A data verification method and system based on non-single satellite positioning

Abstract

The present invention relates to the field of electronic digital data processing, and in particular to a data verification method and system based on non-single satellite positioning, the method comprising: obtaining a target trajectory and a reference trajectory, wherein both the target trajectory and the reference trajectory include multiple trajectory points, and each trajectory point includes a positioning value and a timestamp; performing optimal interpolation processing on the target trajectory according to satellite combination information of the multiple trajectory points of the target trajectory under multiple satellite combinations, so that the target trajectory has a timestamp matching the reference trajectory, wherein each satellite combination includes three satellites, and each satellite combination information includes the positioning value of the satellite combination at a certain trajectory point, and the orbital positions of the three satellites in the satellite combination; performing deviation check on the target trajectory and the reference trajectory with matching timestamps. In this way, the trajectory points inserted into the target trajectory can more accurately reflect the real trajectory points, thereby improving the accuracy of the deviation check result.

Description

Technical Field

[0001] The present invention relates to the field of electronic digital data processing, and in particular to a data verification method and system based on non-single satellite positioning. Background Art

[0002] Deviation checking of transport trajectories based on non-single satellites is very important because it can ensure the accuracy and reliability of the transportation process. Timely detection of trajectory deviations can help identify potential errors or problems, such as route deviations, equipment failures, or data errors, thereby avoiding losses, delays, or safety hazards. In addition, deviation checking can also optimize transportation routes, improve efficiency, and enhance overall logistics management. Similarly, if the results of the deviation check are large in error, it will seriously affect transportation efficiency and reduce the overall level of logistics management. It can be seen that the accuracy of deviation checking is crucial. Summary of the invention

[0003] In order to solve the above technical problems, the object of the present invention is to provide a data verification method based on non-single satellite positioning, comprising:

[0004] Acquire a target trajectory and a reference trajectory, wherein each of the target trajectory and the reference trajectory includes a plurality of trajectory points, and each trajectory point includes a positioning value and a timestamp;

[0005] Performing optimal interpolation processing on the target trajectory according to satellite combination information of multiple trajectory points of the target trajectory under multiple satellite combinations, so that the target trajectory has a timestamp that matches the reference trajectory, wherein each satellite combination includes three satellites, and each satellite combination information includes a positioning value of the satellite combination at a certain trajectory point, and orbital positions of three satellites in the satellite combination;

[0006] The target and reference trajectories with matching timestamps are checked for deviation.

[0007] Optionally, the reference trajectory includes a plurality of reference trajectory points, and the target trajectory includes a plurality of first trajectory points;

[0008] The target trajectory has a timestamp that matches the reference trajectory, including:

[0009] For each reference trajectory point in the reference trajectory, the target trajectory has a first trajectory point whose timestamp is the same as the timestamp of the reference trajectory point.

[0010] Optionally, performing optimal interpolation processing on the target trajectory according to satellite combination information of multiple trajectory points of the target trajectory under multiple satellite combinations respectively includes:

[0011] For the target timestamp in the reference trajectory, if there is no first trajectory point with the same timestamp as the target timestamp in the target trajectory, determine the target Lagrangian function according to the multiple satellite combination information of each second trajectory point in the 2m second trajectory points in the target trajectory, wherein the 2m second trajectory points are the 2m first trajectory points in the target trajectory located near the target timestamp, and m is an integer greater than or equal to 1;

[0012] A target positioning value corresponding to the target timestamp is determined according to the target Lagrangian function, and a target trajectory point is inserted into the target trajectory, wherein the target trajectory point has the target positioning value and the target timestamp, and the plurality of first trajectory points of the target trajectory include the inserted target trajectory point.

[0013] Optionally, the 2m second trajectory points include 2m first trajectory points in the target trajectory whose timestamps are less than the target timestamp and whose intervals with the target timestamp are the shortest; or the 2m second trajectory points include m first trajectory points in the target trajectory whose timestamps are less than the target timestamp and whose intervals with the target timestamp are the shortest, and m first trajectory points in the target trajectory whose timestamps are greater than the target timestamp and whose intervals with the target timestamp are the shortest.

[0014] Optionally, determining the target Lagrangian function according to the multiple satellite combination information of each second trajectory point in the 2m second trajectory points in the target trajectory includes:

[0015] For each satellite combination, determining an optimal interpolation function of the satellite combination based on the target trajectory point to be determined according to satellite combination information of each second trajectory point under the satellite combination;

[0016] Determining the combined optimality of each satellite combination relative to the target trajectory point to be determined;

[0017] The target Lagrangian function is generated according to the combined optimality of each satellite combination and the optimal interpolation function of the satellite combination.

[0018] Optionally, for each satellite combination, determining the optimal interpolation function of the satellite combination based on the target trajectory point to be determined according to the satellite combination information of each second trajectory point under the satellite combination includes:

[0019] For each satellite combination, calculating the interpolation gain of each second trajectory point relative to the target trajectory point to be determined under the satellite combination;

[0020] According to the interpolation gain of each second trajectory point, the Lagrange basis polynomial of each second trajectory point under the satellite combination and the positioning value under the satellite combination are weighted averaged to obtain an optimal interpolation function based on the satellite combination.

[0021] Optionally, the calculating an interpolation gain of each second trajectory point relative to a target trajectory point to be determined under the satellite combination includes:

[0022] Determine the overall optimality of the satellite combination according to the relative position relationship between the satellites in the satellite combination;

[0023] Calculate the distance optimality of the positioning value of the second trajectory point under the satellite combination relative to the target trajectory point to be determined according to the overall optimality of the satellite combination and the interval between the timestamp of the second trajectory point and the target timestamp;

[0024] According to the difference between the target trajectory and the reference trajectory at the second trajectory point and the distance optimality, the interpolation gain of the second trajectory point relative to the target trajectory point to be determined under the satellite combination is calculated.

[0025] Optionally, determining the combined optimality of each satellite combination relative to the target trajectory point to be determined includes:

[0026] For each satellite combination, an optimal sphere is fitted using the 2m orbital positions of each satellite in the satellite combination at the 2m second trajectory points;

[0027] Calculating the co-orbital property of the satellite trajectory when the satellite is combined at the 2m second trajectory points according to the deviations between the 2m orbital positions of each satellite and the optimal sphere;

[0028] The combined optimality of the satellite combination relative to the target trajectory point to be determined is calculated based on the co-orbital property and the spherical radius of the optimal sphere.

[0029] Optionally, performing a deviation check on the target trajectory and the reference trajectory having matching timestamps includes:

[0030] If the distance between a certain track point pair in the reference track and the target track is greater than a preset distance, a track abnormality record is added, wherein the abnormality record includes the offset information between the track point pair;

[0031] The trajectory point pair is a reference trajectory point and a first trajectory point having the same timestamp.

[0032] The present invention also provides a data verification system based on non-single satellite positioning, the system comprising:

[0033] An acquisition module, used for acquiring a target trajectory and a reference trajectory, wherein the target trajectory and the reference trajectory each include a plurality of trajectory points, and each trajectory point includes a positioning value and a timestamp;

[0034] an interpolation module, configured to perform optimal interpolation processing on the target trajectory according to satellite combination information of multiple trajectory points of the target trajectory under multiple satellite combinations, so that the target trajectory has a timestamp that matches the reference trajectory, wherein each satellite combination includes three satellites, and each satellite combination information includes a positioning value of the satellite combination at a certain trajectory point, and orbital positions of three satellites in the satellite combination;

[0035] A checking module is used to perform deviation checking on the target trajectory and the reference trajectory with matching timestamps.

[0036] The present invention has the following beneficial effects: the trajectory point to be determined is calculated by positioning a plurality of trajectory points near the trajectory point to be determined under a plurality of different satellite combinations to insert the target trajectory, so that the trajectory point finally inserted can more accurately reflect the real trajectory point, and further a deviation check is performed on the target trajectory and the reference trajectory matched by the timestamp, thereby optimizing the deviation check and improving the accuracy of the deviation check result. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 One of the flow charts of the data verification method based on non-single satellite positioning provided by an embodiment of the present invention;

[0039] Figure 2 The second flowchart of the data verification method based on non-single satellite positioning provided by the embodiment of the present invention;

[0040] Figure 3 A schematic diagram of modules of a data verification system based on non-single satellite positioning provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the data verification method based on non-single satellite positioning proposed by the present invention, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0042] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0043] The present invention provides a data verification method based on non-single satellite positioning. The scheme of the present invention is described in detail below in conjunction with the accompanying drawings.

[0044] See also Figure 1 , which shows one of the flow diagrams of a data verification method based on non-single satellite positioning provided by an embodiment of the present invention, the data verification method based on non-single satellite positioning (hereinafter referred to as "the method") comprises the following steps:

[0045] Step 101: Acquire a target trajectory and a reference trajectory, wherein each of the target trajectory and the reference trajectory includes a plurality of trajectory points, and each trajectory point includes a positioning value and a timestamp.

[0046] In this step, the method obtains a target trajectory and a reference trajectory, both of which include multiple trajectory points, each of which includes a positioning value and a timestamp, and the positioning value is longitude and latitude. The target trajectory and the reference trajectory can be two trajectories obtained by positioning two different devices in the same scene. For transportation scenarios, the target trajectory can be a driver trajectory, such as a driver trajectory obtained by positioning the driver's mobile phone, and the reference trajectory can be a vehicle trajectory, such as a vehicle trajectory obtained by positioning the vehicle.

[0047] For the current transportation system, transportation information (such as driver track and vehicle track) of each transportation route generally exists. The method can obtain the target track and reference track by querying the transportation information according to the transportation order number, and obtaining the driver track as the target track and the vehicle track as the reference track in the transportation information. For example, the vehicle track is generated by obtaining the record corresponding to the target field (such as shipmentId) from the first list (such as TmsShipmentTruckTrace), and the driver track is generated by obtaining the record corresponding to the target field from the second list (such as TmsShipmentPhoneTrace).

[0048] In some embodiments, there may be a situation where a certain track is empty (for example, the mobile phone signal is interfered by the jammer during driving, resulting in no information entry). In order to avoid the track being empty affecting the subsequent deviation check, the method will filter during the acquisition process, filter the records with non-zero positioning values ​​and generate the corresponding track by arranging them in ascending or descending order according to the timestamp. If a certain track is empty (that is, there is no non-zero positioning value), the method will add a track abnormality record and record the track as empty in the track abnormality record.

[0049] It is understandable that the target trajectory may also be the driver's trajectory, and correspondingly, the reference trajectory is the vehicle's trajectory. The present invention does not specifically limit this, that is, the vehicle's trajectory may be adjusted according to the driver's trajectory, or the driver's trajectory may be adjusted according to the vehicle's trajectory.

[0050] Step 102: Perform optimal interpolation processing on the target trajectory according to satellite combination information of multiple trajectory points of the target trajectory under multiple satellite combinations, so that the target trajectory has a timestamp that matches the reference trajectory, wherein each satellite combination includes three satellites, and each satellite combination information includes a positioning value of the satellite combination at a certain trajectory point and orbital positions of three satellites in the satellite combination.

[0051] In this step, the method adjusts the target trajectory so that it has a unified trajectory point format with the reference trajectory, so as to facilitate subsequent deviation checking of the two trajectories with unified formats. The unified trajectory point format is that the two trajectories have matching timestamps. For example, assuming that the reference trajectory includes a plurality of reference trajectory points, and the target trajectory includes a plurality of first trajectory points, the having matching timestamps includes that for each reference trajectory point in the reference trajectory, the target trajectory has a first trajectory point whose timestamp is the same as the timestamp of the reference trajectory point.

[0052] The method can traverse and search the two trajectories after sorting the two trajectories according to timestamps. Specifically, the timestamps of each trajectory point of the reference trajectory can be traversed, and for each timestamp in the reference trajectory, a trajectory point with a timestamp closest to and less than or equal to the timestamp is searched in the target trajectory using a binary search method. If a trajectory point with the same timestamp as the timestamp is found, the trajectory point is directly added to a pre-created list (such as interpolatedTrajectory); if a trajectory point with the same timestamp as the timestamp is not found, the target trajectory is optimally interpolated, and a trajectory point corresponding to the timestamp is determined based on the satellite combination information of multiple trajectory points on the target trajectory under multiple satellite combinations to insert into the target trajectory (i.e., add to the pre-created list).

[0053] The optimal interpolation processing of the target trajectory specifically includes performing optimal interpolation processing on the target trajectory according to the satellite combination information of the multiple trajectory points of the target trajectory under multiple satellite combinations. In general, each position can be located by multiple satellites. For n (n is an integer greater than or equal to 4) satellites, every three satellites can be located. Any combination of three satellites can obtain a set of positioning values. For a trajectory point, it has The positioning value of the track point in the overall track record can be obtained by the The positioning of the satellite combination is comprehensively determined. For each satellite combination, a Lagrange polynomial can be obtained for each trajectory point in the target trajectory, but different trajectory points will make different contributions to the target trajectory point to be determined due to their different distances from the target trajectory point to be determined, and different satellite combinations will also lead to different accuracy of the positioning results of the trajectory points due to their different distribution. Based on the above situation, the method can perform optimal interpolation processing on the target trajectory according to the satellite combination information of multiple trajectory points of the target trajectory under multiple satellite combinations.

[0054] Specifically, for the target timestamp in the reference trajectory, if there is no first trajectory point with the same timestamp as the target timestamp in the target trajectory, the target Lagrangian function is determined according to the multiple satellite combination information of each second trajectory point in the 2m second trajectory points in the target trajectory, the target positioning value corresponding to the target timestamp is determined according to the target Lagrangian function, and a target trajectory point is inserted into the target trajectory, the target trajectory point has the target positioning value and the target timestamp, and the multiple first trajectory points of the target trajectory include the inserted target trajectory point, that is, the target trajectory point is inserted into the target trajectory as the first trajectory point. The 2m second trajectory points are the 2m first trajectory points in the target trajectory located near the target timestamp, m is an integer greater than or equal to 1, each satellite combination includes three satellites, and each satellite combination information includes the positioning value of the satellite combination at a certain trajectory point, and the orbital positions of the three satellites in the satellite combination. The value of m can be any integer greater than or equal to 1. Preferably, m is an integer greater than or equal to 3. It can be understood that the larger the value of m is, the higher the accuracy of the target positioning value obtained. Correspondingly, the calculation amount of the method will also increase accordingly. In practical applications, the value of m can be selected according to specific accuracy requirements and actual computing power.

[0055] Step 103: Perform a deviation check on the target trajectory and the reference trajectory with matching timestamps.

[0056] In this step, the method performs a deviation check on the target trajectory and the reference trajectory with matching timestamps. For two trajectory points with the same timestamp (which can be called a trajectory point pair), the method determines the distance between the trajectory point pair according to their positioning values. If the distance between the trajectory point pair is greater than a preset distance, it is considered that the deviation is abnormal, and the method adds a trajectory abnormality record to record the deviation information between the trajectory point pair.

[0057] It is understandable that for some special sections (such as turning sections), it is normal for the distance between the track points to be large. In this regard, the method can calculate the turning angle formed by each first track point in the target track and its front and rear track points, and then further perform deviation checks on track points with turning angles less than a preset angle, while not performing deviation checks on track points with turning angles greater than or equal to the preset angle. In this way, it is possible to avoid recording normal deviations caused by special sections as abnormal situations, thereby further improving the accuracy of the deviation check results.

[0058] Optionally, the reference trajectory includes a plurality of reference trajectory points, and the target trajectory includes a plurality of first trajectory points;

[0059] The target trajectory has a timestamp that matches the reference trajectory, including:

[0060] For each reference trajectory point in the reference trajectory, the target trajectory has a first trajectory point whose timestamp is the same as the timestamp of the reference trajectory point.

[0061] In this embodiment, the method obtains a target trajectory and a reference trajectory, wherein the target trajectory and the reference trajectory both include multiple trajectory points, each of which includes a positioning value and a timestamp; performs optimal interpolation processing on the target trajectory according to satellite combination information of the multiple trajectory points of the target trajectory under multiple satellite combinations, so that the target trajectory has a timestamp that matches the reference trajectory, wherein each satellite combination includes three satellites, and each satellite combination information includes the positioning value of the satellite combination at a certain trajectory point, and the orbital positions of the three satellites in the satellite combination; performs a deviation check on the target trajectory and the reference trajectory with matching timestamps. In this way, the trajectory point to be determined is calculated by the positioning conditions of multiple trajectory points near the trajectory point to be determined under multiple different satellite combinations to insert the target trajectory, so that the final inserted trajectory point can more accurately reflect the real trajectory point, and then further performs a deviation check on the target trajectory and the reference trajectory matching the timestamp, thereby optimizing the deviation check and improving the accuracy of the deviation check result.

[0062] See also Figure 2 , which shows a second flow chart of a data verification method based on non-single satellite positioning provided by an embodiment of the present invention, the method comprising the following steps:

[0063] Step 201: Acquire a target trajectory and a reference trajectory, wherein the reference trajectory includes a plurality of reference trajectory points, and the target trajectory includes a plurality of first trajectory points, each trajectory point including a positioning value and a timestamp.

[0064] The method of obtaining the target trajectory and the reference trajectory in this step is the same as step 101 in the previous embodiment, and will not be repeated here.

[0065] Step 202: for the target timestamp in the reference trajectory, if there is no first trajectory point with the same timestamp as the target timestamp in the target trajectory, determine the target Lagrangian function according to multiple satellite combination information of each second trajectory point in 2m second trajectory points in the target trajectory, wherein the 2m second trajectory points are 2m first trajectory points in the target trajectory located near the target timestamp, m is an integer greater than or equal to 1, each satellite combination includes three satellites, and each satellite combination information includes a positioning value of the satellite combination at a certain trajectory point, and the orbital positions of the three satellites in the satellite combination.

[0066] In this step, for the target timestamp in the reference trajectory, if there is no first trajectory point with the same timestamp as the target timestamp in the target trajectory, the method determines the target Lagrangian function according to the multiple satellite combination information of each second trajectory point in the 2m second trajectory points in the target trajectory. The 2m second trajectory points are the 2m first trajectory points selected in the target trajectory. For example, the 2m first trajectory points located near the target timestamp in the target trajectory can be selected as the 2m second trajectory points. The vicinity of the target timestamp can be understood as the timestamp being close to the target timestamp. Specifically, the 2m first trajectory points with the shortest interval between the timestamp and the target timestamp in the target trajectory can be selected as the 2m second trajectory points, or the m first trajectory points with a timestamp less than the target timestamp and the shortest interval between the timestamp and the target timestamp in the target trajectory can be selected as the 2m second trajectory points.

[0067] Regarding the manner of determining the target Lagrangian function, the method can determine, for each satellite combination, the optimal interpolation function of the satellite combination based on the target trajectory point to be determined according to the satellite combination information of each second trajectory point under the satellite combination; determine the combined optimality of each satellite combination relative to the target trajectory point to be determined; and finally generate the target Lagrangian function according to the combined optimality of each satellite combination and the optimal interpolation function of the satellite combination.

[0068] Step 203: determine a target positioning value corresponding to the target timestamp according to the target Lagrangian function, and insert a target trajectory point in the target trajectory, so that for each reference trajectory point in the reference trajectory, the target trajectory has a first trajectory point whose timestamp is the same as the timestamp of the reference trajectory point, wherein the target trajectory point has the target positioning value and the target timestamp, and the multiple first trajectory points of the target trajectory include the inserted target trajectory point.

[0069] After obtaining the target Lagrangian function, the method determines the target positioning value corresponding to the target timestamp according to the target Lagrangian function, and inserts a target trajectory point in the target trajectory, the target trajectory point having the target positioning value and the target timestamp, and the inserted target trajectory point is called the first trajectory point in the target trajectory, that is, the multiple first trajectory points of the target trajectory include the inserted target trajectory point. In this way, after the target trajectory is optimally interpolated according to each target timestamp, a target trajectory with a matching timestamp with the reference trajectory can be obtained, that is, for each reference trajectory point in the reference trajectory, the target trajectory has a first trajectory point with the same timestamp as the timestamp of the reference trajectory point.

[0070] Step 204: Perform a deviation check on the target trajectory and the reference trajectory with matching timestamps.

[0071] This step 204 is the same as step 103 in the previous embodiment and will not be described again here.

[0072] Optionally, the 2m second trajectory points include 2m first trajectory points in the target trajectory whose timestamps are less than the target timestamp and whose intervals with the target timestamp are the shortest; or the 2m second trajectory points include m first trajectory points in the target trajectory whose timestamps are less than the target timestamp and whose intervals with the target timestamp are the shortest, and m first trajectory points in the target trajectory whose timestamps are greater than the target timestamp and whose intervals with the target timestamp are the shortest.

[0073] Considering that the smaller the distance between the selected second trajectory point and the target trajectory point to be determined, the greater the influence of the selected second trajectory point on the target trajectory point to be determined, in this embodiment, the method selects the 2m first trajectory points in the target trajectory whose timestamps have the shortest intervals with the target timestamps as the 2m second trajectory points, or selects the m first trajectory points in the target trajectory whose timestamps are less than the target timestamps and whose intervals with the target timestamps are the shortest, and the m first trajectory points in the target trajectory whose timestamps are greater than the target timestamps and whose intervals with the target timestamps are the shortest as the 2m second trajectory points. In this way, the accuracy of the optimal interpolation processing result can be effectively improved.

[0074] In a preferred embodiment, the method selects m first trajectory points in the target trajectory whose timestamp is less than the target timestamp and whose interval with the target timestamp is the shortest, and m first trajectory points whose timestamp is greater than the target timestamp and whose interval with the target timestamp is the shortest as the 2m second trajectory points. That is, m first trajectory points are respectively selected on both sides of the target timestamp to determine the target Lagrangian function. Selecting the same number of trajectory points on both sides of the target timestamp has symmetry and balance. This balance can help the interpolation function maintain consistency and symmetry within the interpolation interval, reduce the errors caused by the asymmetry on both sides of the data, and make the interpolation function fit the data more evenly within the interpolation interval, avoid overfitting the data on one side, and further improve the accuracy and stability of the interpolation result.

[0075] Optionally, determining the target Lagrangian function according to multiple satellite combination information of each second trajectory point in the 2m second trajectory points in the target trajectory includes: for each satellite combination, determining an optimal interpolation function of the satellite combination based on the target trajectory point to be determined according to the satellite combination information of each second trajectory point under the satellite combination; determining the combined optimality of each satellite combination relative to the target trajectory point to be determined; and generating the target Lagrangian function according to the combined optimality of each satellite combination and the optimal interpolation function of the satellite combination.

[0076] In this embodiment, the method can determine the optimal interpolation function for each satellite combination according to the satellite combination of each second trajectory point. Specifically, for the lth group of satellite combinations (l is greater than or equal to 1 and less than or equal to C n 3 According to the satellite combination information of each second trajectory point under the satellite combination, the optimal interpolation function P of the satellite combination based on the target trajectory point to be determined is determined. l (t), t represents the timestamp, the optimal interpolation function P l (t) is a function of the mapping relationship between the positioning value and its timestamp of each trajectory point in the target trajectory under the lth satellite combination.

[0077] The method also determines the combined optimality of each satellite combination relative to the target trajectory point to be determined based on the orbital position of each satellite in each satellite combination. In the positioning process, for each combination, the different distances between the three satellites in the combination (i.e., distribution breadth, distribution uniformity) will have different degrees of influence on the positioning, and under this combination, the different distances between different second trajectory points and the target trajectory point to be determined will also have different degrees of influence on the target trajectory point to be determined. Therefore, the method can determine the combined optimality of the satellite combination relative to the target trajectory point to be determined based on the relative position relationship between the three satellites and the distance between each second trajectory point and the target trajectory point to be determined. For the lth group of satellite combinations, its combined optimality relative to the target trajectory point to be determined is expressed as J l .

[0078] The method is based on the combined optimality of each satellite combination J l And the optimal interpolation function P of the satellite combination l (t) generating a target Lagrangian function Q(t), wherein the target Lagrangian function is a function that can represent a mapping relationship between a positioning value of each trajectory point in the target trajectory and its timestamp.

[0079] Specifically, the method can be performed based on the combined optimality of each satellite combination. l is the optimal interpolation function P for each satellite combination l (t) is weighted averaged to obtain the target Lagrangian function Q(t), that is, the calculation formula of Q(t) is as follows:

[0080]

[0081] Formula description: Q(t) represents the function of the mapping relationship between the positioning value of each track point in the target track and its timestamp, t represents the timestamp, n represents a total of n satellites, Indicates a positioning group with three satellites performing a positioning operation. l represents the optimality of the combination of the lth group of satellites relative to the target trajectory point to be determined, P l (t) represents a function of the mapping relationship between the positioning value of each trajectory point in the target trajectory and its timestamp when using the lth group of satellites.

[0082] Different satellite combinations in the above formula can generate their own optimal interpolation function P according to the positioning value of each second trajectory point under the satellite combination l(t), these optimal interpolation functions are used to estimate the target trajectory points to be determined under different satellite combinations. Considering that different satellite combinations have different influences on the target trajectory points to be determined, the optimal interpolation functions of these satellite combinations can be weighted according to the advantages and disadvantages of different satellite combinations (i.e., the above-mentioned combination optimality).

[0083] Furthermore, the target positioning value can be calculated by substituting the target timestamp into the target Lagrangian function determined above: Where t0 is the target timestamp, P l (t0) is the positioning value of the trajectory point corresponding to the target timestamp in the target trajectory (i.e., the target trajectory point to be determined) under the optimal interpolation function corresponding to the lth group of satellites, and Q(t0) is the target positioning value of the trajectory point corresponding to the target timestamp in the target trajectory (i.e., the target trajectory point to be determined) under the target Lagrangian function.

[0084] Optionally, for each satellite combination, determining the optimal interpolation function of the satellite combination based on the target trajectory point to be determined according to the satellite combination information of each second trajectory point under the satellite combination, includes: for each satellite combination, calculating the interpolation gain of each second trajectory point under the satellite combination relative to the target trajectory point to be determined; and according to the interpolation gain of each second trajectory point, performing weighted averaging on the Lagrange basis polynomial of each second trajectory point under the satellite combination and the positioning value under the satellite combination to obtain the optimal interpolation function based on the satellite combination.

[0085] In this embodiment, the method determines the optimal interpolation function of each satellite combination based on the target trajectory point to be determined by calculating, for each satellite combination, the interpolation gain of each second trajectory point under the satellite combination relative to the target trajectory point to be determined, and then, based on the interpolation gain of each second trajectory point, performing weighted averaging on the Lagrange basis polynomial of each second trajectory point under the satellite combination and the positioning value under the satellite combination to obtain the optimal interpolation function based on the satellite combination.

[0086] For the lth satellite combination, the method can calculate the interpolation gain W of the i-th (i is an integer greater than or equal to 1 and less than or equal to 2m) second trajectory point relative to the target trajectory point to be determined under the satellite combination. l-i , and then the interpolation gain W of each second trajectory point is l-i The Lagrange basis polynomial of each second trajectory point under the l-th satellite combination and the positioning value under the l-th satellite combination are weighted averaged to obtain the optimal interpolation function P based on the l-th satellite combination. l (t), specifically, P l (t) is calculated by the following formula:

[0087]

[0088] Formula Description: P l (t) represents the function of the mapping relationship between the positioning value of each trajectory point in the target trajectory under the lth group of satellite combinations and its timestamp, 2m represents the number of selected second trajectory points, W l-i represents the interpolation gain of the positioning value of the i-th second trajectory point at the l-th satellite combination relative to the target trajectory point to be determined, L l-i (t) represents the Lagrange basis polynomial of the i-th second trajectory point under the l-th satellite combination, Q l-i It represents the positioning value of the lth satellite combination at the i-th second track point.

[0089] The interpolation gain of the second trajectory point relative to the target trajectory point to be determined under the satellite combination represents the degree of influence of the second trajectory point on the target trajectory point. The greater the interpolation gain, the greater the degree of influence. For the Lagrangian function, the form of the basis polynomial is a polynomial based on all second trajectory points. The basic idea of ​​Lagrangian interpolation is to construct a Lagrangian basis polynomial applicable to all second trajectory points. The weight of each second trajectory point is equal in the standard Lagrangian interpolation. In the above formula, assigning different interpolation gains to different second trajectory points can adjust their influence on the interpolation result. At this time, the Lagrangian function after the interpolation gain is assigned is no longer a standard Lagrangian function, but a weighted form, that is, the optimal interpolation function obtained is no longer a standard Lagrangian function, but a weighted form of Lagrangian function.

[0090] For the i-th second trajectory point, the method can calculate the interpolation gain W of the second trajectory point relative to the target trajectory point to be determined under the l-th satellite combination according to the satellite combination information of the second trajectory point under the l-th satellite combination, the interval between the timestamp of the second trajectory point and the target timestamp, and the difference between the target trajectory and the reference trajectory at the second trajectory point. l-i .

[0091] Optionally, the calculating the interpolation gain of each second trajectory point relative to the target trajectory point to be determined under the satellite combination includes: determining the overall optimality of the satellite combination according to the relative position relationship between the satellites in the satellite combination; calculating the distance optimality of the positioning value of the second trajectory point under the satellite combination relative to the target trajectory point to be determined according to the overall optimality of the satellite combination and the interval duration between the timestamp of the second trajectory point and the target timestamp; calculating the interpolation gain of the second trajectory point relative to the target trajectory point to be determined under the satellite combination according to the difference between the target trajectory and the reference trajectory at the second trajectory point and the distance optimality.

[0092] In this embodiment, the method first determines the overall optimality of the satellite combination according to the relative position relationship between the satellites in the satellite combination. For the lth satellite combination, the method determines the overall optimality Z of the satellite combination at the i-th second trajectory point according to the relative position relationship between the three satellites l1, l2, and l3 in the lth satellite combination at the i-th second trajectory point. l-i .

[0093] The method can determine the breadth optimality G of the three satellites l1, l2, l3 of the lth satellite combination at the i-th second trajectory point according to the relative position relationship of the three satellites l1, l2, l3 in the lth satellite combination at the i-th second trajectory point. l-i , then according to the breadth optimality G l-i Further calculate the overall optimality Z of the satellite combination at the i-th second trajectory point l-i .

[0094] Since the distribution width of the three satellites in the satellite combination is crucial to the positioning accuracy, if the positions of the three satellites in the sky are relatively close, it may lead to a large positioning error. Therefore, if the three satellites form a larger distribution width in the sky, the geometric uncertainty can be reduced. Therefore, the distance between the three satellites can be used to represent their distribution width. Specifically, the following formula can be constructed to calculate the optimality of the width G of the three satellites l1, l2, l3 in the lth satellite combination at the i-th second track point: l-i :

[0095]

[0096] Formula Description: G l-i It represents the breadth optimality of the three satellites l1, l2, l3 of the lth satellite combination at the i-th second track point, represents the spatial distance between satellites l1 and l2, represents the spatial distance between satellites l1 and l3, Represents the spatial distance between satellites l2 and l3.

[0097] When the lth group of satellites is at the ith second track point, the orbital information of three satellites is received. The positions of these three satellites must not be in a straight line (because they are all moving around the earth), so these three satellites can definitely form a triangle. According to the positioning principle of three satellites, the more uniform the angles of the three satellites relative to the receiver, the more helpful it is to reduce the positioning error. That is, when the three satellites form an equilateral triangle, the geometric uncertainty can be minimized. When forming an unequal triangle, some satellites may be located in a farther corner, thus affecting the positioning accuracy. Therefore, in the case of a wider distribution, the closer the triangle formed by the three satellites is to an equilateral triangle, the higher the overall optimality of its positioning.

[0098] The three sides of the triangle are For the convenience of description, R1 is used to represent Expressed as R2 Expressed as R3 The following formula can be constructed to calculate the overall optimality Z of the three satellites l1, l2, l3 of the lth satellite combination at the i-th second trajectory point: l-i :

[0099]

[0100] Formula Description: Z l-i represents the overall optimality of the three satellites l1, l2, l3 of the lth satellite combination at the i-th second trajectory point, exp represents the exponential function with e as the base, R k The kth side length of the triangle formed by the three satellites l1, l2, l3 of the lth satellite combination, μ represents the average of the three side lengths of the triangle formed by the three satellites l1, l2, l3 of the lth satellite combination, G represents the consistency of the three sides of the triangle formed by the three satellites l1, l2, and l3 of the lth satellite combination, that is, the distribution uniformity of the three satellites l1, l2, and l3 of the lth satellite combination. l-i It represents the breadth optimality of the three satellites l1, l2, l3 of the lth satellite combination at the i-th second trajectory point.

[0101] Different second trajectory points have different distances from the target trajectory point to be determined, and / or different matching degrees with the reference trajectory point, which will result in different contributions to the target trajectory point to be determined. It can be understood that under normal travel, the longer the time interval between the timestamps, the greater the distance between the two trajectory points. Therefore, the time interval between the timestamp of the second trajectory point and the target timestamp of the target trajectory point to be determined can be used to reflect the relative distance between the second trajectory point and the target trajectory point to be determined. In this embodiment, the overall optimality Z of the three satellites l1, l2, and l3 of the lth group of satellites at the i-th second trajectory point is obtained. l-i Then, the method is based on the overall optimality Z of the satellite combination. l-i , and the interval between the timestamp of the i-th second trajectory point and the target timestamp, calculate the optimality of the distance E of the positioning value of the i-th second trajectory point under the l-th group of satellite combinations relative to the target trajectory point to be determined l-i Specifically, the optimality of the distance E of the positioning value of the i-th second trajectory point under the l-th satellite combination relative to the target trajectory point to be determined can be calculated by constructing the following formula: l-i :

[0102] E l-i =exp(-|t i -t0|)×Z l-i

[0103] Formula description: E l-i represents the optimality of the distance between the positioning value of the i-th second trajectory point under the l-th satellite combination and the target trajectory point to be determined, exp represents the exponential function with e as the base, t i represents the timestamp of the second trajectory point i, t0 represents the target timestamp, Z l-i It represents the overall optimality of the three satellites l1, l2, and l3 in the lth satellite combination at the i-th second trajectory point.

[0104] For each target timestamp, the 2m positioning values ​​in the target trajectory near the timestamp are used to perform optimal interpolation processing on the target trajectory to obtain the matching target trajectory point. Therefore, the selection of the positioning values ​​of the 2m second trajectory points is crucial. Therefore, it is necessary to try to select a satellite combination with a higher positioning result accuracy, that is, Z l-i The larger the better. On this basis, the closer the second trajectory point is to the target trajectory point to be determined, the better the interpolation result is, because the adjacent trajectory points are usually more relevant and similar, so exp(-|t i-t0|) represents the influence of the distance between the second trajectory point and the target trajectory point to be determined on the interpolation result, and the above formula can be constructed to represent the optimality of the distance of the positioning value of the i-th second trajectory point under the l-th satellite combination relative to the target trajectory point to be determined.

[0105] The optimal distance E of the positioning value of the i-th second trajectory point under the l-th group of satellite combinations relative to the target trajectory point to be determined l-i After that, the method is further carried out according to the E l-i and the difference between the target trajectory and the reference trajectory at the i-th second trajectory point to calculate the interpolation gain W of the i-th second trajectory point relative to the target trajectory point to be determined under the l-th satellite combination l-i . Specifically, W l-i It can be calculated by the following formula:

[0106]

[0107] Formula Description: W l-i represents the interpolation gain of the positioning value of the i-th second trajectory point under the l-th satellite combination relative to the target trajectory point to be determined, e i represents the difference between the target trajectory and the reference trajectory at the i-th second trajectory point, ε represents a hyperparameter, E l-i It represents the optimality of the distance between the positioning value of the i-th second trajectory point under the l-th satellite combination and the target trajectory point to be determined.

[0108] When using 2m second trajectory points to perform interpolation calculation on the target trajectory point to be determined, making the interpolation gain of the second trajectory point that has a greater impact on the target trajectory point to be determined higher can better utilize the local information of the known trajectory points in the target trajectory and improve the accuracy of the interpolation result. l-i The optimality of the distance between the second trajectory point and the target trajectory point to be determined has been preliminarily obtained. l-i Based on this, we can further explore the trajectory relationship between the target trajectory and the reference trajectory to further determine the interpolation gain. Because different target trajectories and reference trajectories refer to two trajectories obtained by positioning two different devices in the same scene, both are descriptions of the same moving entity. Therefore, the difference (e) between the reference trajectory corresponding to a certain timestamp (for example, the timestamp corresponding to the i-th second trajectory point) and the target trajectory i )The smaller the better, so the above formula can be constructed.

[0109] For the i-th second trajectory point in the target trajectory, to determine its difference with the reference trajectory, the method can use the binary search method to search the reference trajectory for the reference trajectory with the closest timestamp to the i-th second trajectory point. If a reference trajectory point is found that completely matches the timestamp of the i-th second trajectory point, the position value difference between the i-th second trajectory point with the same timestamp and the reference trajectory point is the difference between the reference trajectory and the target trajectory at the i-th second trajectory point. i If no reference trajectory point that completely matches the timestamp of the i-th second trajectory point is found, two reference trajectory points closest to the timestamp of the i-th second trajectory point can be obtained in the reference trajectory, and the positioning values ​​and timestamps of the two reference trajectory points are used to determine a linear function that roughly represents the mapping relationship between the positioning values ​​and timestamps of the two reference trajectory points. Then, the timestamp of the i-th second trajectory point is substituted into the linear function to calculate the corresponding reference trajectory point. Finally, the difference between the reference trajectory and the target trajectory at the i-th second trajectory point is determined based on the reference trajectory point whose timestamp is the same as the timestamp of the i-th second trajectory point. i .

[0110] Optionally, the determining the combined optimality of each satellite combination relative to the target trajectory point to be determined includes: for each satellite combination, fitting an optimal sphere using the 2m orbital positions of each satellite in the satellite combination at the 2m second trajectory points; calculating the co-orbital property of the satellite trajectory of the satellite combination at the 2m second trajectory points based on the deviation between the 2m orbital positions of each satellite and the optimal sphere; and calculating the combined optimality of the satellite combination relative to the target trajectory point to be determined based on the co-orbital property and the spherical radius of the optimal sphere.

[0111] Because the combined optimality of each satellite combination for the target trajectory point is different, the positioning effect of the satellite combination that does not deviate from the orbit and is closer to the target trajectory point to be determined is better (that is, the combined optimality is better). Each satellite has an orbital position at each second trajectory point, and accordingly, each satellite has a total of 2m orbital positions at 2m second trajectory points. In this embodiment, for each satellite in each satellite combination, the method will fit an optimal sphere according to its 2m orbital positions at 2m second trajectory points, and calculate the co-orbital property of the satellite trajectory of the satellite combination at 2m second trajectory points according to the deviation between the 2m orbital positions of each satellite and the fitted optimal sphere, and finally calculate the combined optimality of the satellite combination relative to the target trajectory point to be determined according to the co-orbital property of the satellite combination and the sphere radius of the optimal sphere corresponding to each satellite in the satellite combination.

[0112] For the lth satellite combination, the method can fit the 2m orbital positions corresponding to each satellite in the satellite combination at the 2m second trajectory points into an optimal sphere, and the sphere radius of the optimal sphere corresponding to satellite l1 is ρ l1 , the radius of the optimal sphere corresponding to satellite l2 is ρ l2 , the radius of the optimal sphere corresponding to satellite l3 is ρ l3 The co-orbital property of the satellite trajectory at the 2m second trajectory point is Y l It can be calculated by the following formula:

[0113]

[0114] Formula Description: Y l represents the co-orbital nature of the satellite trajectories when the lth group of satellites is at 2m second trajectory points, exp represents the exponential function with e as the base, 2m represents that each satellite has a total of 2m orbital positions when it is at 2m second trajectory points, and r ki represents the deviation between the kth satellite's position in the ith orbit and the optimal sphere it constitutes. Specifically, r ki It is the shortest distance between the kth satellite and the surface of the optimal sphere it forms at the ith orbital position, that is, the absolute value of the difference between the distance between the kth satellite and the center of the optimal sphere it forms at the ith orbital position and the radius of the optimal sphere.

[0115] Since satellite positioning relies on accurate satellite orbit information to determine the positioning value, each orbit of the satellite has strict calculations and predictions. If the satellite deviates from the orbit, the orbit data used to calculate the position will become inaccurate, resulting in errors in the positioning calculation. Since satellites orbit the earth, their normal orbits can be regarded as a sphere. The smaller the deviation between each satellite and the sphere, the better. Therefore, the above formula can be constructed to represent the co-orbital nature of the satellite trajectory when the lth group of satellites is combined at 2m second trajectory points.

[0116] The co-orbital property Y of the satellite trajectory when determining the lth group of satellites combined at 2m second trajectory points l Then, the method is based on the co-orbital property Y of the satellite combination. l And the sphere radius of the optimal sphere corresponding to each satellite in the satellite combination is used to calculate the combined optimality of the satellite combination relative to the target trajectory point to be determined. l Specifically, J l It can be calculated by the following formula:

[0117]

[0118] Formula description: J lrepresents the optimality of the combination of the lth group of satellites relative to the target trajectory point to be determined, f represents the maximum and minimum normalized function, Y l represents the co-orbital nature of the satellite trajectory when the lth group of satellites is combined at 2m second trajectory points, ρ lk represents the radius of the optimal sphere of the kth satellite in the lth satellite combination obtained by the above fitting.

[0119] Based on the co-orbital nature of satellite trajectories, closer satellites can provide more accurate location information, which helps to more accurately determine the location of the receiver. If the satellite is farther away, the positioning accuracy may be reduced. In addition, the signals from farther satellites will be affected by more attenuation and noise during propagation. The more serious the signal attenuation, the more likely the measurement error will increase, thus affecting the positioning accuracy. Therefore, the closer the distance between satellites, the better. Here, the smaller the sphere radius, the better to construct the optimal combination of the lth group of satellites relative to the target trajectory point to be determined.

[0120] Optionally, the deviation check on the target trajectory and the reference trajectory with matching timestamps includes: if the distance between a certain trajectory point pair in the reference trajectory and the target trajectory is greater than a preset distance, adding a trajectory abnormality record, the abnormality record including offset information between the trajectory point pair; wherein the trajectory point pair is a reference trajectory point and a first trajectory point with the same timestamp.

[0121] In this embodiment, the method compares the target trajectory with the reference trajectory, compares the distance between each trajectory point pair with the same timestamp, and if the distance between a certain trajectory point pair is greater than a preset distance, adds a trajectory abnormality record, and the abnormality record includes the offset information between the trajectory point pair for subsequent use of the offset information.

[0122] Optionally, if the distance between a certain trajectory point pair in the reference trajectory and the target trajectory is greater than a preset distance, before adding a trajectory abnormality record, the method further includes: calculating a turning angle formed by each first trajectory point in the target trajectory and its preceding and succeeding trajectory points; the trajectory point pair is a reference trajectory point having the same timestamp and a first trajectory point having a turning angle less than a preset angle.

[0123] It is understandable that for a curved road section, a large distance between track points is actually a normal situation. In this embodiment, the method calculates the turning angle formed by each first track point in the target track and its front and rear track points, and then further performs a deviation check on the track points with a turning angle less than a preset angle, while not performing a deviation check on the track points with a turning angle greater than or equal to the preset angle. In this way, it is possible to avoid recording normal deviations caused by special road sections as abnormal situations, thereby further improving the accuracy of the deviation check results.

[0124] In this embodiment, the method calculates the trajectory point to be determined by positioning multiple trajectory points near the trajectory point to be determined under multiple different satellite combinations to insert the target trajectory, so that the final inserted trajectory point can more accurately reflect the real trajectory point, and then further performs a deviation check on the target trajectory and the reference trajectory with timestamp matching, thereby optimizing the deviation check and improving the accuracy of the deviation check result.

[0125] The embodiment of the present invention also provides a data verification system based on non-single satellite positioning, please refer to Figure 3 The data verification system 300 based on non-single satellite positioning includes:

[0126] An acquisition module 301 is used to acquire a target trajectory and a reference trajectory, wherein each of the target trajectory and the reference trajectory includes a plurality of trajectory points, and each trajectory point includes a positioning value and a timestamp;

[0127] An interpolation module 302 is used to perform optimal interpolation processing on the target trajectory according to satellite combination information of multiple trajectory points of the target trajectory under multiple satellite combinations, so that the target trajectory has a timestamp that matches the reference trajectory, wherein each satellite combination includes three satellites, and each satellite combination information includes a positioning value of the satellite combination at a certain trajectory point and orbital positions of the three satellites in the satellite combination;

[0128] The checking module 303 is used to perform a deviation check on the target trajectory and the reference trajectory with matching timestamps.

[0129] In this embodiment, the data verification system based on non-single satellite positioning calculates the trajectory point to be determined by the positioning conditions of multiple trajectory points near the trajectory point to be determined under multiple different satellite combinations to insert the target trajectory, so that the final inserted trajectory point can more accurately reflect the real trajectory point, and further perform deviation check on the target trajectory and reference trajectory matched by timestamps, thereby optimizing the deviation check and improving the accuracy of the deviation check result.

[0130] Optionally, the reference trajectory includes multiple reference trajectory points, and the target trajectory includes multiple first trajectory points; the target trajectory has a timestamp that matches the reference trajectory, including: for each reference trajectory point in the reference trajectory, the target trajectory has a first trajectory point whose timestamp is the same as the timestamp of the reference trajectory point.

[0131] Optionally, the interpolation module 302 is specifically used to: for the target timestamp in the reference trajectory, if there is no first trajectory point with the same timestamp as the target timestamp in the target trajectory, determine the target Lagrangian function according to multiple satellite combination information of each second trajectory point in the 2m second trajectory points in the target trajectory, wherein the 2m second trajectory points are 2m first trajectory points in the target trajectory located near the target timestamp, and m is an integer greater than or equal to 1; determine the target positioning value corresponding to the target timestamp according to the target Lagrangian function, and insert a target trajectory point into the target trajectory, wherein the target trajectory point has the target positioning value and the target timestamp, and the multiple first trajectory points of the target trajectory include the inserted target trajectory point.

[0132] Optionally, the 2m second trajectory points include 2m first trajectory points in the target trajectory whose timestamps are less than the target timestamp and whose intervals with the target timestamp are the shortest; or the 2m second trajectory points include m first trajectory points in the target trajectory whose timestamps are less than the target timestamp and whose intervals with the target timestamp are the shortest, and m first trajectory points in the target trajectory whose timestamps are greater than the target timestamp and whose intervals with the target timestamp are the shortest.

[0133] Optionally, the interpolation module 302 determines the target Lagrangian function according to multiple satellite combination information of each second trajectory point in the 2m second trajectory points in the target trajectory, including: for each satellite combination, determining the optimal interpolation function of the satellite combination based on the target trajectory point to be determined according to the satellite combination information of each second trajectory point under the satellite combination; determining the combination optimality of each satellite combination relative to the target trajectory point to be determined; and generating the target Lagrangian function according to the combination optimality of each satellite combination and the optimal interpolation function of the satellite combination.

[0134] Optionally, for each satellite combination, the interpolation module 302 determines the optimal interpolation function of the satellite combination based on the target trajectory point to be determined according to the satellite combination information of each second trajectory point under the satellite combination, including: for each satellite combination, calculating the interpolation gain of each second trajectory point under the satellite combination relative to the target trajectory point to be determined; according to the interpolation gain of each second trajectory point, performing weighted averaging on the Lagrange basis polynomial of each second trajectory point under the satellite combination and the positioning value under the satellite combination to obtain the optimal interpolation function based on the satellite combination.

[0135] Optionally, the interpolation module 302 calculates the interpolation gain of each second trajectory point under the satellite combination relative to the target trajectory point to be determined, including: determining the overall optimality of the satellite combination according to the relative position relationship between the satellites in the satellite combination; calculating the distance optimality of the positioning value of the second trajectory point under the satellite combination relative to the target trajectory point to be determined according to the overall optimality of the satellite combination and the interval length between the timestamp of the second trajectory point and the target timestamp; calculating the interpolation gain of the second trajectory point under the satellite combination relative to the target trajectory point to be determined according to the difference between the target trajectory and the reference trajectory at the second trajectory point and the distance optimality.

[0136] Optionally, the interpolation module 302 determines the combined optimality of each satellite combination relative to the target trajectory point to be determined, including: for each satellite combination, fitting an optimal sphere using the 2m orbital positions of each satellite in the satellite combination at the 2m second trajectory points; calculating the co-orbital property of the satellite trajectory of the satellite combination at the 2m second trajectory points based on the deviation between the 2m orbital positions of each satellite and the optimal sphere; and calculating the combined optimality of the satellite combination relative to the target trajectory point to be determined based on the co-orbital property and the spherical radius of the optimal sphere.

[0137] Optionally, the checking module 303 is specifically used to: if the distance between a certain trajectory point pair in the reference trajectory and the target trajectory is greater than a preset distance, add a trajectory abnormality record, and the abnormal record includes offset information between the trajectory point pair; wherein the trajectory point pair is a reference trajectory point and a first trajectory point with the same timestamp.

[0138] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0139] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A data verification method based on non-single satellite positioning, characterized in that: The method comprises: Acquire a target trajectory and a reference trajectory, wherein each of the target trajectory and the reference trajectory includes a plurality of trajectory points, and each trajectory point includes a positioning value and a timestamp; Performing optimal interpolation processing on the target trajectory according to satellite combination information of multiple trajectory points of the target trajectory under multiple satellite combinations, so that the target trajectory has a timestamp that matches the reference trajectory, wherein each satellite combination includes three satellites, and each satellite combination information includes a positioning value of the satellite combination at a certain trajectory point, and orbital positions of three satellites in the satellite combination; Perform deviation check on target and reference trajectories with matching timestamps; The optimal interpolation processing of the target trajectory is performed according to satellite combination information of multiple trajectory points of the target trajectory under multiple satellite combinations, including: For the target timestamp in the reference trajectory, if there is no first trajectory point with the same timestamp as the target timestamp in the target trajectory, determine the target Lagrangian function according to the multiple satellite combination information of each second trajectory point in the 2m second trajectory points in the target trajectory, wherein the 2m second trajectory points are the 2m first trajectory points in the target trajectory located near the target timestamp, and m is an integer greater than or equal to 1; Determine a target positioning value corresponding to the target timestamp according to the target Lagrangian function, and insert a target trajectory point into the target trajectory, wherein the target trajectory point has the target positioning value and the target timestamp, and the plurality of first trajectory points of the target trajectory include the inserted target trajectory point; The step of determining the target Lagrangian function according to the multiple satellite combination information of each second trajectory point in the 2m second trajectory points in the target trajectory includes: For each satellite combination, determining an optimal interpolation function of the satellite combination based on the target trajectory point to be determined according to satellite combination information of each second trajectory point under the satellite combination; Fitting an optimal sphere using the 2m orbital positions of each satellite in the satellite combination at the 2m second trajectory points; calculating the co-orbital property of the satellite trajectory of the satellite combination at the 2m second trajectory points according to the deviation between the 2m orbital positions of each satellite and the optimal sphere; calculating the combined optimality of the satellite combination relative to the target trajectory point to be determined according to the co-orbital property and the spherical radius of the optimal sphere; Generate a target Lagrangian function according to the combined optimality of each satellite combination and the optimal interpolation function of the satellite combination; The combined optimality of each satellite combination is the optimal interpolation function for each satellite combination Perform weighted averaging to obtain the target Lagrangian function ,include: ； in, A function representing the mapping relationship between the positioning value of each track point in the target track and its timestamp, t represents the timestamp, n represents a total of n satellites, It means there are three satellites in total for a positioning group. Indicates The optimality of the satellite combination relative to the target trajectory point to be determined, Indicates the use of A function of the mapping relationship between the positioning value of each trajectory point in the target trajectory and its timestamp under the group of satellites.

2. The data verification method based on non-single satellite positioning according to claim 1, characterized in that: The reference trajectory includes a plurality of reference trajectory points, and the target trajectory includes a plurality of first trajectory points; The target trajectory has a timestamp that matches the reference trajectory, including: For each reference trajectory point in the reference trajectory, the target trajectory has a first trajectory point whose timestamp is the same as the timestamp of the reference trajectory point.

3. The data verification method based on non-single satellite positioning according to claim 2, characterized in that: The 2m second trajectory points include the 2m first trajectory points in the target trajectory whose timestamps are less than the target timestamp and whose intervals with the target timestamp are the shortest; or the 2m second trajectory points include the m first trajectory points in the target trajectory whose timestamps are less than the target timestamp and whose intervals with the target timestamp are the shortest, and the m first trajectory points in the target trajectory whose timestamps are greater than the target timestamp and whose intervals with the target timestamp are the shortest.

4. The data verification method based on non-single satellite positioning according to claim 3, characterized in that: The method of determining, for each satellite combination, the optimal interpolation function of the satellite combination based on the target trajectory point to be determined according to the satellite combination information of each second trajectory point under the satellite combination, comprises: For each satellite combination, calculating the interpolation gain of each second trajectory point relative to the target trajectory point to be determined under the satellite combination; According to the interpolation gain of each second trajectory point, the Lagrange basis polynomial of each second trajectory point under the satellite combination and the positioning value under the satellite combination are weighted averaged to obtain an optimal interpolation function based on the satellite combination.

5. The data verification method based on non-single satellite positioning according to claim 4, characterized in that: The step of calculating the interpolation gain of each second trajectory point relative to the target trajectory point to be determined under the satellite combination includes: Determine the overall optimality of the satellite combination according to the relative position relationship between the satellites in the satellite combination; Calculate the distance optimality of the positioning value of the second trajectory point under the satellite combination relative to the target trajectory point to be determined according to the overall optimality of the satellite combination and the interval between the timestamp of the second trajectory point and the target timestamp; According to the difference between the target trajectory and the reference trajectory at the second trajectory point and the distance optimality, the interpolation gain of the second trajectory point relative to the target trajectory point to be determined under the satellite combination is calculated.

6. The data verification method based on non-single satellite positioning according to claim 2, characterized in that: The performing deviation checking on the target trajectory and the reference trajectory having matching timestamps comprises: If the distance between a certain track point pair in the reference track and the target track is greater than a preset distance, a track abnormality record is added, wherein the abnormality record includes the offset information between the track point pair; The trajectory point pair is a reference trajectory point and a first trajectory point having the same timestamp.

7. A data verification system based on non-single satellite positioning, characterized in that: The system is used to implement the steps of the data verification method based on non-single satellite positioning as described in any one of claims 1 to 6, and the data verification system based on non-single satellite positioning includes: An acquisition module, used for acquiring a target trajectory and a reference trajectory, wherein the target trajectory and the reference trajectory each include a plurality of trajectory points, and each trajectory point includes a positioning value and a timestamp; an interpolation module, configured to perform optimal interpolation processing on the target trajectory according to satellite combination information of multiple trajectory points of the target trajectory under multiple satellite combinations, so that the target trajectory has a timestamp that matches the reference trajectory, wherein each satellite combination includes three satellites, and each satellite combination information includes a positioning value of the satellite combination at a certain trajectory point, and orbital positions of three satellites in the satellite combination; A checking module is used to perform deviation checking on the target trajectory and the reference trajectory with matching timestamps.

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