CN101750086B - Navigation information correcting method and navigation device thereof - Google Patents
Navigation information correcting method and navigation device thereof Download PDFInfo
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- CN101750086B CN101750086B CN 200810180206 CN200810180206A CN101750086B CN 101750086 B CN101750086 B CN 101750086B CN 200810180206 CN200810180206 CN 200810180206 CN 200810180206 A CN200810180206 A CN 200810180206A CN 101750086 B CN101750086 B CN 101750086B
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Abstract
The invention provides a navigation information correcting method. The method comprises the following steps of: detecting the state information of a carrier in driving, comparing the state information with the characteristic information of one characteristic point in a navigation path, judging whether the carrier passes through the characteristic point or not according to the comparison result, and then correcting the positioning coordinate of the carrier. In the other embodiment, the invention also provides a navigation device, which mainly utilizes a sensing module capable of sensing the carrier state, a signal processing unit and a storing unit stored with map information, wherein the sensing module is used for detecting the state of the vehicle in driving to generate the state information, the signal processing unit is used for comparing the state information with the characteristic information of the characteristic point in the navigation path, and then the deflected navigation path of the carrier is corrected to the correct position.
Description
Technical field
The present invention relates to a kind of navigation information and judge and the technology of revising, relate in particular to a kind of a kind of navigation information correcting method and the guider thereof that can revise the carrier position location.
Background technology
Development along with transport development, the overpass such as tube and overpass quantity is more and more in the urban district, present commercially available Portable navigation product (portable navigation device, PND) product often causes the location not good because satellite-signal covers, allow the user that the relevant navigation product of GPS (global positioning system, GPS) is produced bad impression.Take the landform shown in Figure 1A as example, it is that (for example: overpass) parallel, satellite-signal will be covered by overpass 11 when travelling on the surface road 10 with overpass 11 for surface road 10.In addition, as shown in Figure 1B, it is to be built-up metropolitan area synoptic diagram, when Vehicle Driving Cycle during the time, satellite-signal also has the dead angle.In addition, and for example travel in the tunnel, satellite-signal is fully crested also.If run into this similar road or landform when therefore using GPS, navigation software can can't provide to the driver because of the signal problem of covering the path of navigation.
Generally GPS is covered the problem settling mode, when the satellite-signal that namely above-mentioned situation generation causes is not good enough, can utilize inertial navigation system (Inertial Navigation System, INS) to continue to carry out positioning function.Yet inertial navigation system has the problem of error accumulation also, and as shown in Figure 2, this figure is existing INS errors synoptic diagram.In Fig. 2, carrier 90 travels at road 12, estimates to travel a rotation, and wherein solid-line paths 13 is the guidance path that shows in theory.But, because inertial navigation system has the problem of cumulative errors, therefore add up to special time when signal is lasting, the cumulative errors that produce will be so that deviations occur with the guidance path 13 of presetting in position that carrier shows gradually, if will not revise, after carrier has detoured a circle, last because the Path error that cumulative errors cause will form the state such as path 14.
In order to solve the error problem of inertial navigation, in the prior art, US Patent No. .Pat.No.5 for example, 774,482 disclosed navigational system, this technology contents are to be directly the elements of a fix and the map datum of omniselector output to be done an integration judgement, if the elements of a fix have departed from pre-set navigational path, the elements of a fix that then will depart from paste back nearest part on the pre-set navigational path, at last correct navigation information are presented on the display unit.Because being hypothesis carrier under normal travel conditions, the method can not depart from highway system, so compare the side offset distance of the elements of a fix and map datum, the elements of a fix are forced to be attached on the highway system, namely can only revise the lateral attitude, can't revise radial position, and only carry out the pinup picture correction, there is no the correction locating information.
Summary of the invention
The invention provides a kind of navigation information correcting method and guider, it is to utilize the characteristic information that has according to the status information (as: position angle, attitude angle) of carrier and unique point in the guidance path to compare, the position of carrier revised and to be carried out the pinup picture correction in good time.
The invention provides a kind of guider, it is the state that utilizes sensing module sensing carrier, and with the auxiliary judgement method of map datum characteristic point information, the identification information of unique point compares in the position angle of detection carrier and attitude angle and the map datum in navigation procedure, with elements of a fix correction correct position to the map, make guider can offer the correct guidance path data of driver.
In one embodiment, the invention provides a kind of navigation information correcting method, it includes the following step: provide a guidance path to a carrier; Acquisition one unique point on this guidance path, this unique point has a characteristic information; In the process that this carrier is advanced, detect the motion state of this carrier to obtain a status information; This status information and this characteristic information are compared to judge whether this status information is consistent with this characteristic information; If this status information and this characteristic information do not meet, then continue the motion state of this carrier of monitoring; And if this status information is consistent with this characteristic information, the position of the elements of a fix of then revising this carrier to the corresponding guidance path of this unique point.
In another embodiment, the present invention also provides a kind of guider, and it is arranged on the carrier, and this guider comprises: a sensing module, and it is a motion state of this carrier of sensing and produce a status information; One data storage element, it stores a cartographic information and corresponding to the characteristic information of at least one unique point in this cartographic information; An and signal processing unit, it connects mutually by chance with this sensing module and this data storage element respectively, whether this signal processing unit can produce a guidance path and characteristic information and this status information that at least one unique point on this guidance path is had compare according to this cartographic information, will revise the elements of a fix that should carrier with decision.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Description of drawings
Figure 1A and Figure 1B are carrier travel environment synoptic diagram;
Fig. 2 is existing INS errors synoptic diagram;
Fig. 3 is navigation information correcting method embodiment schematic flow sheet of the present invention;
Fig. 4 is the guidance path synoptic diagram;
Fig. 5 is carrier position angle explanation synoptic diagram;
Fig. 6 A to Fig. 6 C is carrier attitude angle synoptic diagram;
Fig. 7 and Fig. 8 are guider embodiment block schematic diagram of the present invention;
Fig. 9 A and Fig. 9 B are inertia sensing module second of the present invention and the third embodiment synoptic diagram.；
Figure 10 is the accelerometer difference explanation synoptic diagram that utilizes of the present invention;
Figure 11 is the 4th kind of embodiment synoptic diagram of inertia sensing module of the present invention.
Wherein, Reference numeral
The 10-surface road
The 11-overpass
The 2-navigation information correcting method
20～25-step
The 3-guidance path
The 30-starting point
The 31-terminal point
32～38-unique point
32 '-carrier display position
The 4-guider
The 40-sensing module
400-inertia sensing module
4000,4001-gyro sensor
4002,4003-difference block
4004,4005-acceleration transducer
The 401-magnetometer
402-electronic compass sensor
The 41-data storage element
The 42-signal processing unit
The 43-display unit
The 90-carrier
Embodiment
Below in conjunction with accompanying drawing structural principle of the present invention and principle of work are done concrete description:
See also shown in Figure 3ly, this figure is navigation information correcting method embodiment schematic flow sheet of the present invention.This navigation information correcting method 2 includes the following step: at first with step 20, provide a guidance path to a carrier.In this step, produce a variety of modes that have of guidance path, in existing GPS or map program, all have the function that produces guidance path.Generally speaking, the mode that produces mainly is starting point or origin coordinates position (longitude and latitude) and terminal point or terminal point coordinate position (longitude and latitude) of inputting according to the user, and then produces a path according to the demand of time (shortest time) or distance (distance is the shortest) user is provided reference.The technology that produces guidance path is to belong to prior art, and therefore not to repeat here.And carrier refers to the vehicles, finger wheel type vehicle in the present embodiment, such as: automobile or locomotive etc., but not as limit.
Then, carry out step 21 and capture a unique point on this guidance path, this unique point has a characteristic information.See also shown in Figure 4ly, this figure is the guidance path synoptic diagram.In Fig. 4, label 3 represents guidance path, and puts 30 and put 31 starting point and the terminal points that represent respectively guidance path 3.Put 32 to 37 positions that then represent the unique point place on the guidance path 3.Generally speaking the selection mode of unique point can be the position of turning position or upward slope or descending usually.In Fig. 4, each unique point 32 to 37 is respectively to there being a characteristic information.In the present embodiment, this characteristic information is the combination of position angle and attitude angle.The position angle is described at first, sees also shown in Figure 5ly that this figure is carrier position angle explanation synoptic diagram.The required angle that turns to when so-called position angle refers to that carrier will turn on unique point.For example in Fig. 5, carrier 90 is when unique point 38, and its position angle is zero degree; And when unique point 39, then its position angle is the θ degree.
In addition, so-called attitude angle refers to the elevation angle or the angle of depression of carrier.Owing in the guidance path 3 among Fig. 4 different road conditions may be arranged, such as may have on some ad-hoc location upward slope, descending, tube or on the road conditions of the various various combinations such as overpass overpass produce.Under aforesaid road conditions, the angle of pitch angle of vehicle will change to some extent along with pavement behavior.Shown in Fig. 6 A to Fig. 6 C, this figure is carrier attitude angle synoptic diagram.For when carrier is in flat road surface, its attitude angle is zero degree or in the scope about the zero degree in Fig. 6 A.And in Fig. 6 B, this carrier be go up a slope or on the situation of overpass, so its attitude angle the chances are in an angle θ scope up and down.In addition, in Fig. 6 C, then demonstrate the situation of carrier when descending or lower overpass or lower tube, under this kind situation, the attitude angle of carrier is in-θ a scope up and down.
Comprehensively above-mentioned, when carrier in aforesaid various road conditions (turning, upward slope or descending) when advancing, the position angle of carrier and attitude angle can change.In addition, it should be noted that the foundation of guidance path mainly is to set up about this regional cartographic information according in advance record, it belongs to prior art, and therefore not to repeat here.But in the present invention, what be different from prior art is, when when setting up cartographic information, can set up characteristic information that should the position for each characteristic point position in advance.Take Fig. 4 as example, for example on unique point 37 corresponding physical locations, may orientedly move ahead, turn left, the situation such as right-hand rotation produces, therefore when setting up cartographic information to unique point 37 corresponding physical location, just can record in advance under this position, carrier is turned left the position angle that can produce with attitude angle, the position angle that can produce when turning right and attitude angle, the position angle when moving ahead and attitude angle even position angle and attitude angle when turning round.And for example may be the landform of going up a slope and turning right during unique point 34, therefore when the information of position angle that carrier can have during in this position in theory and attitude angle also prior records all.According to aforementioned, when setting up cartographic information, also can record in advance carrier on the map on other the ad-hoc location under each unique point, then the attitude angle that can have and position angle and form the so-called characteristic information of the present invention be stored in the database.
After the user inputted reference position and destination locations as required, guider will produce guidance path 3 as shown in Figure 4.In the process that guidance path forms, simultaneously also can be from database with in the guidance path the ad-hoc location (that is the unique point 32～37 among Fig. 4) of process characteristic information that should the path taken out be temporary in the internal memory first.For example: take unique point 37 as example, although when setting up characteristic information, turn left, turn right, move ahead or rotating characteristic information, but in the guidance path 3 that navigational system planning forms, to turn left in unique point 37 with the car direct of travel, therefore unique point 37 to the characteristic information that should guidance path 3 the has characteristic information when turning left only, that is the information of carrier its position angle and attitude angle when turning left.In like manner, unique point 32 to 36 also can have characteristic of correspondence information under the state of this guidance path 3.
Among Fig. 4, carrier position shown between starting point 30 and unique point 32 can be because the relation of cumulative errors departs from guidance path gradually, therefore, carrier 90 before arriving unique point 32 because cumulative errors increase gradually cause demonstration the position for being displaced on the position 32 '.For carrier 90 is revised to the position of unique point 32, present embodiment is to utilize step 23 to judge whether actual measurement is consistent with unique point 32 corresponding characteristic informations about the status information of carrier 90, with as judging whether carrier has arrived the foundation of unique point 32.If the status information accordance of the characteristic information of unique point 32 and carrier 90, judge that then this carrier 90 has arrived the position of this unique point 32, carry out step 24 this moment, the position of the elements of a fix of revising this carrier 90 to these unique point 32 corresponding guidance paths.The meaning of this step is when judging carrier 90 by unique point 32, then with the position correction of carrier to unique point 32 corresponding positions.In addition, can also show on the picture of this guidance path, that is, with the dashed pattern correction that represents this carrier 90 to these unique point 32 corresponding guidance paths to form the solid pattern such as the representative carrier 90 on the unique point among Fig. 4 32.Return shown in Figure 3, otherwise in step 23, if the incongruent words of comparison result then represent carrier not yet by unique point 32, that is during the position between unique point 30 and 32 advances.At this moment, flow process can be got back to step 22 once again, continues to detect to represent attitude angle and the position angle of this carrier 90 in traveling process, then repeats step 23.After carry out step 24, because carrier 90 is in guidance path 3, just by first unique point 32, also have successively unique point 33 to 37, therefore can carry out step 25 again, in this guidance path, select another unique point 33 (it is the unique point of a turn condition), then repeat step 22 to 23, whether judging carrier 90 by unique point 33, its flow process is to judge whether by unique point 32 identically with aforementioned, and therefore not to repeat here.
See also Fig. 7 and shown in Figure 8, this figure is guider embodiment block schematic diagram of the present invention.In the present embodiment, this guider 4 is arranged on the carrier 90, and these years 90, tool can be the wheel type vehicles, for example: and automobile or locomotive, but not as limit.This guider 4 has a sensing module 40, a signal processing unit 41, a data storage element 42 and a display unit 43.This sensing module 40, it is a motion state of this carrier 90 of sensing and produce a status information and give this signal processing unit 41.As shown in Figure 8, this motion state refers to position angle and the attitude angle of this carrier 90, in Fig. 8, and position angle that is refer to that the angle of ω z changes, and attitude angle refers to that the angle of ω x changes.And the variation of attitude angle is can react when carrier 90 upward slopes or descending, and its attitude angle is zero degree when certainly travelling on the level land.In addition, the position angle then is that reaction is when carrier 90 turns to.Return shown in Figure 7ly, in the present embodiment, be used for the way of example of this status information of sensing for utilizing an inertia sensing module 400, it comes the angle of sensing ω x and ω z to change by two gyro sensors 4000 and 4001.
In addition, shown in Fig. 9 A and Fig. 9 B, this figure is the other two kinds of embodiment synoptic diagram of inertia sensing module of the present invention.In the embodiment of Fig. 9 A, inertia sensing module 400 is comprised of two difference block 4002 and 4003.See also shown in Figure 10ly, difference block 4002 or 4003 mainly is to consist of at a distance of the acceleration transducer 4004 of a distance h and 4005 by two.Angle with sensing ω z is changed to example, when the X-axis acceleration difference integration of acceleration transducer 4004 and 4005 sensings of acceleration transducer just can obtain displacement (S1, S2), then calculate S1, the difference of S2, because acceleration transducer 4004 and acceleration transducer 4005 differ a distance h, so can be changed by the angle θ that calculates Z axis.In like manner, the variation of the angle of sensing ω x also belongs to same principle, and therefore not to repeat here.So the mode of utilizing Fig. 9 A can also sense position angle and the attitude angle of carrier.In addition, shown in Fig. 9 B, in the present embodiment, mainly be position angle and the attitude angle that gyro sensor 4000 and difference block 4002 is made up to reach the sensing carrier.
Except the mode of utilizing inertia sensing, can also utilize in the prior art the combination of Figure 11 to come sensing position angle and attitude angle.In Figure 11, sensing module 40 is made of a magnetometer 401 and an electronic compass sensor 402, and wherein magnetometer 401 can be used to the sensing attitude angle, and this electronic compass sensor 402 then is the sensing position angle.Return shown in Figure 7, this data storage element 42, it stores a cartographic information and corresponding to the characteristic information of at least one unique point in this cartographic information.This data storage element 42 generally refers to utilize database that Storage Media (internal memory or hard disk) sets up for these signal processing unit 41 accesses.In the present embodiment, the cartographic information that this data storage element 42 stores refers to plan the needed cartographic information of guidance path, and it belongs to existing technology, does not do at this and gives unnecessary details.In addition, characteristic of the present invention is also to store in this data storage element 42 characteristic information of ad-hoc location in the cartographic information.The position of so-called ad-hoc location that is turning or uphill, downhill.Because turning on external this ad-hoc location or during uphill, downhill, can have influence on position angle or the attitude angle of carrier, therefore the present invention will be measured record in position angle and the attitude angle that each ad-hoc location turns to or carrier can have during uphill, downhill in advance, for the usefulness of follow-up judgement.
This signal processing unit 41, its respectively with this sensing module 40 and this data storage element 42 mutually idol connect, this signal processing unit 41 can utilize the path planning demand (for example: starting point and terminal point) that an inputting interface 430 inputs and produces a guidance path be shown on this display unit 43 in these data storage element 42 interior stored cartographic informations according to the user.In the present embodiment, this inputting interface 430 can be arranged on this display unit 43, operates in order to the user.After producing guidance path, this signal processing unit 41 utilizes the aforesaid navigation information correcting method flow process shown in Figure 3 of the present invention simultaneously, in the process that carrier 90 travels, what the characteristic information that the unique point on this guidance path is had and this detected in real time compares about the status information of carrier when advancing, determining whether will to revise to the elements of a fix that should carrier, and in display unit shown carrier image correction to correct position.The method of its judgement and correction as previously mentioned, therefore not to repeat here.
Certainly; the present invention also can have other various embodiments; in the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make according to the present invention various corresponding changes and distortion, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (19)
1. a navigation information correcting method is characterized in that, includes the following step:
Provide a guidance path to a carrier;
Acquisition one unique point on this guidance path, this unique point has a characteristic information, and this unique point is the upward slope that has on the guidance path or the position of descending;
In the process that this carrier is advanced, the motion state that detects this carrier to be obtaining a status information, and this status information is the status information that carrier produces because of pavement behavior when advancing;
This status information and this characteristic information are compared to judge whether this status information is consistent with this characteristic information;
If this status information and this characteristic information do not meet, then continue the motion state of this carrier of monitoring; And
If this status information is consistent with this characteristic information, the position of the elements of a fix of then revising this carrier to the corresponding guidance path of this unique point.
2. navigation information correcting method according to claim 1 is characterized in that, this status information is position angle, attitude angle or the aforesaid combination of this carrier.
3. navigation information correcting method according to claim 1, it is characterized in that, this characteristic information is position angle, attitude angle or the aforesaid combination of this carrier, and wherein this attitude angle changes because pavement behavior changes the angle of pitch angle that produces to some extent when being advanced by carrier.
4. navigation information correcting method according to claim 1 is characterized in that, revises and also includes the following step after the position of the elements of a fix to the corresponding guidance path of this unique point of this carrier:
Acquisition another feature point on this guidance path continues to detect the motion state of this carrier again and the characteristic information of this another feature point compares.
5. navigation information correcting method according to claim 1, it is characterized in that, rear the following step that also includes of the position of the elements of a fix of revising this carrier to the corresponding guidance path of this unique point: on the picture that shows this guidance path, will represent the pattern correction of this carrier to the corresponding guidance path of this unique point.
6. guider, it is arranged on the carrier, it is characterized in that, and this guider comprises:
One sensing module, a motion state of its this carrier of sensing and produce a status information, this status information are the status information that carrier produces because of pavement behavior when advancing;
One data storage element, it stores a cartographic information and corresponding to the characteristic information of at least one unique point in this cartographic information, and this unique point is the upward slope that has on the guidance path or the position of descending; And
One signal processing unit, it connects mutually by chance with this sensing module and this data storage element respectively, this signal processing unit produces a guidance path according to this cartographic information and characteristic information and this status information that at least one unique point on this guidance path is had compare, to determine whether will to revise to the elements of a fix that should carrier, if this status information and this characteristic information do not meet, be consistent the position of the elements of a fix of then revising this carrier to the corresponding guidance path of this unique point with this characteristic information if then continue motion state and this status information of this carrier of monitoring.
7. guider according to claim 6 is characterized in that, this sensing module is an inertia sensing module.
8. guider according to claim 7 is characterized in that, this inertia sensing module has two gyro sensors.
9. guider according to claim 7 is characterized in that, this inertia sensing module has one group of acceleration transducer and a gyro sensor.
10. guider according to claim 7 is characterized in that, this inertia sensing module has two groups of acceleration transducers.
11. guider according to claim 6 is characterized in that, this sensing module has a magnetometer and an electronic compass sensor.
12. guider according to claim 6 is characterized in that, also has a display unit, this display unit is connected to show this guidance path with this signal processing unit telecommunication.
13. guider according to claim 12 is characterized in that, this signal processing unit can also on the shown guidance path of this display unit, will represent the pattern correction of this carrier to the corresponding guidance path of this unique point.
14. guider according to claim 12 is characterized in that, also has an inputting interface on this display unit.
15. guider according to claim 6 is characterized in that, this status information is position angle, attitude angle or the aforesaid combination of this carrier.
16. guider according to claim 6, it is characterized in that, this characteristic information is position angle, attitude angle or the aforesaid combination of this carrier, and wherein this attitude angle changes because pavement behavior changes the angle of pitch angle that produces to some extent when being advanced by carrier.
17. guider according to claim 6 is characterized in that, the motion state of this this carrier of sensing module sensing is to produce status signal to this signal processing unit.
18. guider according to claim 6 is characterized in that, this carrier is the vehicles.
19. guider according to claim 6 is characterized in that, this data storage element is internal memory or hard disk.
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102062864A (en) * | 2010-11-19 | 2011-05-18 | 厦门雅迅网络股份有限公司 | Method for judging whether vehicle deviates from planned route through route region |
| CN103021261B (en) * | 2011-09-23 | 2015-06-03 | 联想(北京)有限公司 | Automatic digital map correction method and device |
| CN103838240B (en) * | 2012-11-27 | 2018-02-27 | 联想(北京)有限公司 | Control method and electronic equipment |
| KR20150041946A (en) * | 2013-10-10 | 2015-04-20 | 현대자동차주식회사 | Apparatus and method for guiding of shadow area |
| CN103644922B (en) * | 2013-12-05 | 2017-02-15 | 北京盛世光明软件股份有限公司 | Method and system for judging deviation from preset action route |
| CN105159302A (en) * | 2015-09-23 | 2015-12-16 | 许继集团有限公司 | Automatic guided vehicle (AGV) and automatic navigation method thereof |
| CN106384529A (en) * | 2016-10-18 | 2017-02-08 | 杨跃龙 | Vehicle interchange vertical positioning auxiliary system |
| CN108195388B (en) * | 2017-12-25 | 2022-06-28 | 千寻位置网络有限公司 | Low-cost high-precision detection method for uphill and downhill of overhead |
| WO2020105147A1 (en) * | 2018-11-21 | 2020-05-28 | 楽天株式会社 | Flight path guide system, flight path guide device, and flight path guide method |
| CN110191412B (en) * | 2019-05-22 | 2021-01-26 | 象翌微链科技发展有限公司 | Method for correcting vehicle driving route information and vehicle-mounted terminal |
| CN111065157B (en) * | 2019-12-05 | 2022-01-11 | Oppo广东移动通信有限公司 | Positioning information updating method and device and electronic equipment |
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| US5043902A (en) * | 1987-12-28 | 1991-08-27 | Aisin Aw Co., Ltd. | Vehicular navigation apparatus |
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