CN100338436C - Simple navigation method and system - Google Patents
Simple navigation method and system Download PDFInfo
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- CN100338436C CN100338436C CNB031200281A CN03120028A CN100338436C CN 100338436 C CN100338436 C CN 100338436C CN B031200281 A CNB031200281 A CN B031200281A CN 03120028 A CN03120028 A CN 03120028A CN 100338436 C CN100338436 C CN 100338436C
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Abstract
The present invention mainly relates to a simple-type navigation method and a system thereof. A remote customer service center of the system operates out by-way paths required to be passed from a departure place to a destination, and a specific geographic area is selected to cover the entire by-way paths, wherein the range of the specific geographic area is defined by two boundary points; the specific geographic area is equally divided according to a preset two-dimension grid number, and two-dimension codes are respectively defined. The remote customer service center transmits the two boundary points, the preset two-dimension grid number and the orderly arrayed two-dimension codes from the departure place to the destination to a vehicle by a radio. The vehicle can reduce the two boundary points into a virtual two-dimension grid chart; the virtual two-dimension grid chart is equally divided according to the preset two-dimension grid number, and two-dimension codes are respectively defined. Therefore, when the vehicle runs, as long as the two-dimension code of the position of the vehicle is simply found out, and simply compared with the orderly arrayed two-dimension code; a guide direction can be found out.
Description
Technical field
The present invention relates to a kind of automobile navigation technology, refer to a kind of method and system that are applicable to simple and easy guiding one vehicle of energy to its destination especially.
Background technology
Traditional Vehicular guidance system is that group is provided with an electronic chart on each vehicle, again the optimal path that is gone to the destination by the departure place with the automatic computing of vehicle-mounted machine (OBU).Yet this needs each vehicle must have electronic chart certainly, and the powerful vehicle-mounted machine of calculation function, with high costsly takes up space again.
U.S. Pat 6,292,743, and US6,314,369 once disclosed a kind of remote server that utilizes on behalf of calculating optimal path, and gave the technology of vehicle-mounted machine as navigation through RTTY.Yet, the radioed data of this known technology include ground ball warp/latitude (even height) coordinate of optimal path, wherein each through/latitude coordinate must be in advance through excessively, just radio transmission after the minute, second conversion, cause that transmitted data amount is huge, error rate is higher.Especially, after vehicle-mounted machine receives at any time (or each to five seconds once) with vehicle global location GPS coordinate at that time earlier through degree, the minute, second conversion of complexity, calculate comparison with the very complicated ground ball warp/latitude coordinate of above-mentioned optimal path again, just can learn whether produce deviation, its arithmetic speed is slow, and vehicle-mounted machine still must maintain power and just can carry out complex calculations like this, can't reduce cost, and is still non-very good.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of simple type air navigation aid and system, and this can improve navigation operations efficient, and can simplify vehicle-mounted machine to reduce cost.
Another object of the present invention is to provide a kind of simple type air navigation aid and system, this can reduce the radio data conveying capacity, and can promote radio transmission accuracy rate.
For reaching above-mentioned purpose, major technique means of the present invention adopt a long-range client service center group to establish a servomechanism, reach an electronic chart, and comply with following method to set up a simple type navigation information:
(A) receive a departure place positional information, an and destination locations information;
(B) search is gone at least one via the path of the required process of this destination locations by the position, departure place;
(C) a selected specific geographical area has these via the path to contain at least, with at least two frontier point confining spectrum, and can count average mark according to predetermined two-dimentional lattice and be divided into a plurality of geographic cell territory, these geographic cell territories are defined a 2 d code according to the two-dimensional array rule encoding respectively;
(D) hunt out a plurality ofly via the zonule, these refer to corresponding to all via the geographic cell territory in path via the zonule; And
(E) set up above-mentioned simple type navigation information, make it include column data down; This at least two frontier point, predetermined two-dimentional lattice number, and these 2 d codes of arranging in regular turn via the zonule.
Simple type navigational system of the present invention is to be mounted on the vehicle, includes global location module, memory storage, processor, reaches output unit.Above-mentioned simple type navigation information is stored in the memory storage in advance, this at least two frontier point is to define a virtual two-dimensional mesh trrellis diagram in the processor read storage device, and predetermined two-dimentional lattice number and defines respectively with a reference point locations, and one according to the regularly arranged 2 d code of two-dimensional array so that the equipartition of two-dimensional mesh trrellis diagram is become the little lattice of a plurality of two dimensions in the read storage device.Processor also captures the vehicle present position that the global location module is calculated, and calculates the 2 d code of the pairing present little lattice in vehicle present position.Processor also can be compared the 2 d code of present little lattice be stored in and represent a plurality of 2 d codes via little lattice that gone to the required process of a destination locations by position, a departure place in the memory storage, and produce a guidance information, so that the guiding car owner goes to the destination via output unit output.
The processor of vehicle-mounted machine of the present invention can only simply compare present little lattice 2 d code, with arrange in regular turn after a plurality of 2 d codes via little lattice, because its data kenel is simple, computing is easy, so can improve navigation operations efficient, more, therefore can use better simply processor instead to reduce cost because the present invention needn't compare complicated warp/latitude coordinate data again.
In addition, client service center of the present invention radio transmits these 2 d codes via the zonule and gives vehicle, needn't transmit complicated warp/latitude coordinate data again, therefore can reduce the radio data conveying capacity, and can promote radio transmission accuracy rate.
Description of drawings
Fig. 1 is the system layout of a preferred embodiment of the present invention.
Fig. 2 is the start process flow diagram of the long-range client service center of a preferred embodiment of the present invention.
Fig. 3 is that each of a preferred embodiment of the present invention is via the path.
Fig. 4 is the two-dimensional matrix coding of each geographical zonule in a preferred embodiment of the present invention.
Fig. 5 be a preferred embodiment of the present invention via the path corresponding to via the zonule synoptic diagram.
Fig. 6 is the start process flow diagram of a preferred embodiment of the present invention vehicle-mounted machine.
Fig. 7 is the two-dimensional matrix coding and the reference point of each two-dimentional little lattice in a preferred embodiment of the present invention.
Fig. 8 is present little lattice of a preferred embodiment of the present invention and each is via the little lattice location drawing.
Fig. 9 follows each guiding arrow scheme via little lattice for the present little lattice of a preferred embodiment of the present invention.
Figure 10 is another present little lattice of a preferred embodiment of the present invention and each is via the little lattice location drawing.
The figure number explanation
11 global location modules, 12 memory storages, 13 processors
14 radio communications sets, 15 display screens, 16 input medias
3 servomechanisms 31 are Figure 32 radio communications set electronically
A specific geographical area A
IjGeographic cell territory C
PqPresent little lattice
D guidance information G two-dimensional mesh trrellis diagram G
IjThe little lattice of two dimension
(m, n) predetermined two-dimentional lattice are counted N simple type navigation information to the M vehicle
P
cPresent position P
sPosition, departure place P
dDestination locations
P
E1, P
E2Frontier point R
IjReference point R
1, R
2, R
3..., R
7Via the path
The T of S client service center
IjVia little lattice Z
IjVia the zonule
Embodiment
Fig. 1 shows that the present invention's one preferred embodiment is to be provided with a servomechanism 3 in the long-range S of client service center group, and links a Figure 31 and a radio communications set 32 electronically arranged.
Please consult Fig. 1 and Fig. 2 simultaneously, this routine S of client service center receives the navigation requests (request) that a distant place vehicle M transmits with radio communications set 32 earlier, and it includes departure place position P
sInformation, and destination locations P who desires to go to
dInformation (step S11).Wherein, this position, departure place P
sNormally directly take vehicle M and go up global location module 11 global location coordinate at that time as starting point coordinate P
s(X
s, Y
s), also can change by the car owner with input media 16 (for example: keyboard, touch display screen ... etc.) import street name or point of crossing title voluntarily.Destination locations P
dNormally see through radio communications set 32 lines with the S attendant of voice informing client service center by the car owner, again by the attendant on behalf of setting out destination coordinate P
d(X
d, Y
d), also can import voluntarily with above-mentioned input media 16 by the car owner.
Please consult Fig. 1 more in the lump, 2,3, the S of client service center servomechanism 3 is searched electronically among Figure 31 by position, departure place P
s(X
s, Y
s) go to destination locations P
d(X
d, Y
d) required process a plurality of via path R
1, R
2, R
3..., R
7And turning point P
T1, P
T2, P
T3... P
T6(step S12).
Fig. 3,4 also show, more (m n) is divided into above-mentioned specific geographical area A average mark the geographic cell territory A that the capable xn of m is listed as to servomechanism 3 with a predetermined two-dimentional lattice number
Ij(geo zone), and with each geographic cell territory A
IjAll define a 2 d code i with two-dimensional matrix (2D matrix) rule encoding, j (2D index), i=0...m wherein, j=0...n.Should predetermined two-dimentional lattice number (m is one to be pre-stored in the preset value in the servomechanism 3 n), for improving the RTTY Movement Capabilities and the follow-up hexari of arranging in pairs or groups, suggestion with 16 * 16 (they being hexadecimal FF) for preferable.Yet (m n) also can be changed according to actual needs by servomechanism 3 this predetermined two-dimentional lattice number voluntarily, and for example servomechanism 3 prestores each geographic cell territory A
IjThe isometric length of side, and according to the actual length and width of specific geographical area A find out after divided by this length of side integer multiple as two-dimentional lattice number (m, n).
Fig. 5 show servomechanism 3 with above-mentioned via path R
1, R
2, R
3..., R
7Comparison geographic cell territory A
Ij, to find out these via path R
1, R
2, R
3..., R
7Pairing a plurality of via zonule Z
Ij(traveling zone) (step S14).
N＝$$(X
e1，Y
e1)，(X
e2，Y
e2)，(m，n)，30，31，32，22，23，13，14，15，16，26，36，46，56，66，76，86，87，88，98，A8，B8，C9$$
Wherein, these are via zonule Z
Ij2 d code i, j is by position, departure place P
sTo destination locations P
dOrder arrange in regular turn, vice versa.
The S of client service center transmits the radio communications set 14 (step S16) that above-mentioned simple type navigation information N gives distant place vehicle M with radio communications set 32 immediately.In this example, this two radio communications set 32,14 includes a GPRS module respectively in order to do energy transceiving information, also can use other all can as gsm module, 3C module, message transmitting machine (pager) or other equivalent radio communication modules.
See also Fig. 1, and 6, the radio communications set 14 of vehicle M receives above-mentioned simple type navigation information N (step S21), and processor 13 just is stored in the memory storage 12 it standby earlier.
Processor 13 beginnings of vehicle M are by the two frontier point location coordinate P that read above-mentioned simple type navigation information N in the memory storage 12
E1(X
E1, Y
E1) and P
E2(X
E2, Y
E2), and be that the lower left corner and border, the upper right corner are to restore the virtual two-dimensional mesh trrellis diagram G (2Dgrillwork) (step S22) just like Fig. 7 with it.Physically, this two-dimensional mesh trrellis diagram G is simulation and corresponding to the actual geographic range of above-mentioned specific geographical area A.
Fig. 7 and video-stream processor 13 again in the read storage device 12 the predetermined two-dimentional lattice number of above-mentioned simple type navigation information N (m n), and is divided into the little lattice G of a plurality of two dimensions with two-dimensional mesh trrellis diagram G according to the capable xn column average of m people according to this
Ij(2D grid) (step S23), and define respectively to be same as the 2 d code i of above-mentioned two-dimensional matrix, rule, j, and with each two-dimentional little lattice G
IjThe lower left corner be reference point locations R
Ij(X
Ij, Y
Ij), i=0...m, j=0...n, wherein
And
Physically, each two-dimentional little lattice G
IjBe the simulation and corresponding to above-mentioned each geographic cell territory A
IjActual geographic range.
Processor 13 captures the vehicle M present position coordinate P of global location module 11 at any time
c(X
c, Y
c), and with each reference point locations R
Ij(X
Ij, Y
Ij) compare to calculate vehicle M present position P
c(X
c, Y
c) pairing present little lattice C
PqThe 2 d code p of (current grid), q (step S24).In this example, suppose X
cBe positioned at X
IjWith X
(i+1) jBetween, that is X
Ij≤ X
c＜X
(i+1) j, therefore with above-mentioned
Substitution just becomes
Obtain after the arrangement
So with
Get its round values, just can try to achieve 2 d code P;
In like manner, another 2 d code q can also
Get its round values and obtain.
With Fig. 8 is example, supposes that vehicle M is at present just by starting point P
s=P
c(X
c, Y
c) set out, so its pairing present little lattice are C
30, and its 2 d code is p=3, (wherein, 2 d code is with (p q)=(3,0) represents q=0, below all with).Fig. 8 more shows the above-mentioned a plurality of 2 d code i in the memory storage 12 that are stored in, and j is pairing by departure place P
sGo to destination P
dRequired process and arrange in regular turn a plurality of via little lattice T
Ij(traveling grid).
Processor 13 continues present little lattice C
302 d code (3,0) compare each via little lattice T
Ij2 d code i, j to be producing a guidance information D (step S25), and in regular turn goes to destination P with (the step S26) that output shows with the guiding car owner with an output unit (for example display screen 15)
d
For example in Fig. 8, processor 13 is compared present little lattice C
302 d code (3,0) compare each via little lattice T
Ij2 d code i, j to be producing a guidance information D (step S25), and in regular turn goes to destination P with (the step S26) that output shows with the guiding car owner with an output unit (for example display screen 15)
d
For example in Fig. 8, processor 13 is compared present little lattice C
302 d code (3,0) meet in the memory storage 12 wherein one via little lattice T
302 d code (3,0) time, processor 13 just reads next via little lattice T
312 d code (3,1), and with present little lattice C
302 d code (3,0) calculate relatively more next via little lattice T to learn
31Be to be positioned at present little lattice C
30J=+1 (longitude many lattice) direction, therefore just produce one point to next via little lattice T
31Arrow (↑) as guidance information D (as shown in Figure 9), and be shown on the display screen 15.Fig. 9 more show vehicle M in each via little lattice T
IjThe time the various all directions seen to arrow, so vehicle M can be subjected to its guiding in regular turn and arrive destination P
dThe place via little lattice T
C9Wherein, above-mentioned guidance information D also can change with the voice reminder car owner, can increase drive safety.
Figure 10 shows, if vehicle M is by T
32Be strayed into a wherein two-dimentional little lattice G
34The time, processor 13 is that comparison appears at little lattice C
Pq(be C
34) 2 d code (3,4) do not meet in the memory storage 12 any via little lattice T
Ij2 d code i, j, processor 13 just calculate present little lattice C immediately
Pq(be C
34) remain via little lattice T with other
IjDifference DELTA
Ij=| i-p|+|j-q|, wherein, | i-p| with | j-q| is meant and gets its absolute value respectively.Processor 13 will select wherein have the minimal difference Δ
Ij, and the back that puts in order near destination P
dThe place via little lattice T
C9The person is the little lattice of next target to be set.
For example, Figure 10 shows by T
32Residue is still unbeaten later on has T in regular turn via little lattice
22, T
23, T
13, T
14, T
15, T
16, T
26, T
36, T
46... etc., wherein,
(1) via little lattice T
23With present little lattice C
34Difference DELTA 23=1+1=2,
(2) via little lattice T
14With present little lattice C
34Difference DELTA 14=2+0=2, and
(3) via little lattice T
36With present little lattice C
34Difference DELTA 36=0+2=2
The three is a minimum value, wherein again with via little lattice T
36Put in order than the back near T
C9, so processor 13 is preferably selected via little lattice T
36And be set and be the little lattice of next target, and with present little lattice C
342 d code (3,4) calculate relatively to learn the little lattice T of next target
36Be to be positioned at present little lattice C
34J=+2 (longitude many two lattice) direction, therefore produce one and point to the little lattice T of next target
36Arrow (↑) as guidance information D (as shown in figure 10), and be shown on the display screen 15.
In this example, the present little lattice C of processor 13 comparisons of vehicle-mounted machine (OBU)
PqAnd each is via little lattice T
Ij2 d code p, q and i, j, all belong to sexadesimal system binary digit and simply compare, computing is very easy, so can improve navigation operations efficient, also, therefore can use better simply processor 13 to reduce cost because this example needn't be compared the warp/latitude coordinate data of known complexity.Again and, this routine S of client service center as long as radio transmit each via zonule Z
Ij2 d code i, j gives vehicle M, it also be simple sexadesimal system binary digit, need not transmit complicated warp/latitude coordinate data again, therefore really can reduce the radio data conveying capacity, and then promotes radio transmission accuracy rate.
Mostly the location signal of this example in order to cooperate HA Global Positioning Satellite 9 to be transmitted is with reference to ground ball warp/latitudinal plane coordinate system at present, so each step all follows ground ball warp/latitudinal plane coordinate system to be designed.Certainly also can use other right-angle plane coordinate system instead, or the oblique angle plane coordinates system of other angles, even radius-angle (R θ) coordinate system ... all can wait,, long-range S of client service center and vehicle M use same coordinate system as long as going up system.
Two frontier points of this routine simple type navigation information N do not exceed with above-mentioned, also can select the upper left corner and the lower right corner for use, or angle on two, or two inferior horns, or the frontier point of triangle or four jiaos all can.
Each geographic cell territory A in this example
IjAnd two-dimentional little lattice G
Ij2 d code i, j also can use other two-dimensional arraies (2D array) rule encoding instead.First group of 2 d code (0,0) also can change by arbitrary lattice and begin single-frame to increase progressively (or successively decreasing) among Fig. 4, and its incremental change (or decrement) can be 2,3,4... etc.And first group of 2 d code do not exceed with (0,0), also can use any other numerical value instead and begin all can.
In addition, remote server 3 is if can be in the lump hunted out natural obstacle such as river, lake, high mountain, steep cliff or hazardous location or traffic congestion highway section (such as the zone, lake shown in this illustration 3 and indicate the corresponding barrier zone that oblique line is arranged in Figure 10) by Figure 31 electronically, and with the 2 d code (i at above-mentioned zone place, j) give vehicle M in company with above-mentioned simple type navigation information N RTTY in the lump, impel vehicle M can initiatively avoid these barrier zones.This for no precise navigation device itself, the vehicle M of simple and easy navigation directions can only be provided by the long-range navigation servomechanism, can avoid going astray and eliminate the blind spot of driving a vehicle, extremely important.
In fact, on be set forth in each step that operates among the S of client service center, can change by the attendant manually to finish one by one, need not carry out by servomechanism, also can reach above-mentioned effect.
The foregoing description only is to give an example for convenience of description, and the claim that the present invention advocated should be as the criterion so that claim is described certainly, but not only limits to the foregoing description.
Claims (19)
1. a simple type air navigation aid is used in a client service center, and this client service center's group is provided with an electronic chart; It is characterized in that said method comprises the following steps:
(A) receive a departure place positional information, an and destination locations information;
(B) search is gone at least one via the path of the required process of this destination locations by this position, departure place;
(C) a selected specific geographical area with contain at least have above-mentioned via the path, wherein, its scope is defined with at least two location parameters in this specific geographical area, and can count average mark according to predetermined two-dimentional lattice and be divided into a plurality of geographic cell territory, these geographic cell territories are defined as the 2 d code according to the two-dimensional array rule encoding respectively;
(D) hunt out a plurality ofly via the zonule, these are meant corresponding to the geographic cell territory via the path via the zonule; And
(E) set up a simple type navigation information, make it include column data down; This at least two location parameter, this predetermined two-dimentional lattice number, and the 2 d code arranged in regular turn via the zonule.
2. air navigation aid as claimed in claim 1, it is characterized in that, this at least two location parameter is meant at least two frontier point location coordinate on the right-angle plane coordinate system in the step (C), and this specific geographical area is to be that the border is defined with this at least two frontier points location coordinate, and counts the geographic cell territory that average mark is separated out according to this right-angle plane coordinate system with these predetermined two-dimentional lattice.
3. air navigation aid as claimed in claim 2 is characterized in that, this right-angle plane coordinate system is meant ground ball warp/latitudinal plane coordinate system.
4. air navigation aid as claimed in claim 1 is characterized in that, the 2 d code in geographic cell territory is with the two-dimensional matrix rule encoding in the step (C).
5. air navigation aid as claimed in claim 1 is characterized in that, the 2 d code via the zonule of this simple type navigation information is to arrange in regular turn to the order of this destination locations according to this position, departure place in the step (E).
6. air navigation aid as claimed in claim 1 is characterized in that, still includes a step (F): transmit this simple type navigation information and give a vehicle.
7. air navigation aid as claimed in claim 1 is characterized in that, this client service center is that group is provided with a servomechanism and is linked to this electronic chart.
8. air navigation aid as claimed in claim 1 is characterized in that, this client service center more organizes and is provided with a radio communications set, receives and sends messages with an automobile wireless electricity.
9. air navigation aid as claimed in claim 8 is characterized in that, this radio communications set is meant a GPRS module.
10. a simple type Vehicular guidance system is mounted on the vehicle, it is characterized in that, includes:
One global location module can calculate the present position information of this vehicle;
One memory storage, it includes at least two location parameters, a predetermined two-dimentional lattice number, reaches a plurality of 2 d codes of arranging in regular turn to store a simple type navigation information;
One processor, can read this at least two location parameter in this memory storage, and define a virtual two-dimensional mesh trrellis diagram with it, this processor also can read being somebody's turn to do in this memory storage and be scheduled to two-dimentional lattice number so that this two-dimensional mesh trrellis diagram equipartition is become the little lattice of a plurality of two dimensions, these two-dimentional little lattice also have been defined a reference point locations respectively, and according to the regularly arranged 2 d code of two-dimensional array, this processor also can capture this vehicle present position information in this global location module, and compare these reference point locations to calculate the 2 d code of these pairing present little lattice in vehicle present position, this processor and 2 d code that can will this present little lattice are compared and are stored in this memory storage, representative is gone to a plurality of 2 d codes via little lattice of the required process of a destination locations by position, a departure place, to produce a guidance information; And
One output unit is to export this guidance information.
11. navigational system as claimed in claim 10 is characterized in that, the 2 d code of this simple type navigation information is to arrange in regular turn to these orders via little lattice of the required process of this destination locations according to this position, departure place.
12. navigational system as claimed in claim 10 is characterized in that, the 2 d code of the little lattice of described two dimension is with the two-dimensional matrix rule encoding.
13. navigational system as claimed in claim 10, it is characterized in that, this at least two location parameter is meant at least two frontier point location coordinate on the right-angle plane coordinate system, and this processor is to be the border defining this two-dimensional mesh trrellis diagram with this at least two frontier points location coordinate, and this two-dimensional mesh trrellis diagram is counted average mark according to this right-angle plane coordinate system with these predetermined two-dimentional lattice is separated out the little lattice of described two dimension.
14. navigational system as claimed in claim 13 is characterized in that, this right-angle plane coordinate system is meant ground ball warp/latitudinal plane coordinate system.
15. navigational system as claimed in claim 13, it is characterized in that, this processor will these present little lattice the 2 d code comparison meet when being stored in the memory storage wherein a 2 d code, this processor just reads next 2 d code via little lattice, and compared with the 2 d code of these present little lattice, and produce one by present little lattice point to this next one via the arrow of little lattice as this guidance information.
16. navigational system as claimed in claim 13 is characterized in that, this processor should present little lattice C
Pq2 d code p, q comparison does not meet when being stored in the memory storage arbitrary 2 d code, this processor just selects residue via little lattice T
Ij2 d code i, have minimal difference Δ person among the j and be set and be the little lattice of next target, wherein
Δ＝|i-p|+|j-q|，
And with this present little lattice C
Pq2 d code pq compared, and produce one by present little lattice C
PqThe arrow that points to the little lattice of this next target is as this guidance information.
17. navigational system as claimed in claim 16, it is characterized in that, this processor be preferential select to have the minimal difference Δ and put in order more in the 2 d code of residue via little lattice after more near this destination locations person, be the little lattice of next target to be set.
18. navigational system as claimed in claim 10 is characterized in that, more includes a radio communications set, with long-range client service center transceiving data.
19. navigational system as claimed in claim 18 is characterized in that, this radio communications set is meant a GPRS module.
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|---|---|---|---|
| CNB031200281A CN100338436C (en) | 2003-03-11 | 2003-03-11 | Simple navigation method and system |
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|---|---|---|---|
| CNB031200281A CN100338436C (en) | 2003-03-11 | 2003-03-11 | Simple navigation method and system |
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| CN100338436C true CN100338436C (en) | 2007-09-19 |
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|---|---|---|---|---|
| CN100495482C (en) * | 2004-09-29 | 2009-06-03 | 浙江工业大学 | Digital labelling system for urban road traffic |
| JP4148232B2 (en) * | 2005-03-22 | 2008-09-10 | 株式会社デンソー | Route guidance device |
| CN1858815B (en) * | 2005-09-27 | 2010-04-14 | 华为技术有限公司 | Position monitoring method and system |
| CN101169330B (en) * | 2006-10-25 | 2011-02-09 | 高德软件有限公司 | Vehicular navigation device using single branched graph |
| CN101887127B (en) * | 2010-03-19 | 2014-09-03 | 深圳市安巨科技有限公司 | Vehicle monitoring processing method and device and GPS (Global Positioning System) server and vehicle monitoring system |
| CN103364003B (en) * | 2012-04-01 | 2015-12-16 | 肖湘萍 | area navigation method, navigation terminal |
| CN103344241A (en) * | 2013-07-17 | 2013-10-09 | 广州市引领信息科技有限公司 | Method and system for obtaining navigation message from public electronic map |
| CN107895383A (en) * | 2017-11-13 | 2018-04-10 | 北京邮电大学 | A kind of particle detection method, device and electronic equipment through walls |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5353034A (en) * | 1991-11-08 | 1994-10-04 | Sanden Corporation | Position information inputting apparatus for a vehicle travel guide system |
| US5845228A (en) * | 1996-02-08 | 1998-12-01 | Mitsubishi Denki Kabushiki Kaisha | Vehicle-route computing apparatus |
| US6281807B1 (en) * | 1997-07-16 | 2001-08-28 | Robert Bosch Gmbh | Method for selecting digital traffic messages |
| US6314369B1 (en) * | 1998-07-02 | 2001-11-06 | Kabushikikaisha Equos Research | Communications navigation system, and navigation base apparatus and navigation apparatus both used in the navigation system |
| US6292743B1 (en) * | 1999-01-06 | 2001-09-18 | Infogation Corporation | Mobile navigation system |
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| CN1530634A (en) | 2004-09-22 |
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