GPS-based drift optimization methods, systems, and storage media for vehicle-mounted aircraft

Abstract

This invention relates to the field of GPS drift point optimization technology, and in particular to a drift optimization method, system, and storage medium based on GPS applied to vehicle-mounted systems. The proposed GPS-based drift optimization method for vehicle-mounted systems achieves progressive filtering of GPS positioning by defining safe GPS positioning and high-precision GPS positioning; it combines abnormal GPS positioning with updated reference points, and uses simple logical judgments to filter GPS positioning and eliminate drift points, greatly improving the efficiency of GPS drift optimization and the real-time performance of trajectory drawing.

Description

Technical Field

[0001] This invention relates to the field of GPS drift point optimization technology, and in particular to a drift optimization method, system and storage medium based on GPS applied to vehicle-mounted aircraft. Background Technology

[0002] GPS drift point optimization technology aims to address the drift phenomenon in GPS positioning results. Due to interference from various factors, GPS positioning results may deviate from the actual location, adversely affecting applications such as navigation and map creation. This technology processes drift points through steps including drift detection algorithms, reference data sources, correction methods, and data analysis. Existing drift detection algorithms determine the existence of drift points based on parameters such as velocity, acceleration, and rate of change of position. Reference data sources are used for comparison and verification with GPS positioning data. Correction methods utilize information from vehicle sensors and inertial navigation for data fusion and repair. Through the analysis and feedback of drift points, this technology can improve the accuracy and precision of GPS positioning, providing users with more reliable and accurate location information. However, current GPS drift point optimization technology has complex calculation methods, high computational resource requirements, and slow calculation speed, making it unsuitable for transportation vehicles such as buses that require real-time positioning to match stops. Summary of the Invention

[0003] To overcome the shortcomings of poor real-time performance in existing GPS drift point optimization techniques, this invention proposes a GPS-based drift optimization method for vehicle-mounted systems, which improves the real-time performance of GPS drift optimization and ensures the integrity and accuracy of the data.

[0004] This invention proposes a GPS-based drift optimization method for vehicle-mounted systems. First, a reference point is set, and safe GPS positioning, high-precision GPS positioning, and abnormal GPS positioning are defined. Then, the acquired GPS positioning is evaluated, and the safe GPS positioning is stored in a set of safe GPS points. When the safe GPS point set is full and the number of high-precision GPS positioning points in the safe GPS point set reaches a set threshold, the vehicle's trajectory is constructed by combining the GPS positioning points in the safe GPS point set. When the safe GPS point set is full and the number of high-precision GPS positioning points in the safe GPS point set is less than the set threshold, the safe GPS point set is cleared, and the reference point is reconfirmed. If N1 consecutive GPS positioning results are all abnormal GPS positioning, the reference point is reconfirmed; N1 is a set value.

[0005] Preferably, secure GPS positioning is GPS positioning that satisfies a horizontal factor less than k1 and a number of associated satellites greater than n1, and high-precision GPS positioning is GPS positioning that satisfies a horizontal factor less than k2 and a number of associated satellites greater than n2; 0 <k2<k1≤7,1<n1<n2<24。

[0006] Preferably, abnormal GPS positioning is GPS positioning that satisfies either latitude or longitude as 0 or the number of satellites as greater than 24.

[0007] Preferably, it includes the following steps:

[0008] S1. Obtain the reference point;

[0009] S2. Obtain GPS location and determine whether the GPS location is a safe GPS location; if yes, proceed to step S3; if no, proceed to step S6.

[0010] S3. Update the number of abnormal points N to 0, add the GPS location to the set safe GPS point set, and determine whether the safe GPS point set is full; if not, return to step S2; if yes, proceed to step S4.

[0011] S4. Determine whether the number of high-precision GPS positioning points in the safe GPS point set is greater than or equal to the set value N2; if not, clear the reference points and empty the safe GPS point set, then return to step S1; if yes, proceed to step S5.

[0012] S5. Determine if the vehicle is in motion; if not, clear the safe GPS point set and return to step S2; if yes, construct the vehicle's trajectory based on the GPS positioning in the safe GPS point set, then clear the safe GPS point set and return to step S2.

[0013] S6. Determine if the GPS location is abnormal; if yes, update the number of abnormal GPS locations N to N+1 and then proceed to step S7; if no, update the number of abnormal points N to 0 and then return to step S2; S7. Determine if N is greater than or equal to the set value N1; if yes, clear the reference point and then return to step S1; if no, return to step S2.

[0014] Preferably, step S5 specifically includes the following sub-steps:

[0015] S51. GPS locations in the statistical safety GPS point set whose distance from the reference point is within a distance threshold are considered valid points. The distance threshold is a set value.

[0016] S52. Determine whether the vehicle meets all of the following constraints. If yes, determine that the vehicle is in dynamic form, construct the vehicle's trajectory by combining the GPS positioning in the safe GPS point set, then clear the safe GPS point set and return to step S2; otherwise, determine that the vehicle is in a stationary state.

[0017] The constraints include:

[0018] c1: Vehicle speed ≥ V0 and current GPS positioning is a safe GPS positioning; V0 is the set speed threshold.

[0019] c2: [Num(1)-Num(2)] / Num(2)≥k3; Num(1) is the number of high-precision GPS positioning points in the safe GPS point set, Num(2) is the number of valid points in the safe GPS point set, and k3 is the set probability threshold. <k3<1。

[0020] Preferably, the distance threshold is set to 5 meters and k3 = 0.6.

[0021] Preferably, obtaining the reference point includes the following steps:

[0022] S11. Determine if a reference point exists; if yes, proceed to step S2; otherwise, proceed to step S12.

[0023] S12. Obtain GPS location;

[0024] S13. Determine whether the GPS location is a safe GPS location; if not, set the flag number M to zero and then return to step S12; if yes, store the GPS location in the safe GPS point set, update the flag number M to M+1, and then execute step S14; the initial value of the flag number M is 0.

[0025] S14. Determine if M is less than the set value M0; if yes, return to step S12; if no, use the most recently acquired GPS location as the reference point.

[0026] Preferably, k1 = 3, n1 = 4, M0 = 5.

[0027] The present invention proposes a GPS-based drift optimization system for vehicle-mounted aircraft, comprising a memory and a processor; the memory stores a computer program, and the processor is connected to the memory, and the processor is used to execute the computer program to implement the GPS-based drift optimization method for vehicle-mounted aircraft.

[0028] The present invention proposes a storage medium storing a computer program, which, when executed, is used to implement the aforementioned GPS-based drift optimization method for vehicle-mounted aircraft.

[0029] The advantages of this invention are:

[0030] (1) The GPS-based drift optimization method proposed in this invention achieves progressive filtering of GPS positioning by defining safe GPS positioning and high-precision GPS positioning; combined with abnormal GPS positioning to update the reference point, GPS positioning is filtered and drift points are eliminated through simple logical judgment, which greatly improves the efficiency of GPS drift optimization and the real-time performance of trajectory drawing.

[0031] (2) In this invention, safe GPS positioning and high-precision GPS positioning are defined by combining the horizontal factor and the number of associated satellites. The method is simple and effective, and achieves high-efficiency GPS positioning screening. In this invention, the reference point is updated by continuously detecting abnormal GPS positioning, which eliminates occasional abnormal positioning, avoids malicious loops in GPS positioning judgment, and ensures the normal execution of GPS positioning judgment.

[0032] (3) In this invention, the effective point selection of safe GPS positioning is combined with the reference point, which is equivalent to realizing the GPS positioning correction every certain distance, thereby ensuring the accuracy of GPS positioning throughout the entire process. Attached Figure Description

[0033] Figure 1 A flowchart illustrating a GPS-based drift optimization method for vehicle-mounted aircraft.

[0034] Figure 2 Flowchart for determining vehicle motion status;

[0035] Figure 3 Flowchart of the benchmark point acquisition method;

[0036] Figure 4(a) shows the original trajectory on September 1, 2022 in the example;

[0037] Figure 4(b) shows the corrected trajectory on September 1, 2022, in the example;

[0038] Figure 5(a) shows the original trajectory on September 2, 2022 in the example;

[0039] Figure 5(b) shows the corrected trajectory on September 2, 2022, in the embodiment;

[0040] Figure 6(a) shows the original trajectory on September 3, 2022 in the example;

[0041] Figure 6(b) shows the corrected trajectory on September 3, 2022, in the example;

[0042] Figure 7(a) shows the original trajectory on September 4, 2022 in the example;

[0043] Figure 7(b) shows the corrected trajectory on September 4, 2022, in the example;

[0044] Figure 8(a) shows the original trajectory on September 5, 2022 in the example;

[0045] Figure 8(b) shows the corrected trajectory on September 5, 2022, in the example. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] like Figure 1 , Figure 2 , Figure 3 As shown in the figure, the drift optimization method based on GPS applied to vehicle-mounted aircraft proposed in this embodiment includes the following steps.

[0048] S1. Obtain the reference point. Specifically, in this embodiment, any existing method can be used to obtain the GPS positioning reference point, or the reference point can be set in conjunction with the following steps S11-S14.

[0049] S11. Determine if a reference point exists; if yes, proceed to step S2; otherwise, proceed to step S12.

[0050] S12. Obtain GPS location.

[0051] S13. Determine whether the GPS positioning is a secure GPS positioning; secure GPS positioning meets the following conditions: the horizontal factor is less than k1 and the number of associated satellites is greater than n1; k1 and n1 are both set values. In specific implementation, k1 = 3 and n1 = 4 can be set.

[0052] If not, set the flag number M to zero and then return to step S12;

[0053] If yes, then store the GPS location in the safe GPS point set, update the number of markers M to M+1, and then execute step S14; the initial value of the number of markers M is 0.

[0054] S14. Determine if M is less than the set value M0; if yes, return to step S12; otherwise, use the most recently acquired GPS location as the reference point. M0 can be set to 5. In this way, only when the GPS location is a safe GPS location for 5 consecutive times will the fifth GPS location be used as the reference point, ensuring the validity of the reference point.

[0055] S2. Obtain GPS positioning and determine whether the GPS positioning is a safe GPS positioning, that is, determine whether the GPS positioning meets the following conditions: the horizontal factor is less than 3 and the number of associated satellites is greater than 4.

[0056] If yes, proceed to step S3; otherwise, proceed to step S6.

[0057] S3. Set the number of abnormal points N to 0, add the GPS positioning to the set of set safe GPS points, and determine whether the set of safe GPS points is full; if not, return to step S2; if so, execute step S4.

[0058] In this step, by setting the number of abnormal points to zero, sporadic abnormal positioning is eliminated, avoiding malicious loops in GPS positioning judgment, and ensuring the normal execution of GPS positioning judgment.

[0059] S4. Determine whether the number of high-precision GPS positionings in the set of safe GPS points is greater than or equal to the set value N2; N2 can be specifically set to 6.

[0060] If not, clear the reference point and empty the set of safe GPS points, and then return to step S1.

[0061] If so, execute step S51.

[0062] High-precision GPS positioning is a GPS positioning that satisfies the horizontal factor less than k2 and the number of associated satellites is greater than n2; that is, the accuracy of high-precision GPS positioning is higher than that of safe GPS positioning; specifically in implementation, K2 = 2 and n2 = 5 can be set.

[0063] S51. Statistically, the GPS positionings in the set of safe GPS points whose distances from the reference point are within the distance threshold are used as valid points; the distance threshold is a set value, which can be specifically set to 5 meters.

[0064] S52. Determine whether the vehicle meets all the following constraint conditions. If so, determine that the vehicle is in dynamic form, construct the vehicle motion trajectory by combining the GPS positionings in the set of safe GPS points, and then empty the set of safe GPS points and return to step S2; if not, determine that the vehicle is in a stationary state, empty the set of safe GPS points, and then return to step S2.

[0065] The constraint conditions include:

[0066] c1: The vehicle speed ≥ V0 and the current GPS positioning is a safe GPS positioning; specifically in implementation, V0 can be set to 5 meters per second.

[0067] c2: [Num(1) - Num(2)] / Num(2) ≥ k3; Num(1) is the number of high-precision GPS positionings in the set of safe GPS points, Num(2) is the number of valid points in the set of safe GPS points, k3 is the set probability threshold, 0 < k3 < 1, specifically in implementation, k3 = 0.6 can be set.

[0068] In this embodiment, the capacity of the safe GPS point set can be set to 10; by combining the reference point to filter effective points for safe GPS positioning, it is equivalent to performing GPS positioning correction every certain distance, thereby ensuring the accuracy of GPS positioning throughout the entire journey.

[0069] S6. Determine whether the GPS location is an abnormal GPS location; if yes, update the number of abnormal GPS locations N to N+1 and then execute step S7; if no, update the number of abnormal points N to 0 and then return to step S2.

[0070] S7. Determine whether N is greater than or equal to the set value N1; if yes, clear the reference point and return to step S1; if no, return to step S2.

[0071] In this embodiment, by setting N1, the correction conditions for the reference point are clarified, which avoids invalid GPS records and also ensures the timely detection and correction of GPS drift.

[0072] The following specific embodiments verify the above-mentioned drift optimization method based on GPS applied to vehicle-mounted aircraft.

[0073] In this embodiment, from September 1, 2022 to September 5, 2022, one bus is randomly selected each day to obtain the GPS location of the bus. The motion trajectory drawn based on the original GPS location is recorded as the original trajectory. After filtering the original GPS location using the above-mentioned drift optimization method based on GPS applied to the vehicle-mounted machine, the motion trajectory drawn by combining all valid GPS locations is recorded as the corrected trajectory.

[0074] In this embodiment, data from the same road segment was selected for verification on September 1, 2022 and September 2, 2022. As shown in Figures 4(a) and 5(a), on the curved road segment, the original trajectory tends to convex outward relative to the road, indicating that the original GPS positioning is prone to drift in the direction of the curve's convexity. As shown in Figures 4(b) and 5(b), the trend of the corrected trajectory is consistent with that of the road, correcting the GPS drift points on the convex side of the curved segment on the original trajectory.

[0075] In this embodiment, data from the same road segment was selected for verification on September 3, 2022 and September 4, 2022. As shown in Figures 6(a) and 7(a), the original trajectory drifted non-directionally relative to the road in the road segment near the intersection, indicating that the original GPS positioning was severely offset in the road segment near the intersection. As shown in Figures 6(b) and 7(b), the trend of the corrected trajectory is consistent with the road, correcting the GPS drift points on the original trajectory.

[0076] In this embodiment, data from a certain road segment was selected for verification on September 5, 2022. As shown in Figures 8(a) and 8(b), the corrected trajectory completely eliminated the positioning points on the original trajectory that deviated abruptly from the road trend, and corrected the GPS drift points on the original trajectory.

[0077] As can be seen from this embodiment, the GPS-based drift optimization method proposed in this invention is adaptable to any road conditions, and the corrected trajectory fully conforms to the road trend, achieving high-precision GPS drift optimization.

[0078] In this embodiment, the number of GPS points on each original trajectory and the corrected trajectory is shown in Table 1 below.

[0079] Table 1: Number of GPS points on the original and corrected trajectories

[0080] date 2022-09-01 2022-09-02 2022-09-03 2022-09-04 2022-09-05 Corrected trajectory 3601 3694 3711 3654 3633 Original trajectory 3974 4001 4122 3897 3901

[0081] As can be seen from Table 1 and the accompanying drawings of the embodiments, the drift optimization method based on GPS applied to vehicle-mounted aircraft can effectively remove drift points and achieve trajectory optimization.

[0082] Of course, those skilled in the art will recognize that the present invention is not limited to the details of the exemplary embodiments described above, but also includes the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0083] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0084] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A method for optimizing drift of a GPS-based application applied to a vehicle-mounted device, characterized by, Firstly, a reference point is set and safe GPS positioning, high-precision GPS positioning and abnormal GPS positioning are defined; then the acquired GPS positioning is judged, and the acquired safe GPS positioning is stored in a set safe GPS point; when the set safe GPS point is full and the number of high-precision GPS positioning in the set safe GPS point reaches a set number threshold, a vehicle motion trajectory is constructed in combination with the GPS positioning in the set safe GPS point; when the set safe GPS point is full and the number of high-precision GPS positioning in the set safe GPS point is less than the set number threshold, the set safe GPS point is emptied and the reference point is reconfirmed; if the acquired GPS positioning is abnormal GPS positioning for N1 consecutive times, the reference point is reconfirmed; N1 is a set value.

2. The drift optimization method for a GPS-based application to a vehicle mount machine according to claim 1, wherein, The safe GPS positioning is GPS positioning satisfying that a horizontal factor is less than k1 and a number of associated satellites is greater than n1, and the high-precision GPS positioning is GPS positioning satisfying that a horizontal factor is less than k2 and a number of associated satellites is greater than n2; 0 < k2 < k1 ≤ 7, 1 < n1 < n2 < 24.

3. The drift optimization method for a GPS-based application to a vehicle-mounted device according to Claim 2, wherein The abnormal GPS positioning is GPS positioning satisfying that one of longitude and latitude is 0 or a number of satellites is greater than 24.

4. The drift optimization method for a GPS-based application to a vehicle mount machine according to claim 1, wherein, The method comprises the following steps: S1, a reference point is acquired; S2, GPS positioning is acquired and it is judged whether the GPS positioning is safe GPS positioning; if yes, step S3 is executed; if no, step S6 is executed; S3, an abnormal point number N is updated to 0, the GPS positioning is added to a set safe GPS point, and it is judged whether the set safe GPS point is full; if no, step S2 is returned; if yes, step S4 is executed; S4, it is judged whether a number of high-precision GPS positioning in the set safe GPS point is greater than or equal to a set value N2; if no, the reference point is cleared and the set safe GPS point is emptied, and then step S1 is returned; if yes, step S5 is executed; S5, it is judged whether a vehicle is in a motion form; if no, the set safe GPS point is emptied, and then step S2 is returned; if yes, a vehicle motion trajectory is constructed in combination with the GPS positioning in the set safe GPS point, and then the set safe GPS point is emptied and step S2 is returned; S6, it is judged whether the GPS positioning is abnormal GPS positioning; if yes, the abnormal GPS positioning number N is updated to N+1, and then step S7 is executed; if no, the abnormal point number N is updated to 0, and then step S2 is returned; S7, it is judged whether N is greater than or equal to a set value N1; if yes, the reference point is cleared, and then step S1 is returned; if no, step S2 is returned.

5. The drift optimization method for a GPS-based application to a vehicle mount machine according to claim 1, wherein, Step S5 specifically comprises the following steps: S51, a distance threshold is a set value, and the GPS positioning in the set safe GPS point with a distance within the distance threshold from the reference point is counted as an effective point; S52, it is judged whether the vehicle satisfies all constraint conditions; if yes, the vehicle is in a dynamic form, a vehicle motion trajectory is constructed in combination with the GPS positioning in the set safe GPS point, and then the set safe GPS point is emptied and step S2 is returned; if no, the vehicle is in a static state, the set safe GPS point is emptied, and then step S2 is returned; The constraint conditions comprise: c1: vehicle speed ≥ V0 and current GPS positioning is safe GPS positioning; V0 is a set speed threshold; c2: [Num(1)-Num(2)] / Num(2) ≥ k3; Num(1) is the number of high-precision GPS positioning in the safe GPS point set, Num(2) is the number of valid points in the safe GPS point set, k3 is a set probability threshold, 0 < k3 < 1.

6. The drift optimization method for a GPS-based application to a vehicle mount machine according to claim 5, wherein, The distance threshold is set to 5 meters, and k3 = 0.

6.

7. The drift optimization method for a GPS-based application to a vehicle mount machine according to claim 4, wherein, The obtaining of the reference point comprises the following steps: S11, judging whether there is a reference point currently; if yes, executing step S2; if no, executing step S12; S12, acquiring GPS positioning; S13, judging whether the GPS positioning is safe GPS positioning; if no, setting the flag number M to zero, and then returning to step S12; if yes, storing the GPS positioning into the safe GPS point set, updating the flag number M to M+1, and then executing step S14; the initial value of the flag number M is 0; S14, judging whether M is less than a set value M0; if yes, returning to step S12; if no, taking the most recently acquired GPS positioning as the reference point.

8. The drift optimization method for a GPS-based application to a vehicle mount according to claim 1, wherein, k1 = 3, n1 = 4, and M0 = 5.

9. A drift optimization system for a vehicle mounted machine based on GPS, characterized by, The device comprises a memory and a processor; the memory stores a computer program, the processor is connected with the memory, and the processor is used for executing the computer program to realize the drift optimization method based on GPS applied to a vehicle-mounted machine according to any one of claims 1-8.

10. A storage medium, characterized by The computer program is stored and executed to realize the drift optimization method based on GPS applied to a vehicle-mounted machine according to any one of claims 1-8.

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