CN101813483A - Navigation method - Google Patents
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- CN101813483A CN101813483A CN200910300537A CN200910300537A CN101813483A CN 101813483 A CN101813483 A CN 101813483A CN 200910300537 A CN200910300537 A CN 200910300537A CN 200910300537 A CN200910300537 A CN 200910300537A CN 101813483 A CN101813483 A CN 101813483A
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- dead reckoning
- current location
- navigation aid
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Abstract
The invention relates to a navigation method suitable for a navigation device. The method comprises the following steps of: firstly, loading map information by the navigation device, wherein the map information contains a map file and at least one dead reckoning section on; then, receiving and decoding a group of positioning signals by the navigation device to acquire an absolute coordinate and mapping the absolute coordinate to the map file to acquire the current position of the navigation device so as to acquire a planning path; finding the dead reckoning section through which the planning path passes and continuously judging whether the relative distance between the current position and the dead reckoning section to be past is within a limited valve; starting to execute dead reckoning to acquire relative displacement when the relative distance is within the limited valve and acquiring the current position again according to the relative displacement and the absolute coordinate.
Description
[technical field]
The present invention is about air navigation aid, particularly a kind ofly can adjust GPS (GPS) module and dead reckoning (Dead Reckoning in advance; DR) air navigation aid of module arithmetic weight.
[background technology]
Positioning system is sent positioning signal by a plurality of positioning signal sources, receive positioning signal by receiving end again after, the position of calculating receiving end in modes such as triangle location.With GPS (Global Positioning System, GPS) be example, in gps system, the synchronous orbit of the earth is provided with 24 satellites, the satellite motionless with respect to the face of land sends positioning signal, guider in the face of land receives at least three positioning signals that satellite sends, and just can just can calculate the longitude and latitude coordinate of guider by triangulation location.GPS only limits to military affairs and industrial use in the past, and in recent years further towards the communication products development of people's livelihood purposes, the guider of vehicle-carried upward outfit tool GPS positioning function is more and more general.And the problem that the geo-location guider that utilizes GPS is run into is when running into the satellite radio signal and receive not good situation, for example travel between high building, when tunnel or mountain area defile, under these situations, can make the geo-location guider of GPS temporarily lose effectiveness and can't provide the location message the user.
In order to overcome foregoing problems, added dead reckoning technology (Dead Reckoning in the existing guider; DR) overcome under the gps signal condition of poor,, and then calculate the possible position lose behind the gps signal with the dead reckoning relative displacement.Dead reckoning normally sensor utilizes the principle of inertia, goes to estimate a relative displacement.So dead reckoning can agps system, under the gps signal condition of poor, still can continue navigation, it is having an absolute position obtained under the gps signal according to GPS module, cooperate again and go up the relative displacement that the dead reckoning technology is estimated, can continue the computed position position.The mutual running of dead reckoning module and GPS module judges earlier that normally the signal of GPS decides the weight of GPS module and dead reckoning module running again, and common have three kinds of situations:
1. have only the GPS pattern: under the good situation of gps signal, for example at the road of spaciousness, GPS module is mainly given in the work of location, and just Ding Wei weight is that GPS module may arrive 100%.
2. have only the dead reckoning pattern: do not having under the signal of GPS, this moment, the dead reckoning module was just given in the work of location, and it is 100% that the computing weight just becomes dead reckoning, and this situation is an example to drive a vehicle in the tunnel.
3.GPS with dead reckoning technology composite mode: under the bad situation of gps signal; but during some micro-signal; the situation under overpass for example; usually can enter the unify situation of the compound location of dead reckoning technology of global positioning system this moment, the computing weight between the module can be decided respectively by different road conditions.
The switching of these patterns depends on that still the algorithm of GPS module judges the gps signal situation, situation (the usefulness of possible influential GPS module when for example system load is too heavy that might cause GPS module to be out of one's reckoning in some cases, so that cause and be out of one's reckoning), the incorrect position that such example just might make the dead reckoning module get is so that the inaccurate situation in dead reckoning location.And utilize the most direct whether accurate factor of dead reckoning location is exactly the absolute position of dead reckoning module institute reference, if the absolute position of reference has been very inaccurate, will directly influence the accuracy of dead reckoning location.This situation may occur under the very poor situation of the signal of GPS, obtains 1 inaccurate absolute position, and this will make the location of dead reckoning more inaccurate.Yet the startup of dead reckoning but all just starts under the bad situation that causes GPS effectively to work of gps signal.
Consult Fig. 1, the high buildings and large mansions road segment segment is being arranged, after guider entered the highway section, because of the influence of high building causes gps signal bad, dead reckoning just was activated.But when dead reckoning was activated, bad because of gps signal, so that obtained absolute position error to some extent, so error appearred in dead reckoning.When entering tunnel road, after entering the tunnel, lose gps signal, dead reckoning just is activated.Dead reckoning has entered tunnel one segment distance when starting, but the absolute position of dead reckoning institute foundation still may be for tunnel portal or a bit of distance after entering the tunnel, is not the absolute position of dead reckoning when being activated.Because this inaccurate position, the relative displacement that dead reckoning is extrapolated just can derive inaccurate position, so that can't accurate localization.
[summary of the invention]
The technical matters that institute of the present invention desire solves is in the prior art that locating module is not receiving signal or weak output signal, and can't locate or obtain one accurately during absolute coordinates, and the processor beginning switches to the dead reckoning pattern and positions.Dead reckoning positions based on coarse absolute coordinates, will extrapolate more inaccurate position location.In view of the above problems, the present invention proposes a kind of air navigation aid, carries out dead reckoning ahead of time, improves the accurate positioning of dead reckoning pattern.
The present invention proposes a kind of air navigation aid, is applicable to a guider.According to the method, guider at first loads a cartographic information, and this map packets of information contains a map file and at least one dead reckoning section.Then guider receives one group of positioning signal and decoding obtaining an absolute coordinates, and the mapping absolute coordinates to map file to obtain the current location of guider, to obtain a path planning.Find out the dead reckoning section that path planning passes through afterwards, continue to judge whether the current location and the relative distance of the dead reckoning section that soon passes through drop among the threshold value.In the time of within relative distance drops on threshold value, begin to carry out a dead reckoning obtaining a relative displacement, and obtain this current location again according to relative displacement and absolute coordinates.
The effect that the present invention contrasts prior art is to be, guider switches the computing weight of locating module and dead reckoning intermodule in advance.The dead reckoning module starts and when carrying out dead reckoning, locating module still is in the location good state, and its locating information is accurate relatively, and is also comparatively accurate based on the dead reckoning that this locating information is carried out.
For purpose of the present invention, structural attitude and function thereof are had further understanding, conjunction with figs. is described in detail as follows now:
[description of drawings]
Fig. 1 is in the prior art, and various positioning signals receive the synoptic diagram of defective region.
Fig. 2 uses the system block diagrams of guider of the present invention for the present invention.
Fig. 3 is the process flow diagram of air navigation aid of the present invention.
Fig. 4 is among the present invention, and various positioning signals receive the synoptic diagram of defective region.
[embodiment]
The embodiment of the invention provides the realization of a kind of guider and its method, below is elaborated respectively by specific embodiment.
Referring to shown in Figure 2, for using the guider 300 of air navigation aid of the present invention, it comprises a location module 320, a dead reckoning module 330, a storage module 340, reaches a processing module 350.
Locating module 320 can be based on different positioning system runnings, comprise GPS (GlobalPositioningSystem, GPS), agps system (AssistedGlobalPosition System, AGPS), differential type GPS (DifferentialGlobalPositioning System, DGPS), carrier phase differential type GPS (Carrier PhaseDifferentialGlobalPositioning System, CDGPS), Galileo positioning system (Galileo Positioning System) and glonass system (Global navigation satellite system, GLONASS).
Locating module 320 is in order to receive the positioning signal that a plurality of positioning signal sources send, the positioning signal that sends from gps satellite for example, and conversion process is an absolute coordinates.
Dead reckoning (DR; Dead Reckoning) module 330 can be individual chips or is integrated among the locating module 320.Dead reckoning module 330 can be calculated with respect to the relative displacement of calculating starting point according to course and speed.Wherein, calculate that starting point is the bad absolute coordinatess that maybe can't locate in locating module 320 location.
Storage module 340 is in order to store a cartographic information, and wherein cartographic information generally includes a map file and one or a plurality of dead reckoning section.Map file comprises map image and every sign parameter, indicates the definition of parameter in order to each point on the designation map image.The dead reckoning section is in order to the coordinate in record coordinate points/zone, and the title and the definition in coordinate points/zone, in order to map to the map shelves.That is guider 300 needs first load document, and loads the dead reckoning section, and to receive the information in number bad zone in cartographic information mark locating module 320, the dead reckoning section can comprise information such as overpass, high building, tunnel or mountain area defile.The dead reckoning section can be one or a plurality of independent archives, also can be integrated among the map shelves.
In addition, guider 300 also comprises display module 360, is electrically connected at processing module 350, to show locating information and cartographic information.
Referring to Fig. 3 and shown in Figure 4, air navigation aid schematic flow sheet for the embodiment of the invention, be applicable to aforesaid guider 300, in order in advance at locating bad zone, make guider 300 carry out the conversion of station-keeping mode ahead of time, reduce the conversion needed time of station-keeping mode, and promote the accurate positioning degree.
According to the method, guider 300 is in the start back and after carrying out navigation feature, and processing module 350 loads the cartographic information (S401) in the storage module 340 earlier.Cartographic information is stored in the storage module of guider with the archives kenel.Cartographic information comprises map file and one or a plurality of dead reckoning section.The dead reckoning section exists with the kenel that indicates parameter, and record locating module 320 receives number bad zone or place, and the dead reckoning section can be zone/places such as overpass, high building, tunnel or mountain area defile.Aforesaid dead reckoning section can be recorded in independently point of interest (Position of Interest, POI) archives, or directly be recorded in the map file.
Then, receive one group of positioning signal, to be decoded as an absolute coordinates (S402) by the locating module 320 of guider 300.Processing module 350 these absolute coordinatess of reflection make guider 300 obtain current location (S403) to the map shelves.
Then processing module 350 loads the destination that the user sets, and videos to the map shelves.Processing module 350 is according to map file, the path calculation carried out in current location and destination obtain a path planning (S404).Further, after locating module 320 decoding and the analyzing and positioning signal, the latitude and longitude information that obtains a correspondence is as absolute object, and processing module 350 reflections are to the cartographic information that is loaded, and obtains corresponding point in map file as current location.Again according to current location and destination, processing module 350 produces a path planning, for the user of guider 300 with reference to its current location and march to the path of destination.
In the time of within relative distance drops on threshold value, represent guider 300 to be about to enter positioning signal and receive defective region, but still be positioned at the zone of positioning signal reception good.At this moment, processing module 350 starts dead reckoning module 330, dead reckoning module 330 produces a relative displacement according to course and speed, and processing module 350 is adjusted computing weight (S408) between the relative displacement that absolute coordinates that locating module 320 obtains and dead reckoning module 330 obtain according to relative distance, to integrate the obtained absolute coordinates of relative displacement that dead reckoning module 330 obtains and locating module 320 simultaneously, upgrade current location (S409) according to the computing weight.
Generally speaking, the intensity of positioning signal along with the relative distance of current location and dead reckoning section shortens and dies down gradually, drops to minimum up to entering the dead reckoning section, even can't receive fully.Therefore the computing weight can be dynamic adjustment, continue to increase the computing weight that dead reckoning module 330 obtains relative displacement according to dwindling of relative distance, at the dead reckoning section of no positioning signal or when not having positioning signal fully, the computing weight of the relative displacement that dead reckoning module 330 is obtained is adjusted into absolutely.That is, in no positioning signal or when entering the dead reckoning section, stopping to upgrade absolute coordinates, the relative displacement with dead reckoning obtains current location fully.Certainly, the computing weight also can be fixed value, and this fixed value is decided according to the accepting state of dead reckoning section, opens dead reckoning module 330 with the execution dead reckoning when arriving the dead reckoning section, and gives the computing weight.
Claims (11)
1. an air navigation aid is applicable to a guider, it is characterized in that it comprises the following steps:
Load a cartographic information, wherein this cartographic information comprises a map file and at least one dead reckoning section;
Receive one group of positioning signal, and this positioning signal is deciphered to obtain an absolute coordinates;
Shine upon this absolute coordinates to these map shelves, to obtain the current location of this guider;
Obtain a path planning;
Find out the dead reckoning section that this path planning passes through, continue to judge whether this current location and the relative distance of the dead reckoning section that soon passes through drop among the threshold value; And
In the time of within this relative distance drops on this threshold value, begin to carry out a dead reckoning to obtain a relative displacement;
Again obtain this current location according to this relative displacement and this absolute coordinates.
2. air navigation aid as claimed in claim 1 is characterized in that, this dead reckoning section one indicates parameter, and record receives number bad zone or place.
3. air navigation aid as claimed in claim 1 is characterized in that, this dead reckoning section is point of interest archives.
4. air navigation aid as claimed in claim 1 is characterized in that, this dead reckoning section is recorded in this map file.
5. air navigation aid as claimed in claim 1 is characterized in that, the step that obtains this path planning comprises:
Be written into a destination;
Carry out path calculation according to this map file, this current location and this destination.
6. air navigation aid as claimed in claim 1 is characterized in that, also comprises:
Obtain and set a computing weight between the relative displacement in utilizing this positioning signal to obtain absolute coordinates and this dead reckoning;
According to this computing weight, integrate this relative displacement and this absolute coordinates, upgrade this current location.
7. air navigation aid as claimed in claim 6 is characterized in that, also comprises:
According to this apart from adjusting this computing weight.
8. air navigation aid as claimed in claim 1 is characterized in that, this dead reckoning section is selected from group's combination of overpass, high building, tunnel and mountain area defile for this positioning signal.
9. air navigation aid as claimed in claim 1 is characterized in that, also comprises:
When no positioning signal, stop to upgrade this absolute coordinates, obtain current location with the relative displacement of dead reckoning.
10. air navigation aid as claimed in claim 1 is characterized in that, also comprises:
When entering this dead reckoning section, stop to upgrade this absolute coordinates, obtain current location with the relative displacement of dead reckoning.
11. air navigation aid as claimed in claim 10 is characterized in that, also comprises:
After this current location is left this dead reckoning section, stop to carry out this dead reckoning and upgrade this absolute coordinates to obtain current location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910300537A CN101813483A (en) | 2009-02-25 | 2009-02-25 | Navigation method |
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|---|---|---|---|
| CN200910300537A CN101813483A (en) | 2009-02-25 | 2009-02-25 | Navigation method |
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| CN101813483A true CN101813483A (en) | 2010-08-25 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104359484A (en) * | 2014-11-13 | 2015-02-18 | 广东好帮手电子科技股份有限公司 | Beidou navigation vehicle-mounted terminal with ubiquitous locating function and system |
| CN105074499A (en) * | 2013-03-22 | 2015-11-18 | 高通股份有限公司 | Methods and apparatuses for location-triggered sensor initialization |
| CN111928865A (en) * | 2020-09-23 | 2020-11-13 | 蘑菇车联信息科技有限公司 | Track calculation method and device, electronic equipment and storage medium |
| CN114467008A (en) * | 2019-10-11 | 2022-05-10 | Zf 腓德烈斯哈芬股份公司 | Method for processing GPS route data of vehicle |
-
2009
- 2009-02-25 CN CN200910300537A patent/CN101813483A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105074499A (en) * | 2013-03-22 | 2015-11-18 | 高通股份有限公司 | Methods and apparatuses for location-triggered sensor initialization |
| CN104359484A (en) * | 2014-11-13 | 2015-02-18 | 广东好帮手电子科技股份有限公司 | Beidou navigation vehicle-mounted terminal with ubiquitous locating function and system |
| CN114467008A (en) * | 2019-10-11 | 2022-05-10 | Zf 腓德烈斯哈芬股份公司 | Method for processing GPS route data of vehicle |
| CN111928865A (en) * | 2020-09-23 | 2020-11-13 | 蘑菇车联信息科技有限公司 | Track calculation method and device, electronic equipment and storage medium |
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Open date: 20100825 |