CN104236560B - A kind of air navigation aid and device - Google Patents
A kind of air navigation aid and device Download PDFInfo
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- CN104236560B CN104236560B CN201410475366.4A CN201410475366A CN104236560B CN 104236560 B CN104236560 B CN 104236560B CN 201410475366 A CN201410475366 A CN 201410475366A CN 104236560 B CN104236560 B CN 104236560B
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- 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
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- 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
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention discloses a kind of air navigation aid and device, this method includes：From at least two global position system GPS information sources, the GPS point determined for current location is obtained；The accuracy in GPS information source is determined according to the historical data at least two GPS informations source；At least two GPS point is filtered according to the accuracy in GPS information source；According to the position relationship between at least two GPS point and reference position, the anchor point of the current location is determined.The technical scheme of the embodiment of the present invention can improve the accuracy that navigation equipment obtains location point.
Description
Technical field
The present embodiments relate to microcomputer data processing, and in particular to a kind of air navigation aid and device.
Background technology
As GPS (Global Positioning System, global positioning system) becomes increasingly popular, more and more disappear
Expense person like carry navigation equipment with it is instant driven or walked when information guide.For example, being carried out using navigation equipment
During road navigation, navigation equipment uses greatly sound, picture or sound and carries out carrying close to crossing prompting, road conditions with picture
Show, rate limitation prompting and electronic eyes prompting etc., guided with driving or walking to user.
The thoroughfare position point that navigation equipment is obtained immediately is the driving data that navigation equipment is navigated, its thoroughfare position point
Accuracy can directly affect the using effect and Consumer's Experience of navigation equipment.But, navigation equipment, which generally exists, receives chance error
Difference, calculation error, scrambling interference etc. influence, and its thoroughfare position point obtained is probably inaccurate, there may come a time when to exist larger
Skew.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of air navigation aid and device, and location point is obtained to improve navigation equipment
Accuracy.
In a first aspect, the embodiments of the invention provide a kind of air navigation aid, including：
From at least two global position system GPS information sources, the GPS point determined for current location is obtained；
According to the position relationship between at least two GPS point and reference position, the positioning of the current location is determined
Point.
Second aspect, the embodiment of the present invention additionally provides a kind of guider, including：
GPS point acquiring unit, for from least two global position system GPS information sources, obtaining true for current location
Fixed GPS point；
Anchor point determination unit, for according to the position relationship between at least two GPS point and reference position, it is determined that
The anchor point of the current location.
The embodiment of the present invention obtains the GPS determined for current location by navigation equipment from least two GPS information sources
Point, current location is determined further according to the position relationship between acquired GPS point and reference position, can improve navigation equipment acquisition
The accuracy of location point.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to present invention implementation
The content and these accompanying drawings of example obtain other accompanying drawings.
Fig. 1 is the air navigation aid flow chart described in the embodiment of the present invention one；
Fig. 2 is the air navigation aid flow chart described in the embodiment of the present invention two；
Fig. 3 is the air navigation aid flow chart described in the embodiment of the present invention three；
Fig. 4 is the structured flowchart of the guider described in the embodiment of the present invention four；
Fig. 5 is the structured flowchart of the guider described in the embodiment of the present invention five.
Embodiment
For make present invention solves the technical problem that, the technical scheme that uses and the technique effect that reaches it is clearer, below
The technical scheme of the embodiment of the present invention will be described in further detail with reference to accompanying drawing, it is clear that described embodiment is only
It is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, those skilled in the art exist
The every other embodiment obtained under the premise of creative work is not made, the scope of protection of the invention is belonged to.
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
Embodiment one
Fig. 1 is the air navigation aid flow chart that the embodiment of the present invention one is provided, and the present embodiment is applicable to by using at least
Two GPS information sources obtain the anchor point situation of the navigation equipment current location.The present embodiment methods described is applicable to
The navigation equipment of automobile, aircraft and steamer etc. is to be navigated, and this method can be by configuring the dress of the navigation in navigation equipment
Put to perform, as shown in figure 1, the air navigation aid described in the present embodiment includes：
S101, the GPS point determined from least two GPS information sources, acquisition for current location.
GPS information source alleged by the present embodiment refers to the device that can be obtained GPS point and can be communicated with navigation equipment, bag
Include but be not limited to the mobile phone with GPS functions, the game machine with GPS functions and automobile, aircraft and steamer etc. are intrinsic leads
Navigate instrument etc..At least two GPS information sources, can both be arranged in a navigation equipment, can also be by independent physical equipment
The GPS information source of upper configuration is provided, and such as one is mobile phone, another is automatic navigator.
Above-mentioned GPS information source may also include AGPS (Assisted Global Positioning System, assisted global
Global position system) module, the GPS point precision acquired in GPS information source can be made further to improve, delay is further shortened.
It should be noted that in order that GPS information source obtains the GPS point determined for the current location of navigation equipment, originally
Embodiment requires that the navigation equipment is fixed with the distance between at least two GPS informations source and relative position respectively.Respectively
GPS information source is obtained after the GPS point of itself, it is necessary to according to the GPS point, and between the information source and the navigation equipment
Distance and relative position, carry out calculating the GPS point determined for the navigation equipment current location.For example, certain GPS information source position
In the navigation equipment Due South, both distances are 15 meters, then need the GPS point of itself for obtaining the GPS information source to just
15 meters of GPS points as the navigation equipment current location are moved in Beijing.
It should be further stated that, the calculating process can be carried out inside each GPS information source, each GPS information source warp
Cross after above-mentioned calculating, then directly the GPS point of the navigation equipment current location is sent in the guider, in addition,
The calculating process can also be carried out in the guider described in the present embodiment, and each GPS information source directly transmits itself GPS point
To guider, by GPS point of the guider according to GPS information source, and the navigation equipment and the distance in the GPS information source
The GPS point of the navigation equipment current location is calculated with relative position.If above-mentioned calculating process is carried out inside each GPS information source,
Calculating process can be then distributed to in multiple equipment and mitigated the calculating pressure of the guider, can improve and obtain location point
Efficiency；If above-mentioned calculating process is carried out in the guider, it is avoided that each GPS information source produces delay because of calculating.
Preferably, the distance between described at least two GPS informations source is within preset range, wherein, it is described default
Area requirement is within the scope of default required precision.Such as described at least two GPS informations source be in same automobile extremely
Few a mobile phone and automobile navigation instrument, if required precision is within 5 meters, the distance between these GPS information sources and relative position
Put negligible, GPS point of the GPS point of itself for directly obtaining each GPS information source as the navigation equipment.Now,
What GPS information source was communicated with the navigation equipment can be by short-range communication mode (such as Bluetooth communication, Wireless Fidelity
(WIFI) communication, infrared communication, ZigBee protocol (Zigbee) communication etc.) communicated.
In addition, the GPS point determined for current location acquired at least two GPS informations source should be for described in extremely
GPS point of the navigation equipment that few two GPS information sources are obtained in the same time.Can be described to ensure this point
Guider periodically obtains the GPS point determined for current location from least two GPS informations source in real time, with as far as possible
It is GPS point of the navigation equipment in the same time to keep from the GPS point that each GPS information source is obtained.If it should be noted that
Know that each GPS information source obtains the delay of GPS point, then can be according to the otherness of the delay in each GPS information source to each GPS information source
Suitably finely tuned between periodicity is obtained at the beginning of GPS point.
S102, according to the position relationship between at least two GPS point and reference position, determine the current location
Anchor point.
The reference position can be the motion path of the navigation equipment, such as the automobile where described navigation equipment is worked as
Positional information in navigation channel of aircraft current flight where the positional information of the road of preceding traveling, the navigation equipment etc..
In the present embodiment, the determination method of anchor point may include a variety of, be using the navigation equipment as car navigation device
Example, for example, the focus point of at least two GPS point can be calculated first, based on current driving road to the focus point compared with
Just, the road binding point of the focus point is obtained, can be by road using the road binding point as the anchor point of the current location
The point of sets requirement is met between Lu Zhongyu focus points as road binding point, for example by road the distance between with focus point
Most short point is used as road binding point；And for example, at least two GPS point can respectively be carried out based on current driving road compared with
Just, the road binding point of each GPS point is obtained, will be worked as positioned at the binding point in the centre position of the current driving road as described
The anchor point of front position, or calculate the center of gravity of the binding point, carries out calibration again, then obtains the road of the focus point and tie up
Fixed point, using the road binding point of the focus point as the current location anchor point.
The present embodiment obtains the GPS point determined for current location by navigation equipment from least two GPS information sources, then
Current location is determined according to the position relationship between acquired GPS point and reference position, can improve and obtain determining for current location
The accuracy in site.
Embodiment two
Fig. 2 is the air navigation aid flow chart described in the embodiment of the present invention two, as shown in Fig. 2 the navigation described in the present embodiment
Method includes：
S201, the GPS point determined from least two GPS information sources, acquisition for current location.
, can be by order to save the cost in extra purchase GPS information source so that the navigation equipment is car navigation device as an example
Currently existing resource is as GPS information source, including by mobile terminal GPS device (such as driver and/or passenger of the automobile
The mobile device such as mobile phone, game machine, tablet personal computer in GPS device), vehicle-mounted GPS apparatus etc. be used as GPS information source.
Because the GPS point that GPS information source is obtained is the GPS point of the GPS information source self-position, if GPS information source is with leading
The distance between equipment of navigating is excessive, then the GPS point obtained by GPS information source is needed according to the GPS information source and the navigation
The distance between equipment and relative position could be directed to the GPS point that current location is determined after being converted as the GPS information source.
In order to save foregoing scaling step, and ensure that the GPS point acquired at least two GPS informations source is to be directed to the navigation
Equipment is in alleged by GPS point during same position, the present embodiment, is obtained from least two GPS information sources and is directed to present bit
The GPS point for putting determination is preferably：From at least two GPS information sources in set distance range, in setting time scope
The GPS point that interior (such as 1 second) collection is determined for current location.
The distance between GPS information source and relative position can be neglected, from least two in set distance range
Individual GPS information source, the GPS point that collection is determined for current location in the range of setting time.
S202, the accuracy for determining according to the historical data at least two GPS informations source GPS information source.
The accuracy in GPS information source is determined, can be by calculating at least one history GPS point acquired in GPS information source
Accuracy determines the accuracy in the GPS information source.For example, in the historical data at least two GPS informations source, calculating each
The GPS point that GPS information source is obtained the distance between anchor point determined by, each GPS information source is determined according to the distance
Accuracy.
Wherein, the newest history GPS point that the accuracy in GPS information source can be acquired in the GPS information source
The average value of the accuracy of two or more history GPS points acquired in accuracy or the GPS information source.
S203, according to the accuracy in GPS information source at least two GPS point is filtered.
In order to exclude interference of the larger data of error to final calculation result, position is obtained further to improve navigation equipment
Accuracy a little is put, can be it is determined that before anchor point, being filtered at least two GPS point.
Specifically, the mode that is filtered to GPS point or including a variety of, for example, according between GPS point and reference position
Position relationship is filtered, including obtains the accuracy of GPS point according to the distance between GPS point and reference position, by accuracy
Relatively low GPS point is filtered out, and for example, according to the rank order of the accuracy in GPS information source, from least two GPS information
The GPS information source for the forward setting quantity of sorting is filtered out in source, then before screening from least two GPS point and coming from
The GPS point in the GPS information source filtered out is stated, the foregoing GPS information source filtered out will be derived from least two GPS point
GPS point screen.
S204, according to the position relationship between the GPS point after filtering and reference position, determine the positioning of the current location
Point.
The present embodiment is further disclosed from least two in set distance range on the basis of embodiment one
Individual GPS information source, the GPS point that collection is determined for current location in the range of setting time, and according to described at least two
Added before position relationship between GPS point and reference position, the step of determining the anchor point of the current location according to institute
The historical data for stating at least two GPS information sources determines the accuracy in GPS information source, according to the accuracy in GPS information source to institute
The step of at least two GPS points are filtered is stated, interference of the larger data of error to final calculation result can be excluded, one can be entered
Step improves the accuracy for the anchor point for obtaining current location.
Embodiment three
Fig. 3 is the flow chart of the air navigation aid described in the embodiment of the present invention three, as shown in figure 3, leading described in the present embodiment
Boat method includes：
S301, judge whether current time meets default GPS point and obtain the cycle, if then performing operation S303, otherwise
Perform operation S302.
Such as default GPS point obtain the cycle be every 3 seconds once, can determine whether it is last from information source obtain GPS point when
Between and between time interval whether reach 3 seconds, or judge current time whether reach it is default from information source acquisition GPS point when
Between.
S302, waited, return to operation S301.
S303, the GPS point determined from least two GPS information sources, acquisition for current location.
The information of GPS point can be represented by diversified forms, in order that the technical scheme of the present embodiment is more concise, this
Embodiment simplifiedly illustrates so that the X in the latitude and longitude value using plane coordinates, Y-coordinate represent GPS point as an example.
Such as described at least two GPS informations source includes five GPS information sources, and what is obtained respectively determines for current location
GPS point be followed successively by G1 (X1, Y1), G2 (X2, Y2), G3 (X3, Y3), G4 (X4, Y4), G5 (X5, Y5).
S304, according to the accuracy in GPS information source at least two GPS point is filtered.
If default filtering rule is：According to the rank order of the accuracy in GPS information source, from least two GPS letters
3 forward GPS information sources of sorting are filtered out in breath source.Forward 3 if the accuracy in the GPS information source in a upper cycle sorts
GPS information source is followed successively by first information source, the 4th information source and the second information source, then according to the accuracy in GPS information source to institute
State after at least two GPS points are filtered, GPS point includes：G1 (X1, Y1), G4 (X4, Y4), and G2 (X2, Y2).
S305, according to the position relationship between the GPS point after filtering and reference position, determine the positioning of the current location
Point.
For example, G1 (X1, Y1) can be calculated first, G4 (X4, Y4), and G2 (X2, Y2) focus point, based on current line
Road is sailed to the focus point calibration, the road binding point of the focus point is obtained, the road binding point is worked as described
The anchor point of front position, can will meet the point of sets requirement as road binding point, such as by road between focus point in road
The distance between Lu Zhongyu focus points most short point is used as road binding point；And for example, can based on current driving road to G1 (X1,
Y1), G4 (X4, Y4), and G2 (X2, Y2) carry out calibration respectively, and G1 (X1, Y1), G4 (X4, Y4), and G2 are obtained respectively
The road binding point of (X2, Y2), will be used as the current location positioned at the binding point in the centre position of the current driving road
Anchor point, or calculate the center of gravity of the binding point, carry out calibration again, then obtain the road binding point of the focus point,
Using the road binding point of the focus point as the current location anchor point.
The present embodiment is preferably：By calculating the focus point of at least two GPS point, based on current driving road to institute
Focus point calibration is stated, the road binding point of the focus point is obtained, using road binding point the determining as the current location
Site.
For example, can in the following way, according to G1 (X1, Y1), G4 (X4, Y4), and G2 (X2, Y2) determine described current
The anchor point of position：
G1 (X1, Y1), G4 (X4, Y4), and G2 (X2, Y2) focus point G0 (X0, Y0) can be calculated first, wherein, X0
=(X1+X4+X2)/4, Y0=(Y1+Y4+Y2)/4.
Secondly, calibration is carried out to G0 (X0, Y0) based on current driving road, obtains G0 (X0, Y0) road binding point GK
(XK, YK), by anchor points of the GK (XK, YK) as current location.
S306, the accuracy for determining according to the anchor point and GPS point at least two GPS informations source, return to step
S301, carries out the acquisition of next round GPS point and calculates to obtain the anchor point of navigation equipment future time.
For example, calculate successively G1 (X1, Y1) and the distance between GK (XK, YK) L1, G2 (X2, Y2) and GK (XK, YK) it
Between apart from the distance between the distance between L2, G3 (X3, Y3) and GK (XK, YK) L3, G4 (X4, Y4) and GK (XK, YK) L4,
The distance between G5 (X5, Y5) and GK (XK, YK) L5, successively using the reciprocal as G1 (X1, Y1) of above-mentioned distance, G2 (X2, Y2),
G3 (X3, Y3), G4 (X4, Y4), and G5 (X5, Y5) accuracy, then successively by G1 (X1, Y1), G2 (X2, Y2), G3 (X3,
Y3), G4 (X4, Y4), and G5 (X5, Y5) accuracy respectively as each GPS information source accuracy.That is first information source
Accuracy is 1/L1, and the accuracy of the second information source is 1/L2, and the accuracy of the 3rd information source is 1/L3, the standard of the 4th information source
True property is 1/L4, and the accuracy of the 5th information source is 1/L5, using above-mentioned accuracy as next cycle GPS information source standard
True property.
The technical scheme of the present embodiment was further disclosed the GPS point in a upper cycle on the basis of embodiment two
Accuracy as the accuracy in GPS information source, at least two GPS point was carried out according to the accuracy in GPS information source
The technical scheme of filter, can reduce the storage and inquiry to historical data, can further improve the anchor point of acquisition current location
Efficiency.
Example IV
Fig. 4 is the structured flowchart of the guider described in the embodiment of the present invention four, as shown in figure 4, described in the present embodiment
Guider includes：
GPS point acquiring unit 401, for from least two global position system GPS information sources, obtaining and being directed to current location
The GPS point of determination；
Anchor point determination unit 402, for according to the position relationship between at least two GPS point and reference position,
Determine the anchor point of the current location.
Further, the anchor point determination unit 402 specifically for：
Calculate the focus point of at least two GPS point；
Based on current driving road to the focus point calibration, the road binding point of the focus point is obtained, by the road
Road binding point as the current location anchor point.
Further, at least two GPS informations source includes at least one mobile terminal GPS device or vehicle GPS is filled
Put.
Further, the GPS point acquiring unit 401 specifically for：From at least two in set distance range
GPS information source, the GPS point that collection is determined for current location in the range of setting time.
The guider that the present embodiment is provided can perform the air navigation aid that the embodiment of the present invention one is provided, and possess the side of execution
The corresponding functional module of method and beneficial effect.
Embodiment five
Fig. 5 is the structured flowchart of the guider described in the embodiment of the present invention five, as shown in figure 5, described in the present embodiment
Guider includes：
GPS point acquiring unit 501, for from least two global position system GPS information sources, obtaining and being directed to current location
The GPS point of determination；
Accuracy determining unit 502, for determining GPS information according to the historical data at least two GPS informations source
The accuracy in source；
GPS point filter element 503, was carried out for the accuracy according to GPS information source at least two GPS point
Filter；
Anchor point determination unit 504, for according to the position relationship between the GPS point after filtering and reference position, it is determined that
The anchor point of the current location.
Further, the anchor point determination unit 504 specifically for：
Calculate the focus point of at least two GPS point；
Based on current driving road to the focus point calibration, the road binding point of the focus point is obtained, by the road
Road binding point as the current location anchor point.
Further, the accuracy determining unit 502 specifically for：
In the historical data at least two GPS informations source, GPS point that each GPS information source obtains is calculated to being determined
The distance between anchor point, the accuracy of each GPS information source point is determined according to the distance.
Further, at least two GPS informations source includes at least one mobile terminal GPS device or vehicle GPS is filled
Put.
Further, the GPS point acquiring unit 501 specifically for：
From at least two GPS information sources in set distance range, collection is for current in the range of setting time
The GPS point that position is determined.
The guider that the present embodiment is provided can perform what the embodiment of the present invention one, embodiment two and embodiment three were provided
Air navigation aid, possesses the corresponding functional module of execution method and beneficial effect.
Above example provide technical scheme in all or part of content can be realized by software programming, its software
Program storage is in the storage medium that can be read, and storage medium is for example：Hard disk, CD or floppy disk in computer.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art it is various it is obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of air navigation aid, it is characterised in that including：
From at least two global position system GPS information sources, the GPS point determined for current location is obtained；
According to the position relationship between at least two GPS point and reference position, the anchor point of the current location is determined；
Wherein, according to the position relationship between at least two GPS point and reference position, the positioning of the current location is determined
Point includes：
Calculate the focus point of at least two GPS point；
Based on current driving road to the center of gravity point calibration, the road binding point of the focus point is obtained, the road is tied up
Pinpoint the anchor point as the current location.
2. air navigation aid according to claim 1, it is characterised in that according at least two GPS point and reference position
Between position relationship, before the anchor point for determining the current location, in addition to：
The accuracy in GPS information source is determined according to the historical data at least two GPS informations source；
At least two GPS point is filtered according to the accuracy in GPS information source.
3. air navigation aid according to claim 2, it is characterised in that according to the history at least two GPS informations source
Data determine that the accuracy in GPS information source includes：
In the historical data at least two GPS informations source, the GPS point for calculating each GPS information source acquisition is fixed determined by
The distance between site, the accuracy in each GPS information source is determined according to the distance.
4. air navigation aid according to claim 1, it is characterised in that at least two GPS informations source includes at least one
Platform mobile terminal GPS device or vehicle-mounted GPS apparatus.
5. air navigation aid according to claim 1, it is characterised in that from least two GPS information sources, is obtained for current
The GPS point that position is determined includes：
From at least two GPS information sources in set distance range, collection is directed to current location in the range of setting time
The GPS point of determination.
6. a kind of guider, it is characterised in that including：
GPS point acquiring unit, for from least two global position system GPS information sources, obtaining what is determined for current location
GPS point；
Anchor point determination unit, for according to the position relationship between at least two GPS point and reference position, it is determined that described
The anchor point of current location；
The anchor point determination unit specifically for：
Calculate the focus point of at least two GPS point；
Based on current driving road to the center of gravity point calibration, the road binding point of the focus point is obtained, the road is tied up
Pinpoint the anchor point as the current location.
7. guider according to claim 6, it is characterised in that described device also includes：
Accuracy determining unit, for according to the position relationship between at least two GPS point and reference position, determining institute
Before the anchor point for stating current location, the accurate of GPS information source is determined according to the historical data at least two GPS informations source
Property；
GPS point filter element, is filtered for the accuracy according to GPS information source at least two GPS point.
8. guider according to claim 7, it is characterised in that the accuracy determining unit specifically for：
In the historical data at least two GPS informations source, the GPS point for calculating each GPS information source acquisition is fixed determined by
The distance between site, the accuracy of each GPS information source point is determined according to the distance.
9. guider according to claim 6, it is characterised in that at least two GPS informations source includes at least one
Platform mobile terminal GPS device or vehicle-mounted GPS apparatus.
10. guider according to claim 6, it is characterised in that the GPS point acquiring unit specifically for：
From at least two GPS information sources in set distance range, collection is directed to current location in the range of setting time
The GPS point of determination.
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| CN201410475366.4A CN104236560B (en) | 2014-09-17 | 2014-09-17 | A kind of air navigation aid and device |
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| CN201410475366.4A CN104236560B (en) | 2014-09-17 | 2014-09-17 | A kind of air navigation aid and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231042A (en) * | 2019-05-28 | 2019-09-13 | 上海车轮互联网服务有限公司 | Route acquisition method and device based on positioning |
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