GPS signal filtering method, device and equipment

Abstract

The invention provides a GPS signal filtering method, device and equipment. The GPS signal filtering method provided by the invention comprises the following steps: acquiring an odometer track and a GPS track of mobile equipment in a specified time period; for each GPS track point in the GPS track, intercepting a first track section containing the GPS track point from the GPS track, and intercepting a second track section from the speedometer track; wherein the time information of the first track segment corresponds to the time information of the second track segment; calculating correlation between the first track segment and the second track segment to obtain a correlation coefficient of the first track segment and the second track segment; and judging whether the GPS data corresponding to the GPS track point is valid or not according to the correlation coefficient. According to the GPS signal filtering method, device and equipment provided by the invention, the validity of the GPS data is judged in combination with the odometer track, and the judgment accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a GPS signal filtering method, device and equipment. Background Art

[0002] The Global Positioning System (GPS) is a satellite navigation system used to determine the precise location of a mobile device at any time. It mainly determines the location of the mobile device by comparing the GPS signal received by the receiver on the mobile device with the GPS signal transmitted by the satellite. In this way, when the mobile device is indoors or in a place with dense buildings, the receiver on the mobile device cannot accurately receive the valid GPS signal, resulting in an inaccurate position. Therefore, it is necessary to filter the GPS signal received by the receiver to filter out the invalid GPS signal.

[0003] Currently, GPS signals are usually filtered based on their own characteristics, for example, GPS signals are filtered based on the deformation angle or smoothness of the GPS track, which results in low accuracy. Summary of the invention

[0004] In view of this, the present application provides a GPS signal filtering method, apparatus and device to accurately identify the validity of GPS signals.

[0005] Specifically, the present application is implemented through the following technical solutions:

[0006] The first aspect of the present application provides a GPS signal filtering method, the method comprising:

[0007] Get the odometer track and GPS track of the mobile device within a specified time period;

[0008] For each GPS track point in the GPS track, a first track segment including the GPS track point is intercepted from the GPS track, and a second track segment is intercepted from the odometer track; wherein time information of the first track segment corresponds to time information of the second track segment;

[0009] Calculating the correlation between the first trajectory segment and the second trajectory segment to obtain a correlation coefficient between the first trajectory segment and the second trajectory segment;

[0010] According to the correlation coefficient, it is determined whether the GPS data corresponding to the GPS track point is valid.

[0011] The second aspect of the present application provides a GPS signal filtering device, the device comprising an acquisition module, a processing module, a calculation module and a judgment module; wherein:

[0012] The acquisition module is used to acquire the odometer track and GPS track of the mobile device within a specified time period;

[0013] The processing module is used for intercepting a first track segment including the GPS track point from the GPS track, and intercepting a second track segment from the odometer track for each GPS track point in the GPS track; wherein the time information of the first track segment corresponds to the time information of the second track segment;

[0014] The calculation module is used to calculate the correlation between the first trajectory segment and the second trajectory segment to obtain a correlation coefficient between the first trajectory segment and the second trajectory segment;

[0015] The judgment module is used to judge whether the GPS data corresponding to the GPS track point is valid according to the correlation coefficient.

[0016] The third aspect of the present application provides a GPS signal filtering device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods provided in the first aspect of the present application are implemented.

[0017] The fourth aspect of the present application provides a storage medium having a program stored thereon, and when the program is executed by a processor, the steps of any one of the methods provided in the first aspect of the present application are implemented.

[0018] The GPS signal filtering method, device and equipment provided by the present application obtains the odometer track and GPS track of the mobile device within a specified time period, and then for each GPS track point in the GPS track, intercepts the first track segment containing the GPS track point from the GPS track, and intercepts the second track segment corresponding to the time information of the first track segment from the odometer track, thereby calculating the correlation between the first track segment and the second track segment, obtaining the correlation coefficient between the first track segment and the second track segment, and judging whether the GPS data corresponding to the GPS track point is valid based on the correlation coefficient. In this way, the validity of the GPS data corresponding to the GPS track point is judged based on the correlation between the odometer track segment and the GPS track segment. Since the odometer track is added, the validity of the GPS data can be judged in conjunction with the odometer track, which can improve the accuracy of the judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flowchart of the first embodiment of the GPS signal filtering method provided by the present application;

[0020] Figure 2A flowchart of the second embodiment of the GPS signal filtering method provided by the present application;

[0021] Figure 3 This is a flowchart of Embodiment 3 of the GPS signal filtering method provided by this application;

[0022] Figure 4 A flowchart of a fourth embodiment of the GPS signal filtering method provided by the present application;

[0023] Figure 5 A hardware structure diagram of a GPS signal filtering device in which the GPS signal filtering device provided in this application is located;

[0024] Figure 6 This is a structural schematic diagram of a first embodiment of a GPS signal filtering device provided in the present application. DETAILED DESCRIPTION

[0025] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0026] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0027] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0028] The present application provides a GPS signal filtering method, apparatus and device for accurately identifying the validity of GPS signals.

[0029] The GPS signal filtering method, device and equipment provided by the present application obtains the odometer track and GPS track of the mobile device within a specified time period, and then for each GPS track point in the GPS track, intercepts the first track segment containing the GPS track point from the GPS track, and intercepts the second track segment corresponding to the time information of the first track segment from the odometer track, thereby calculating the correlation between the first track segment and the second track segment, obtaining the correlation coefficient between the first track segment and the second track segment, and judging whether the GPS data corresponding to the GPS track point is valid based on the correlation coefficient. In this way, the validity of the GPS data corresponding to the GPS track point is judged based on the correlation between the odometer track segment and the GPS track segment. Since the odometer track is added, the validity of the GPS data can be judged in conjunction with the odometer track, which can improve the accuracy of the judgment.

[0030] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0031] Figure 1 This is a flowchart of the first embodiment of the GPS signal filtering method provided by this application. Please refer to Figure 1 , the method provided in this embodiment may include:

[0032] S101, obtaining an odometer track and a GPS track of a mobile device within a specified time period.

[0033] It should be noted that the method provided in this embodiment is applied to a mobile device, which may be a mobile terminal (for example, a vehicle, a mobile phone, etc.), a mobile robot, etc.

[0034] Specifically, the odometer track and the GPS track may be acquired in real time, or may be acquired periodically, which is not limited in this embodiment.

[0035] In addition, the specified time period is set according to actual needs and is not limited in this embodiment. For example, in one embodiment, the specified time period is the time period from a specified past moment to the current moment; wherein the specified past moment can be a moment before the current moment and a specified time (for example, 10 seconds) from the current moment.

[0036] It should be noted that the odometer trajectory estimates the movement path of the mobile device during the movement process through the odometer position information on the mobile device. The odometer trajectory is usually represented in the form of a time series, which includes multiple trajectory points, each of which represents the odometer position information of the mobile device at a certain moment.

[0037] A GPS track refers to a sequence of GPS location information recorded by a GPS system. It contains multiple track points, each of which represents the GPS location information of a mobile device at a certain moment.

[0038] Specifically, in a possible implementation, the process of obtaining the odometer trajectory of the mobile device within a specified time period may include:

[0039] (1) Obtaining sensor data collected by a specified sensor on the mobile device within the specified time period.

[0040] (2) Generate the odometer trajectory based on the sensor data.

[0041] Specifically, the designated sensor is set according to actual needs and is not limited in this embodiment. For example, in one embodiment, the designated sensor may include at least one of sensors such as a camera, a laser radar, or an inertial measurement unit.

[0042] In specific implementation, the sensor data can be used to generate the odometer trajectory through the simultaneous localization and mapping (SLAM) technology. The specific implementation principle of the SLAM technology can be found in the description of the related technology, which will not be repeated here.

[0043] S102. For each GPS track point in the GPS track, intercept a first track segment containing the GPS track point from the GPS track, and intercept a second track segment from the odometer track; wherein time information of the first track segment corresponds to time information of the second track segment.

[0044] As mentioned above, the GPS track includes multiple GPS track points. In this step, for each GPS track point, a first track segment including the GPS track point is intercepted from the GPS track.

[0045] In a specific implementation, for example, in one embodiment, the first track segment containing the GPS track point may be a track segment from a first moment to a second moment corresponding to the GPS track point, wherein the second moment is a moment after the first moment and a specified time length (for example, 1 second) from the first moment. For example, when the specified time length is 1 second, that is, for the GPS track point, the track segment 1 second after the track point is intercepted as the first track segment.

[0046] For another example, in another embodiment, the first track segment may be a track segment from a third moment to the first moment corresponding to the GPS track point, wherein the third moment is a moment before the first moment and a specified time length from the first moment. For example, when the specified time length is 1 second, that is, for the GPS track point, the track segment 1 second before the GPS track point is intercepted as the first track segment.

[0047] For another example, in combination with the above example, in another embodiment, the first track segment may be a track segment from the third moment to the second moment. For example, for the GPS track point, the track segment 1 second before the GPS track point and the track segment 1 second after the GPS track point are intercepted as the first track segment.

[0048] Furthermore, after obtaining the first trajectory segment, a second trajectory segment whose time information corresponds to the time information of the first trajectory segment can be intercepted from the odometer trajectory according to the time information of the first trajectory segment.

[0049] S103: Calculate the correlation between the first trajectory segment and the second trajectory segment to obtain a correlation coefficient between the first trajectory segment and the second trajectory segment.

[0050] It should be noted that the GPS position information in the first trajectory segment and the odometer position information in the second trajectory segment are position information in different coordinate systems. For example, in one embodiment, the GPS position information in the first trajectory segment is the position information in the earth coordinate system, and the odometer position information in the second trajectory segment is the position information in the coordinate system of the mobile device itself. Therefore, in one embodiment, the position information of the trajectory points in the two trajectory segments can be first converted into position information in the same coordinate system based on the coordinate system conversion relationship, and then the correlation between the two trajectory segments in position information is calculated. Specifically, calculating the correlation between the two trajectory segments in position information refers to calculating the correlation between the two sets of position information based on the GPS position information of each GPS trajectory point in the first trajectory segment and the odometer position information of each odometer trajectory point in the second trajectory segment, and the calculated correlation coefficient is the correlation coefficient between the two trajectory segments in position information.

[0051] For example, in one embodiment, the odometer position information of each track point in the second track segment can be converted into position information in the geodetic coordinate system according to the coordinate system conversion relationship, and then the correlation between the position information of the first track segment and the second track segment can be calculated and determined based on the position information of each track point in the second track segment in the geodetic coordinate system and the GPS position information (position information in the geodetic coordinate system) of each track point in the first track segment.

[0052] Specifically, when calculating the correlation coefficient, the correlation between the first track segment and the second track segment in position information can be calculated based on the correlation coefficient calculation formula. For example, the data corresponding to the first track segment (for example, in the above embodiment, the data corresponding to the first track segment is the position information of each track point in the first track segment in the geodetic coordinate system) is recorded as X, and the data corresponding to the second track segment (for example, in the above embodiment, the data corresponding to the second track segment is the position information of each track point in the second track segment in the geodetic coordinate system) is recorded as Y, then the correlation between the first track segment and the second track segment can be calculated according to the following formula:

[0053]

[0054] Among them, ρ x，y is the correlation coefficient between data X and data Y, cov(x, y) represents the covariance of data X and data Y, σ x Represents the standard deviation of data X, σ y Indicates the standard deviation of data Y, μ x Represents the mean of data X, μ y represents the mean of data Y, and E represents the expectation.

[0055] S104: judging whether the GPS data corresponding to the GPS track point is valid according to the correlation coefficient.

[0056] In combination with the above example, for example, when the correlation coefficient is greater than a specified value, it can be determined that the GPS data corresponding to the GPS track point is valid. The specified value indicates that the first track segment is related to the second track segment, and the specified value is set according to actual needs. For example, in one embodiment, the specified value can be 0.85.

[0057] The GPS signal filtering method provided in this embodiment obtains the odometer track and GPS track of the mobile device within a specified time period, and then for each GPS track point in the GPS track, intercepts the first track segment containing the GPS track point from the GPS track, and intercepts the second track segment corresponding to the time information of the first track segment from the odometer track, thereby calculating the correlation between the first track segment and the second track segment, obtaining the correlation coefficient between the first track segment and the second track segment, and judging whether the GPS data corresponding to the GPS track point is valid based on the correlation coefficient. In this way, the validity of the GPS data corresponding to the GPS track point is judged based on the correlation between the odometer track segment and the GPS track segment. Since the odometer track is added, the validity of the GPS data is judged in conjunction with the odometer track, which can improve the accuracy of the judgment.

[0058] Figure 2This is a flowchart of the second embodiment of the GPS signal filtering method provided by this application. Please refer to Figure 2 The method provided in this embodiment, based on the above embodiment, the calculating the correlation between the first trajectory segment and the second trajectory segment to obtain the correlation coefficient between the first trajectory segment and the second trajectory segment may include:

[0059] S201. Use the odometer trajectory and the GPS trajectory as trajectories to be processed respectively, and calculate, for each trajectory point in the trajectories to be processed, a specified kinematic quantity corresponding to the trajectory point; wherein the specified kinematic quantity includes at least one of velocity, acceleration and displacement.

[0060] It should be noted that the specified kinematic quantity includes at least one of velocity, acceleration and displacement. For example, in one embodiment, the specified kinematic quantity includes velocity. In this step, for each trajectory point in the trajectory to be processed, the velocity corresponding to the trajectory point is calculated. Specifically, the velocity corresponding to the trajectory point refers to the velocity of the mobile device when it passes through the trajectory point.

[0061] Specifically, when calculating the speed of each trajectory point, the trajectory segment containing the trajectory point can be first intercepted, and then the ratio of the displacement corresponding to the trajectory segment to the duration corresponding to the trajectory segment can be determined as the speed of the trajectory point. For example, in one embodiment, the trajectory segment containing the trajectory point can be the trajectory segment from the first n trajectory points before the trajectory point to the trajectory point. For another example, in another embodiment, the trajectory segment containing the trajectory point can be the trajectory segment from the trajectory point to the last m trajectory points after the trajectory point. For another example, in yet another embodiment, the trajectory segment containing the trajectory point can be the trajectory segment from the first n trajectory points before the trajectory point to the last m trajectory points after the trajectory point. Wherein, m and n are set according to actual needs. For example, in one embodiment, m and / or n can be 1.

[0062] The following is an example of "the trajectory segment containing the trajectory point is the trajectory segment from the trajectory point to the next trajectory point after the trajectory point". At this time, the speed of the trajectory point is calculated according to the following formula:

[0063] v i =(p i+1 -p i ) / Δt (1)

[0064] Among them, v i represents the velocity of the ith trajectory point, p i represents the position information of the i-th trajectory point, p i+1 represents the position information of the i+1th track point, and Δt represents the difference between the time information of the i+1th track point and the time information of the i-th track point.

[0065] For example, in another embodiment, the specified kinematic quantity includes acceleration. In this step, for each trajectory point in the trajectory to be processed, the acceleration corresponding to the trajectory point is calculated. Specifically, the acceleration corresponding to the trajectory point represents the acceleration of the mobile device when it passes through the trajectory point.

[0066] Specifically, when calculating the acceleration of each trajectory point, the trajectory segment containing the trajectory point can be first intercepted, and then the acceleration of the trajectory point can be calculated according to the speed and time information of each trajectory point contained in the trajectory segment. The specific implementation principle of intercepting the trajectory segment containing the trajectory point can be found in the description of speed calculation, which will not be repeated here.

[0067] The following is an example of "the trajectory segment containing the trajectory point is the trajectory segment from the trajectory point to the next trajectory point after the trajectory point". At this time, the acceleration of the trajectory point is calculated according to the following formula:

[0068] a i =(v i+1 -v i ) / Δt (2)

[0069] Among them, a i represents the acceleration of the ith trajectory point, v i represents the velocity of the ith trajectory point, v i+1 represents the speed of the i+1th trajectory point, and Δt represents the difference between the time information of the i+1th trajectory point and the time information of the i-th trajectory point.

[0070] For example, in another embodiment, the specified kinematic quantity includes displacement. In this step, for each trajectory point in the trajectory to be processed, the displacement corresponding to the trajectory point is calculated. Specifically, the displacement corresponding to the trajectory point represents the displacement of the mobile device when it passes through the trajectory point.

[0071] In combination with the above introduction, for example, in one embodiment, the displacement of the trajectory point is calculated according to the following formula:

[0072] s i =||p i -p0||2 (3)

[0073] Among them, s i represents the displacement of the ith trajectory point relative to the starting trajectory point, p0 is the position information of the starting trajectory point, and p i is the position information of the i-th trajectory point.

[0074] S202: Calculate the correlation between the first trajectory segment and the second trajectory segment in each of the specified kinematic quantities to obtain a correlation coefficient corresponding to each of the specified kinematic quantities.

[0075] In specific implementation, for example, for speed, the correlation coefficient between the two speed data sets can be calculated based on a speed data set composed of the speeds of all trajectory points in the first trajectory segment and a speed data set composed of the speeds of all trajectory points in the second trajectory segment. The calculated result is the correlation coefficient corresponding to the speed.

[0076] In specific implementation, the correlation coefficient calculation formula can be used to calculate the correlation between two sets of data. The specific content of the correlation calculation formula can be found in the description of the previous embodiment, which will not be repeated here.

[0077] The GPS signal filtering method provided in this embodiment uses the odometer track and the GPS track as the tracks to be processed respectively, and then calculates the designated kinematic quantity corresponding to each track point in the track to be processed, thereby calculating the correlation between the first track segment and the second track segment on each designated kinematic quantity, and obtaining the correlation coefficient corresponding to each designated kinematic quantity. In this way, the correlation coefficient corresponding to each kinematic quantity is used to evaluate the correlation between the first track segment and the second track segment, and then based on the correlation between the first track segment and the second track segment, the validity of the GPS data is determined, and whether the GPS data is valid can be accurately judged.

[0078] Figure 3 This is a flowchart of the third embodiment of the GPS signal filtering method provided by this application. Please refer to Figure 3 In the method provided in this embodiment, when there are multiple specified kinematic quantities, judging whether the GPS data corresponding to the GPS trajectory point is valid according to the correlation coefficient may include:

[0079] S301. When the correlation coefficients corresponding to the designated kinematic quantities are all greater than the preset thresholds corresponding to the designated kinematic quantities, it is determined that the GPS data corresponding to the GPS trajectory point is valid.

[0080] It should be noted that the preset threshold corresponding to each designated kinematic quantity is set according to actual needs and is not limited in this embodiment. In addition, when there are multiple designated kinematic quantities, the preset thresholds corresponding to each designated kinematic quantity may be the same or different.

[0081] The following is an example of specifying kinematic quantities including velocity, acceleration, and displacement.

[0082] For example, in one embodiment, the preset threshold corresponding to each specified kinematic quantity is the same. For example, the preset threshold corresponding to velocity, acceleration, and displacement is 0.9. For another example, in another embodiment, the preset threshold corresponding to each specified kinematic quantity is different. For example, the preset threshold corresponding to velocity, acceleration, and displacement is 0.88, 0.9, and 0.92, respectively.

[0083] Combined with the first example above, the preset thresholds corresponding to speed, acceleration and displacement are all 0.9. For example, in one embodiment, if the calculated correlation coefficients corresponding to speed, acceleration and displacement are 0.93, 0.95 and 0.92 respectively, then the correlation coefficients corresponding to speed, acceleration and displacement are all greater than 0.9, and it is determined that the GPS data corresponding to the GPS track point is valid.

[0084] Further, combined with the second example above, that is, the preset thresholds corresponding to the velocity, acceleration, and displacement are 0.88, 0.9, and 0.92, respectively. For example, in one embodiment, if the calculated correlation coefficients corresponding to the velocity, the correlation coefficients corresponding to the acceleration, and the correlation coefficients corresponding to the displacement are 0.91, 0.93, and 0.95, respectively, at this time, the correlation coefficients corresponding to the specified kinematic quantities are all greater than the preset thresholds corresponding to the specified kinematic quantities, and it is determined that the GPS data corresponding to the GPS trajectory point is valid.

[0085] S302: When the correlation coefficient corresponding to at least one of the specified kinematic quantities is not greater than a preset threshold corresponding to the specified kinematic quantity, determining that the GPS data corresponding to the GPS trajectory point is invalid.

[0086] Similarly, combined with the first example above, that is, the preset thresholds corresponding to speed, acceleration and displacement are all 0.9. For example, in one embodiment, if the calculated correlation coefficients corresponding to speed, acceleration and displacement are 0.80, 0.91 and 0.94 respectively, at this time, the correlation coefficient corresponding to speed is less than its corresponding preset threshold, at this time, it is determined that the GPS data corresponding to the GPS track point is invalid.

[0087] The GPS signal filtering method provided in this embodiment determines that the GPS data corresponding to the GPS track point is valid when the correlation coefficients corresponding to the respective specified kinematic quantities are greater than the preset threshold corresponding to the specified kinematic quantity when there are multiple specified kinematic quantities, and determines that the GPS data corresponding to the GPS track point is invalid when the correlation coefficient corresponding to at least one of the specified kinematic quantities is not greater than the preset threshold corresponding to the specified kinematic quantity. In this way, the validity of GPS data can be jointly determined using the correlation coefficients corresponding to the multiple specified kinematic quantities, which can further improve the accuracy.

[0088] Figure 4 This is a flowchart of the fourth embodiment of the GPS signal filtering method provided by this application. Please refer to Figure 4 , the method provided in this embodiment may include:

[0089] S401: Obtain an odometer track and a GPS track of a mobile device within a specified time period.

[0090] S402, taking the odometer trajectory and the GPS trajectory as trajectories to be processed respectively, and calculating, for each trajectory point in the trajectories to be processed, a specified kinematic quantity corresponding to the trajectory point; wherein the specified kinematic quantity includes velocity, acceleration and displacement.

[0091] S403. For each GPS track point in the GPS track, intercept a first track segment containing the GPS track point from the GPS track, and intercept a second track segment from the odometer track; wherein time information of the first track segment corresponds to time information of the second track segment.

[0092] S404: Calculate the correlation between the first trajectory segment and the second trajectory segment in each of the specified kinematic quantities to obtain a correlation coefficient corresponding to each of the specified kinematic quantities.

[0093] S405, when the correlation coefficients corresponding to the designated kinematic quantities are all greater than the preset thresholds corresponding to the designated kinematic quantities, determining that the GPS data corresponding to the GPS trajectory point is valid;

[0094] S406: When the correlation coefficient corresponding to at least one of the specified kinematic quantities is not greater than a preset threshold corresponding to the specified kinematic quantity, determine that the GPS data corresponding to the GPS trajectory point is invalid.

[0095] Specifically, the specific implementation principles and implementation processes of steps S401 to S406 can be found in the description of the previous embodiment, which will not be repeated here.

[0096] The GPS signal filtering method provided in this embodiment determines the validity of GPS data corresponding to a GPS track point based on the correlation between the odometer track segment and the GPS track segment. Since the odometer track is added, the validity of the GPS data can be determined in conjunction with the odometer track, thereby improving the accuracy of the determination.

[0097] Corresponding to the aforementioned embodiment of a GPS signal filtering method, the present application also provides an embodiment of a GPS signal filtering device.

[0098] The embodiment of a GPS signal filtering device provided in the present application can be applied to a GPS signal filtering device. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, the processor of the GPS signal filtering device in which it is located reads the corresponding computer program instructions in the non-volatile memory into the memory and runs them. From the hardware level, if Figure 5 As shown, it is a hardware structure diagram of the GPS signal filtering device provided by the present application, in which the GPS signal filtering device is located. Figure 5 In addition to the processor, memory, network interface, and non-volatile memory shown, the GPS signal filtering device in which the device is located in the embodiment may also include other hardware according to the actual function of the GPS signal filtering device, which will not be described in detail.

[0099] Figure 6 This is a structural diagram of a first embodiment of a GPS signal filtering device provided by this application. Please refer to Figure 6 The device provided in this embodiment may include an acquisition module 610, a processing module 620, a calculation module 630 and a judgment module 640; wherein,

[0100] The acquisition module 610 is used to acquire the odometer track and GPS track of the mobile device within a specified time period;

[0101] The processing module 620 is used for intercepting a first track segment including the GPS track point from the GPS track, and intercepting a second track segment from the odometer track for each GPS track point in the GPS track; wherein the time information of the first track segment corresponds to the time information of the second track segment;

[0102] The calculation module 630 is used to calculate the correlation between the first trajectory segment and the second trajectory segment to obtain a correlation coefficient between the first trajectory segment and the second trajectory segment;

[0103] The judgment module 640 is used to judge whether the GPS data corresponding to the GPS track point is valid according to the correlation coefficient.

[0104] The device provided in this embodiment can be used to perform Figure 1 The steps of the method shown, its implementation principle and implementation process are similar to those in the previous text and will not be repeated here.

[0105] Optionally, the calculation module 630 is specifically configured to use the odometer trajectory and the GPS trajectory as trajectories to be processed respectively, and for each trajectory point in the trajectory to be processed, calculate a specified kinematic quantity corresponding to the trajectory point; wherein the specified kinematic quantity includes at least one of velocity, acceleration and displacement;

[0106] The calculation module 630 is specifically configured to calculate the correlation between the first trajectory segment and the second trajectory segment in each of the specified kinematic quantities, and obtain a correlation coefficient corresponding to each of the specified kinematic quantities.

[0107] Optionally, when there are multiple specified kinematic quantities, the judgment module 640 is further used to determine that the GPS data corresponding to the GPS trajectory point is valid when the correlation coefficients corresponding to each of the specified kinematic quantities are greater than a preset threshold value corresponding to the specified kinematic quantity, and to determine that the GPS data corresponding to the GPS trajectory point is invalid when the correlation coefficient corresponding to at least one of the specified kinematic quantities is not greater than the preset threshold value corresponding to the specified kinematic quantity.

[0108] Optionally, the acquisition module 610 is specifically configured to acquire sensor data collected by a specified sensor on the mobile device within the specified time period, and generate the odometer track according to the sensor data.

[0109] Optionally, the preset threshold corresponding to each of the specified kinematic quantities is the same, or the preset threshold corresponding to each of the specified kinematic quantities is different.

[0110] Please continue to refer to Figure 5 The present application also provides a GPS signal filtering device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods provided in the first aspect of the present application are implemented.

[0111] The present application also provides a storage medium having a program stored thereon, wherein the program, when executed by a processor, implements the steps of any one of the methods provided in the first aspect of the present application.

[0112] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0113] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0114] The above description is only a preferred 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 scope of protection of the present application.

Claims

1. A GPS signal filtering method, characterized in that: The method comprises: Get the odometer track and GPS track of the mobile device within a specified time period; For each GPS track point in the GPS track, a first track segment including the GPS track point is intercepted from the GPS track, and a second track segment is intercepted from the odometer track; wherein time information of the first track segment corresponds to time information of the second track segment; Calculating the correlation between the first trajectory segment and the second trajectory segment to obtain a correlation coefficient between the first trajectory segment and the second trajectory segment; According to the correlation coefficient, it is determined whether the GPS data corresponding to the GPS track point is valid.

2. The method according to claim 1, characterized in that The calculating the correlation between the first trajectory segment and the second trajectory segment to obtain the correlation coefficient between the first trajectory segment and the second trajectory segment includes: The odometer trajectory and the GPS trajectory are respectively used as trajectories to be processed, and for each trajectory point in the trajectory to be processed, a specified kinematic quantity corresponding to the trajectory point is calculated; wherein the specified kinematic quantity includes at least one of velocity, acceleration and displacement; The correlation between the first trajectory segment and the second trajectory segment on each of the specified kinematic quantities is calculated to obtain a correlation coefficient corresponding to each of the specified kinematic quantities.

3. The method according to claim 2, characterized in that When there are multiple designated kinematic quantities, judging whether the GPS data corresponding to the GPS track point is valid according to the correlation coefficient includes: When the correlation coefficients corresponding to the designated kinematic quantities are all greater than the preset thresholds corresponding to the designated kinematic quantities, it is determined that the GPS data corresponding to the GPS trajectory point is valid; When the correlation coefficient corresponding to at least one of the specified kinematic quantities is not greater than a preset threshold corresponding to the specified kinematic quantity, it is determined that the GPS data corresponding to the GPS track point is invalid.

4. The method according to claim 1, characterized in that: The step of obtaining the odometer track of the mobile device within a specified time period includes: Acquire sensor data collected by a specified sensor on the mobile device within the specified time period; The odometer trajectory is generated based on the sensor data.

5. The method according to claim 3, characterized in that: The preset thresholds corresponding to each of the specified kinematic quantities are the same; or, The preset thresholds corresponding to each of the specified kinematic quantities are different.

6. A GPS signal filtering device, characterized in that: The device includes an acquisition module, a processing module, a calculation module and a judgment module; wherein, The acquisition module is used to acquire the odometer track and GPS track of the mobile device within a specified time period; The processing module is used for intercepting a first track segment including the GPS track point from the GPS track, and intercepting a second track segment from the odometer track for each GPS track point in the GPS track; wherein the time information of the first track segment corresponds to the time information of the second track segment; The calculation module is used to calculate the correlation between the first trajectory segment and the second trajectory segment to obtain a correlation coefficient between the first trajectory segment and the second trajectory segment; The judgment module is used to judge whether the GPS data corresponding to the GPS track point is valid according to the correlation coefficient.

7. The device according to claim 6, characterized in that The calculation module is specifically used to use the odometer trajectory and the GPS trajectory as the trajectory to be processed respectively, and for each trajectory point in the trajectory to be processed, calculate the specified kinematic quantity corresponding to the trajectory point; wherein the specified kinematic quantity includes at least one of velocity, acceleration and displacement; The calculation module is specifically used to calculate the correlation between the first trajectory segment and the second trajectory segment in each of the specified kinematic quantities to obtain a correlation coefficient corresponding to each of the specified kinematic quantities.

8. The device according to claim 7, characterized in that When there are multiple specified kinematic quantities, the judgment module is specifically used to determine that the GPS data corresponding to the GPS trajectory point is valid when the correlation coefficients corresponding to the respective specified kinematic quantities are greater than the preset threshold values ​​corresponding to the specified kinematic quantities, and to determine that the GPS data corresponding to the GPS trajectory point is invalid when the correlation coefficient corresponding to at least one specified kinematic quantity is not greater than the preset threshold values ​​corresponding to the specified kinematic quantities.

9. A GPS signal filtering device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 5 when executing the program.

10. A storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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