CN108287354A - A kind of data automatic error correction method and device and navigation equipment - Google Patents

A kind of data automatic error correction method and device and navigation equipment Download PDF

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Publication number
CN108287354A
CN108287354A CN201710015089.2A CN201710015089A CN108287354A CN 108287354 A CN108287354 A CN 108287354A CN 201710015089 A CN201710015089 A CN 201710015089A CN 108287354 A CN108287354 A CN 108287354A
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point
coordinate
combination solution
endpoint
module
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CN108287354B (en
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魏茜茜
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Navinfo Co Ltd
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Navinfo Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • 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
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

Include that post processing difference resolving is carried out to the data of acquisition the present invention relates to a kind of data automatic error correction method and device, obtain the first combination solution result of tight integration pattern and the second combination solution of pine combination pattern as a result, the method includes：Transition detection is carried out to the first combination solution result and the second combination solution result respectively；If in the first combination solution result, there are saltus steps, and saltus step is not present in the second combination solution result, then the corresponding transition trajectory point of the saltus step is determined from the first combination solution result, and determine that error correction tracing point, the transition trajectory point correspond in time with the error correction tracing point from the second combination solution result；The coordinate of transition trajectory point described in Coordinate Adjusting using the error correction tracing point.Such scheme helps fast and accurately to realize data automatic error-correcting.

Description

A kind of data automatic error correction method and device and navigation equipment
Technical field
The present invention relates to geographic information processing technical field, more particularly to a kind of data automatic error correction method and device.
Background technology
Global positioning system (English：Global Positioning System, referred to as：) and inertial navigation system GPS (English：Inertial Navigation System, abbreviation INS) it is current most widely used navigation positioning system.Two System respectively has advantage and disadvantage, and between the advantage and disadvantage of two systems there is very strong complementarity therefore mostly to combine two systems Get up to use.
There are two types of integrated modes for GPS/INS combined systems：Pine combination pattern and tight integration pattern.Wherein, pine combination pattern It is based primarily upon the position and speed that GPS and INS are measured and carries out navigator fix, generally using Kalman filtering to the two systems Data carry out post processing difference resolving, obtain combination solution result to the end.It is different from pine combination pattern, the main base of tight integration pattern Navigator fix is carried out in pseudorange and pseudorange rates, Kalman filtering equally may be used and obtain combination solution result.
When traverse measurement vehicle carries out data acquisition, if measure vehicle easy through gap bridge bottom etc. the region for blocking GPS signal, tightly It is frequently present of saltus step in the combination solution result that integrated mode obtains, seriously affects the availability of finally obtained map datum.
Currently, mostly by way of manually adjusting tight integration pattern parameters repeatedly, repeated rear place is carried out It manages difference to resolve, to eliminate saltus step.In this manner, error correction procedure is based on personnel's experience, that there are efficiency is low, accuracy is poor etc. Disadvantage.
Invention content
The object of the present invention is to provide a kind of data automatic error correction method and devices, help fast and accurately to realize number According to automatic error-correcting.
To achieve the goals above, in a first aspect, the present invention provides a kind of data automatic error correction method, the method packet It includes：
Transition detection is carried out to the first combination solution result and the second combination solution result respectively；First combination Solution result and second combination solution result computational methods be：Post processing difference resolving is carried out to the data of acquisition, obtains tight integration First combination solution result of pattern and the second combination solution result of pine combination pattern；
If there are saltus steps in the first combination solution result, and saltus step is not present in the second combination solution result, then The corresponding transition trajectory point of the saltus step is determined from the first combination solution result, and solves result from second combination In determine that error correction tracing point, the transition trajectory point correspond in time with the error correction tracing point；
The coordinate of transition trajectory point described in Coordinate Adjusting using the error correction tracing point.
Optionally, transition detection is carried out to the first combination solution result, including：
Calculate the second differnce of the adjacent track point in the first combination solution result；
If the second differnce is more than default transition detection threshold value, exists in judgement the first combination solution result and jump Become.
Optionally it is determined that the transition trajectory point and the error correction tracing point, including：
Centered on the saltus step, calculates the first combination solution result to both sides and combine phase in solution result with described second The coordinate difference of tracing point is answered, until the coordinate difference is not more than preset difference value, obtains first in the first combination solution result Third endpoint and the 4th endpoint in endpoint and the second endpoint and the second combination solution result, the first end point and institute It is corresponding in time to state third endpoint, second endpoint and the 4th endpoint are corresponding in time；
Tracing point between the first end point and second endpoint is determined as the transition trajectory point；
Tracing point between the third endpoint and the 4th endpoint is determined as the error correction tracing point.
Optionally, the coordinate of transition trajectory point described in the Coordinate Adjusting using the error correction tracing point, including：
Utilize error correction track point coordinates, coordinate difference, the second end of the first end point and the third endpoint The coordinate difference of point and the 4th endpoint, calculates coordinate after the amendment of the transition trajectory point；
It is coordinate after the amendment by the Coordinate Adjusting of the transition trajectory point.
Optionally, by following formula, coordinate after the amendment of the transition trajectory point is calculated：
CT=CL+(AT–AL)+[(BT–BL)-(AT–AL)]*SAC/SAB,
Wherein, ATIndicate the coordinate of first end point；ALIndicate the coordinate of third endpoint；BTIndicate the coordinate of the second endpoint；BL Indicate the coordinate of the 4th endpoint；CTCoordinate after the amendment of expression transition trajectory point；CLIndicate the coordinate of error correction tracing point；SACIt indicates The distance between error correction tracing point and third endpoint；SABIndicate the distance between third endpoint and the 4th endpoint.
Optionally, the data of the acquisition are High-precision vehicle track data, the coordinate tune using the error correction tracing point After the coordinate of the whole transition trajectory point, the method further includes：
Using the default mounting point of basic road network, the continuous rail of the first combination solution result to completing data automatic error-correcting Mark generates the geometry of line point structure into Break Row processing, and the default mounting point is the data of the acquisition basic road network Shi Jilu is obtained；
The correspondence recorded when being acquired by data, to the line in the geometry and the line in the basic road network Carry out one-to-one matching；
Judge whether the point in the geometry has the reference attribute preserved in preset configuration table, it is described to refer to attribute Indicate a kind of mounting point；
If the point in the geometry has the reference attribute preserved in preset configuration table, to point, the Yi Jiyu The front and back two lines connected of the point are virtually mounted；Otherwise, it is carried out to the point and with the two lines connected before and after the point real Body mounts.
Optionally, it the described pair of point and is virtually mounted with the two lines connected before and after the point, including：
The extreme coordinates for obtaining one end that every line is connected with the point therefrom choose an extreme coordinates as the point Coordinate；
Make the attribute information virtually mounted：The identity mark for the two lines that record is connected with the point on the point Know, and records the identity of the point on each line.
Optionally, the method further includes：
Using the coordinate difference between the extreme coordinates, the two lines are stitched together；
Calculate the curvature value of spliced two lines.
Optionally, the described pair of point and entity mounting is carried out with the two lines that are connected before and after the point, including：
The extreme coordinates for obtaining one end that every line is connected with the point will be described if two extreme coordinates are identical Coordinate of the extreme coordinates as the point；If two extreme coordinates differences, smoothly locate described two extreme coordinates Reason, the coordinate of one end that treated coordinate is connected as the coordinate of the point and every line with the point；
Make the attribute information of the entity mounting：The identity mark for the two lines that record is connected with the point on the point Know, and records the identity of the point on each line.
Second aspect, the present invention provide a kind of data automatic error-correcting device, and described device includes：
Transition detection module, for carrying out saltus step to the first combination solution result and the second combination solution result respectively Detection；First combination solves result and the computational methods of the second combination solution result are：It is poor that post-processing is carried out to the data of acquisition It decomposes and calculates, obtain the first combination solution result of tight integration pattern and the second combination solution result of pine combination pattern；
Tracing point determining module, for there are saltus step, and second combination to be unhitched in the first combination solution result When saltus step being not present in fruit, the corresponding transition trajectory point of the saltus step, Yi Jicong are determined from the first combination solution result Error correction tracing point is determined in the second combination solution result, the transition trajectory point and the error correction tracing point in time one One corresponds to；
Coordinate Adjusting module, the coordinate for transition trajectory point described in the Coordinate Adjusting using the error correction tracing point.
Optionally, the transition detection module includes：
Difference Calculation module, the second differnce for calculating the adjacent track point in the first combination solution result；
Saltus step determination module, for when the second differnce is more than default transition detection threshold value, judging described first group There are saltus steps in conjunction solution result.
Optionally, the tracing point determining module includes：
Coordinate difference computing module, for centered on the saltus step, the first combination solution result and institute to be calculated to both sides The coordinate difference of corresponding tracing point in the second combination solution result is stated, until the coordinate difference is not more than preset difference value, obtains described the First end point and the second endpoint in one combination solution result and the third endpoint in the second combination solution result and the 4th end Point, the first end point and the third endpoint are corresponding in time, and second endpoint is with the 4th endpoint in the time It is upper corresponding；
Transition trajectory point determining module, for the tracing point between the first end point and second endpoint to be determined as The transition trajectory point；
Error correction tracing point determining module, for the tracing point between the third endpoint and the 4th endpoint to be determined as The error correction tracing point.
Optionally, the Coordinate Adjusting module includes：
Coordinate calculation module after amendment, for utilizing error correction track point coordinates, the first end point and the third The coordinate difference of the coordinate difference of endpoint, second endpoint and the 4th endpoint calculates the amendment recoil of the transition trajectory point Mark；
Coordinate Adjusting submodule, for being coordinate after the amendment by the Coordinate Adjusting of the transition trajectory point.
Optionally, coordinate calculation module is by following formula after the amendment, after the amendment for calculating the transition trajectory point Coordinate：
CT=CL+(AT–AL)+[(BT–BL)-(AT–AL)]*SAC/SAB,
Wherein, ATIndicate the coordinate of first end point；ALIndicate the coordinate of third endpoint；BTIndicate the coordinate of the second endpoint；BL Indicate the coordinate of the 4th endpoint；CTCoordinate after the amendment of expression transition trajectory point；CLIndicate the coordinate of error correction tracing point；SACIt indicates The distance between error correction tracing point and third endpoint；SABIndicate the distance between third endpoint and the 4th endpoint.
Optionally, the data of the acquisition are High-precision vehicle track data, and described device further includes：
Geometry generation module, for the default mounting point using basic road network, to completing the of data automatic error-correcting The continuous path of one combination solution result generates the geometry of line point structure into Break Row processing, and the default mounting point is to adopt It records to obtain when the data for collecting the basic road network；
Matching module, the correspondence recorded when for being acquired by data, in the geometry line with it is described Line in basic road network carries out one-to-one matching；
Judgment module, for judging the point in the geometry whether with the reference preserved in preset configuration table Attribute, it is described to indicate a kind of mounting point with reference to attribute；
Virtual knock-down module has the reference attribute preserved in preset configuration table for the point in the geometry When, it is virtually mounted to the point and with the two lines connected before and after the point；
Entity knock-down module does not have the reference attribute preserved in preset configuration table for the point in the geometry When, carry out entity mounting to the point and with the two lines connected before and after the point.
Optionally, the virtual knock-down module, the extreme coordinates for obtaining one end that every line is connected with the point, from The middle coordinate for choosing an extreme coordinates as the point；Make the attribute information virtually mounted：It is recorded on the point The identity of the two lines connected with the point, and the identity of the point is recorded on each line.
Optionally, described device further includes：
Curvature value computing module, for using the coordinate difference between the extreme coordinates, the two lines to be spliced one It rises；Calculate the curvature value of spliced two lines.
Optionally, the entity knock-down module, the extreme coordinates for obtaining one end that every line is connected with the point, such as Two extreme coordinates of fruit are identical, then using the extreme coordinates as the coordinate of the point；If two extreme coordinates differences, right Described two extreme coordinates are smoothed, using treated coordinate as the coordinate of the point and every line with it is described The coordinate of one end that point connects；Make the attribute information of the entity mounting：Record is connected with the point on the point two The identity of line, and the identity of the point is recorded on each line.
In data automatic error-correcting scheme of the present invention, in the first combination solution result and pine combination pattern for obtaining tight integration pattern The second combination solution result after, can be triggered automatic carries out transition detection；If transition detection result is：First combination is unhitched There are saltus steps in fruit, and saltus step is not present in the second combination solution result, then explanation currently needs to carry out data correction.Correspond to This, can determine transition trajectory point, and determined from the second combination solution result for repairing from the first combination solution result The error correction tracing point of positive transition track point coordinates, in this way, can be based on the coordinate of error correction tracing point, to the coordinate of transition trajectory point It is weighted adjustment.Such scheme helps fast and accurately to realize data automatic error-correcting, and can ensure the first combination solution As a result it in, is seamlessly connected between the track of adjustment region and the track of non-adjustment region, helps to improve data correction Precision.
Description of the drawings
Fig. 1 is the flow diagram of data automatic error correction method of the embodiment of the present invention；
Fig. 2 is the flow diagram of transition detection method in the embodiment of the present invention；
Fig. 3 is the exemplary plot of Coordinate Adjusting in the embodiment of the present invention；
Fig. 4 is the flow diagram that transition trajectory point coordinates method is adjusted in the embodiment of the present invention；
Fig. 5 is the flow diagram of high accuracy data processing method of the embodiment of the present invention；
Fig. 6 is a kind of schematic diagram of centerline structure of the embodiment of the present invention；
Fig. 7 is the flow diagram of intelligent correction method of the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of data automatic error-correcting device disclosed by the embodiments of the present invention；
Fig. 9 is the structural schematic diagram of high accuracy data processing unit of the embodiment of the present invention；
Figure 10 is the composition frame chart of navigation equipment provided in an embodiment of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
It is the flow diagram of data automatic error correction method of the embodiment of the present invention referring to Fig. 1., this method may include with Lower step：
Step 101, transition detection is carried out to the first combination solution result and the second combination solution result respectively.
The embodiment of the present invention can carry out transition detection to post-processing data automatically, and when needed, according to loose group The combination solution of syntype is as a result, correct the combination solution of tight integration pattern as a result, helping fast and accurately to realize that data are entangled automatically It is wrong.
Here the first combination solution result and the second combination solution result can be got using following methods in advance：To adopting The data of collection carry out post processing difference resolving, and the first combination for obtaining tight integration pattern solves the second of result and pine combination pattern Combination solution result.
As an example, GPS/INS gathered datas and base station data can be imported business software (for example, InertialExplorer post processing difference resolving) is carried out, obtains the first combination solution of tight integration pattern as a result, and pine combination Second combination solution result of pattern.
It is to be appreciated that combination solution result can be presented as the wheelpath with time and coordinate, that is to say, that combination The tracing point solved in result has two attribute data：Data acquisition time, three-dimensional coordinate, and the first combination solution result and second Tracing point in combination solution result, is one-to-one in time.
The embodiment of the present invention provides a kind of scheme of automatic carry out transition detection, below with first combination solution result in into For row transition detection, detection process is explained.Referring to Fig. 1, wherein further including having saltus step in the embodiment of the present invention The flow diagram of detection method, may comprise steps of：
Step 201, the second differnce of the adjacent track point in the first combination solution result is calculated.
Step 202, if the second differnce is more than default transition detection threshold value, judgement first combination solves in result There are saltus steps.
In general, the spike of a saltus step can be determined by least three tracing point, therefore the embodiment of the present invention can calculate phase The second differnce of adjacent tracing point, and combine and preset transition detection threshold decision with the presence or absence of saltus step.Wherein, transition detection threshold is preset Value can be depending on the precision of generated map, for example, default transition detection threshold value can be 10cm, the embodiment of the present invention pair This can be not specifically limited.It is to be appreciated that if second differnce is more than default transition detection threshold value, illustrate not meeting herein The requirement of the accuracy of map, there are saltus steps.
The second differnce of adjacent track point obtains it is to be understood that carry out the difference processing of three-dimensional coordinate to adjacent track point To the coordinate difference of adjacent track point；Then, on the basis of the coordinate difference of adjacent track point, second order difference is carried out, that is to say, that Difference processing is carried out using adjacent coordinates difference, the second differnce of adjacent track point can be obtained.It is to be appreciated that phase described in herein Adjacent tracing point refers to the tracing point in the first combination solution result.
When carrying out transition detection to the second combination solution result, the realization of scheme shown in Fig. 1 is can refer to, details are not described herein again.
Step 102, it if there are saltus steps in the first combination solution result, and is not present in the second combination solution result Saltus step then determines the corresponding transition trajectory point of the saltus step from the first combination solution result, and from described second group It closes in solution result and determines that error correction tracing point, the transition trajectory point correspond in time with the error correction tracing point.
Step 103, the coordinate of transition trajectory point described in the Coordinate Adjusting using the error correction tracing point.
In general, tight integration pattern has higher combination precision in theory, and when visible satellite number is less than 4 It can also use, so mainly generating map datum using the combination solution result of tight integration.In view of the rear place of tight integration pattern There may be the bad saltus steps of track quality, the embodiment of the present invention can utilize the post-processing number of pine combination pattern in reason data According to carrying out objective and accurate amendment to saltus step.
The embodiment of the present invention can utilize the combination solution result of both of which to be weighted splicing, realize repairing for saltus step data Just.It specifically may include following two processing actions：
1. determining transition trajectory point and error correction tracing point.
Referring to Fig. 2, the flow signal that transition trajectory point and error correction track point methods are determined in the embodiment of the present invention is shown Figure, may comprise steps of：
Step 301, it centered on the saltus step, combines and unhitches with described second to both sides calculating the first combination solution result The coordinate difference of corresponding tracing point in fruit obtains until the coordinate difference is not more than preset difference value in the first combination solution result First end point and the second endpoint and it is described second combination solution result in third endpoint and the 4th endpoint, the first end Point is corresponding in time with the third endpoint, and second endpoint and the 4th endpoint are corresponding in time.
Step 302, the tracing point between the first end point and second endpoint is determined as the transition trajectory point； Tracing point between the third endpoint and the 4th endpoint is determined as the error correction tracing point.
With reference to example shown in Fig. 3, explanation is further explained to the embodiment of the present invention.
For each saltus step, in the endpoint for determining adjustment region, it can be calculated after navigating to the spike of saltus step The coordinate difference of tracing point in both modes near spike obtains the combination solution difference between both of which.In general, closer to Spike, coordinate difference are bigger (that is, combination solution difference is bigger).
Specifically, if the coordinate difference of the tracing point adjacent with spike in both modes is more than preset difference value, to jump It is moved to both sides centered on change, continues to calculate other coordinate differences between mutual corresponding tracing point in time, until determining Go out the endpoint of adjustment region, then stops moving to both sides.
In example shown in Fig. 3, coordinate difference a, b is not more than preset difference value, then the endpoint of adjustment region unhitches in the first combination A is presented as in fruitTAnd BT, transition trajectory point refer to be located at ATWith BTBetween, all participation coordinate differences calculate, and coordinate difference is big In the tracing point of preset difference value；The endpoint of adjustment region is presented as A in the second combination solution resultLAnd BL, error correction tracing point refers to It is to be located at ALWith BLBetween, with the one-to-one tracing point of transition trajectory point.Wherein, ATWith ALIt is corresponding in time, BTWith BL It is corresponding in time.
In the embodiment of the present invention, preset difference value can be according to the map depending on precision, for example, preset difference value is 1cm, this Inventive embodiments can be not specifically limited this.
2. adjusting the coordinate of transition trajectory point.
Referring to Fig. 4, shows the flow diagram for adjusting transition trajectory point coordinates method in the embodiment of the present invention, can wrap Include following steps：
Step 401, the coordinate difference using error correction track point coordinates, the first end point with the third endpoint, institute The coordinate difference for stating the second endpoint and the 4th endpoint calculates coordinate after the amendment of the transition trajectory point.
Step 402, it is coordinate after the amendment by the Coordinate Adjusting of the transition trajectory point.
As an example, adjustment can be weighted to the coordinate of transition trajectory point according to distance.Specifically can by with Lower formula calculates coordinate after the amendment of transition trajectory point：
CT=CL+(AT–AL)+[(BT–BL)-(AT–AL)]*SAC/SAB。
Wherein, ATIndicate the coordinate of first end point；ALIndicate the coordinate of third endpoint；BTIndicate the coordinate of the second endpoint；BL Indicate the coordinate of the 4th endpoint；CTCoordinate after the amendment of expression transition trajectory point；CLIndicate the coordinate of error correction tracing point；SACIt indicates The distance between error correction tracing point and third endpoint；SABIndicate the distance between third endpoint and the 4th endpoint.
In conjunction with Fig. 3 examples cited Coordinate Adjusting is carried out for any one tracing point in adjustment region, such as tracing point C When, if the tracing point is expressed as C in the second combination solution resultL, CLWith ALBetween distance be expressed as SAC, ALWith BLBetween away from From expression SAB, then tracing point C first combination solution result amendment recoil be designated as：CT=CL+a+(b–a)*SAC/SAB.Wherein, a Indicate ATWith ALBetween coordinate difference；B indicates BTWith BLBetween coordinate difference；SABCan be ALWith BLBetween air line distance, Can be ALWith BLBetween track curve distance；Similarly, SACCan also be air line distance or curve distance, the present invention is implemented Example can be not specifically limited this.
It is to be appreciated that the saltus step in the embodiment of the present invention can be a trip point, can also be to be jumped by least two The hop region that height is formed.No matter which kind of situation determines adjustment region, and utilize second group using said program The coordinate value in solution result is closed, coordinate value adjustment is carried out to the corresponding tracing point in the first combination solution result, to correct first Saltus step present in combination solution result.Specific implementation can refer to introduction made above, no longer be illustrated herein.
In conclusion the embodiment of the present invention can obtain first combination solution result and second combination solution result when, Be triggered it is automatic carry out transition detection, and determining that the when of needing to carry out data automatic error-correcting (exists in the first combination solution result and jumps Become, and there is no saltus steps in the second combination solution result), based on the second combination solution as a result, the first combination of adjustment solves the phase in result Answer the coordinate of tracing point.Such scheme helps fast and accurately to realize data automatic error-correcting, can additionally ensure first In combination solution result, it is seamlessly connected between the track of adjustment region and the track of non-adjustment region, helps to improve data Modified precision.
Specifically, the embodiment of the present invention carries out the data of post processing difference resolving, can be that common traverse measurement vehicle is adopted The low accuracy data of collection；Alternatively, can also be the high accuracy data that high precision movement measures vehicle acquisition.Wherein, high accuracy data Can be the data that ADAS measures vehicle or HAD measures vehicle acquisition.In general, the traveling acquisition on regulation track of traverse measurement vehicle It is track level data, interior industry can carry out mounting processing as road level data.
As an example, the data that the embodiment of the present invention carries out post processing difference resolving are High-precision vehicle track data, profit After completing data automatic error-correcting with scheme described above, whole entities mounting of high accuracy data can be made.In view of entity It during mounting processing, needs to be smoothed coordinate, causes workload larger, and accorded with completely it is difficult to ensure that making result Standardization requirement.For this purpose, the embodiment of the present invention also provides following high accuracy data processing scheme, help to reduce mounting processing Overall work amount.
Referring to Fig. 5, the flow diagram of high accuracy data processing method of the embodiment of the present invention is shown.This method can be with Include the following steps：
Step 501, using the default mounting point of basic road network, the first combination to completing data automatic error-correcting solves result Continuous path generates the geometry of line point structure into Break Row processing, and the default mounting point is to acquire the basic road network Data when record to obtain.
Step 502, the correspondence recorded when being acquired by data, in the geometry line and the basic road Line in net carries out one-to-one matching.
In the embodiment of the present invention, basic road network can be understood as low accuracy data, can carry out at basic road network Default mounting point is determined when reason, is stored in the attribute information of basic road network.In general, default mounting point can be by a line Link interrupts as two lines.For example, default mounting point can be label, ring road, the rotary island etc. on track.
It specifically, can be to the continuous rail for the first combination solution result for completing data automatic error-correcting according to default mounting point Mark is handled into Break Row.For example, the label on track can interrupt a link；Alternatively, when entering ring road from main stem, ring road Mounting point is can also be used as, a link is interrupted, generation includes line, puts the geometry of structure.
In general, high accuracy data can be issued according to low accuracy data, in this way, can pass through the height recorded when field data acquisition Correspondence between the link of precision track and basic road network strings, the link of link and high accuracy data to basic road network into The one-to-one matching of row namely clear high accuracy data refer specifically to accuracy data low for which item.
Step 503, judge whether the point in the geometry has the reference attribute preserved in preset configuration table, it is described A kind of mounting point is indicated with reference to attribute.
Step 504, if the point in the geometry has the reference attribute preserved in preset configuration table, to this It point and is virtually mounted with the two lines connected before and after the point.
Step 505, if the point in the geometry does not have the reference attribute preserved in preset configuration table, to this Point and carry out entity mounting with the two lines that are connected before and after the point.
When measuring vehicle progress data acquisition, when encountering main road and ring road, the data of preferential collection main road.In this way, can incite somebody to action It provides that the non-main road situation in track is used as and refers to attribute, be written in preset configuration table.For example, measuring vehicle acquires certain track data When, the road conditions of ring road are entered for main stem, ring road can be indicated with this using ring road as with reference in attribute write-in preset configuration table A type of mounting point can be used as.For another example when measurement vehicle acquires another track data, rotary island is entered for main stem Road conditions can indicate that rotary island can be as another type of using rotary island as with reference in attribute write-in preset configuration table using this Mounting point.
Specifically, according to the reference attribute (for example, being ring road, rotary island etc. with reference to attribute) preserved in preset configuration table, when When there is the reference attribute preserved in allocation list with the common road network link of high accuracy data corresponding position, can to mounting point, Two link with being connected before and after mounting point, are virtually mounted.
Geometry shown in Figure 6, for virtually mounting, it can be understood as the coordinate of mounting point and a link Extreme coordinates it is identical.Specifically, can obtain the coordinate of the terminal A of link1, the terminal B of link2 coordinate, then therefrom Choose coordinate of the extreme coordinates as mounting point C.That is, during mounting, without being smoothed to coordinate, Help to reduce workload.
After the coordinate for obtaining mounting point, the attribute information virtually mounted can be made.Specifically, can remember in mounting point The identity for the two lines that record is connected with the mounting point, and the identity of mounting point is recorded on each line.Namely It says, by making attribute information, can specify and be mounted with which link and link is articulated in which mounting point in mounting point On.
As an example, the embodiment of the present invention can also utilize the coordinate difference between the extreme coordinates, by institute Two lines are stated to be stitched together；Calculate the curvature value of spliced two lines.Specifically, geometry shown in Figure 6, if Coordinate difference between terminal A and terminal B is L, can link2 be moved to left L, link1 and link2 are stitched together, i.e., two Endpoint has same coordinate；Alternatively, also can link1 be moved to right L, link1 and link2 are stitched together, the embodiment of the present invention This can be not specifically limited.In this way, after the completion of splicing, then the curvature value of two link is calculated, keep Turning regions more smooth.
Geometry shown in Figure 6, for entity mounting, it can be understood as the coordinate of mounting point and two link Extreme coordinates it is identical.Specifically, can obtain the coordinate of the terminal A of link1, the terminal B of link2 coordinate.If two Extreme coordinates are identical, then using extreme coordinates as the coordinate of mounting point C；If two extreme coordinates differences, two can be held Point coordinates is smoothed, using treated coordinate as the coordinate of the terminal A of link1, the terminal B of link2, mounting point C.
As an example, the smoothing processing in the embodiment of the present invention can be the end for the terminal A and link2 for taking link1 Coordinate between point B, as treated coordinate, the embodiment of the present invention can be not specifically limited this.
After the coordinate for obtaining mounting point, the attribute information of entity mounting can be made.Specifically, can remember in mounting point The identity for the two lines that record is connected with the mounting point, and the identity of mounting point is recorded on each line.Namely It says, by making attribute information, can specify and be mounted with which link and link is articulated in which mounting point in mounting point On.
In another embodiment of the present invention, in order to the more complete statement present invention, reference can be made to interior in Fig. 7 Hold the application process for understanding technical solution of the present invention and combined outside.
S701:The navigation system (or other navigation system) that GNSS+INS first is applied in combination is collected corresponding former Beginning position data.Here raw position data is the original position data for including latitude and longitude information.
S702:It uses pine combination pattern and tight integration pattern to resolve raw position data respectively later, and respectively obtains phase The high accuracy data of the pine combination pattern and tight integration pattern answered, i.e. the solution result set of pine combination pattern and tight integration pattern unhitch Fruit collects.
S703:It proceeds by high-precision difference method of comparison to be compared, judges whether saltus step.Threshold can be set here Value whether there is saltus step by threshold decision.And this step operation is the execution content of S101 steps, is no longer explained herein It states.
S704:Saltus step data are extracted later, if there are saltus step in the first combination solution result, and described the Saltus step is not present in two combination solution results, then determines the corresponding transition trajectory of the saltus step from the first combination solution result Point, and determine error correction tracing point from the second combination solution result.This step is S102 steps.
S705:Using tracing point weighting Shift Method, transition trajectory point described in the Coordinate Adjusting using the error correction tracing point Coordinate.
Citing,
Determine that tight integration and pine combination solution difference are less than two point A and B of threshold value in saltus step both sides.Tight integration coordinate is respectively AT, BT, pine combination coordinate is respectively AL, BL, and calculates separately its difference a=AT-AL and difference b=BT-BL；
A points are calculated to the length s between B points；
By A points to the pine combination point between B points, it is substituted into tight integration.
Assuming that any point C between A and B points, pine combination coordinate remembers CL, and the distance of range points A is cs, then C points are substituted into The coordinate of tight integration is CL+a+ (b-a) * cs/s.
4) obtained result is replaced.
The alternative ensures that replaced track can be seamlessly connected with tight integration, in turn ensures the essence of the correction Degree.
S706:Finally obtain high-precision product or system.
S707:The product or system are subjected to publication application.
In conclusion the embodiment of the present invention beats high-precision track data using the attribute information of basic road network Disconnected processing, and after completing the matching one by one between the link of high accuracy data and the link of low accuracy data, it can be according to default The reference attribute preserved in allocation list determines the mounting mode between dotted line.If carrying out entity mounting, coordinate is put down Sliding processing, ensures that the extreme coordinates of the coordinate and two link of mounting point are consistent；If carrying out virtual on-hook, without into Row smoothing processing chooses one from the extreme coordinates of two link, as mounting point coordinates.Such scheme, contributes to Reduce the overall work amount of mounting processing.
With method shown in Fig. 1 correspondingly, the embodiment of the present invention also provides a kind of data automatic error-correcting device.Referring to Fig. 8, The structural schematic diagram for showing data automatic error-correcting device may include：
Transition detection module 801, for carrying out transition detection to the first combination solution result and the second combination solution result respectively； Here the first combination solution result and the second combination solution result can be got using following methods in advance：To the data of acquisition Post processing difference resolving is carried out, the second combination for obtaining the first combination solution result and pine combination pattern of tight integration pattern is unhitched Fruit.
Tracing point determining module 802, in the first combination solution result there are saltus step, and the second combination solution When saltus step being not present in as a result, the corresponding transition trajectory point of the saltus step is determined from the first combination solution result, and Error correction tracing point is determined from the second combination solution result, and the transition trajectory point and the error correction tracing point are in time It corresponds；
Coordinate Adjusting module 803, the coordinate for transition trajectory point described in the Coordinate Adjusting using the error correction tracing point.
Optionally, the transition detection module includes：
Difference Calculation module, the second differnce for calculating the adjacent track point in the first combination solution result；
Saltus step determination module, for when the second differnce is more than default transition detection threshold value, judging described first group There are saltus steps in conjunction solution result.
Optionally, the tracing point determining module includes：
Coordinate difference computing module, for centered on the saltus step, the first combination solution result and institute to be calculated to both sides The coordinate difference of corresponding tracing point in the second combination solution result is stated, until the coordinate difference is not more than preset difference value, obtains described the First end point and the second endpoint in one combination solution result and the third endpoint in the second combination solution result and the 4th end Point, the first end point and the third endpoint are corresponding in time, and second endpoint is with the 4th endpoint in the time It is upper corresponding；
Transition trajectory point determining module, for the tracing point between the first end point and second endpoint to be determined as The transition trajectory point；
Error correction tracing point determining module, for the tracing point between the third endpoint and the 4th endpoint to be determined as The error correction tracing point.
Optionally, the Coordinate Adjusting module includes：
Coordinate calculation module after amendment, for utilizing error correction track point coordinates, the first end point and the third The coordinate difference of the coordinate difference of endpoint, second endpoint and the 4th endpoint calculates the amendment recoil of the transition trajectory point Mark；
Coordinate Adjusting submodule, for being coordinate after the amendment by the Coordinate Adjusting of the transition trajectory point.
Optionally, coordinate calculation module is by following formula after the amendment, after the amendment for calculating the transition trajectory point Coordinate：CT=CL+(AT–AL)+[(BT–BL)-(AT–AL)]*SAC/SAB,
Wherein, ATIndicate the coordinate of first end point；ALIndicate the coordinate of third endpoint；BTIndicate the coordinate of the second endpoint；BL Indicate the coordinate of the 4th endpoint；CTCoordinate after the amendment of expression transition trajectory point；CLIndicate the coordinate of error correction tracing point；SACIt indicates The distance between error correction tracing point and third endpoint；SABIndicate the distance between third endpoint and the 4th endpoint.
In the embodiment of the present invention, transition detection module 801 obtains the first combination solution result and the second combination solution result Afterwards, can be triggered automatic progress transition detection；It is jumped if existed in the judgement of transition detection module 801 first combination solution result Become, and saltus step is not present in the second combination solution result, i.e., explanation currently needs to carry out data correction, corresponds to this, tracing point is true Cover half block 802 can determine transition trajectory point from the first combination solution result, and be determined from the second combination solution result Error correction tracing point for adjusting transition trajectory point coordinates.In this way, Coordinate Adjusting module 803 can be based on the seat of error correction tracing point Mark, adjustment is weighted to the coordinate of transition trajectory point.The embodiment of the present invention helps fast and accurately to realize data certainly Dynamic error correction, and so coordinate modification scheme, it can also be ensured that in the first combination solution result, the track of adjustment region and do not adjust area It is seamlessly connected between the track in domain, helps to improve the precision of data correction.
With method shown in Fig. 6 correspondingly, if the data of acquisition are High-precision vehicle track data, the embodiment of the present invention also carries For a kind of high accuracy data processing unit.Referring to Fig. 9, the structural schematic diagram of high accuracy data processing unit is shown, can wrap It includes：
Geometry generation module 901, for the default mounting point using basic road network, to completing data automatic error-correcting The continuous path of first combination solution result generates the geometry of line point structure into Break Row processing, and the default mounting point is It records to obtain when the data for acquiring the basic road network；
Matching module 902, the correspondence recorded when for being acquired by data, in the geometry line and institute The line stated in basic road network carries out one-to-one matching；
Judgment module 903, for judging the point in the geometry whether with preserving in preset configuration table It is described to indicate a kind of mounting point with reference to attribute with reference to attribute；
Virtual knock-down module 904 for the point in the geometry there is the reference preserved in preset configuration table to belong to When property, virtually mounted to the point and with the two lines connected before and after the point；
Entity knock-down module 905 does not have the reference preserved in preset configuration table for the point in the geometry When attribute, entity mounting is carried out to the point and with the two lines connected before and after the point.
Optionally, the virtual knock-down module, the extreme coordinates for obtaining one end that every line is connected with the point, from The middle coordinate for choosing an extreme coordinates as the point；Make the attribute information virtually mounted：It is recorded on the point The identity of the two lines connected with the point, and the identity of the point is recorded on each line.
Optionally, described device further includes：
Curvature value computing module, for using the coordinate difference between the extreme coordinates, the two lines to be spliced one It rises；Calculate the curvature value of spliced two lines.
Optionally, the entity knock-down module, the extreme coordinates for obtaining one end that every line is connected with the point, such as Two extreme coordinates of fruit are identical, then using the extreme coordinates as the coordinate of the point；If two extreme coordinates differences, right Described two extreme coordinates are smoothed, using treated coordinate as the coordinate of the point and every line with it is described The coordinate of one end that point connects；Make the attribute information of the entity mounting：Record is connected with the point on the point two The identity of line, and the identity of the point is recorded on each line.
In addition, an embodiment of the present invention provides a kind of navigation equipments, as shown in Figure 10, which includes：Data mould Block 505, search module 510, navigation module 515, entertainment modules 520, communication module 525, vehicle-mounted interest are driven operating system 500, are passed Sensing system 550 and user interactive module.Optionally, user interactive module includes information entry module 530, intelligent sound interaction Module 535, analysis module 540 and display module 545.Wherein：
Data module 505, for storing and updating electronic map data, which is any of the above-described related real Apply data automatic error-correcting device disclosed in example treated data in navigation electronic map；
Search module 510, for executing search operation according to user instruction and exporting search result；
Navigation module 515, for providing two-dimensional/three-dimensional path planning and navigation clothes to the user according to obtained navigation instruction Business；
Entertainment modules 520, for providing game, music and other audio-visual entertainment selections；Communication module 525, for obtaining Newer map datum, dynamic information, the communication of one-to-one or group voice/video；
Information entry module 530, the instruction being manually entered by touch screen or button for receiving user；
Intelligent sound interactive module 535 instructs for receiving user speech, carries out voice wake-up and voice control, and The result of user speech instruction is executed for voice output；
Analysis module 540 carries out speech recognition, lexical analysis and instruction conversion for being instructed to user speech, and is used for Corresponding module is notified to execute the user speech instruction identified；Wherein, user speech instruction is any one of arbitrary languages The expression of kind sentence pattern；
Display module 545, the search result provided for showing search module, guidance path, the number of navigation module offer The dynamic information that the map datum and communication module provided according to module provides, illustrated using voice, two-dimensional/three-dimensional, And/or the mode of word is shown；
Vehicle-mounted interest drives operating system 500, for providing running environment and support for above-mentioned each module；
Sensor-based system 550 drives operating system for the interest and provides real-time dynamic for monitoring vehicle-state and traffic information Information.
It should be noted that due to described in aforementioned any embodiment data automatic error correction method and system have above-mentioned skill Art effect, therefore, the navigation equipment for using data automatic error correction method and system described in aforementioned any embodiment should also have Standby corresponding technique effect, specific implementation process is similar to the above embodiments, does not repeat hereby.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited to above-mentioned realities The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical scheme of the present invention Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can The combination of energy no longer separately illustrates.

Claims (10)

1. a kind of data automatic error correction method, which is characterized in that the method includes：
Transition detection is carried out to the first combination solution result and the second combination solution result respectively；First combination is unhitched Fruit and second combination solution result computational methods be：Post processing difference resolving is carried out to the data of acquisition, obtains tight integration pattern First combination solution result and pine combination pattern second combination solution result；
The case where there are there is no saltus steps in saltus step and the second combination solution result in result is solved for first combination, from The corresponding transition trajectory point of the saltus step is determined in the first combination solution result, and from the second combination solution result Determine that error correction tracing point, the transition trajectory point correspond in time with the error correction tracing point；
According to the coordinate of the error correction tracing point, the coordinate of the transition trajectory point is adjusted.
2. according to the method described in claim 1, it is characterized in that, carrying out transition detection, packet to the first combination solution result It includes：
Calculate the second differnce of the adjacent track point in the first combination solution result；
If the second differnce is more than default transition detection threshold value, judge that there are saltus steps in the first combination solution result.
3. according to the method described in claim 1, it is characterized in that：
The determination transition trajectory point and the error correction tracing point further comprise：
Centered on the saltus step, calculates the first combination solution result to both sides and combine corresponding rail in solution result with described second The coordinate difference of mark point obtains the first end point in the first combination solution result until the coordinate difference is not more than preset difference value With the third endpoint and the 4th endpoint in the second endpoint and the second combination solution result, the first end point and described the Three endpoints are corresponding in time, and second endpoint and the 4th endpoint are corresponding in time；
Tracing point between the first end point and second endpoint is determined as the transition trajectory point；
Tracing point between the third endpoint and the 4th endpoint is determined as the error correction tracing point；
And/or
The coordinate of transition trajectory point described in the Coordinate Adjusting using the error correction tracing point further comprises：
Using error correction track point coordinates, the coordinate difference of the first end point and the third endpoint, second endpoint with The coordinate difference of 4th endpoint calculates coordinate after the amendment of the transition trajectory point；
It is coordinate after the amendment by the Coordinate Adjusting of the transition trajectory point.
4. method according to any one of claims 1 to 3, which is characterized in that the data of the acquisition are high-precision track Data, after the coordinate of transition trajectory point described in the Coordinate Adjusting using the error correction tracing point, the method further includes：
Using the default mounting point of basic road network, the continuous path of the first combination solution result to completing data automatic error-correcting, into Break Row processing, generates the geometry of line point structure, and the default mounting point is remembered when being the data of the acquisition basic road network Record obtains；
The correspondence recorded when being acquired by data carries out the line in the geometry with the line in the basic road network One-to-one matching；
Judge the point in the geometry whether with the reference attribute preserved in preset configuration table, the reference attribute expression A kind of mounting point；
If point in the geometry has the reference attribute preserved in preset configuration table, to the point and with the point The two lines of front and back connecting are virtually mounted；Otherwise, entity extension is carried out to the point and with the two lines connected before and after the point It connects.
5. according to the method described in claim 4, it is characterized in that：
It the described pair of point and carries out virtual mounting with the two lines that are connected before and after the point and further comprises：
The extreme coordinates for obtaining one end that every line is connected with the point, therefrom choose seat of the extreme coordinates as the point Mark；
Make the attribute information virtually mounted：The identity for the two lines that record is connected with the point on the point, with And the identity of the point is recorded on each line；
And/or
It the described pair of point and carries out entity mounting with the two lines that are connected before and after the point and further comprises：
The extreme coordinates for obtaining one end that every line is connected with the point, if two extreme coordinates are identical, by the endpoint Coordinate of the coordinate as the point；It, will if two extreme coordinates differences, are smoothed described two extreme coordinates The coordinate of one end that treated coordinate is connected as the coordinate of the point and every line with the point；
Make the attribute information of the entity mounting：The identity for the two lines that record is connected with the point on the point, with And the identity of the point is recorded on each line.
6. according to claim 1-5 any one of them methods, which is characterized in that the method further includes：
Using the coordinate difference between the extreme coordinates, the two lines are stitched together；
Calculate the curvature value of spliced two lines.
7. a kind of data automatic error-correcting device, which is characterized in that described device includes：
Transition detection module, for carrying out saltus step inspection to the first combination solution result and the second combination solution result respectively It surveys；First combination solves result and the computational methods of the second combination solution result are：Post processing difference is carried out to the data of acquisition It resolves, obtains the first combination solution result of tight integration pattern and the second combination solution result of pine combination pattern；
Tracing point determining module, in the first combination solution result there are saltus step, and in the second combination solution result There is no when saltus step, the corresponding transition trajectory point of the saltus step is determined from the first combination solution result, and from described Error correction tracing point is determined in second combination solution result, and the transition trajectory point and the error correction tracing point are one a pair of in time It answers；
Coordinate Adjusting module, the coordinate for transition trajectory point described in the Coordinate Adjusting using the error correction tracing point.
8. device according to claim 7, it is characterised in that：
The transition detection module includes：
Difference Calculation module, the second differnce for calculating the adjacent track point in the first combination solution result；
Saltus step determination module, for when the second differnce is more than default transition detection threshold value, solution to be combined in judgement described first As a result there are saltus steps in；
The tracing point determining module includes：
Coordinate difference computing module calculates the first combination solution result and described for centered on the saltus step to both sides The coordinate difference of corresponding tracing point obtains described first group until the coordinate difference is not more than preset difference value in two combination solution results The third endpoint and the 4th endpoint in the first end point and the second endpoint and the second combination solution result in solution result are closed, The first end point and the third endpoint are corresponding in time, second endpoint and the 4th endpoint phase in time It is corresponding；
Transition trajectory point determining module, it is described for the tracing point between the first end point and second endpoint to be determined as Transition trajectory point；
Error correction tracing point determining module, it is described for the tracing point between the third endpoint and the 4th endpoint to be determined as Error correction tracing point；
The Coordinate Adjusting module includes：
Coordinate calculation module after amendment, for utilizing error correction track point coordinates, the first end point and the third endpoint Coordinate difference, the coordinate difference of second endpoint and the 4th endpoint, calculate coordinate after the amendment of the transition trajectory point；
Coordinate Adjusting submodule, for being coordinate after the amendment by the Coordinate Adjusting of the transition trajectory point.
9. device according to claim 7 or 8, which is characterized in that the data of the acquisition are High-precision vehicle track data, institute Stating device further includes：
Geometry generation module, for the default mounting point using basic road network, to completing first group of data automatic error-correcting The continuous path for closing solution result generates the geometry of line point structure into Break Row processing, and the default mounting point is acquisition institute It records to obtain when the data for stating basic road network；
Matching module, the correspondence recorded when for being acquired by data, to line and the basis in the geometry Line in road network carries out one-to-one matching；
Judgment module, for judging the point in the geometry whether with the reference category preserved in preset configuration table Property, it is described to indicate a kind of mounting point with reference to attribute；
Virtual knock-down module is right when having the reference attribute preserved in preset configuration table for the point in the geometry It the point and is virtually mounted with the two lines connected before and after the point；
Entity knock-down module, when not having the reference attribute preserved in preset configuration table for the point in the geometry, Entity mounting is carried out to the point and with the two lines connected before and after the point；
Curvature value computing module, for using the coordinate difference between the extreme coordinates, the two lines to be stitched together；Meter Calculate the curvature value of spliced two lines.
10. a kind of navigation equipment, which is characterized in that including：
Data module, for storing and updating electronic map data, which is according to any one of claim 7-9 The data automatic error-correcting device treated data in navigation electronic map；
Search module, for executing search operation according to user instruction and exporting search result；
Navigation module, for providing two-dimensional/three-dimensional path planning and navigation Service to the user according to obtained navigation instruction；
Entertainment modules, for providing game, music and other audio-visual entertainment selections；
Communication module, for obtaining newer map datum, dynamic information, the communication of one-to-one or group voice/video；
Information entry module, the instruction being manually entered by touch screen or button for receiving user；
Intelligent sound interactive module instructs for receiving user speech, carries out voice wake-up and voice control, and is used for voice Output executes the result of the user speech instruction；
Analysis module carries out speech recognition, lexical analysis and instruction conversion for being instructed to the user speech, and for notifying Corresponding module executes the user speech instruction identified；Wherein, the user speech instruction is any one of arbitrary languages The expression of kind sentence pattern；
Display module, the search result provided for showing described search module, the guidance path of the navigation module offer, institute The map datum of data module offer and the dynamic information of communication module offer are stated, using voice, two dimension/tri- Dimension diagram, and/or the mode of word are shown；
Interest drives operating system, for providing running environment and support for above-mentioned each module；
Sensor-based system drives operating system for the interest and provides real-time dynamic information for monitoring vehicle-state and traffic information.
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