A method and system for recording the path planning of a positioning target moving trajectory

Abstract

The present application relates to a method and system for recording the path planning of the moving trajectory of a positioning target, which belongs to the field of path recording technology, wherein the method includes obtaining the road network information of the target area; obtaining a road network map based on the road network information; periodically obtaining the positioning coordinate points of the positioning target in the target area; determining the actual path points on the road network map; connecting the actual path points of every two adjacent time points in chronological order to obtain a number of initial paths; and correcting and combining the initial paths according to the passable paths between the actual path points of every two adjacent time points to obtain the real trajectory. The present application corrects the moving trajectory of the positioning target in combination with the actual road network information, so that the real trajectory obtained can meet the characteristics of the road network, greatly improving the accuracy of recording the moving trajectory of the positioning target in the case of complex indoor routes or many outdoor shelters.

Description

Technical Field

[0001] The present application relates to the field of indoor path recording technology, and in particular to a method and system for recording the path planning of a positioning target moving trajectory. Background Art

[0002] Positioning refers to obtaining the real-time location or movement trajectory of people and objects through technical means. For outdoor personnel positioning, the traditional GPS navigation system can provide personnel location information with high accuracy; however, in some complex environments or indoor environments with many tall buildings, GPS signals are easily blocked or reflected by walls and cannot smoothly enter the complex environment or indoors, resulting in the inability to smoothly receive satellite signals, and ultimately resulting in unsatisfactory positioning results. Since then, with the continuous development of positioning technology, the Bluetooth positioning system has made up for the positioning defects of GPS with its lower power consumption and higher positioning accuracy, and plays an important role in indoor positioning.

[0003] At present, when the Bluetooth positioning system is used to record the path of the positioning target indoors, the following method is usually adopted: the positioning information of the positioning target is uploaded in real time to obtain a number of positioning nodes, and then all the positioning nodes are connected according to the time sequence to obtain the route trajectory; however, such a positioning method is difficult to achieve high-precision continuous positioning in a complex environment because the positioning accuracy of Bluetooth positioning technology is easily affected by obstacles, signal interference and multipath effects in the environment, and the positioning signal is easily lost (that is, new positioning information is received after a period of time, and the positioning information in the middle time period is not received smoothly);

[0004] In the case of complex indoor routes or many outdoor obstructions, if the signal is lost for a long time and the positioning target moves a long distance (that is, the deviation between the positioning node and the actual position of the positioning target is large), or the distance between corners is short (the travel time is short) and the positioning signal acquisition interval time is long, the obtained route trajectory will be inconsistent with the actual walking route due to path missing (the missing path refers to the path taken to bypass obstacles), and even the positioning target may cross obstacles, resulting in low accuracy in recording the moving path of the positioning target when indoors or outdoors with many obstructions. Summary of the invention

[0005] In order to improve the problem of low recording accuracy of the moving path of a positioning target when the indoor route is complex or there are many outdoor obstructions, the present application provides a method and system for planning and recording the moving trajectory path of a positioning target.

[0006] In the first aspect, the present application provides a method for recording a moving trajectory of a positioning target, which adopts the following technical solution:

[0007] A method for recording a moving trajectory path of a positioning target, comprising:

[0008] Obtain road network information of the target area;

[0009] Obtaining a road network map according to the road network information, wherein the road network map is composed of a plurality of traversable paths within the target area;

[0010] Periodically obtaining the positioning coordinate points of the positioning target within the target area over a period of time;

[0011] Determining an actual path point corresponding to each of the positioning coordinate points on the road network map;

[0012] Connecting the actual path points at every two adjacent time points in time sequence to obtain a plurality of initial paths, wherein the actual path points at every two adjacent time points correspond to one initial path;

[0013] The initial path is corrected and combined according to the traversable path between the actual path points at every two adjacent time points to obtain a true trajectory.

[0014] By adopting the above technical solution, a road network diagram consisting of several traversable paths is first obtained according to the road network information of the target area, and then the actual path points are obtained according to the positioning coordinate points of the positioning target within a period of time, and then the initial path is obtained according to the actual path points corresponding to every two adjacent time points, and then the initial path is corrected and combined according to the actual traversable path to obtain the real trajectory;

[0015] The present application corrects the moving trajectory of the positioning target in combination with the actual road network information, so that the actual trajectory obtained can meet the road network characteristics (that is, it is consistent with the passable path), which greatly reduces the problem of discrepancy between the recorded trajectory (that is, the initial path) and the actual moving trajectory due to signal incoherence (that is, there is partial signal loss), deviation between the acquired positioning coordinate points and the actual position, and the actual moving trajectory of the positioning target between adjacent signals not being a straight line, in the case of complex indoor routes or many outdoor obstructions. It avoids the situation where the recorded moving trajectory shows that the positioning target has directly crossed an obstacle, thereby greatly improving the accuracy of recording the moving trajectory of the positioning target.

[0016] In a specific possible implementation scheme, the correcting and combining the initial path according to the traversable path between the actual path points at every two adjacent time points to obtain the real trajectory includes:

[0017] Performing anomaly detection on the corresponding initial path according to the passable path between the actual path points at every two adjacent time points to obtain a detection result, wherein the detection result includes a path without anomaly and a path with anomaly;

[0018] When the detection result shows that there is no abnormality in the path, the corresponding initial path is directly used as the real path;

[0019] When the detection result shows that there is an abnormality in the path, a path correction mechanism is triggered to obtain the real path, and the initial path is replaced with the corresponding real path;

[0020] All the real paths are combined in chronological order to obtain the real trajectory.

[0021] By adopting the above technical solution, anomaly detection is first performed on each initial path, and the path without anomalies is directly used as the real path. Only the path with anomalies is corrected by triggering the path correction mechanism, which greatly improves the recording efficiency of the moving trajectory.

[0022] In a specific possible implementation scheme, the triggering path correction mechanism to obtain the corresponding real path includes:

[0023] Of the actual path points at every two adjacent time points, the earlier actual path point is used as the front path point, and the later actual path point is used as the back path point;

[0024] Determining a front node corresponding to the front path point and a rear node corresponding to the rear path point on the traversable path of the road network graph;

[0025] Obtain a plurality of target point groups according to the preceding node and the succeeding node, each of the target point groups including a point on the traversable path where the preceding node is located and a point on the traversable path where the succeeding node is located;

[0026] Determining a preferred path between two points in each of the target point groups and a reference distance of each of the preferred paths on the navigable path;

[0027] The preferred path with the smallest reference distance is used as the real path between the corresponding two actual path points.

[0028] By adopting the above technical scheme, a number of target point groups are obtained according to the previous path points and the subsequent path points corresponding to the actual path points of every two adjacent time points, and the preferred path with the smallest reference distance between the two points in each target point group is first determined, and then the preferred path with the smallest reference distance is used as the real path; through group calculation and step-by-step screening, the calculation amount of the reference distance is greatly reduced, the processing speed is accelerated, and thus the efficiency of recording the moving trajectory of the positioning target is improved.

[0029] In a specific possible implementation scheme, the front node is a vertical point of the front path point on the traversable path with the smallest distance from the front path point, and the rear node is a vertical point of the rear path point on the traversable path with the smallest distance from the rear path point.

[0030] By adopting the above technical solution, the vertical point of the front path point on the passable path with the smallest distance from it is taken as the front node, and the vertical point of the rear path point on the passable path with the smallest distance from it is taken as the rear node, which helps to represent the actual path points at each time point on the passable path and simplifies the calculation.

[0031] In a specific implementation manner, obtaining a plurality of target point groups according to the preceding node and the succeeding node comprises:

[0032] Generate a number of reference nodes based on the road network graph, each of the traversable paths having a number of reference nodes along the path direction thereof;

[0033] The two reference nodes adjacent to the front node are used as the first starting point and the second starting point respectively, and the two reference nodes adjacent to the rear node are used as the first end point and the second end point respectively;

[0034] The first starting point, the second starting point, the first end point and the second end point are divided into four target point groups by a combination method, and the target point group includes one of the first starting point and the second starting point and one of the first end point and the second end point.

[0035] By adopting the above technical solution, the first starting point, the second starting point, the first end point and the second end point are obtained according to the previous node and the subsequent node, and then the first starting point and the second starting point, the first end point and the second end point are combined by a combination method to obtain a target point group; the target point group obtained in this way includes different starting points close to the actual path points at the previous moment and different end points close to the actual path points at the next moment, which is helpful for subsequently obtaining the shortest path between two actual path points as the real path according to the target point group, thereby improving the accuracy of the mobile trajectory recording.

[0036] In a specific implementation scheme, the preferred path is a path in the target point group with the shortest distance from the starting point to the end point; the step of determining the preferred path between two points in each target point group and the reference distance of each preferred path on the passable path includes:

[0037] Determine all reference paths from a starting point to an end point in each target point group, each reference path including a plurality of reference nodes;

[0038] Calculate a reference distance of each reference path according to the reference node;

[0039] The reference path with the smallest reference distance is used as the preferred path of the corresponding target point group.

[0040] In a specific implementation scheme, the preferred path is a path in the target point group with the shortest distance from the starting point to the end point; the step of determining the preferred path between two points in each target point group and the reference distance of each preferred path on the passable path specifically includes:

[0041] The preferred path from the starting point to the end point in each target point group and the reference distance of each preferred path are directly obtained by the Dijkstra algorithm.

[0042] By adopting the above technical solution, the Dijkstra algorithm can continuously update the shortest distance between two nodes. After traversing all nodes, it can simultaneously obtain the shortest path between two nodes (i.e., the preferred path) and the distance of the shortest path, with high calculation efficiency and guaranteed accuracy.

[0043] In the second aspect, the present application provides a positioning target moving trajectory path planning and recording system, which adopts the following technical solution:

[0044] A positioning target moving trajectory path planning and recording system includes a data acquisition module for acquiring road network information of a target area and periodically acquiring positioning coordinate points of a positioning target in the target area over a period of time;

[0045] A data processing module, used to obtain a road network map according to the road network information, wherein the road network map is composed of a plurality of traversable paths within the target area; and also used to determine an actual path point corresponding to each of the positioning coordinate points on the road network map;

[0046] The trajectory planning module includes a planning submodule and a correction submodule; the planning submodule is used to connect the actual path points of every two adjacent time points in chronological order to obtain a plurality of initial paths, and the actual path points of every two adjacent time points correspond to one initial path; the correction submodule is used to correct and combine the initial paths according to the passable paths between the actual path points of every two adjacent time points to obtain a true trajectory.

[0047] In a third aspect, the present application provides a track recording device, which adopts the following technical solution:

[0048] A trajectory recording device comprises a memory and a processor, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the positioning target moving trajectory path planning and recording method as described in the first aspect.

[0049] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0050] A computer-readable storage medium, wherein at least one instruction, at least one program, code set or instruction set is stored in the readable storage medium, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the positioning target movement trajectory path planning and recording method as described in the first aspect.

[0051] In summary, the present application includes at least one of the following beneficial technical effects:

[0052] 1. This application corrects the moving trajectory of the positioning target in combination with the actual road network information, and the obtained real trajectory conforms to the actual situation of the road. It greatly reduces the problem of discrepancy between the recorded trajectory (i.e., the initial path) and the actual moving trajectory due to signal incoherence (i.e., partial signal loss), deviation between the acquired positioning coordinate points and the actual position, and the actual moving trajectory of the positioning target between adjacent signals not being a straight line when the indoor route is complex or there are many outdoor obstructions. It avoids the situation where the recorded moving trajectory shows that the positioning target has directly crossed an obstacle, thereby greatly improving the accuracy of recording the moving trajectory of the positioning target. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a structural diagram of a positioning target movement trajectory path planning and recording system according to an embodiment of the present application.

[0054] Figure 2 It is a flowchart of a method for planning and recording a moving trajectory path of a positioning target according to another embodiment of the present application.

[0055] Figure 3 This is a schematic diagram of another embodiment of the present application for reflecting the navigable paths and obstacle areas in the target area.

[0056] Figure 4 It is a schematic diagram for illustrating various points in steps S400-S600 according to another embodiment of the present application.

[0057] Description of reference numerals: 100, data acquisition module; 200, data processing module; 300, trajectory planning module; 310, planning submodule; 320, correction submodule; 400, result output module. DETAILED DESCRIPTION

[0058] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with all the accompanying drawings.

[0059] An embodiment of the present application discloses a system for planning and recording a moving trajectory of a positioning target.

[0060] Reference Figure 1 A positioning target moving trajectory path planning and recording system includes a data acquisition module 100, a data processing module 200, a trajectory planning module 300 and a result output module 400, wherein the trajectory planning module 300 includes a planning submodule 310 and a correction submodule 320.

[0061] The data acquisition module 100 is used to acquire the road network information of the target area and periodically acquire the positioning coordinate points of the positioning target in the target area within a period of time;

[0062] The data processing module 200 is used to obtain a road network map according to the road network information, and the road network map is composed of a number of traversable paths in the target area; the data processing module is also used to determine the actual path point corresponding to each positioning coordinate point on the road network map;

[0063] The planning submodule 310 is used to connect the actual path points of every two adjacent time points in time sequence to obtain a plurality of initial paths, and the actual path points of every two adjacent time points correspond to one initial path;

[0064] The correction submodule 320 is used to correct and combine the initial path according to the passable path between the actual path points at every two adjacent time points to obtain the real trajectory;

[0065] The result output module 400 is used to present the real trajectory through an intelligent display terminal.

[0066] Another embodiment of the present application discloses a method for recording a path planning of a positioning target moving trajectory. The implementation of the method for recording a path planning of a positioning target moving trajectory is described in detail below in conjunction with the above-mentioned system for recording a path planning of a positioning target moving trajectory:

[0067] Reference Figure 2 A method for recording a moving trajectory path of a positioning target includes:

[0068] S100, obtaining road network information of a target area;

[0069] Among them, the road network refers to the road network in the field of transportation, which is a road system composed of various roads interwoven into a network in a certain target area; in this embodiment, the target area can be indoors, or outdoors with many obstructions such as high-rise buildings or trees, and the road network information is mainly the overall layout diagram of the indoor area or the outdoor road planning diagram. The road network information can be manually imported or obtained through a communication connection with a database of an urban road network or a highway network; the positioning target can be a person or a mobile device implanted with a positioning device such as Bluetooth.

[0070] S200, obtaining a road network map according to the road network information;

[0071] Among them, the road network information includes all roads planned in the target area and obstacles that are inconvenient to move (indoor obstacles are mostly cabinets, tables, walls, etc., and outdoor obstacles are mostly buildings, flower beds, etc.). The road network information is mainly saved in the format of pictures or three-dimensional models.

[0072] Specifically, S200 includes:

[0073] S210, identifying obstacles in the road network information, and dividing the obstacles into an obstacle area and a passable area according to all the obstacles;

[0074] Among them, the use of contour detection technology, image recognition technology, etc. can complete the identification of obstacles in the road network information, or the identification can be completed by manually marking and selecting obstacles; when the road network information is a three-dimensional model, the obstacle identification can also be directly performed based on the name labels of each component in the model; refer to Figure 2 The obstacle area is represented by the minimum circumscribed polygon that completely encompasses the edge of the obstacle, and the passable area is the remaining area after removing the obstacle area from the target area; the method for calculating the minimum circumscribed polygon is a prior art and will not be repeated here; the obstacle area obtained in this way can reserve enough space for the area that is actually impossible to walk through.

[0075] S220, obtaining a traversable path according to the traversable area to generate a road network map;

[0076] Among them, refer to Figure 2 The road network map is composed of a number of mutually intersecting passable paths in the target area. The passable path in this embodiment is represented by the center line along the length direction of the passable area. It can also be obtained by performing line segment fitting on the passable area based on OpenCV image line segment fitting technology; image line segment fitting is a prior art and will not be described in detail here.

[0077] It should be noted that the obstacles in S210 do not include building facilities such as doors and windows that can be opened or closed to connect or isolate two spaces, nor do they include facilities such as thresholds that can be easily crossed; in this embodiment, there can be several ways to reach one location from another, and the road passed by each way of reaching can be regarded as a traversable path; this embodiment allows partial overlap between different traversable paths (that is, traversable paths with the same starting point and end point but different intermediate distances are regarded as different traversable paths).

[0078] S300, periodically obtaining positioning coordinate points of the positioning target in the target area within a period of time;

[0079] Among them, the period of time in this embodiment is taken as one day, and the cycle is taken as once every 30 seconds. The positioning coordinate point is the real position point of the positioning target at each periodic time point within a period of time; the positioning coordinate point of this embodiment is obtained through the Bluetooth positioning system, and the Bluetooth positioning system is a prior art and will not be repeated here.

[0080] S400, determining an actual path point corresponding to each positioning coordinate point on the road network map;

[0081] Among them, the actual path points are the mappings of the positioning coordinate points in the actual target area in the virtual road network map, and the actual path points correspond to the positioning coordinate points one by one; specifically, the actual path points are mainly determined based on the actual geographical location of each positioning coordinate point and the proportional relationship between the road network map and the high-altitude bird's-eye view of the target area (which can be understood as the existing navigation and positioning technology).

[0082] S500, connecting actual path points of every two adjacent time points in time sequence to obtain a number of initial paths;

[0083] Among them, the actual path points of every two adjacent time points correspond to an initial path (that is, the two ends of each initial path are the actual path points corresponding to the earlier time point and the actual path points corresponding to the later time point in the adjacent time points); refer to Figure 3 The actual path points in this embodiment are points L corresponding to adjacent time points. 1 And point R 1 For example, the initial path is line segment L 1 R 1 .

[0084] S600, correcting and combining the initial path according to the traversable path between actual path points at every two adjacent time points to obtain a true trajectory;

[0085] Specifically, S600 includes:

[0086] S610, performing anomaly detection on the corresponding initial path according to the passable path between the actual path points at every two adjacent time points to obtain a detection result;

[0087] The detection results include whether the path has no anomaly or whether the path has anomaly. Specifically, the anomaly detection of the initial path is mainly performed by determining whether the initial path passes through the obstacle area in S210.

[0088] Specifically, S610 includes:

[0089] S611, respectively determining whether two actual path points at adjacent time points are located in an obstacle area;

[0090] In particular, since the minimum circumscribed rectangle corresponding to each obstacle area is generated when the obstacle area is divided in S210, the determination in S611 can be regarded as determining whether a point is inside a polygon, which is a prior art and will not be described in detail here.

[0091] S612, if any one of the two actual path points in S611 is within any minimum circumscribed rectangle, the detection result is that the path is abnormal;

[0092] S613, if the two actual path points in S611 are not located in any minimum circumscribed rectangle, determine whether the initial path has more than one intersection with any minimum circumscribed matrix;

[0093] S613 may be considered as calculating the number of intersections between the line segment corresponding to the initial path in the rectangular coordinate system and the polygon corresponding to the obstacle area. If the number of intersections is greater than 1, it is determined that the line segment passes through the obstacle area.

[0094] S614, if the judgment result is yes, then the detection result is that there is an abnormality in the path;

[0095] If the judgment is no, the detection result is that there is no abnormality in the path.

[0096] S620, when the detection result shows that there is no abnormality in the path, the corresponding initial path is directly used as the real path;

[0097] S630: When the detection result shows that the path is abnormal, a path correction mechanism is triggered to obtain a real path, and the initial path is replaced with the corresponding real path.

[0098] Specifically, the path correction mechanism in S630 includes:

[0099] S631, of the actual path points at each two adjacent time points, the earlier actual path point is used as the front path point, and the later actual path point is used as the back path point; Figure 3 , the front path point of this embodiment is point R1 , and then the path point is point L 1 For example.

[0100] S632, determining a front node corresponding to a front path point and a rear node corresponding to a rear path point on a traversable path of the road network graph;

[0101] The front node of this example is the vertical point of the front path point on the passable path with the smallest distance from the front path point, and the rear node is the vertical point of the rear path point on the passable path with the smallest distance from the rear path point; the passable path with the smallest distance in this example can be determined by taking the front path point or the rear path point as the center of the circle and gradually increasing the radius of the circle to find the first tangent straight line; refer to Figure 3 , the front node of this embodiment is point R 2 , the latter node is point L 2 For example.

[0102] S633, obtaining a plurality of target point groups according to the previous node and the next node;

[0103] Each target point group includes a point on the traversable path where the front node is located and a point on the traversable path where the rear node is located.

[0104] Specifically, S633 includes:

[0105] S6331, generating a number of reference nodes based on the road network graph;

[0106] Among them, refer to Figure 3 Each traversable path has a number of reference nodes along its path direction; the reference nodes can be generated not only according to the path length of the traversable path (this embodiment takes the automatic generation of a reference node at the same distance on the traversable path as an example), but also according to the corners on the traversable path, the intersection of multiple traversable paths, etc.

[0107] S6332, using two reference nodes adjacent to the previous node as the first starting point and the second starting point respectively, and using two reference nodes adjacent to the next node as the first end point and the second end point respectively;

[0108] Among them, refer to Figure 3 The first starting point of this embodiment is point P 1 The second starting point is point P 2 The first end point is point P 3 The second end point is point P 4 For example.

[0109] S6333, dividing the first starting point, the second starting point, the first end point, and the second end point into four target point groups by a combination method;

[0110] The target point group specifically includes one of the first starting point and the second starting point and one of the first end point and the second end point; that is, in this embodiment, the first starting point and the second starting point are taken as a starting point set, and the first end point and the second end point are taken as an end point set. The combination method refers to combining any point in the starting point set with any point in the end point set. Figure 3 The four target point groups in this embodiment are respectively represented by G(P 1 ,P 3 )、G(P 1 ,P 4 )、G(P 2 ,P 3 ) and G(P 2 ,P 4 ) as an example.

[0111] S634, determining a preferred path between two points in each target point group and a reference distance of each preferred path on the traversable path;

[0112] Specifically, S634 includes:

[0113] S6341, determining all reference paths from the starting point to the end point in each target point group;

[0114] The reference path refers to the path between two points in the target point group on the traversable path; each reference path has a number of reference nodes; Figure 3 In order to distinguish the traversable paths with the same starting point and end point, this embodiment uses a reference node Q in each traversable path. x Named separately, x represents the xth passable path; the target point group G(P 1 ,P 3 ) as an example, all the corresponding reference paths can be expressed as DG 1 (P 1 Q 1 P 3 )、DG 2 (P 1 Q 2 P 3 ) and DG 3 (P 1 Q 3 P 3 ).

[0115] S6342, calculating a reference distance of each reference path according to the reference node;

[0116] Among them, since the reference nodes in this embodiment are at a fixed distance from each other, the reference distance can be calculated by using the number of reference nodes passed therethrough, which is relatively simple.

[0117] S6343, taking the reference path with the smallest reference distance as the preferred path of the corresponding target point group;

[0118] The preferred path is the path with the shortest distance from the starting point to the end point in the target point group.

[0119] It should be particularly noted that S634 of this embodiment takes the example of directly obtaining the preferred path from the starting point to the end point in each target point group and the reference distance corresponding to the preferred path through the Dijkstra algorithm; the Dijkstra algorithm is a method that takes a node as the source starting point, selects the node closest to the source starting point that has not been visited, and continuously updates the shortest distance from the source starting point to other nodes until all nodes are visited. It is a prior art and will not be repeated here.

[0120] S635, taking the preferred path with the smallest reference distance as the real path between the corresponding two actual path points;

[0121] Among them, refer to Figure 3 In this embodiment, the preferred paths corresponding to all target point groups are represented by DG 2 (P 1 Q 2 P 3 )、DG 2 (P 2 Q 2 P 3 )、DG 2 (P 1 Q 2 P 4 ) and DG 2 (P 2 Q 2 P 4 ) as an example, where the preferred path with the smallest reference distance (i.e., the true path) is DG 2 (P 1 Q 2 P 4 ).

[0122] It should be noted that, refer to Figure 3 If there are multiple preferred paths corresponding to the minimum reference distance in S635, the distance between the previous node and the starting point in the corresponding target point group and the distance between the next node and the end point in the corresponding target point group need to be taken into account. Specifically:

[0123] If the starting points of these preferred paths are consistent, the preferred path with the smallest distance between the end point and the next node is taken as the true path; if the end points are consistent, the preferred path with the smallest distance between the starting point and the previous node is taken as the true path; if the starting point and the end point are different, the preferred path with the smallest sum of the distance between the starting point and the previous node and the distance between the end point and the next node is taken as the true path;

[0124] If the front node and the back node are both located at the center of the two adjacent reference nodes (reference Figure 3 , that is, assuming that point R 2 Located at point P 1 With point P 2 The center of the line segment and point L 2 Located at point P 3 With point P 4 The center of the line segment composed of , at this time, the real path can be any one of these preferred paths.

[0125] S640, combining all the real paths in chronological order to obtain a real trajectory;

[0126] Among them, combination refers to connecting the end point of each real path with the starting point of the next real path in chronological order, and the real trajectory refers to a path ultimately formed by connecting all the real paths.

[0127] It should be noted that the road network information obtained in S100 can also include real-time road clearance information. The road clearance information in this embodiment mainly refers to the current traffic conditions of the road. For example, some special closed areas and areas under construction and upgrading are considered to be inaccessible. At this time, the area is regarded as an obstacle area in S210 and is generally manually imported and framed.

[0128] Based on the same inventive concept mentioned above, an embodiment of the present application also discloses a trajectory recording device, which includes a memory and a processor, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set can be loaded and executed by the processor to implement the positioning target mobile trajectory path planning and recording method provided in the above method embodiment.

[0129] Based on the same inventive concept mentioned above, an embodiment of the present application also discloses a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set. The at least one instruction, at least one program, code set or instruction set can be loaded and executed by a processor to implement the positioning target movement trajectory path planning and recording method provided in the above method embodiment.

[0130] It should be understood that the "plurality" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0131] Those skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium. The storage medium mentioned above may include, for example, various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0132] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for recording a moving trajectory of a positioning target, characterized in that: include: Obtain road network information of the target area; Obtaining a road network map according to the road network information, wherein the road network map is composed of a plurality of traversable paths within the target area; Periodically obtaining the positioning coordinate points of the positioning target within the target area over a period of time; Determining an actual path point corresponding to each of the positioning coordinate points on the road network map; Connecting the actual path points at every two adjacent time points in time sequence to obtain a plurality of initial paths, wherein the actual path points at every two adjacent time points correspond to one initial path; The initial path is corrected and combined according to the traversable path between the actual path points at every two adjacent time points to obtain a true trajectory; The correcting and combining the initial path according to the traversable path between the actual path points at every two adjacent time points to obtain the real trajectory comprises: Performing anomaly detection on the corresponding initial path according to the passable path between the actual path points at every two adjacent time points to obtain a detection result, wherein the detection result includes a path without anomaly and a path with anomaly; When the detection result shows that there is no abnormality in the path, the corresponding initial path is directly used as the real path; When the detection result shows that the path is abnormal, a path correction mechanism is triggered to obtain the real path, and the initial path is replaced with the corresponding real path; Combine all said true paths in chronological order to obtain a true trajectory; The triggering path correction mechanism to obtain the corresponding real path includes: Of the actual path points at every two adjacent time points, the earlier actual path point is used as the front path point, and the later actual path point is used as the back path point; Determine a front node corresponding to the front path point and a rear node corresponding to the rear path point on the traversable path of the road network graph, wherein the front node is a vertical point of the front path point on the traversable path with the smallest distance from the front path point, and the rear node is a vertical point of the rear path point on the traversable path with the smallest distance from the rear path point; Obtain a plurality of target point groups according to the preceding node and the succeeding node, each of the target point groups including a point on the traversable path where the preceding node is located and a point on the traversable path where the succeeding node is located; Determining a preferred path between two points in each of the target point groups and a reference distance of each of the preferred paths on the navigable path; The preferred path with the smallest reference distance is used as the real path between the corresponding two actual path points.

2. The method for recording the path planning of the moving trajectory of a positioning target according to claim 1, characterized in that: The obtaining of a plurality of target point groups according to the preceding node and the succeeding node comprises: Generate a number of reference nodes based on the road network graph, each of the traversable paths having a number of reference nodes along the path direction thereof; The two reference nodes adjacent to the front node are used as the first starting point and the second starting point respectively, and the two reference nodes adjacent to the rear node are used as the first end point and the second end point respectively; The first starting point, the second starting point, the first end point and the second end point are divided into four target point groups by a combination method, and the target point group includes one of the first starting point and the second starting point and one of the first end point and the second end point.

3. The method for recording the path planning of the moving trajectory of a positioning target according to claim 2, characterized in that: The preferred path is a path in the target point group that has the shortest distance from the starting point to the end point; the step of determining the preferred path between two points in each target point group and the reference distance of each preferred path on the passable path includes: Determine all reference paths from a starting point to an end point in each target point group, each reference path including a plurality of reference nodes; Calculate a reference distance of each reference path according to the reference node; The reference path with the smallest reference distance is used as the preferred path of the corresponding target point group.

4. The method for recording the path planning of the moving trajectory of a positioning target according to claim 3, characterized in that: The preferred path is a path in the target point group with the shortest distance from the starting point to the end point; the step of determining the preferred path between two points in each target point group and the reference distance of each preferred path on the passable path specifically includes: The preferred path from the starting point to the end point in each target point group and the reference distance of each preferred path are directly obtained by the Dijkstra algorithm.

5. A positioning target moving trajectory path planning and recording system, characterized in that: The positioning target moving trajectory path planning and recording method as claimed in claim 1 is adopted, and the positioning target moving trajectory path planning and recording system comprises: A data acquisition module (100) is used to acquire road network information of a target area and periodically acquire positioning coordinate points of a positioning target within the target area over a period of time; A data processing module (200) is used to obtain a road network map based on the road network information, wherein the road network map is composed of a plurality of traversable paths within the target area; and is also used to determine an actual path point corresponding to each of the positioning coordinate points on the road network map; A trajectory planning module (300) comprises a planning submodule (310) and a correction submodule (320); the planning submodule (310) is used to connect the actual path points at every two adjacent time points in time sequence to obtain a plurality of initial paths, and the actual path points at every two adjacent time points correspond to one initial path; The correction submodule (320) is used to correct and combine the initial path according to the traversable path between the actual path points at every two adjacent time points to obtain a real trajectory.

6. A trajectory recording device, characterized in that: It includes a memory and a processor, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the positioning target movement trajectory path planning and recording method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The readable storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by a processor to implement the positioning target movement trajectory path planning and recording method as described in any one of claims 1 to 4.

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