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Noise point drift removal method for GPS positioning track

A GPS positioning and noise point technology, applied in the GPS field, can solve the problem of singularity point drift of the positioning track, and achieve the effect of low computational complexity and good visualization effect

Pending Publication Date: 2020-09-18
SICHUAN CHAOYING TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a method for removing noise point drift of GPS positioning track, so as to solve the problem of singular point drift in the middle of positioning track

Method used

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  • Noise point drift removal method for GPS positioning track

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Effect test

Embodiment 1

[0042] Such as figure 1 As shown, a noise point drift removal method of GPS positioning track, including

[0043] S1: Remove noise drift singular points that do not conform to geometrical characteristics.

[0044] The method for removing noise that does not conform to geometrical features in process S1 is:

[0045] a1. Use computer algorithm to traverse all points. For any given point, calculate the distance d1 between this point and the previous point, calculate the distance d2 between this point and the next point, and calculate the distance between the previous point and the next point. distance d3;

[0046] a2. Determine whether the sum of d1 and d2 is greater than 1.5 times d3;

[0047] a3. If it is larger, it means that this point is a geometric drift point, and delete this point.

Embodiment 2

[0049] A noise point drift removal method of GPS positioning track, comprising

[0050] S2: remove the drift point whose acceleration is approximately equal to the acceleration of gravity;

[0051] The method for removing the drift point whose acceleration is approximately equal to the acceleration of gravity in process S2 is:

[0052] b1. Collect the acceleration value of the accelerometer at the same moment;

[0053] b2. Calculate the absolute value of the difference between the acceleration value and the acceleration of gravity

[0054] b3. If the absolute value of this difference is less than 0.2, then this point is considered as a static point, and this point is regarded as a drift point and deleted.

Embodiment 3

[0056] A noise point drift removal method of GPS positioning track, comprising

[0057] S3: Remove the drift points whose movement distance is greater than the estimated distance of the pedometer.

[0058] The method for removing drift points whose movement distance is greater than the estimated distance of the pedometer in process S3 is:

[0059] c1. Collect the number of steps counted by the pedometer between two adjacent points;

[0060] c2. If the number of steps counted is within the range of [2,10000], the process is regarded as a walking state;

[0061] c3. If it is in the walking state, calculate the number of steps * 1.0m as the maximum walking distance;

[0062] c4. If the distance between the adjacent positioning points is greater than the maximum walking distance, the point is regarded as a noise point and the noise point is deleted.

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Abstract

The invention provides a noise point drift removal method for a GPS positioning track. The method comprises one or more of the following processes: S1, removing noise drift singular points which do not accord with geometric features; S2, removing a drift point of which the acceleration is about equal to the gravitational acceleration; S3, removing a drift point of which the motion distance is greater than the estimated distance of the pedometer; S4, removing adjacent drift points with very small adjacent distances; and S5, carrying out smooth filtering on the positioning track to smooth geometric mutation noise points. According to the invention, a geometric algorithm, accelerometer fusion positioning, pedometer fusion positioning, repeated point removal and smooth filtering are introduced; the method is more intelligent, more than 99% of track drift points can be removed; therefore, the positioning track is closer to a real track; the visual effect is better, real-time positioning correction can be carried out, playback track correction can also be achieved, and the method is universally suitable for positioning track noise point removal of four global satellites of GPS, GLONASS,BDS and GALILEO and indoor positioning noise point removal of four global satellites of BDS and GALILEO.

Description

technical field [0001] The invention relates to the technical field of GPS, in particular to a method for removing noise point drift of a GPS positioning track. Background technique [0002] Global Navigation Satellite System (GNSS, Global Navigation Satellite System) is a satellite system that can provide global, all-weather, all-time high-precision geographic location information as well as navigation and timing information. This is a satellite system consisting of 24 satellites covering the globe. This system can ensure that at any time, any point on the earth can observe four satellites at the same time, so as to ensure that the satellite can collect the latitude, longitude and altitude of the observation point, so as to realize functions such as navigation, positioning, and timing. This technology can be used to guide aircraft, ships, vehicles, and individuals along selected routes safely and accurately to their destinations on time. The four global satellite navigati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/21G01S19/37
CPCG01S19/21G01S19/37
Inventor 王秋霖卿明童静姚宇
Owner SICHUAN CHAOYING TECH CO LTD
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