Track point matching method, system and device and storage medium
By constructing an altitude thermal database, calculating the latitude and longitude coordinate distance between the track point and the altitude point, the problem of inaccurate altitude data acquisition in the existing technology is solved, and accurate altitude data acquisition and motion intensity evaluation are achieved.
Patent Information
- Application Number
- CN202510533470.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-27
- Publication Date
- 2025-07-25
AI Technical Summary
In the prior art, the altitude data acquisition method for outdoor sports has problems such as low accuracy or relying on the accuracy of recording equipment, which leads to large deviations in the altitude data. Especially when the route does not fit the ground, the data is seriously wrong, and it is impossible to accurately evaluate the motion intensity in the vertical direction.
Altitude thermal database is constructed, and the latitude and longitude coordinate distances between the cycling track points and multiple altitude points are calculated, and the matching altitude points are selected to achieve accurate matching between the track points and the altitude points, and altitude data related to the cycling route are obtained.
Accurate altitude data is achieved, the accuracy of outdoor exercise intensity assessment is improved, and data deviation is reduced, especially when the route does not fit the ground.
Smart Images
Figure CN120368991A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of outdoor navigation, and particularly to a method, system, device and storage medium for matching track points. Background Art
[0002] The track information of an outdoor route can be obtained through map navigation, route planning, etc., and the deviation is generally within 1%, which can be used to evaluate the intensity in the length direction of outdoor sports. However, there is no effective way to obtain altitude and climbing data, resulting in difficulty in predicting the impact in the vertical direction when evaluating the intensity of outdoor sports.
[0003] Currently, the methods for obtaining outdoor sports altitude data include extracting from low-precision terrain data or referring to a single historical track. When extracting from low-precision terrain data, there will be a large deviation in altitude data, and when the route does not fit the ground (such as tunnels, bridges, etc.), the data is seriously incorrect; the altitude data of a single historical track can only reflect the altitude of a specific route and is highly dependent on the accuracy of the recording device. When the recording device does not have a barometer, the reference value of the altitude data of the historical track is greatly reduced. Therefore, how to accurately obtain altitude data related to a cycling route has become an urgent problem to be solved.
[0004] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention The main object of the present invention is to provide a method, system, device and storage medium for matching track points, aiming at the technical problem of how to accurately obtain altitude data related to a cycling route.
[0005] To achieve the above object, the present invention provides a method for matching track points, and the method for matching track points includes: Obtain cycling route information according to the cycling start position and the cycling end position; Preprocess the cycling route information to obtain a plurality of cycling track points; Calculate the longitude and latitude coordinate distances between each cycling track point and a plurality of altitude points in the altitude heat database respectively; Extract a plurality of track altitude points from the plurality of altitude points according to the longitude and latitude coordinate distances, and match the plurality of track altitude points with the plurality of cycling track points.
[0006] Optionally, the preprocessing the cycling route information to obtain a plurality of cycling track points includes: Parse the cycling route information to obtain route information; Extract a plurality of cycling track points from the route information.
[0007] Optionally, the extracting a plurality of cycling track points from the route information includes: Determine multiple trajectory points according to the route information; Based on a preset tolerance threshold, thin the multiple trajectory points through the DP algorithm according to the longitude and latitude coordinates corresponding to each track point to obtain multiple cycling track points.
[0008] Optionally, the calculating the longitude and latitude coordinate distances between each cycling track point and multiple altitude points in the altitude heat database includes: Generate a cycling track line according to the multiple cycling track points; Extract multiple altitude points corresponding to the historical track line from the altitude heat database according to the cycling track line; Calculate the longitude and latitude coordinate distances between each cycling track point and the multiple altitude points respectively.
[0009] Optionally, the extracting multiple track altitude points from the multiple altitude points according to the longitude and latitude coordinate distances includes: Traverse the multiple longitude and latitude coordinate distances, and determine the to-be-matched cycling track points from the multiple cycling track points according to the traversed longitude and latitude coordinate distances; Judge whether the longitude and latitude coordinate distance is less than or equal to a preset distance threshold; If it is less than or equal to, use the altitude point corresponding to the longitude and latitude coordinate distance as the track altitude point corresponding to the to-be-matched cycling track point; After the traversal is completed, extract the track altitude points corresponding to each cycling track point from the multiple altitude points.
[0010] Optionally, if the longitude and latitude coordinate distance is greater than the preset distance threshold, extract the first adjacent altitude point and the second adjacent altitude point corresponding to the to-be-matched cycling track point from the multiple altitude points; Calculate altitude data through a linear interpolation algorithm according to the first adjacent altitude point and the second adjacent altitude point; Determine the track altitude point corresponding to the to-be-matched cycling track point according to the altitude data.
[0011] Optionally, after matching the multiple track altitude points with the multiple cycling track points, it includes: After the matching is completed, generate roadbook track point information according to the altitude corresponding to the multiple cycling track points and the multiple track altitude points; Analyze the roadbook track point information to judge whether there are multiple climbing segments; If there are, determine the distance intervals between the climbing segments; When the distance interval is less than a preset interval threshold, merge the multiple climbing segments; Determine the climbing distance and climbing height corresponding to the merged climbing section; Calculate the average slope based on the climbing distance and the climbing height; Determine the climbing grade of the climbing section according to the average slope and the riding distance.
[0012] In addition, to achieve the above object, the present invention also provides a track point matching system, which includes: A route book preprocessing module, configured to obtain route book information according to the riding start position and the riding end position; The route book preprocessing module is further configured to preprocess the riding route book information to obtain a plurality of riding track points; An altitude data matching module, configured to calculate the latitude and longitude coordinate distances between each riding track point and a plurality of altitude points in the altitude heat database respectively; The altitude data matching module is further configured to extract a plurality of track altitude points from the plurality of altitude points according to the latitude and longitude coordinate distances, and match the plurality of track altitude points with the plurality of riding track points.
[0013] In addition, to achieve the above object, the present invention also provides a track point matching device, which includes: a memory, a processor, and a track point matching program stored on the memory and executable on the processor, and the track point matching program is configured to implement the steps of the track point matching method as described above.
[0014] In addition, to achieve the above object, the present invention also provides a storage medium, on which a track point matching program is stored, and when the track point matching program is executed by a processor, it implements the steps of the track point matching method as described above.
[0015] The present invention first obtains riding route book information according to the riding start position and the riding end position, then preprocesses the riding route book information to obtain a plurality of riding track points, then calculates the latitude and longitude coordinate distances between each riding track point and a plurality of altitude points in the altitude heat database respectively, and finally extracts a plurality of track altitude points from the plurality of altitude points according to the latitude and longitude coordinate distances, and matches the plurality of track altitude points with the plurality of riding track points. The present invention constructs an altitude heat database according to the altitude data of historical tracks, and by calculating the latitude and longitude coordinate distances between a plurality of altitude points in the altitude heat database and a plurality of track points, selects the altitude points corresponding to each track point from the plurality of altitude points, thereby realizing the accurate matching between the track points and the altitude points, and further accurately obtaining the altitude data related to the riding route. Description of the Drawings
[0016] Figure 1 is a schematic structural diagram of a track point matching device in the hardware operating environment related to the embodiment solution of the present invention; Figure 2Schematic flowchart of the first embodiment of the track point matching method of the present invention; Figure 3 Schematic diagram of the cycling track line of the first embodiment of the track point matching method of the present invention; Figure 4 Schematic diagram of multiple elevation points in the elevation thermal database of the first embodiment of the track point matching method of the present invention; Figure 5 Schematic diagram of elevation data matching of the first embodiment of the track point matching method of the present invention; Figure 6 Schematic diagram of the climbing planning principle of the first embodiment of the track point matching method of the present invention; Figure 7 Schematic diagram of the elevation of the route book of the first embodiment of the track point matching method of the present invention; Figure 8 Schematic diagram of elevation comparison of the first embodiment of the track point matching method of the present invention; Figure 9 Block diagram of the structure of the first embodiment of the track point matching system of the present invention.
[0017] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners
[0018] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.
[0019] Refer to Figure 1 , Figure 1 Schematic diagram of the structure of the track point matching device in the hardware operating environment related to the embodiment solution of the present invention.
[0020] As Figure 1As shown in the figure, the waypoint matching device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to implement the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage system independent of the aforementioned processor 1001.
[0021] Those skilled in the art can understand that Figure 1 the structure shown in does not constitute a limitation on the waypoint matching device, and it may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.
[0022] As Figure 1 shown, the memory 1005, as a storage medium, may include an operating system, a network communication module, a user interface module, and a waypoint matching program.
[0023] In Figure 1 the waypoint matching device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the waypoint matching device of the present invention may be arranged in the waypoint matching device. The waypoint matching device calls the waypoint matching program stored in the memory 1005 through the processor 1001 and executes the waypoint matching method provided by the embodiments of the present invention.
[0024] The embodiments of the present invention provide a waypoint matching method. Referring to Figure 2 , Figure 2 it is a schematic flowchart of the first embodiment of the waypoint matching method of the present invention.
[0025] In this embodiment, the waypoint matching method includes the following steps: Step S10: Obtain the cycling route information according to the cycling start position and the cycling end position.
[0026] It is easy to understand that the execution subject of this embodiment can be a track point matching system with functions such as data processing, network communication, and program operation, or other computer devices with similar functions. This embodiment does not impose any restrictions.
[0027] It should be noted that the starting position and ending position of the ride can be set by the user. The starting position and ending position can be a certain location information, including the location name, longitude and latitude coordinates, etc.
[0028] In specific implementation, the source of the ride route information can be map planning and production, third-party route files, or historical tracks, etc. The ride route information includes route name, route length, ride difficulty level, estimated ride time, starting and ending points, passing points, route type, road condition description, etc.
[0029] Step S20: Preprocess the ride route information to obtain multiple ride track points.
[0030] In this embodiment, the ride route information is parsed to remove all redundant information and retain the longitude and latitude of the track points, that is, the route information is obtained, and multiple ride track points can be extracted from the route information.
[0031] It should be noted that according to the user's needs, the track points such as the starting point, ending point, and passing points in the route information can be directly used as ride track points.
[0032] Furthermore, in order to avoid excessive density of track points in the route source, resulting in too large a calculation amount of altitude data, the track points can also be thinned. The thinning processing method is as follows: Determine multiple track points according to the route information; Based on a preset tolerance threshold, thin the multiple track points through the Douglas - Peucker (DP) algorithm according to the longitude and latitude coordinates corresponding to each track point to obtain multiple ride track points.
[0033] The preset tolerance threshold can be set by the user, which can be 1m, or 2m, etc.
[0034] Suppose the track composed of multiple track points is: , the preset tolerance threshold = 1m, connect P1 and P5, calculate the perpendicular distances from P2, P3, and P4 to , if , then d max = 1.1 is greater than 1, retain P3; For repeat the above steps. Suppose the maximum distance is less than the threshold, then retain P1 and P3, and for repeat the above steps. Suppose the maximum distance is less than the threshold, then retain P3 and P5; The finally thinned multiple ride track points are 。
[0035] Step S30: Calculate the latitude and longitude coordinate distances between each riding track point and multiple altitude points in the altitude heat database respectively.
[0036] Further, a riding track line is generated based on multiple riding track points. Refer to Figure 3 , Figure 3 which is a schematic diagram of the riding track line in the first embodiment of the track point matching method of the present invention; multiple altitude points corresponding to the historical track line are extracted from the altitude heat database according to the riding track line; the latitude and longitude coordinate distances between each riding track point and the multiple altitude points are calculated respectively.
[0037] It should be noted that the altitude heat database is a collection of altitude points. The altitude points include latitude and longitude and height data. The altitude points are generated by filtering the altitude data of all historical tracks. The altitude heat database is safe, occupies less storage space and is easy to maintain.
[0038] In a specific implementation, the corresponding historical track line is matched from the altitude heat database according to the latitude and longitude of the riding track line. Refer to Figure 4 , Figure 4 which is a schematic diagram of multiple altitude points in the altitude heat database in the first embodiment of the track point matching method of the present invention. The figure shows multiple altitude points corresponding to the historical track line. Then, the latitude and longitude coordinate distances between each riding track point and the multiple altitude points corresponding to the historical track line are calculated.
[0039] It should also be noted that since the altitude points include latitude and longitude and height, and the riding track points include latitude and longitude, therefore, the latitude and longitude coordinate distances can be calculated according to the latitude and longitude of the riding track points and the latitude and longitude of the altitude points.
[0040] Step S40: Extract multiple track altitude points from the multiple altitude points according to the latitude and longitude coordinate distances, and match the multiple track altitude points with the multiple riding track points.
[0041] Further, the processing method of extracting multiple track altitude points from the multiple altitude points according to the latitude and longitude coordinate distances is to traverse the multiple latitude and longitude coordinate distances, and determine the riding track points to be matched from the multiple riding track points according to the traversed latitude and longitude coordinate distances; judge whether the latitude and longitude coordinate distance is less than or equal to a preset distance threshold; if it is less than or equal to, the altitude point corresponding to the latitude and longitude coordinate distance is used as the track altitude point corresponding to the riding track point to be matched; if it is greater than, the first adjacent altitude point and the second adjacent altitude point corresponding to the riding track point to be matched are extracted from the multiple altitude points, the altitude height data is calculated by a linear interpolation algorithm according to the first adjacent altitude point and the second adjacent altitude point, and the track altitude point corresponding to the riding track point to be matched is determined according to the altitude height data; after the traversal is completed, the track altitude points corresponding to each riding track point are extracted from the multiple altitude points.
[0042] It should be noted that the first closest altitude point is the altitude point closest to the riding track point to be matched, and the second closest altitude point is the altitude point second closest to the riding track point to be matched.
[0043] In specific implementation, the preset distance threshold can be user-defined, such as 5m. If the longitude and latitude distance between the track point and the closest altitude point < threshold 5m, directly adopt the altitude data of the closest altitude point, and use the closest altitude point as the altitude point corresponding to the track point. If the distance between the track point and the closest altitude point > threshold 5m, select the two closest altitude points (i.e., the first closest altitude point and the second closest altitude point), and use the linear interpolation algorithm to obtain the altitude data, and use the altitude point corresponding to the altitude data as the altitude point corresponding to the track point.
[0044] Further, match multiple track altitude points with multiple riding track points. After the matching is completed, refer to Figure 5 , Figure 5 is the altitude data matching schematic diagram of the first embodiment of the track point matching method of the present invention. Generate the route book track point information according to the altitude heights corresponding to multiple riding track points and multiple track altitude points, that is, add the altitude data of the altitude points to the corresponding track point information respectively to generate the route book track point information.
[0045] It should be noted that analyze the route book track point information to determine whether there are multiple climbing segments; if so, determine the distance interval between each climbing segment; when the distance interval is less than the preset interval threshold, merge the multiple climbing segments; determine the climbing distance and climbing height corresponding to the merged climbing section; calculate the average slope according to the climbing distance and the climbing height; determine the climbing grade of the climbing section according to the average slope and the riding distance.
[0046] In specific implementation, refer to Figure 6 , Figure 6 is the schematic diagram of the climbing planning principle of the first embodiment of the track point matching method of the present invention. In the figure, a is the climbing distance (m), b is the climbing height (m), c is the riding distance, and the average slope is 100*b / a. When the average slope > 3% and the continuous climb > 20m, it is defined as a climbing segment. When the distance interval of the climbing segment < 500m, it is regarded as continuous climbing and can be merged. After merging, it is the merged climbing section.
[0047] It should also be noted that the climbing difficulty = (average slope (%))^1.5 * riding distance (m). Multiple preset climbing difficulty ranges can be set, and each preset climbing difficulty range corresponds to a climbing grade. The corresponding climbing grade can be matched according to the calculated climbing difficulty.
[0048] In specific implementation, refer toFigure 7 and Figure 8 , Figure 7 is the elevation schematic diagram of the roadbook for the first embodiment of the track point matching method of the present invention. Figure 8 is the elevation comparison schematic diagram of the first embodiment of the track point matching method of the present invention. The final outdoor roadbook can be generated according to the roadbook track point information, the climbing range and climbing difficulty planned by the climbing planning module. According to Figure 8 it can be seen that the curve with large fluctuations is the elevation curve constructed by the traditional method, and the curve with small fluctuations is the elevation curve constructed by this solution, which is generated based on low-precision terrain data or single historical trajectory, with low precision and various problems. In the figure, the height data of the tunnel is seriously abnormal. This solution is based on the climbing planning of track point matching, with smooth data and relatively high precision.
[0049] In this embodiment, first, the cycling roadbook information is obtained according to the cycling start position and the cycling end position, then the cycling roadbook information is preprocessed to obtain multiple cycling track points, and then the latitude and longitude coordinate distances between each cycling track point and multiple elevation points in the elevation heat database are calculated respectively. Finally, multiple track elevation points are extracted from multiple elevation points according to the latitude and longitude coordinate distances, and the multiple track elevation points are matched with the multiple cycling track points. This embodiment constructs an elevation heat database according to the elevation data of the historical trajectory, and selects the elevation points corresponding to each track point from multiple elevation points by calculating the latitude and longitude coordinate distances between multiple elevation points in the elevation heat database and multiple track points, thereby realizing the accurate matching between the track points and the elevation points, and further accurately obtaining the elevation data related to the cycling route.
[0050] Refer to Figure 9 , Figure 9 is the structural block diagram of the first embodiment of the track point matching system of the present invention.
[0051] As Figure 9 shown, the track point matching system proposed in the embodiment of the present invention includes: A roadbook preprocessing module 9001, configured to obtain cycling roadbook information according to the cycling start position and the cycling end position; The roadbook preprocessing module 9001 is further configured to preprocess the cycling roadbook information to obtain multiple cycling track points; An elevation data matching module 9002, configured to calculate the latitude and longitude coordinate distances between each cycling track point and multiple elevation points in the elevation heat database respectively; The elevation data matching module 9002 is further configured to extract multiple track elevation points from multiple elevation points according to the latitude and longitude coordinate distances, and match the multiple track elevation points with the multiple cycling track points.
[0052] Other embodiments or specific implementation manners of the track point matching system of the present invention may refer to the above method embodiments, which will not be elaborated herein.
[0053] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or system including the element.
[0054] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.
[0055] Through the description of the above embodiments, those skilled in the art can clearly understand that the above method embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation manner. Based on such an understanding, the technical solution of the present invention, in essence, or the part that makes a contribution to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as a read-only memory / random access memory, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention.
[0056] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present invention.
Claims
1. A track point matching method, characterized in that, The method includes the following steps: Obtain cycling route information according to the cycling starting point location and the cycling ending point location; Preprocess the cycling route information to obtain multiple cycling track points; Calculate the latitude and longitude coordinate distances between each cycling track point and multiple altitude points in the altitude heat database respectively; Extract multiple track altitude points from multiple altitude points according to the latitude and longitude coordinate distances, and match the multiple track altitude points with the multiple cycling track points.
2. The method according to claim 1, characterized in that, The preprocessing of the cycling route information to obtain multiple cycling track points includes: Parse the cycling route information to obtain route information; Extract multiple cycling track points from the route information.
3. The method according to claim 2, wherein The extracting multiple cycling track points from the route information includes: Determine multiple track points according to the route information; Based on a preset tolerance threshold, thin the multiple track points through the DP algorithm according to the latitude and longitude coordinates corresponding to each track point to obtain multiple cycling track points.
4. The method according to any one of claims 1 to 3, characterized in that, The calculating the latitude and longitude coordinate distances between each cycling track point and multiple altitude points in the altitude heat database respectively includes: Generate a cycling track line according to multiple cycling track points; Extract multiple altitude points corresponding to the historical track line from the altitude heat database according to the cycling track line; Calculate the latitude and longitude coordinate distances between each cycling track point and the multiple altitude points respectively.
5. The method according to claim 4, wherein The extracting multiple track altitude points from multiple altitude points according to the latitude and longitude coordinate distances includes: Traverse the multiple latitude and longitude coordinate distances, and determine the cycling track point to be matched from the multiple cycling track points according to the traversed latitude and longitude coordinate distances; Judge whether the latitude and longitude coordinate distance is less than or equal to a preset distance threshold; If it is less than or equal to, use the altitude point corresponding to the latitude and longitude coordinate distance as the track altitude point corresponding to the cycling track point to be matched; After the traversal is completed, extract the track altitude points corresponding to each cycling track point from multiple altitude points.
6. The method according to claim 5, characterized in that, If the latitude and longitude coordinate distance is greater than the preset distance threshold, extract the first adjacent altitude point and the second adjacent altitude point corresponding to the cycling track point to be matched from multiple altitude points; Calculate altitude data through a linear interpolation algorithm according to the first adjacent altitude point and the second adjacent altitude point; Determine the track altitude point corresponding to the cycling track point to be matched according to the altitude data.
7. The method according to claim 1, wherein After the matching of the multiple track altitude points and the multiple cycling track points, it includes: After the matching is completed, generate route track point information according to the altitude corresponding to the multiple cycling track points and the multiple track altitude points; Analyze the route track point information to judge whether there are multiple climbing segments; If there are, determine the distance intervals between the climbing segments; When the distance interval is less than a preset interval threshold, merge the multiple climbing segments; Determine the climbing distance and climbing height corresponding to the merged climbing section; Calculate the average slope according to the climbing distance and the climbing height; Determine the climbing grade of the climbing section according to the average slope and the cycling distance.
8. A track point matching system, characterized in that, The system includes: A route preprocessing module, used to obtain cycling route information according to the cycling starting point location and the cycling ending point location; The roadbook preprocessing module is further configured to preprocess the cycling roadbook information to obtain a plurality of cycling track points; The altitude data matching module is configured to calculate the latitude and longitude coordinate distances between each cycling track point and a plurality of altitude points in the altitude heat database respectively; The altitude data matching module is further configured to extract a plurality of track altitude points from the plurality of altitude points according to the latitude and longitude coordinate distances, and match the plurality of track altitude points with the plurality of cycling track points.
9. A track point matching device, characterized in that, The device includes: a memory, a processor, and a track point matching program stored on the memory and executable on the processor, the track point matching program being configured to implement the steps of the track point matching method according to any one of claims 1 to 7.
10. A storage medium, characterized in that, A track point matching program is stored on the storage medium, and when the track point matching program is executed by the processor, the steps of the track point matching method according to any one of claims 1 to 7 are implemented.