CN116184459A - Positioning signal compensation method, system, electronic equipment and readable storage medium - Google Patents
Positioning signal compensation method, system, electronic equipment and readable storage mediumDownload PDFInfo
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- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及定位技术领域，尤其涉及一种定位信号补偿方法、系统、电子设备和可读存储介质。The present invention relates to the field of positioning technology, in particular to a positioning signal compensation method, system, electronic equipment and a readable storage medium.
背景技术Background technique
随着汽车产业的发展，汽车被赋予了越来越多的功能，而定位信号的精确度关系到自动驾驶、物联网、导航以及用车安全等一系列核心功能。然而，碍于定位信号的定位原理，在复杂城市道路和隧道等无信号或信号较弱的区域，定位信号容易丢失或存在较大偏差，进而对车辆的定位功能产生影响。因此，对定位信息进行修正或补偿就显得尤为重要。With the development of the automobile industry, cars are endowed with more and more functions, and the accuracy of positioning signals is related to a series of core functions such as automatic driving, Internet of Things, navigation, and car safety. However, due to the positioning principle of the positioning signal, in areas with no signal or weak signal such as complex urban roads and tunnels, the positioning signal is easily lost or has a large deviation, which will affect the positioning function of the vehicle. Therefore, it is particularly important to correct or compensate the positioning information.
目前，业内纠正定位误差主要有两种手段：包括在车端加装惯性导航系统(IMU)和实时动态载波相位差分技术(RTK)。其中，惯性导航系统通过测量车辆在惯性参考系下的加速度，从而计算车辆偏航角和位置等信息，该方案不易受外部环境影响，但由于导航信息经过积分而产生，定位误差会随时间而增大，长期精度极差；另外，每次使用之前需要较长的初始对准时间；其次需要向车端增加额外的惯导设备，因此造价较高。而实时动态载波相位差分技术采用实时处理两个测量站载波相位观测量的差分方法，将基准站采集的载波相位发给接收机，进行差分解算坐标。当有导航输入时，该方案定位精度较高，但不能解决无GNSS信号输入的问题；其次，该方案需要依赖RTK基站，而RTK基站的信号仅覆盖附近15KM左右的范围，因此需要较高密度的RTK基站，因此建设成本极高，现阶段无法全面推行。At present, there are two main methods in the industry to correct positioning errors: including installing an inertial navigation system (IMU) on the vehicle end and real-time dynamic carrier phase difference technology (RTK). Among them, the inertial navigation system calculates information such as vehicle yaw angle and position by measuring the acceleration of the vehicle in the inertial reference system. This scheme is not easily affected by the external environment, but because the navigation information is integrated, the positioning error will increase with time. The long-term accuracy is extremely poor; in addition, a long initial alignment time is required before each use; secondly, additional inertial navigation equipment needs to be added to the vehicle end, so the cost is relatively high. The real-time dynamic carrier phase difference technology adopts the difference method of real-time processing of carrier phase observations of two measuring stations, and sends the carrier phase collected by the reference station to the receiver for differential resolution and coordinate calculation. When there is navigation input, this solution has higher positioning accuracy, but it cannot solve the problem of no GNSS signal input; secondly, this solution needs to rely on RTK base stations, and the signals of RTK base stations only cover a range of about 15KM nearby, so a higher density is required RTK base station, so the construction cost is extremely high, and it cannot be fully implemented at this stage.
因此，如何提供一种新的定位信号补偿方法，以克服现有技术中存在的上述缺陷，日益成为本领域技术人员亟待解决的技术问题之一。Therefore, how to provide a new positioning signal compensation method to overcome the above-mentioned defects in the prior art has increasingly become one of the technical problems to be solved urgently by those skilled in the art.
发明内容Contents of the invention
本发明的目的在于提供一种定位信号补偿方法、系统、电子设备和可读存储介质，以解决现有技术存在的定位误差随时间而增大，以及定位所需的成本较高的问题。The purpose of the present invention is to provide a positioning signal compensation method, system, electronic equipment and readable storage medium to solve the problems in the prior art that the positioning error increases with time and the cost required for positioning is relatively high.
为了达到上述目的，本发明提供了一种定位信号补偿方法，包括：In order to achieve the above purpose, the present invention provides a positioning signal compensation method, including:
获取目标车辆的行驶路线；Obtain the driving route of the target vehicle;
根据所述行驶路线与预先获取的故障点信息库，判断所述行驶路线中是否存在故障点；According to the driving route and the pre-acquired fault point information database, it is judged whether there is a fault point in the driving route;
若是，执行预测性补偿策略；所述预测性补偿策略包括：判断所述目标车辆的当前定位信息和所述故障点之间是否满足第一预设信号补偿条件，若是，则执行定位信号补偿策略，若否，则执行实时补偿策略；所述执行实时补偿策略包括：判断所述当前定位信息是否满足第二预设信号补偿条件，若是，则执行所述定位信号补偿策略；If so, execute a predictive compensation strategy; the predictive compensation strategy includes: judging whether the first preset signal compensation condition is satisfied between the current positioning information of the target vehicle and the fault point, and if so, executing a positioning signal compensation strategy , if not, executing a real-time compensation strategy; the executing the real-time compensation strategy includes: judging whether the current positioning information satisfies a second preset signal compensation condition, and if so, executing the positioning signal compensation strategy;
若否，执行所述实时补偿策略；If not, executing the real-time compensation strategy;
其中，所述定位信号补偿策略包括：根据所述目标车辆的行驶信息和所述行驶路线，对所述目标车辆的定位信号进行补偿。Wherein, the positioning signal compensation strategy includes: compensating the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route.
可选的，所述获取目标车辆的行驶路线，包括：Optionally, the acquisition of the travel route of the target vehicle includes:
判断是否能够获取所述目标车辆的导航路线；Judging whether the navigation route of the target vehicle can be obtained;
若是，则将所述导航路线作为所述行驶路线；If so, then use the navigation route as the driving route;
若否，则判断是否能够获取所述目标车辆的惯走路线，若是，则将所述惯走路线作为所述行驶路线；若否，则不执行所述预测性补偿策略。If not, it is judged whether it is possible to obtain the freewheeling route of the target vehicle, and if yes, the freewheeling route is used as the driving route; if not, the predictive compensation strategy is not executed.
可选的，在所述根据预先构建的故障点信息库，判断所述行驶路线上是否存在故障点之前，还包括通过以下步骤构建所述故障点信息库：Optionally, before determining whether there is a fault point on the driving route according to the pre-built fault point information database, it also includes constructing the fault point information database through the following steps:
获取所有验证车辆的历史行驶数据；Obtain historical driving data of all verified vehicles;
根据所述历史行驶数据，对所述验证车辆的驾驶循环进行划分，以获取历史定位信息序列；其中，所述历史定位信息序列包括若干个GPS位置信息及每一个GPS位置信息对应的时间戳；According to the historical driving data, the driving cycle of the verification vehicle is divided to obtain a historical positioning information sequence; wherein the historical positioning information sequence includes several GPS position information and a time stamp corresponding to each GPS position information;
根据所述历史定位信息序列和第一预设故障点确认规则，确定所有的候选故障点；determining all candidate fault points according to the historical positioning information sequence and the first preset fault point confirmation rule;
根据所有所述候选故障点的位置信息，构建候选故障点信息数据库；其中，所述候选故障点的位置信息包括：所述候选故障点的经度、纬度以及所述候选故障点所在的路名及所述候选故障点对应的POI名称；According to the location information of all described candidate failure points, build candidate failure point information database; Wherein, the position information of described candidate failure point comprises: the longitude of described candidate failure point, latitude and the road name and the place where described candidate failure point is The POI name corresponding to the candidate failure point;
根据第二预设故障点确认规则，对所述候选故障点信息数据库中的所述候选故障点进行筛选，以确定构建所述故障点信息库的所有所述故障点；According to the second preset fault point confirmation rule, the candidate fault points in the candidate fault point information database are screened to determine all the fault points for constructing the fault point information database;
根据所有的所述故障点，得到所述故障点信息库。According to all the fault points, the fault point information base is obtained.
可选的，所述根据所述历史定位信息序列和第一预设故障点确认规则，确定所有的候选故障点，包括：Optionally, the determining all candidate fault points according to the historical positioning information sequence and the first preset fault point confirmation rule includes:
对每一所述验证车辆执行以下步骤：Perform the following steps for each of the verification vehicles described:
根据所述验证车辆的所述历史行驶数据计算所述验证车辆在初始GPS定位位置与下一个GPS定位位置接收所述GPS位置信息的第一时间间隔和第一距离间隔，当所述第一时间间隔大于第一时间预设阈值，或所述第一距离间隔大于第一距离预设阈值时，判定所述初始GPS定位位置为所述候选故障点；并将所述下一个GPS定位位置作为新的初始GPS定位位置，如此迭代，直至所述验证车辆的所有所述GPS位置信息均完成计算。Calculate the first time interval and the first distance interval for the verification vehicle to receive the GPS position information at the initial GPS positioning position and the next GPS positioning position according to the historical driving data of the verification vehicle, when the first time When the interval is greater than the first time preset threshold, or the first distance interval is greater than the first distance preset threshold, it is determined that the initial GPS positioning position is the candidate fault point; and the next GPS positioning position is used as the new The initial GPS positioning position of , iteratively, until all the GPS position information of the verification vehicle is calculated.
可选的，根据第二预设故障点确认规则，对所述候选故障点信息数据库中的所述候选故障点进行筛选，以确定构建所述故障点信息库的所述故障点，包括：Optionally, according to the second preset fault point confirmation rule, the candidate fault point in the candidate fault point information database is screened to determine the fault point for constructing the fault point information database, including:
将获取的所有所述候选故障点根据所述候选故障点所在的路名或所述候选故障点对应的所述POI名称分为若干故障组，并对每一所述故障组执行，包括：All the candidate failure points obtained are divided into several failure groups according to the road names where the candidate failure points are located or the POI names corresponding to the candidate failure points, and are executed for each failure group, including:
计算所述故障组内每一所述候选故障点与同一组内其余所述候选故障点之间的平均距离，根据所述平均距离去除所有第一候选故障点和保留所有第二候选故障点；其中，所述第一候选故障点为所述平均距离大于预设判断距离阈值的候选故障点，所述第二候选故障点为所述平均距离小于等于所述预设判断距离阈值的候选故障点；Calculating the average distance between each of the candidate fault points in the fault group and the rest of the candidate fault points in the same group, removing all first candidate fault points and retaining all second candidate fault points according to the average distance; Wherein, the first candidate fault point is a candidate fault point whose average distance is greater than a preset judgment distance threshold, and the second candidate fault point is a candidate fault point whose average distance is less than or equal to the preset judgment distance threshold ;
计算所述故障组内所有所述第二候选故障点的经度和纬度的平均值以获得所述故障组的中心故障点，并将所述故障组内所述第二候选故障点的数量作为所述中心故障点的频次；Calculate the average value of the longitude and latitude of all the second candidate failure points in the failure group to obtain the central failure point of the failure group, and use the number of the second candidate failure points in the failure group as the The frequency of failure points in the center;
判断所述中心故障点的频次是否大于预设频次判断阈值；若是，则将所述中心故障点作为所述故障组的故障点并录入所述故障点信息库；若否，则不录入。Judging whether the frequency of the central fault point is greater than the preset frequency judgment threshold; if so, then use the central fault point as the fault point of the fault group and enter it into the fault point information database; if not, do not enter it.
可选的，所述若是，运行预测性补偿策略时，还包括：Optionally, if it is said, when running the predictive compensation strategy, it also includes:
判断当前GPS位置信息与所述行驶路线中匹配的所有所述故障点的路名或POI名称是否相同；Judging whether the current GPS position information is the same as the road names or POI names of all the fault points matched in the driving route;
若不同，关闭所述预测性补偿策略；If different, turn off the predictive compensation strategy;
若相同，运行所述预测性补偿策略。If they are the same, run the predictive compensation strategy.
可选的，所述根据所述行驶路线和预先获取的故障点信息库，判断所述行驶路线上是否存在故障点，包括：Optionally, the judging whether there is a fault point on the driving route according to the driving route and the pre-acquired fault point information database includes:
获取所述行驶路线对应的GPS序列，所述GPS序列包括所述行驶路线中所有行驶信息；Obtaining a GPS sequence corresponding to the driving route, the GPS sequence including all driving information in the driving route;
将所述行驶路线与所述故障点信息库进行对比，包括：将所述GPS序列与所述故障点信息库进行对比。Comparing the driving route with the fault point information database includes: comparing the GPS sequence with the fault point information database.
可选的，所述判断所述目标车辆的当前定位信息和所述故障点之间是否满足第一预设信号补偿条件，包括：Optionally, the judging whether the first preset signal compensation condition is satisfied between the current location information of the target vehicle and the fault point includes:
根据所述目标车辆的当前定位信息，计算所述目标车辆的当前定位位置与下一所述故障点的第二距离间隔，若所述第二距离间隔小于第二距离预设阈值，则判定所述目标车辆的当前定位信息满足所述第一预设信号补偿条件。According to the current positioning information of the target vehicle, calculate the second distance interval between the current positioning position of the target vehicle and the next fault point, if the second distance interval is smaller than the second distance preset threshold, then determine the The current location information of the target vehicle satisfies the first preset signal compensation condition.
可选的，所述判断当前定位信息是否满足第二预设信号补偿条件，包括：Optionally, the judging whether the current positioning information satisfies the second preset signal compensation condition includes:
根据所述目标车辆的当前定位信息，计算所述目标车辆的当前定位位置与前一次定位位置接收定位信息的第二时间间隔和第三距离间隔，若所述第二时间间隔大于第二时间预设阈值或所述第三距离间隔大于第三距离预设阈值，则判定所述目标车辆的当前定位信息满足所述第二预设信号补偿条件。According to the current positioning information of the target vehicle, calculate the second time interval and the third distance interval between the current positioning position of the target vehicle and the previous positioning position for receiving positioning information, if the second time interval is greater than the second time preset If the threshold or the third distance interval is greater than the third distance preset threshold, it is determined that the current location information of the target vehicle satisfies the second preset signal compensation condition.
可选的，所述根据所述目标车辆的行驶信息和所述行驶路线，对所述目标车辆的定位信号进行补偿，包括：Optionally, the compensating the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route includes:
以所述当前定位位置为起始位置，并根据所述目标车辆的行驶速度与所述目标车辆的行驶时间获取所述目标车辆的行驶距离，将所述起始位置和所述目标车辆的行驶距离与所述行驶路线匹配，以输出定位补偿结果。Taking the current positioning position as the starting position, and obtaining the traveling distance of the target vehicle according to the traveling speed of the target vehicle and the traveling time of the target vehicle, combining the starting position and the traveling time of the target vehicle The distance is matched against the driving route to output a positioning compensation result.
为了达到上述目的，本发明还提供了一种定位信号补偿系统，包括：数据获取模块、数据判断模块、预测性补偿模块、实时补偿模块和定位数据恢复模块；In order to achieve the above object, the present invention also provides a positioning signal compensation system, including: a data acquisition module, a data judgment module, a predictive compensation module, a real-time compensation module and a positioning data recovery module;
其中，所述数据获取模块配置为：获取目标车辆的行驶路线；Wherein, the data acquisition module is configured to: acquire the driving route of the target vehicle;
所述数据判断模块配置为：根据所述行驶路线与预先获取的故障点信息库，判断所述行驶路线中是否存在故障点；The data judging module is configured to: judge whether there is a fault point in the driving route according to the driving route and the pre-acquired fault point information database;
所述预测性补偿模块配置为：判断所述目标车辆的当前定位信息和所述故障点之间是否满足第一预设信号补偿条件，若是，则执行定位信号补偿策略，若否，则执行实时补偿策略；The predictive compensation module is configured to: judge whether the first preset signal compensation condition is satisfied between the current positioning information of the target vehicle and the fault point, if so, execute the positioning signal compensation strategy, and if not, execute the real-time Compensation strategy;
所述实时补偿模块配置为：判断当前定位信息是否满足第二预设信号补偿条件，若是，则执行所述定位信号补偿策略；The real-time compensation module is configured to: determine whether the current positioning information satisfies the second preset signal compensation condition, and if so, execute the positioning signal compensation strategy;
所述定位数据恢复模块配置为：根据所述目标车辆的行驶信息和所述行驶路线，对所述目标车辆的定位信号进行补偿。The positioning data recovery module is configured to: compensate the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route.
为了达到上述目的，本发明又提供了一种电子设备，包括处理器和存储器，所述存储器上存储有计算机程序，所述计算机程序被所述处理器执行时，实现上述任一项所述的定位信号补偿方法。In order to achieve the above object, the present invention further provides an electronic device, including a processor and a memory, and a computer program is stored in the memory, and when the computer program is executed by the processor, it can realize any of the above-mentioned Positioning signal compensation method.
为了达到上述目的，本发明还提供了一种可读存储介质，所述可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时，实现上述任一项所述的定位信号补偿方法。In order to achieve the above object, the present invention also provides a readable storage medium, the computer program is stored in the readable storage medium, and when the computer program is executed by the processor, the positioning signal compensation described in any one of the above is realized. method.
与现有技术相比，本发明提供的一种定位信号补偿方法、系统、电子设备和可读存储介质具有以下有益效果：Compared with the prior art, the positioning signal compensation method, system, electronic equipment and readable storage medium provided by the present invention have the following beneficial effects:
本发明提供的定位信号补偿方法，首先获取目标车辆的行驶路线；其次根据所述行驶路线与预先获取的故障点信息库，判断所述行驶路线中是否存在故障点；若是，执行预测性补偿策略，所述预测性补偿策略包括：判断所述目标车辆的当前定位信息和所述故障点之间是否满足第一预设信号补偿条件，若是，则执行定位信号补偿策略，若否，则执行实时补偿策略；所述执行实时补偿策略包括：判断所述当前定位信息是否满足第二预设信号补偿条件，若是，则执行所述定位信号补偿策略；若否，执行所述实时补偿策略；其中，所述定位信号补偿策略包括：根据所述目标车辆的行驶信息和所述行驶路线，对所述目标车辆的定位信号进行补偿。本发明提供的定位信号补偿方法，通过将所述行驶路线与所述故障点信息库进行对比，并根据不同的对比结果和当前定位信息，在目标车辆的整个行驶过程中实时进行不同的补偿策略的切换，以确保在所述行驶路线中无论是否存在故障点，所述目标车辆都能够在无信号或信号较弱的地方获取定位补偿结果，以避免目标车辆在行驶过程中出现定位失败的问题；进一步地，本发明提供的定位信号补偿方法无需增加额外的定位设备或基站，因此在提高车辆定位精度的同时规避了高昂的定位设备制造成本，以及定位设备标定和校准的时间，从而使得开发和迭代升级都能够迅速完成，由此具有良好的投入产出比。The positioning signal compensation method provided by the present invention first obtains the driving route of the target vehicle; secondly, according to the driving route and the pre-acquired fault point information database, judges whether there is a fault point in the driving route; if so, executes a predictive compensation strategy , the predictive compensation strategy includes: judging whether the first preset signal compensation condition is satisfied between the current location information of the target vehicle and the fault point, if so, execute the positioning signal compensation strategy, if not, execute real-time Compensation strategy; the execution of the real-time compensation strategy includes: judging whether the current positioning information meets the second preset signal compensation condition, and if so, executing the positioning signal compensation strategy; if not, executing the real-time compensation strategy; wherein, The positioning signal compensation strategy includes: compensating the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route. The positioning signal compensation method provided by the present invention compares the driving route with the fault point information database, and performs different compensation strategies in real time during the entire driving process of the target vehicle according to different comparison results and current positioning information To ensure that no matter whether there is a fault point in the driving route, the target vehicle can obtain the positioning compensation result in a place with no signal or a weak signal, so as to avoid the problem of positioning failure of the target vehicle during driving ; Further, the positioning signal compensation method provided by the present invention does not need to add additional positioning equipment or base stations, so while improving the positioning accuracy of the vehicle, it avoids the high manufacturing cost of positioning equipment and the time for calibration and calibration of positioning equipment, so that development And iterative upgrades can be completed quickly, so it has a good input-output ratio.
由于本发明提供的定位信号补偿系统、电子设备和可读存储介质，与本发明提供的定位信号补偿方法属于同一发明构思，因此至少具有相同的技术效果，在此不再一一赘述。Since the positioning signal compensation system, electronic equipment, and readable storage medium provided by the present invention belong to the same inventive concept as the positioning signal compensation method provided by the present invention, they have at least the same technical effect, and will not be repeated here.
附图说明Description of drawings
图1为本发明一实施方式提供的定位信号补偿方法的流程图；FIG. 1 is a flowchart of a positioning signal compensation method provided in an embodiment of the present invention;
图2为本发明一实施方式提供的故障点信息库获取的流程图；Fig. 2 is the flow chart of the failure point information library acquisition that one embodiment of the present invention provides;
图3为本发明一实施方式提供的候选故障点获取的流程图；Fig. 3 is the flow chart of candidate failure point acquisition provided by an embodiment of the present invention;
图4为本发明一实施方式提供的故障点信息库筛选流程图；Fig. 4 is a flow chart of screening the failure point information database provided by an embodiment of the present invention;
图5为本发明一实施方式提供的运行预测性补偿策略的流程图；Fig. 5 is a flowchart of an operation predictive compensation strategy provided by an embodiment of the present invention;
图6为本发明一实施方式提供的运行实时补偿策略的流程图；Fig. 6 is a flow chart of running a real-time compensation strategy provided by an embodiment of the present invention;
图7为本发明实施例二提供的定位信号补偿系统的结构图。FIG. 7 is a structural diagram of a positioning signal compensation system provided by Embodiment 2 of the present invention.
具体实施方式Detailed ways
下面将结合示意图对本发明的具体实施方式进行更详细的描述。根据下列描述，本发明的优点和特征将更清楚。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目的。应当了解，说明书附图并不一定按比例的显示本发明的具体结构，并且在说明书附图中用于说明本发明某些原理的图示性特征也会采取略微简化的画法。本文所公开的本发明的具体设计特征包括例如具体尺寸、方向、位置和外形将部分地由具体所要应用和使用的环境来确定。以及，在以下说明的实施方式中，有时在不同的附图之间共同使用同一附图标记来表示相同部分或具有相同功能的部分，而省略其重复说明。在本说明书中，使用相似的标号和字母表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。The specific implementation manner of the present invention will be described in more detail below with reference to schematic diagrams. The advantages and features of the present invention will be more apparent from the following description. It should be noted that all the drawings are in very simplified form and use inaccurate scales, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. It should be understood that the drawings in the description do not necessarily show the specific structures of the invention to scale, and that the illustrative features used to illustrate some principles of the invention in the drawings in the description will also be drawn in a slightly simplified manner. The specific design features of the invention disclosed herein, including, for example, specific dimensions, orientations, locations and shapes will be determined in part by the particular intended application and use environment. Also, in the embodiments described below, the same reference numerals may be used in common between different drawings to denote the same parts or parts having the same functions, and repeated descriptions thereof will be omitted. In this specification, similar reference numerals and letters are used to refer to similar items, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.
在具体介绍本发明提供的定位信号补偿方法之前，需要特别说明的是，本文虽然以GPS定位系统为例对本发明提供的定位信号补偿方法进行说明，但很显然地，本发明提供的定位信号补偿方法并不仅限于用于GPS定位系统，也可以用于GPS定位系统之外的其他定位系统，包括但不限于北斗定位系统等。Before specifically introducing the positioning signal compensation method provided by the present invention, it needs to be specially explained that although this article takes the GPS positioning system as an example to illustrate the positioning signal compensation method provided by the present invention, it is obvious that the positioning signal compensation method provided by the present invention The method is not limited to the GPS positioning system, and can also be used in other positioning systems than the GPS positioning system, including but not limited to the Beidou positioning system and the like.
实施例一Embodiment one
本实施例提供了一种定位信号补偿方法，具体地，请参见附图1，其中，图1示意性地给出了本实施例提供的定位信号补偿方法的流程图，从图1可以看出，本实施例提供的定位信号补偿方法，包括：This embodiment provides a positioning signal compensation method, specifically, please refer to accompanying drawing 1, wherein, Fig. 1 schematically shows the flow chart of the positioning signal compensation method provided by this embodiment, as can be seen from Fig. 1 , the positioning signal compensation method provided in this embodiment includes:
获取目标车辆的行驶路线；Obtain the driving route of the target vehicle;
根据所述行驶路线与预先获取的故障点信息库，判断所述行驶路线中是否存在故障点；According to the driving route and the pre-acquired fault point information database, it is judged whether there is a fault point in the driving route;
若是，执行预测性补偿策略，所述预测性补偿策略包括：判断所述目标车辆的当前定位信息和所述故障点之间是否满足第一预设信号补偿条件，若是，则执行定位信号补偿策略，若否，则执行实时补偿策略；所述执行实时补偿策略包括：判断所述当前定位信息是否满足第二预设信号补偿条件，若是，则执行所述定位信号补偿策略；If so, execute a predictive compensation strategy, the predictive compensation strategy includes: judging whether the first preset signal compensation condition is satisfied between the current positioning information of the target vehicle and the fault point, and if so, execute the positioning signal compensation strategy , if not, executing a real-time compensation strategy; the executing the real-time compensation strategy includes: judging whether the current positioning information satisfies a second preset signal compensation condition, and if so, executing the positioning signal compensation strategy;
若否，执行所述实时补偿策略；If not, executing the real-time compensation strategy;
其中，所述定位信号补偿策略包括：根据所述目标车辆的行驶信息和所述行驶路线，对所述目标车辆的定位信号进行补偿。Wherein, the positioning signal compensation strategy includes: compensating the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route.
如此设置，本发明提供的定位信号补偿方法，通过将所述行驶路线与所述故障点信息库进行对比，并根据不同的对比结果和当前定位信息，在目标车辆的整个行驶过程中实时进行不同的补偿策略的切换，以确保在所述行驶路线中无论是否存在故障点，所述目标车辆都能够在无信号或信号较弱的地方获取定位补偿结果，以避免目标车辆在行驶过程中出现定位失败的问题；进一步地，本发明提供的定位信号补偿方法无需增加额外的定位设备或基站，因此在提高车辆定位精度的同时规避了高昂的定位设备制造成本，以及定位设备标定和校准的时间，从而使得开发和迭代升级都能够迅速完成，由此具有良好的投入产出比。In this way, the positioning signal compensation method provided by the present invention compares the driving route with the fault point information database, and performs different real-time differences during the entire driving process of the target vehicle according to different comparison results and current positioning information. Switching of the compensation strategy to ensure that no matter whether there is a fault point in the driving route, the target vehicle can obtain the positioning compensation result in a place with no signal or a weak signal, so as to avoid positioning of the target vehicle during driving The problem of failure; further, the positioning signal compensation method provided by the present invention does not need to add additional positioning equipment or base stations, so while improving the positioning accuracy of the vehicle, it avoids the high manufacturing cost of positioning equipment and the time for calibration and calibration of positioning equipment, As a result, development and iterative upgrades can be completed quickly, thus having a good input-output ratio.
优选的，所述获取目标车辆的行驶路线，包括：Preferably, said acquiring the driving route of the target vehicle includes:
判断是否能够获取所述目标车辆的导航路线；Judging whether the navigation route of the target vehicle can be obtained;
若是，则将所述导航路线作为所述行驶路线；If so, then use the navigation route as the driving route;
若否，则判断是否能够获取所述目标车辆的惯走路线，若是，则将所述惯走路线作为所述行驶路线；若否，则不执行所述预测性补偿策略。If not, it is judged whether it is possible to obtain the freewheeling route of the target vehicle, and if yes, the freewheeling route is used as the driving route; if not, the predictive compensation strategy is not executed.
由此，使得所述目标车辆在行驶过程中始终具有一所述行驶路线，从而确保了当所述目标车辆在无信号或信号较弱的环境下而定位失效时，能够有与所述起始位置和所述车辆行驶距离匹配的行驶路线，以输出定位补偿结果。Thus, the target vehicle always has a driving route during driving, thereby ensuring that when the target vehicle loses positioning in an environment with no signal or a weak signal, it can be connected with the initial A driving route whose position matches the driving distance of the vehicle to output a positioning compensation result.
请参见附图2，图2示意性地给出了本实施例提供的故障点信息库获取流程图，从图2可以看出，在所述根据预先构建的故障点信息库，判断所述行驶路线上是否存在故障点之前，还包括通过以下步骤构建所述故障点信息库：Please refer to accompanying drawing 2, Fig. 2 has provided schematically the flow chart of acquiring the fault point information library provided by this embodiment, as can be seen from Fig. Before whether there is a fault point on the route, it also includes building the fault point information library through the following steps:
获取所有验证车辆的历史行驶数据；Obtain historical driving data of all verified vehicles;
根据所述历史行驶数据，对所述验证车辆的驾驶循环进行划分，以获取历史定位信息序列；其中，所述历史定位信息序列包括若干个GPS位置信息及每一个GPS位置信息对应的时间戳；According to the historical driving data, the driving cycle of the verification vehicle is divided to obtain a historical positioning information sequence; wherein the historical positioning information sequence includes several GPS position information and a time stamp corresponding to each GPS position information;
根据所述历史定位信息序列和第一预设故障点确认规则，确定所有的候选故障点；determining all candidate fault points according to the historical positioning information sequence and the first preset fault point confirmation rule;
根据所有所述候选故障点的位置信息，构建候选故障点信息数据库；其中，所述候选故障点的位置信息包括：所述候选故障点的经度、纬度以及所述候选故障点所在的路名及所述候选故障点对应的POI名称；According to the location information of all described candidate failure points, build candidate failure point information database; Wherein, the position information of described candidate failure point comprises: the longitude of described candidate failure point, latitude and the road name and the place where described candidate failure point is The POI name corresponding to the candidate failure point;
根据第二预设故障点确认规则，对所述候选故障点信息数据库中的所述候选故障点进行筛选，以确定构建所述故障点信息库的所有所述故障点；According to the second preset fault point confirmation rule, the candidate fault points in the candidate fault point information database are screened to determine all the fault points for constructing the fault point information database;
根据所有的所述故障点，得到所述故障点信息库。According to all the fault points, the fault point information base is obtained.
由此，通过获取所有验证车辆经过的所有候选故障点，并将所有候选故障点经过筛选以获取所述故障点信息库，从而减少了故障点被遗漏的可能性，确保了所述故障点信息库的故障点覆盖面广，同时，使得将所述目标车辆的行驶路线与所述故障点信息库进行对比时，所述故障点信息库能够提供足够的故障点相关信息支持。Thus, by obtaining all candidate fault points that all verification vehicles pass through, and screening all candidate fault points to obtain the fault point information library, the possibility of fault points being missed is reduced, and the fault point information is ensured. The fault points of the database cover a wide range, and at the same time, when comparing the driving route of the target vehicle with the fault point information database, the fault point information database can provide sufficient fault point related information support.
请参见附图3，图3示意性地给出了本实施例提供的候选故障点获取的流程图，从图3可以看出，所述根据所述历史定位信息序列和第一预设故障点确认规则，确定所有的候选故障点，包括：Please refer to accompanying drawing 3, Fig. 3 schematically provides the flow chart of the candidate failure point acquisition provided by this embodiment, as can be seen from Fig. Confirm the rules to identify all candidate failure points, including:
对每一所述验证车辆执行以下步骤：Perform the following steps for each of the verification vehicles described:
根据所述验证车辆的所述历史行驶数据计算所述验证车辆在初始GPS定位位置与下一个GPS定位位置接收所述GPS位置信息的第一时间间隔和第一距离间隔，当所述第一时间间隔大于第一时间预设阈值，或所述第一距离间隔大于第一距离预设阈值时，判定所述初始GPS定位位置为所述候选故障点；并将所述下一个GPS定位位置作为新的初始GPS定位位置，如此迭代，直至所述验证车辆的所有所述GPS位置信息均完成计算。Calculate the first time interval and the first distance interval for the verification vehicle to receive the GPS position information at the initial GPS positioning position and the next GPS positioning position according to the historical driving data of the verification vehicle, when the first time When the interval is greater than the first time preset threshold, or the first distance interval is greater than the first distance preset threshold, it is determined that the initial GPS positioning position is the candidate fault point; and the next GPS positioning position is used as the new The initial GPS positioning position of , iteratively, until all the GPS position information of the verification vehicle is calculated.
由于满足所述第一时间间隔大于第一时间预设阈值，或所述第一距离间隔大于第一距离预设阈值任意一个时，所述初始定位位置都将作为所述候选故障点，且所述下一次定位位置将作为新的初始GPS定位位置进行重新比较计算。由此，确保了所有验证车辆在各自的行驶过程中所经过的所有候选故障点都能被发现，进一步提高了所述故障点信息库包含的故障点信息的完整性。Since the first time interval is greater than the first time preset threshold, or the first distance interval is greater than any one of the first distance preset thresholds, the initial positioning position will be used as the candidate fault point, and the The next positioning position mentioned above will be used as the new initial GPS positioning position for re-comparison calculation. In this way, it is ensured that all candidate fault points that all verification vehicles pass through during their respective driving processes can be found, further improving the integrity of the fault point information contained in the fault point information database.
请参见附图4，图4示意性地给出了本实施例提供的故障点信息库筛选的流程图，从图4可以看出，所述根据第二预设故障点确认规则，对所述候选故障点信息数据库中的所述候选故障点进行筛选，以确定构建所述故障点信息库的所述故障点，包括：Please refer to accompanying drawing 4, Fig. 4 has schematically provided the flow chart of the failure point information base screening provided by this embodiment, as can be seen from Fig. 4, described according to the second preset fault point confirmation rule, for the The candidate failure points in the candidate failure point information database are screened to determine the failure points for constructing the failure point information database, including:
将获取的所有所述候选故障点根据所述候选故障点所在的路名或所述候选故障点对应的所述POI名称分为若干故障组，并对每一所述故障组执行，包括：All the candidate failure points obtained are divided into several failure groups according to the road names where the candidate failure points are located or the POI names corresponding to the candidate failure points, and are executed for each failure group, including:
计算所述故障组内每一所述候选故障点与同一组内其余所述候选故障点之间的平均距离，根据所述平均距离去除所有第一候选故障点和保留所有第二候选故障点；其中，所述第一候选故障点为所述平均距离大于预设判断距离阈值的候选故障点，所述第二候选故障点为所述平均距离小于等于所述预设判断距离阈值的候选故障点；Calculating the average distance between each of the candidate fault points in the fault group and the rest of the candidate fault points in the same group, removing all first candidate fault points and retaining all second candidate fault points according to the average distance; Wherein, the first candidate fault point is a candidate fault point whose average distance is greater than a preset judgment distance threshold, and the second candidate fault point is a candidate fault point whose average distance is less than or equal to the preset judgment distance threshold ;
计算所述故障组内所有所述第二候选故障点的经度和纬度的平均值以获得所述故障组的中心故障点，并将所述故障组内所述第二候选故障点的数量作为所述中心故障点的频次；Calculate the average value of the longitude and latitude of all the second candidate failure points in the failure group to obtain the central failure point of the failure group, and use the number of the second candidate failure points in the failure group as the The frequency of failure points in the center;
判断所述中心故障点的频次是否大于预设频次判断阈值；若是，则将所述中心故障点作为所述故障组的故障点并录入所述故障点信息库；若否，则不录入。Judging whether the frequency of the central fault point is greater than the preset frequency judgment threshold; if so, then use the central fault point as the fault point of the fault group and enter it into the fault point information database; if not, do not enter it.
由此，通过排出所述第一故障点，从而排出因偶然原因例如磁场或天气原因而导致的个别定位位置出现定位失效的问题。同时，通过对中心故障点的频次比较，且仅将频次大于预设频次判断阈值的所述中心故障点录入所述故障点信息库，避免了将少数因验证车辆自身原因而发生定位失效的候选故障点录入，从而保障了最终被录入的故障点都是经过大量验证车辆验证后真实有效的故障点。Therefore, by eliminating the first fault point, the problem of positioning failure at individual positioning positions caused by accidental reasons such as magnetic field or weather is eliminated. At the same time, by comparing the frequency of the central fault point, and only entering the central fault point whose frequency is greater than the preset frequency judgment threshold into the fault point information database, it is avoided that a small number of candidates whose positioning failure occurs due to the verification vehicle itself The fault points are entered, thus ensuring that the fault points that are finally entered are all true and effective fault points after a large number of verification vehicles.
优选的，所述目标车辆的行驶路线中若存在故障点，运行预测性补偿策略时，还包括：Preferably, if there is a fault point in the driving route of the target vehicle, when running the predictive compensation strategy, it also includes:
判断当前GPS位置信息与所述行驶路线中匹配的所有所述故障点的路名或POI名称是否相同；Judging whether the current GPS position information is the same as the road names or POI names of all the fault points matched in the driving route;
若不同，关闭所述预测性补偿策略；If different, turn off the predictive compensation strategy;
若相同，运行所述预测性补偿策略。If they are the same, run the predictive compensation strategy.
由此，当所述目标车辆的当前定位位置还未到达所述行驶路线中匹配的任一故障点时，通过将所述预测性补偿策略关闭，以减少运行本发明提供的定位信号补偿方法的设备运行负荷。Therefore, when the current positioning position of the target vehicle has not reached any matching fault point in the driving route, the predictive compensation strategy is closed to reduce the cost of running the positioning signal compensation method provided by the present invention. Equipment operating load.
优选的，所述根据所述行驶路线和预先获取的故障点信息库，判断所述行驶路线上是否存在故障点，包括：Preferably, the judging whether there is a fault point on the driving route according to the driving route and the pre-acquired fault point information database includes:
获取所述行驶路线对应的GPS序列，所述GPS序列包括所述行驶路线中所有行驶信息；Obtaining a GPS sequence corresponding to the driving route, the GPS sequence including all driving information in the driving route;
将所述行驶路线与所述故障点信息库进行对比，包括：将所述GPS序列与所述故障点信息库进行对比。Comparing the driving route with the fault point information database includes: comparing the GPS sequence with the fault point information database.
由于所述GPS序列包括所述行驶路线中所有行驶信息，因此，当将所述GPS序列与所述故障点信息库进行对比，本实施方式提供的定位信号补偿方法能够快速发现所述行驶路线上是否存在故障点，从而在定位失效后能够快速匹配输出定位补偿结果。Since the GPS sequence includes all driving information in the driving route, when comparing the GPS sequence with the fault point information database, the positioning signal compensation method provided in this embodiment can quickly find Whether there is a fault point, so that after the positioning fails, the positioning compensation result can be quickly matched and output.
请参见附图5，图5示意性地提供了运行预测性补偿策略的流程图，从图5可以看出，所述判断所述目标车辆的当前定位信息和所述故障点之间是否满足第一预设信号补偿条件，包括：Please refer to accompanying drawing 5, Fig. 5 schematically provides the flow chart of running the predictive compensation strategy, can be seen from Fig. 5, described judging whether the current positioning information of the target vehicle and the fault point satisfy the first A preset signal compensation condition, including:
根据所述目标车辆的当前定位信息，计算所述目标车辆的当前定位位置与下一所述故障点的第二距离间隔，若所述第二距离间隔小于第二距离预设阈值时，则判定所述目标车辆的当前定位信息满足所述第一预设信号补偿条件。According to the current positioning information of the target vehicle, calculate the second distance interval between the current positioning position of the target vehicle and the next fault point, and if the second distance interval is smaller than the second distance preset threshold, then determine The current location information of the target vehicle satisfies the first preset signal compensation condition.
由此，通过比较所述第二距离间隔与所述第二距离预设阈值，确定所述目标车辆是否已经驶入所述故障点所在位置，从而及时对所述目标车辆进行定位信号补偿。Thus, by comparing the second distance interval with the second distance preset threshold, it is determined whether the target vehicle has driven into the location of the fault point, so as to perform positioning signal compensation on the target vehicle in time.
请参见附图6，图6示意性地提供了运行实时补偿策略的流程图，从图6可以看出，所述判断当前定位信息是否满足第二预设信号补偿条件，包括：Please refer to accompanying drawing 6, Fig. 6 schematically provides the flow chart of running real-time compensation strategy, can be seen from Fig. 6, described determining whether current location information satisfies the second preset signal compensation condition, includes:
根据所述目标车辆的当前定位信息，计算所述目标车辆的当前定位位置与前一次定位位置接收定位信息的第二时间间隔和第三距离间隔，若所述第二时间间隔大于第二时间预设阈值或所述第三距离间隔大于第三距离预设阈值时，则判定所述目标车辆的当前定位信息满足所述第二预设信号补偿条件。According to the current positioning information of the target vehicle, calculate the second time interval and the third distance interval between the current positioning position of the target vehicle and the previous positioning position for receiving positioning information, if the second time interval is greater than the second time preset When the threshold or the third distance interval is greater than the third distance preset threshold, it is determined that the current location information of the target vehicle satisfies the second preset signal compensation condition.
由此，通过比较所述第二时间间隔和第二时间预设阈值，或比较所述第三距离间隔和第三距离预设阈值，确定所述目标车辆的当前定位位置是否已经失效，从而及时对所述目标车辆进行定位信号补偿。Thus, by comparing the second time interval with the second time preset threshold, or comparing the third distance interval with the third distance preset threshold, it is determined whether the current positioning position of the target vehicle has failed, thereby timely Perform positioning signal compensation on the target vehicle.
优选的，所述根据所述目标车辆的行驶信息和所述行驶路线，对所述目标车辆的定位信号进行补偿，包括：Preferably, the compensating the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route includes:
以所述当前定位位置为起始位置，并根据所述目标车辆的行驶速度与所述目标车辆的行驶时间获取所述目标车辆的行驶距离，将所述起始位置和所述目标车辆的行驶距离与所述行驶路线匹配，以输出定位补偿结果。Taking the current positioning position as the starting position, and obtaining the traveling distance of the target vehicle according to the traveling speed of the target vehicle and the traveling time of the target vehicle, combining the starting position and the traveling time of the target vehicle The distance is matched against the driving route to output a positioning compensation result.
由此，通过将所述起始位置和所述目标车辆的行驶距离与所述行驶路线匹配，能够及时获取所述目标车辆在无信号或信号较弱的地方的位置信息。Thus, by matching the starting position and the travel distance of the target vehicle with the travel route, the position information of the target vehicle at a place with no signal or a weak signal can be acquired in time.
需要说明的是，本领域技术人员可以理解的所述车辆行驶距离能够在所述目标车辆的各类电控单元内，包括但不限于EMS、仪表和ESP内利用实时车速积分获取，并通过CAN或LIN等通讯方式传输。因此，本发明提供的定位信号补偿方法综合利用了定位信息和目标车辆自身的电控单元，从而弥补了仅有目标车辆的行驶路线而导致的在无信号或信号较弱环境下定位不精确的问题。It should be noted that, those skilled in the art can understand that the vehicle travel distance can be obtained by using real-time vehicle speed integration in various electronic control units of the target vehicle, including but not limited to EMS, instrumentation and ESP, and through CAN Or LIN and other communication methods for transmission. Therefore, the positioning signal compensation method provided by the present invention comprehensively utilizes the positioning information and the electronic control unit of the target vehicle itself, thereby making up for the inaccurate positioning caused by only the driving route of the target vehicle in an environment with no signal or weak signal. question.
实施例二Embodiment two
本实施例提供了一种定位信号补偿系统，所述定位信号补偿系统运行在包括ECU或远程控制终端等设备内，具体地，请参见附图7，图7示意性地提供了定位信号补偿系统的结构图，从图7可以看出，所述定位信号补偿系统，包括：数据获取模块、数据判断模块、预测性补偿模块、实时补偿模块和定位数据恢复模块；This embodiment provides a positioning signal compensation system. The positioning signal compensation system runs in equipment including ECU or remote control terminal. Specifically, please refer to accompanying drawing 7, which schematically provides a positioning signal compensation system As can be seen from Figure 7, the positioning signal compensation system includes: a data acquisition module, a data judgment module, a predictive compensation module, a real-time compensation module and a positioning data recovery module;
其中，所述数据获取模块配置为：获取目标车辆的行驶路线；Wherein, the data acquisition module is configured to: acquire the driving route of the target vehicle;
所述数据判断模块配置为：根据所述行驶路线与预先获取的故障点信息库，判断所述行驶路线中是否存在故障点；The data judging module is configured to: judge whether there is a fault point in the driving route according to the driving route and the pre-acquired fault point information database;
所述预测性补偿模块配置为：判断所述目标车辆的当前定位信息和所述故障点之间是否满足第一预设信号补偿条件，若是，则执行定位信号补偿策略，若否，则执行实时补偿策略；The predictive compensation module is configured to: judge whether the first preset signal compensation condition is satisfied between the current positioning information of the target vehicle and the fault point, if so, execute the positioning signal compensation strategy, and if not, execute the real-time compensation strategy;
所述实时补偿模块配置为：判断当前定位信息是否满足第二预设信号补偿条件，若是，则执行所述定位信号补偿策略；The real-time compensation module is configured to: determine whether the current positioning information satisfies the second preset signal compensation condition, and if so, execute the positioning signal compensation strategy;
所述定位数据恢复模块配置为：根据所述目标车辆的行驶信息和所述行驶路线，对所述目标车辆的定位信号进行补偿。The positioning data recovery module is configured to: compensate the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route.
由于本发明提供的定位信号补偿系统与本发明提供的定位信号补偿方法属于同一发明构思，因此至少具有相同的技术效果，在此不再一一赘述。Since the positioning signal compensation system provided by the present invention and the positioning signal compensation method provided by the present invention belong to the same inventive concept, they have at least the same technical effect, and will not be repeated here.
实施例三Embodiment three
本实施例提供了一种电子设备，包括处理器和存储器，所述存储器上存储有计算机程序，所述计算机程序被所述处理器执行时，实现上述任一实施方式所述的定位信号补偿方法。This embodiment provides an electronic device, including a processor and a memory, where a computer program is stored on the memory, and when the computer program is executed by the processor, the positioning signal compensation method described in any one of the above-mentioned embodiments is implemented. .
由于本发明提供的电子设备与本发明提供的定位信号补偿方法属于同一发明构思，因此至少具有相同的技术效果，在此不再一一赘述。Since the electronic device provided by the present invention and the positioning signal compensation method provided by the present invention belong to the same inventive concept, they have at least the same technical effect, and will not be repeated here.
实施例四Embodiment Four
本实施例提供了一种可读存储介质，所述存储介质内存储有计算机程序，所述计算机程序被处理器执行时，实现上述任一项所述的定位信号补偿方法。This embodiment provides a readable storage medium, where a computer program is stored in the storage medium, and when the computer program is executed by a processor, the positioning signal compensation method described in any one of the foregoing is implemented.
本发明实施方式的可读存储介质，可以采用一个或多个计算机可读的介质的任意组合。可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是但不限于电、磁、光、电磁、红外线或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机硬盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其组合使用。The readable storage medium in the embodiment of the present invention may use any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connection with one or more wires, portable computer hard disk, hard disk, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. As used herein, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。A computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
可以以一种或多种程序设计语言或其组合来编写用于执行本发明操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言-诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言-诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)连接到用户计算机，或者可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。Computer program code for carrying out the operations of the present invention may be written in one or more programming languages, or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, including conventional Procedural Programming Language - such as "C" or a similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via an Internet connection using an Internet service provider). ).
另外，在本文的实施方式中所揭露的系统和方法，也可以通过其他的方式实现。以上所描述的装置实施方式仅仅是示意性的，例如，附图中的流程图和框图显示了根据本文的多个实施方式的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用于执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。In addition, the systems and methods disclosed in the implementation manners herein may also be implemented in other ways. The device embodiments described above are only illustrative, for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functions and operations of possible implementations of devices, methods and computer program products according to multiple embodiments herein . In this regard, each block in a flowchart or block diagram may represent a module, a program segment, or a portion of code that includes one or more programmable components for implementing specified logical functions. Executable instructions, the module, program segment or part of the code contains one or more executable instructions for realizing the specified logic function. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It is also to be noted that each block in the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in special purpose hardware-based systems that perform the specified functions or actions. implemented, or may be implemented by a combination of special purpose hardware and computer instructions. In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example.
综上，本发明提供的定位信号补偿方法，通过将所述行驶路线与所述故障点信息库进行对比，并根据不同的对比结果和当前定位信息，在目标车辆的整个行驶过程中实时进行不同的补偿策略的切换，以确保在所述行驶路线中无论是否存在故障点，所述目标车辆都能够在无信号或信号较弱的地方获取定位补偿结果，以避免目标车辆在行驶过程中出现定位失败的问题；进一步地，本发明提供的定位信号补偿方法无需增加额外的定位设备或基站，因此在提高车辆定位精度的同时规避了高昂的定位设备制造成本，以及定位设备标定和校准的时间，从而使得开发和迭代升级都能够迅速完成，并由此具有良好的投入产出比。To sum up, the positioning signal compensation method provided by the present invention compares the driving route with the fault point information database, and performs real-time different positioning during the entire driving process of the target vehicle according to different comparison results and current positioning information. Switching of the compensation strategy to ensure that no matter whether there is a fault point in the driving route, the target vehicle can obtain the positioning compensation result in a place with no signal or a weak signal, so as to avoid positioning of the target vehicle during driving The problem of failure; further, the positioning signal compensation method provided by the present invention does not need to add additional positioning equipment or base stations, so while improving the positioning accuracy of the vehicle, it avoids the high manufacturing cost of positioning equipment and the time for calibration and calibration of positioning equipment, As a result, development and iterative upgrades can be completed quickly, and thus have a good input-output ratio.
上述仅为本发明的优选实施例而已，并不对本发明起到任何限制作用。任何所属技术领域的技术人员，在不脱离本发明的技术方案的范围内，对本发明揭露的技术方案和技术内容做任何形式的等同替换或修改等变动，均属未脱离本发明的技术方案的内容，仍属于本发明的保护范围之内。The foregoing are only preferred embodiments of the present invention, and do not limit the present invention in any way. Any person skilled in the technical field, within the scope of the technical solution of the present invention, makes any form of equivalent replacement or modification to the technical solution and technical content disclosed in the present invention, which does not depart from the technical solution of the present invention. The content still belongs to the protection scope of the present invention.
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