scientific formulation of maintenance decisions.

[0073] This embodiment also includes:

[0074] Anomaly processing is performed on the GNSS data based on vehicle speed constraints.

[0075] The currently acquired GNSS data contains some anomalies. Based on the vehicle speed constraint, the acquired GNSS data is processed to obtain corrected GNSS data, ensuring the accuracy of subsequent analysis.

[0076] In this embodiment, the anomaly processing of the GNSS data based on vehicle speed constraints includes:

[0077] The distance between the preset interval measurement points is obtained by using the original GNSS data of the preset interval measurement points, and the movement time between the preset interval measurement points is obtained by using the signal acquisition time matched with the original GNSS data. The ratio of the distance between the preset interval measurement points to the movement time of the preset interval measurement points is used as the first driving speed.

[0078] The first driving speed is filtered to obtain the second driving speed;

[0079] Based on the second driving speed V r and preset minimum driving speed V minThe driving speed threshold T is adaptively obtained, and the calculation formula for the driving speed threshold T is as follows:

[0080] V r =max(V r V min )

[0081] T = k * V r '+b

[0082] Where k and b are preset constants;

[0083] Based on the first driving speed and the driving speed threshold T, it is determined whether the current GNSS data is abnormal. If the first driving speed is greater than the driving speed threshold T, the current GNSS data is marked as abnormal data and this abnormal data is removed.

[0084] By calculating the first driving speed and combining it with a defined driving speed threshold, we can determine whether GNSS data is abnormal and remove abnormal data to ensure the accuracy and reliability of all GNSS data.

[0085] In this embodiment, obtaining the current first matching GNSS data at a preset station location on any road segment in the road network, based on the GNSS data and the original line station data, includes:

[0086] Based on the GNSS data, the distance between two adjacent GNSS measurement points in the GNSS data is calculated according to the longitude and latitude in the GNSS data;

[0087] Based on the original line station data, obtain the distance between two adjacent original line station numbers;

[0088] For any station in the original line stationing data, based on the time of the current stationing data acquisition, obtain GNSS data that matches the current stationing;

[0089] For any two adjacent original line station numbers, they are recorded as the starting station number and the ending station number respectively according to the order of data collection. The GNSS data that matches the starting station number is recorded as the starting GNSS data, and the GNSS data that matches the ending station number is recorded as the ending GNSS data.

[0090] For any two adjacent original line station numbers, based on the distance between the two adjacent GNSS measurement points, the cumulative distance between the starting point GNSS data and the ending point GNSS data is obtained;

[0091] For any two adjacent original route station numbers, the distance scaling factor k is determined based on the ratio of the distance between the original route station numbers to the cumulative distance between the starting point GNSS data and the ending point GNSS data.s ;

[0092] For any preset station position in the current preset station position, obtain the starting station position and the ending station position corresponding to the current preset station position;

[0093] For any preset station position among any two adjacent original line station positions, calculate the distance S1 from the preset station position to the starting station position, and combine it with the distance scaling factor k. s By using the cumulative distance S2 between the current GNSS and the starting point GNSS, the current first matching GNSS data at the preset station position in the line is obtained, where abs(S1-k s *S2)<ε1, where ε1 is the distance matching error.

[0094] Since the original route station data is usually sparse, such as kilometer markers, while the preset station locations are more dense, such as 10m intervals, this invention calculates the distance from the preset station location to the starting station by confirming the distance scaling factor. Combining the distance scaling factor with the cumulative distance between the current GNSS and the starting GNSS, it obtains the current first matching GNSS data for the preset station location in the route, ensuring the accuracy and rationality of GNSS data matching.

[0095] In this embodiment, the step of adaptively dividing the road segment data into units for any road segment in the road network to obtain a set of divided units includes:

[0096] For any road segment data in the road network, the road segment data is divided into a first set of non-overlapping units according to a preset reference unit division length L.

[0097] For any unit in the first unit set, according to the preset unit partitioning coefficient k u (k u ≥1), extending the length at both ends of the unit respectively. The resulting set of partitioned units is obtained, where k u ≥1.

[0098] For any given unit, since the historical first matching GNSS data at the preset station location may have an overall offset, the lengths of both ends of the unit are extended according to the preset unit division coefficient to obtain a unit set that better reflects the actual situation.

[0099] In this embodiment, obtaining representative matching GNSS data for any unit in the unit set, based on the current first matching GNSS data and combined with the historical first matching GNSS data for the preset station location, includes:

[0100] For any preset station location within any unit in the unit set, the current first matching GNSS data and the historical first matching GNSS data are combined to form the first matching GNSS data set for the preset station location;

[0101] Based on the mean longitude and mean latitude, the representative GNSS data of the first matched GNSS data set is calculated;

[0102] Calculate the distance d between any GNSS data in the first matched GNSS data set and the representative GNSS data. ij , where d ij Let d be the distance between the j-th measuring point in the i-th measurement and the representative GNSS, and let d ij The measurement error of the current GNSS data is recorded;

[0103] The average absolute error of each measurement within the unit is statistically analyzed.

[0104] If the average absolute error of each measurement within the unit is less than a preset error threshold, then the representative GNSS data is used as the representative matching GNSS data for the preset station location. Otherwise, the GNSS data corresponding to the measurement number with the largest average absolute error among multiple measurements is deleted from the first matching GNSS set to obtain a new first matching GNSS set. Based on the longitude and latitude average values, the representative matching GNSS data of the first matching GNSS data set is recalculated.

[0105] In the process of calculating the representative matching GNSS data of the preset station position based on the current first matching GNSS data and the historical first matching GNSS data, the average absolute error is statistically analyzed until the average absolute error of each measurement error within the unit is less than the preset error threshold. Then the representative matching GNSS data of the preset station position is output. Otherwise, the representative matching GNSS data of the first matching GNSS data set is recalculated in a loop to ensure the accuracy of the representative GNSS data.

[0106] In this embodiment, obtaining the second matching GNSS data for the current preset station location based on the current first matching GNSS data and the representative matching GNSS data includes:

[0107] For any unit in the unit set, calculate the deviation distance between the representative matching GNSS data and the first matching GNSS data at any preset station position within the unit;

[0108] According to the order of the preset station numbers, the deviation distances are sorted, and the units are divided into secondary units according to the deviation regularity to obtain secondary units, and the current secondary unit is marked as a regular deviation unit.

[0109] For any unit in the secondary unit, if the current secondary unit is a regularly deviating unit, then the first matching GNSS data is corrected according to the deviation pattern to obtain the second matching GNSS data of the current preset station position.

[0110] Based on the deviation pattern and the secondary division of units, the first matching GNSS data is corrected to obtain the second matching GNSS data at the current preset station position, so as to overcome the overall deviation and make the obtained second matching GNSS data more consistent with the actual road network.

[0111] In this embodiment, if the current secondary unit is a regularly deviating unit, then according to the deviation pattern, the first matching GNSS data is corrected to obtain the second matching GNSS data for the current preset station position, including:

[0112] If the current secondary unit is a regularly deviating unit, the deviation distance after sorting according to the order of the preset station positions is used to obtain the difference in deviation distance between adjacent preset station positions.

[0113] Calculate the mean and variance of the deviation distance difference;

[0114] If the ratio of the variance to the mean is less than a preset ratio threshold, the first matched GNSS data is corrected based on the deviation distance and the distance between two adjacent GNSS measurement points to obtain the second matched GNSS data for the current preset station position.

[0115] Specifically, by calculating the mean and variance of the deviation distance difference, and provided that the ratio of the variance to the mean is less than a preset ratio threshold, the first matching GNSS data is corrected to ensure the data offset correction effect.

[0116] In this embodiment, the step of obtaining road condition result data at the current preset station location based on the second matched GNSS data and the road condition detection data of the GNSS data matching, and updating the historical first matched GNSS data at the preset station location, includes:

[0117] By matching the acquisition time of GNSS data with the acquisition time of detection mileage data, the mapping relationship between GNSS data and detection mileage data is obtained. Based on the mapping relationship between road condition detection data and detection mileage data, road condition detection data that matches the GNSS data is obtained.

[0118] Based on the second matched GNSS data and the road condition detection data of the GNSS data matching, obtain the road condition result data of the current preset station position;

[0119] Update the historical first-match GNSS data for the preset station location.

[0120] The mapping relationship between GNSS data and detection mileage data is obtained by acquiring the data over time. Based on this mapping relationship, road condition detection data matching the GNSS data is obtained, thus achieving accurate matching between the road condition detection data and the actual road network. Simultaneously, the historical first-match GNSS data at preset station locations is updated to ensure the timeliness of GNSS data synchronization.

[0121] In this embodiment, the GNSS data is obtained through a GNSS locator, and the original line station data is obtained by combining the line image data with image processing, or by manual marking.

[0122] In this embodiment, the acquisition methods for GNSS data and road condition data are simple and easy to operate, and multiple data acquisition methods are provided, making the road network and GNSS matching method highly flexible in operation.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for matching road network and GNSS for maintenance decision-making, characterized in that, The method comprises the following steps: acquiring GNSS data, original route post data and road condition detection data; the road condition detection data comprises highway technical condition data, roadbed technical condition data, pavement technical condition data, bridge and tunnel structure technical condition data and along-line facility technical condition data; for any road section data in a road network, based on the GNSS data and the original route post data, acquiring current first matching GNSS data of a preset post position in the route; for any road section data in a road network, performing adaptive unit division on the road section data to acquire a divided unit set; for any preset post position in any unit in the unit set, combining the current first matching GNSS data and historical first matching GNSS data to form a first matching GNSS data set of the preset post position; based on the longitude mean value and the latitude mean value, calculating representative GNSS data of the first matching GNSS data set; Calculate the distance between any GNSS data in the first matched GNSS data set and the representative GNSS data. ,in, For the first In the second measurement The distance between each measuring point and the representative GNSS, and The measurement error of the current GNSS data is recorded; statistically acquiring the average absolute error of each measurement error in the unit; if the average absolute error of each measurement error in the unit is less than a preset error threshold, taking the representative GNSS data as the representative matching GNSS data of the preset post position, otherwise, deleting, from the first matching GNSS set, GNSS data corresponding to the measurement times with the maximum average absolute error in multiple measurements to obtain a new first matching GNSS set, and recalculating the representative matching GNSS data of the first matching GNSS data set based on the longitude mean value and the latitude mean value; for any unit in the unit set, calculating the deviation distance between the representative matching GNSS data and the first matching GNSS data of any preset post position in the unit; sequentially sorting the deviation distances according to the order of the preset post positions, and performing secondary division on the unit according to the deviation regularity to obtain a secondary unit, and marking whether the current secondary unit is a regular deviation unit; for any unit in the secondary unit, if the current secondary unit is a regular deviation unit, correcting the first matching GNSS data according to the deviation regularity to obtain second matching GNSS data of the current preset post position; based on the second matching GNSS data and the road condition detection data matched by the GNSS data, acquiring road condition result data of the current preset post position, and updating the historical first matching GNSS data of the preset post position.

2. The method for road network and GNSS matching for maintenance decision making according to claim 1, characterized in that, The method further comprises the following steps: based on a driving speed constraint, performing abnormal processing on the GNSS data.

3. The method for road network and GNSS matching for maintenance decision making according to claim 2, characterized in that, The abnormal processing on the GNSS data based on the driving speed constraint comprises the following steps: acquiring the distance of preset interval measuring points through the original GNSS data of the preset interval measuring points, acquiring the motion time between the preset interval measuring points through the signal acquisition time matched with the original GNSS data, and taking the ratio of the distance of the preset interval measuring points to the motion time of the preset interval measuring points as a first driving speed; filtering the first driving speed to obtain a second driving speed; based on the second driving speed and the preset minimum driving speed , the adaptive driving speed threshold , the calculation formula of the driving speed threshold is as follows: ； ； wherein and is a preset constant; based on the first driving speed and a driving speed threshold , determining whether the current GNSS data is abnormal, if the first driving speed is greater than the driving speed threshold , marking the current GNSS data as abnormal data, and eliminating the abnormal data.

4. The method for road network and GNSS matching for maintenance decision making according to claim 1, characterized in that, The method comprises the following steps: Based on the GNSS data and the original line stake data, the current first matching GNSS data of the preset stake position in the line is obtained, including: Based on the GNSS data, the distance between the two adjacent GNSS measuring points in the GNSS data is calculated according to the longitude and latitude in the GNSS data; Based on the original line stake data, the distance between the two adjacent original line stakes is obtained; Based on the time of collecting the current stake data, the GNSS data matched with the current stake is obtained; For any two adjacent original line stakes, the GNSS data matched with the starting stake is recorded as the starting GNSS data, and the GNSS data matched with the ending stake is recorded as the ending GNSS data; For any two adjacent original line post numbers, a distance scaling factor is identified based on a ratio of a distance between the original line post numbers to a cumulative distance between the start GNSS data and the end GNSS data ; Based on the distance between the two adjacent GNSS measuring points, the accumulated distance between the starting GNSS data and the ending GNSS data is obtained; For any preset stake number position in any two adjacent original line stake numbers, calculate the distance from the preset stake number position to the starting stake number , combine the distance scaling coefficient , through the cumulative distance of the current GNSS and the starting GNSS , obtain the current first matching GNSS data of the preset stake number position in the line, wherein, , is the distance matching error.

5. The method for road network and GNSS matching for maintenance decision making as claimed in claim 1, wherein, For any preset stake position in the current preset stake position, the starting stake and the ending stake corresponding to the current preset stake position are obtained; According to a preset reference unit, the length of any road section data in a road network is divided The road section data is divided into a first set of non-overlapping units; For any unit in the first unit set, according to a preset unit division coefficient , respectively extending the length of both ends of the unit to obtain a divided unit set, wherein .​ 6. The method for road network and GNSS matching for maintenance decision making according to claim 1, characterized in that, The method comprises the following steps: If the current secondary unit is a regular deviation unit, the first matching GNSS data is corrected according to the regularity of deviation to obtain the second matching GNSS data of the current preset stake position, including: If the current secondary unit is a regular deviation unit, the deviation distance difference value of adjacent preset stake positions is obtained according to the deviation distance after sorting according to the order of the preset stake positions; The mean and variance of the deviation distance difference value are calculated; 7. The method for road network and GNSS matching for maintenance decision making according to claim 1, characterized in that, If the ratio of the variance to the mean is less than a preset ratio threshold, the first matching GNSS data is corrected according to the deviation distance combined with the distance between the two adjacent GNSS measuring points to obtain the second matching GNSS data of the current preset stake position. Based on the second matching GNSS data and the road condition detection data matched with the GNSS data, the road condition result data of the current preset stake position is obtained, and the historical first matching GNSS data of the preset stake position is updated, including: The mapping relationship between the GNSS data and the detection mileage data is obtained by matching the collection time of the GNSS data and the collection time of the detection mileage data, and the road condition detection data matched with the GNSS data is obtained according to the mapping relationship between the road condition detection data and the detection mileage data; Based on the second matching GNSS data and the road condition detection data matched with the GNSS data, the road condition result data of the current preset stake position is obtained; 8. The method for road network and GNSS matching for maintenance decision making according to claim 1, characterized in that, The historical first matching GNSS data of the preset stake position is updated. The GNSS data is obtained by a GNSS locator, and the original line stake data is obtained by image data of the line combined with image processing or by manual marking.

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