CN110160534A - A kind of air navigation aid, device, equipment and storage medium - Google Patents
A kind of air navigation aid, device, equipment and storage medium Download PDFInfo
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- CN110160534A CN110160534A CN201810142631.5A CN201810142631A CN110160534A CN 110160534 A CN110160534 A CN 110160534A CN 201810142631 A CN201810142631 A CN 201810142631A CN 110160534 A CN110160534 A CN 110160534A
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Classifications
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
Abstract
The invention discloses a kind of air navigation aid, device, equipment and storage mediums, be related to navigation field, which comprises be placed in can not receive the region of navigation signal device-to-device D2D navigation equipment receive driven into the region vehicle send first position data；The D2D navigation equipment detects the vehicle for driving into the region, obtains the second position data of the vehicle；The D2D navigation equipment determines the actual location data of the vehicle according to the first position data and the second position data, and the actual location data is sent to the vehicle.The embodiment of the present invention eliminates the reliance on original navigation programme path and carries out inertia and analogue navigation in the region that can not receive navigation signal, therefore error will not become larger as residence time is too long, and remains to precise positioning to current location after restarting.
Description
Technical field
The present invention relates to navigation field, in particular to a kind of air navigation aid, device, equipment and storage medium.
Background technique
Current airmanship is led in tunnel etc. without global positioning system (Global Positioning System, GPS)
Navigation mode in boat signal area specifically includes that assisted global positioning system (Assisted Global Positioning
System, AGPS) assisting navigation, off-line simulation navigation, inertial navigation, the navigation of sensor auxiliary positioning and several mode
Combinational algorithm navigation.
" inertial navigation " is widely used in mobile phone, can specifically be divided into two classes, and the first kind is traditional inertial navigation system
(Inertial Measurement Unit, IMU) or inertial navigation system (Inertial Navigation System,
It INS), is in simple terms exactly the positioning of acceleration quadratic integral, the navigation time of this kind of navigation mode is longer, and the error of accumulation is got over
Greatly.Second class is pedestrian's reckoning (Pedestrian Dead Reckoning, PDR), identifies people by Multiple Source Sensor
Motion state, paces detection, step-size estimation and towards estimation are realized, to carry out mobile estimation.
In addition, a kind of navigation device estimates the position in tunnel by detecting other a certain range of vehicles in tunnel
It sets, if being unsatisfactory for detected condition without other vehicles or vehicle in tunnel, bigger error can be brought.Another kind of navigation
Device after vehicle enters tunnel depend on analogue navigation, precision can with vehicle in tunnel the extension of time and increasingly
It is low, and navigate Yi Dan terminated, restarting is initiated to be difficult to obtain current accurate location when the positioning of current location.
When vehicle is in tunnel, especially long tunnel or have complex road condition tunnel (speed slowly, internal branch road
It is mouthful more etc.), because traffic congestion or accident etc. stop for a long time, or when navigation is interrupted and restarted, above-mentioned navigation scheme can not be into
The accurate positioning of row.
Summary of the invention
A kind of air navigation aid, device, equipment and the storage medium provided according to embodiments of the present invention solves vehicle can not
The problem of receiving the region of navigation signal can not be accurately positioned after stop or in-vehicle navigation apparatus are restarted for a long time.
A kind of air navigation aid provided according to embodiments of the present invention, comprising:
Be placed in can not receive the region of navigation signal device-to-device D2D navigation equipment reception driven into the region
Vehicle send first position data；
The D2D navigation equipment detects the vehicle for driving into the region, obtains the second position number of the vehicle
According to；
The D2D navigation equipment determines the vehicle according to the first position data and the second position data
Actual location data, and the actual location data is sent to the vehicle.
Preferably, it is described be placed in can not receive the region of navigation signal D2D navigation equipment reception driven into the area
The first position data that the vehicle in domain is sent include:
The D2D navigation equipment establishes D2D communication connection with the vehicle in its communication range；
The D2D navigation equipment is communicated to connect using the D2D, receives the first position data that the vehicle is sent；
Wherein, the first position data are vehicle determinations according to its motion state data.
Preferably, the motion state data includes the initial velocity that vehicle drives into the region, the first position data
Including the first operating range and the first coordinate, the step of vehicle determines the first position data, includes:
The vehicle drives into the speed behind the region according to the initial velocity for driving into the region, determination；
The vehicle drives into the first operating range behind the region according to the speed after driving into the region, determination；
The vehicle determines its first coordinate according to first operating range.
Preferably, the second position data include the second operating range and the second coordinate, and the D2D navigation equipment is to sailing
The vehicle for entering the region is detected, and the second position data for obtaining the vehicle include:
The D2D navigation equipment utilizes preset detecting devices, determines the second row after the vehicle drives into the region
Sail distance；
The D2D navigation equipment determines the second coordinate of the vehicle according to second operating range.
Preferably, there is the high-speed channel for communicating, the spy between the D2D navigation equipment and the detecting devices
Measurement equipment is located at least one sensor or at least one infrared detector in the region.
Preferably, the D2D navigation equipment is according to the first position data and the second position data, determine described in
The actual location data of vehicle includes:
D2D navigation equipment first operating range and second operating range；
If first operating range and second operating range are equal, the D2D navigation equipment is by described first
Actual location data of the position data as the vehicle；
If the difference of first operating range and second operating range is less than pre-set navigational accuracy value, described
D2D navigation equipment determines the physical location number of the vehicle according to the first position data and the pre-set navigational accuracy value
According to；
If the difference of first operating range and second operating range is greater than or equal to the pre-set navigational precision
Value, then the D2D navigation equipment is using the second position data as the actual location data of the vehicle.
Preferably, further includes:
The D2D navigation equipment determines whether the vehicle has sailed out of the region, however, it is determined that the vehicle has sailed out of institute
Region is stated, then deletes data related with the vehicle.
A kind of navigation device provided according to embodiments of the present invention, is placed in the region that can not receive navigation signal, comprising:
Receiving module, for receiving the first position data having driven into the vehicle in the region and having sent；
It obtains module and obtains the second position data of the vehicle for detecting to the vehicle for driving into the region；
Locating module, for determining the reality of the vehicle according to the first position data and the second position data
Border position data, and the actual location data is sent to the vehicle.
A kind of navigation equipment provided according to embodiments of the present invention, is placed in the region that can not receive navigation signal, comprising:
Processor, for receiving the first position data having driven into the vehicle in the region and having sent, and to driving into the area
The vehicle in domain is detected, and obtains the vehicle in the second position data in the region, then according to the first position number
According to the second position data, the actual location data of the vehicle is determined, and the actual location data is sent to institute
State vehicle；
Memory, for storing the program that can be run on the processor.
A kind of storage medium provided according to embodiments of the present invention, is placed in setting for the region that can not receive navigation signal
It is standby to be stored thereon with Navigator into equipment D2D navigation equipment, following step is realized when the Navigator is executed by processor
It is rapid:
It receives and has driven into the first position data that the vehicle in the region is sent；
The vehicle for driving into the region is detected, the second position data of the vehicle are obtained；
According to the first position data and the second position data, the actual location data of the vehicle is determined, and
The actual location data is sent to the vehicle.
Technical solution provided in an embodiment of the present invention has the following beneficial effects:
The embodiment of the present invention is realized null zones (can not receive the region of navigation signal) using D2D navigation equipment
It is accurately positioned, is no longer dependent on original navigation programme path and carries out inertia and analogue navigation, not only position error will not be with vehicle
It is too long and increasing in null zones residence time, and in-vehicle navigation apparatus remains to after starting (such as cold start-up)
Precise positioning is reached to current location.
Detailed description of the invention
Fig. 1 is air navigation aid schematic diagram provided in an embodiment of the present invention；
Fig. 2 is navigation device block diagram provided in an embodiment of the present invention；
Fig. 3 is navigation equipment block diagram provided in an embodiment of the present invention；
Fig. 4 is D2D communication provided in an embodiment of the present invention and detection device block diagram；
Fig. 5 is navigation system partial block diagram in vehicle provided in an embodiment of the present invention；
Fig. 6 is the navigation flowcharts in the dropouts regions such as the tunnel provided in an embodiment of the present invention based on D2D technology；
Fig. 7 is the D2D navigation system simulation schematic diagram provided in an embodiment of the present invention in tunnel；
Specific embodiment
Below in conjunction with attached drawing to a preferred embodiment of the present invention will be described in detail, it should be understood that described below is excellent
Select embodiment only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Fig. 1 is air navigation aid schematic diagram provided in an embodiment of the present invention, as shown in Figure 1, step includes:
Step S101: be placed in can not receive the region of navigation signal D2D navigation equipment reception driven into the region
Vehicle send first position data.
The D2D navigation equipment establishes D2D communication connection with the vehicle in its communication range, and described in utilization
D2D communication connection receives the first position data that the vehicle is sent.
The first position data include that the first row sails distance and the first coordinate, are the vehicles according to its motion state number
According to and determine.
Wherein, the motion state data includes the initial velocity that vehicle drives into the region.Furtherly, the vehicle is true
The step of fixed first position data includes: the vehicle according to the initial velocity for driving into the region, and the area is driven into determination
Speed behind domain, and according to the speed behind the region is driven into, the first operating range behind the region is driven into determination, then root
According to first operating range, its first coordinate is determined.
Alternatively, the motion state data includes revolving speed.According to revolving speed and wheel diameter, the circle of vehicle wheel rotation can be determined
Number, may thereby determine that vehicle driving distance, that is to say, that the determination step of the first position data includes: according to current
Mean speed in period determines that the vehicle drives into the operating range behind the region during the period of time；Passing through will
The distance travelled in each period is cumulative, obtains the vehicle and drives into the first operating range behind the region, and then determines institute
State the first coordinate of vehicle.
Wherein it is possible to using known coordinate (such as tunnel portal coordinate, longitude and latitude) and enter tunnel first traveling away from
From determining the first coordinate of vehicle.
Step S102: the D2D navigation equipment detects the vehicle for driving into the region, obtains the of the vehicle
Two position datas.
The second position data include the second operating range and the second coordinate, and the D2D navigation equipment utilizes preset
Detecting devices determines the second operating range after the vehicle drives into the region, and according to second operating range, determines
Second coordinate of the vehicle.
Wherein, the D2D navigation equipment according to the vehicle drive into behind the region by detecting devices quantity and
Spacing between the detecting devices determines the second operating range after the vehicle drives into the region.
Wherein it is possible to using known coordinate (such as tunnel portal coordinate, longitude and latitude) and enter tunnel second traveling away from
From determining the second coordinate of vehicle.
Wherein, there is the high-speed channel for communicating between the D2D navigation equipment and the detecting devices.
Wherein, the detecting devices is located at least one sensor or at least one infrared acquisition in the region
Device, such as the detecting devices are located in multiple sensors of tunnel underground, can be equidistantly placed, in another example, the detection
Equipment is located in the infrared detector of tunnel top, can also be equidistantly placed.
Step S103: the D2D navigation equipment determines institute according to the first position data and the second position data
The actual location data of vehicle is stated, and the actual location data is sent to the vehicle.
Specifically, D2D navigation equipment first operating range and second operating range, if described
First operating range and second operating range are equal, then using the first position data as the physical location of the vehicle
Data；If the difference of first operating range and second operating range is less than pre-set navigational accuracy value, according to
First position data and the pre-set navigational accuracy value, determine the actual location data of the vehicle；If it is described first traveling away from
It is greater than or equal to the pre-set navigational accuracy value from the difference with second operating range, then makees the second position data
For the actual location data of the vehicle.By taking vehicle mounted guidance is restarted as an example, the first operating range is always the value before navigation is restarted,
Second operating range is the value obtained by detecting devices, and the two difference is greater than required precision, at this time using second position data as
The actual location data of the vehicle.
During executing above-mentioned steps, the D2D navigation equipment can also determine whether the vehicle has sailed out of the area
Domain, however, it is determined that the vehicle has sailed out of the region, then deletes data related with the vehicle.
Device-to-device (Device to Device, D2D) communication technology is a kind of D2D communication based on cellular network,
Or be adjacent service (Proximity Service, ProSe), refer to that user data can be without in network then directly at end
It is transmitted between end.Conventional wireless communication network to the more demanding of the communications infrastructure, core net facility or access network equipment
Damage all may cause the paralysis of communication system.The introducing of D2D communication is so that cellular communication terminal is established Ad Hoc network and become
It may.When wireless communication infrastructure damage or in the coverage hole of wireless network, terminal can be realized end-to-end logical by D2D
Letter even access cellular network, the application scenarios of wireless communication are further extended.The embodiment of the present invention is communicated using D2D
Technology carries out data communication end to end directly in null zones, can greatly simplify vehicle again on the basis of guaranteeing precision
Algorithm in the null zones such as tunnel relative to the D2D device location of known fixation.
The embodiment of the present invention utilizes the D2D communication technology, and it is accurately fixed to carry out to the vehicle entered in the null zones such as tunnel
Position will not influence positioning accuracy the region all residence times are too long because of vehicle, will not enter because of onboard navigation system
Start after tunnel and positioning is caused to fail.
It will appreciated by the skilled person that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, the program can store in computer-readable storage medium.Into
One step says that the present invention can also provide a kind of storage medium, and the equipment in the region of navigation signal can not be received to setting by being placed in
In standby D2D navigation equipment, it is stored thereon with Navigator, the Navigator realizes following steps when being executed by processor: connecing
Receive the first position data for having driven into the vehicle determination and transmission in the region；The vehicle for driving into the region is detected,
The vehicle is obtained in the second position data in the region；According to the first position data and the second position data,
Determine that the vehicle is sent to the vehicle in the actual location data in the region, and by the actual location data.
Wherein, following steps are further realized when the Navigator is executed by processor: determining the vehicle whether
Sail out of the region, however, it is determined that the vehicle has sailed out of the region, then deletes data related with the vehicle.
Wherein, the storage medium may include ROM/RAM, magnetic disk, CD, USB flash disk.
Fig. 2 is navigation device block diagram provided in an embodiment of the present invention, and described device is D2D device, and being placed in can not receive
The region of navigation signal, as shown in Figure 2, comprising:
Receiving module, for receiving the first position data having driven into the vehicle in the region and having sent；
It obtains module and obtains the second position data of the vehicle for detecting to the vehicle for driving into the region；
Locating module, for determining the reality of the vehicle according to the first position data and the second position data
Border position data, and the actual location data is sent to the vehicle.
Described device can further include removing module, for determining whether the vehicle has sailed out of the region,
If it is determined that the vehicle has sailed out of the region, then data related with the vehicle are deleted.
The workflow of described device includes: that receiving module first is communicated to connect using established D2D, and reception has been driven into
For the vehicle in the region using its motion state data and the first position data of transmission, which includes the first row
Sail distance and the first coordinate；Secondly obtain module according to the vehicle drive into behind the region by detecting devices quantity and
Spacing between the detecting devices determines the second operating range after the vehicle drives into the region, and according to the vehicle
The second operating range behind the region is driven into, determine the second coordinate of the vehicle, the second position data include the
Two operating ranges and the second coordinate；Then locating module first operating range and second operating range, if institute
It states the first operating range and second operating range is equal, then using the first position data as the vehicle in the area
The actual location data in domain, if the difference of first operating range and second operating range is less than pre-set navigational precision
Value, then according to the first position data and the pre-set navigational accuracy value, determine the vehicle in the actual bit in the region
Data are set, if the difference of first operating range and second operating range is greater than or equal to the pre-set navigational precision
It is worth, then the actual location data using the second position data as the vehicle in the region.Module is finally removed true
The fixed vehicle has sailed out of after the region, deletes data related with the vehicle.
Fig. 3 is navigation equipment block diagram provided in an embodiment of the present invention, and the equipment is D2D equipment, and being placed in can not receive
The region of navigation signal, as shown in Figure 3, comprising:
Processor, for receiving the first position data having driven into the vehicle in the region and having sent, and to driving into the area
The vehicle in domain is detected, and obtains the vehicle in the second position data in the region, then according to the first position number
According to the second position data, the actual location data of the vehicle is determined, and the actual location data is sent to institute
State vehicle；
Memory is coupled with the processor, the program that storage is executed for the processor thereon.
When the processor of the equipment executes the program stored on the memory, perform the steps of first with
The D2D of foundation is communicated to connect, and is received and has been driven into the first position number that the vehicle in the region utilizes its motion state data to send
According to the first position data include that the first row sails distance and the first coordinate；Secondly it is passed through after driving into the region according to the vehicle
Spacing between the quantity for the detecting devices crossed and the detecting devices determines the second row after the vehicle drives into the region
Distance is sailed, and according to second operating range, determines the second coordinate of the vehicle, the second position data include second
Operating range and the second coordinate；Then first operating range and second operating range, if first traveling
Distance and second operating range are equal, then using the first position data as the actual location data of the vehicle, if
The difference of first operating range and second operating range is less than pre-set navigational accuracy value, then according to the first position
Data and the pre-set navigational accuracy value, determine the actual location data of the vehicle, if first operating range and described
The difference of second operating range is greater than or equal to the pre-set navigational accuracy value, then using the second position data as the vehicle
Actual location data；Finally after determining that the vehicle has sailed out of the region, number related with the vehicle is deleted
According to.
For Present navigation software in no GPS signal or even without in mobile network signals region, navigate especially in tunnel
When error with the complex road condition and the increasing situation of traveling duration in tunnel, the embodiment of the present invention, which provides, a set of to be had
Calculating, the correction of a kind of exact position mapping of the positioning identifier system and vehicle of D2D communication and Detection Techniques in tunnel
Method, convenient under any circumstance precise positioning and navigation can be provided in the tunnel of no signal for vehicle.
Current digital map navigation software has substantially met the needs of people in daily life, even for complexity
Without network environment, there has also been corresponding navigation solutions in tunnel etc., but have the defects that certain scene and need Optimal improvements it
There has been no practicable solutions at place.Such as: there are the long tunnel in branch road (while also to consider river bottom lake Tunnel)
Navigation caused by interior (terminal power off, restart, navigation software accidentally quit etc.) due to accident is restarted after terminating and is difficult to
The case where navigating to current location, and the speed as caused by congestion is too slow, it is increasing that navigation error is simulated in tunnel, draws
Situations such as playing the navigation wrong report in complicated tunnel.The rise and application of the D2D communication technology will can solve vehicle nothing in tunnel
GPS signal, and without the positioning in the case of AGPS network signal.One kind that the embodiment of the present invention is namely based on the D2D communication technology is answered
To the air navigation aid in this complicated tunnel.
Fig. 4 is D2D communication provided in an embodiment of the present invention and detection device block diagram, as shown in figure 4, being placed in tunnel
One or several D2D communication and detection device, need to comprise the following modules unit:
1.D2D communication module carries out the broadcast of D2D signal into the vehicle entered in tunnel in communication range and establishes to all
Connection, for carrying out data communication with vehicle.
2. detecting control module, after being established based on D2D communication connection, is detected by control and transmit and receive unit for detecting
Vehicle location information in tunnel.
3. relative distance computing module (i.e. relative distance and coordinate calculation module), according to detecting vehicle and D2D is communicated
The information that the vehicle that module obtains reports determines distance and coordinate of the vehicle after entering tunnel relative to D2D equipment jointly.
4. data processing centre and data storage cell: data processing centre is responsible for D2D communicating the vehicle itself obtained
Calculate at a distance from exercise data is obtained with detecting module and in conjunction with coordinate and correct, obtain " vehicle mapping point information " etc., and
With other D2D collaborative shares data cell in tunnel.
5. determination module determines vehicle running state according to vehicle mapping point information: driving into, stops, sailing out of.
6. clock, heart time is consistent when for guaranteeing communication inside and outside equipment.
Fig. 5 is navigation system partial block diagram in vehicle provided in an embodiment of the present invention, as shown in Figure 5, comprising:
1. the complete navigation system (i.e. former navigation system module) including former navigation signal receiving module, for driving into tunnel
Normal navigation before road (before the navigation of the tunnel D2D is established).
2.D2D communication module, for establishing data connection with other D2D equipment (in particular to the D2D equipment in tunnel),
And obtain D2D module maps in tunnel map and vehicle position information etc..
3. determination module, for determining whether former navigation system module in normal use, normal vehicle enter tunnel,
Whether D2D connection establishes and decides whether to start D2D navigation mode in tunnel according to situation.
4. the SOT state of termination, coordinate information database (Database, DB) are the fortune for the terminal that former navigation system module uses
Dynamic status information, the mapping point etc. including movement velocity, direction, latitude and longitude coordinates, vehicle on map.
5. tunnel navigation auxiliary DB, this information is to be communicated by D2D communication module with the D2D positioning device in tunnel
Afterwards, " vehicle mapping point information DB " data cell that treated in Fig. 4, can be used for " SOT state of termination, coordinate information DB "
It is updated and corrects.
6. clock, heart time is consistent when for guaranteeing communication inside and outside equipment.
Fig. 6 is the navigation flowcharts in the dropouts regions such as the tunnel provided in an embodiment of the present invention based on D2D technology, such as
Shown in Fig. 6, step includes:
When step 1. navigation system starts, judge whether current GPS or AGPS signal receives normal, if normally, tradition
Navigation system is normally positioned and is run.Otherwise, Present navigation system can not precise positioning to current location, conventional navigation systems without
Method operates normally, and vehicle is possible to currently be in tunnel and wait without GPS signal region, is judged at this time either with or without D2D connection
It can use, to seek the tunnel D2D navigation mode.
During step 2. navigation is normally carried out, judged whether to enter tunnel according to travel route.If into tunnel, from tunnel
Initial position start, calculate distance and coordinate after entering tunnel, and stored as Data1.
The monitoring D2D navigation of step 3.D2D communication module establishes request and establishes state, the equipment in navigation procedure,
If the foundation for being located in the tunnel of null zones, and thering is D2D to communicate, then tunnel D2D navigation mode is switched to.If be located at
In tunnel, but there is no D2D connection setup, still uses original navigation system, but this may be as vehicle be in tunnel
Unexpected situation stopped over long-time and error is increasing, or navigation disconnects when being cold-started again, is worked as due to that can not navigate to
Front position and can not navigate.
One or more equidistant detecting devices is placed in step 4. tunnel for the position to vehicle after entering tunnel
It carries out getting storage ready, as data Data2.This equidistant detecting devices can be the biography for being embedded in underground for currently having had application
Sensor, or it is placed in the infrared detector etc. on tunnel top.Shown Data2 can be used for the calibration to Data1.
Navigation terminal in step 5. vehicle and the D2D equipment in tunnel are established after D2D communicates, and vehicle termination is by Data1
In D2D equipment in incoming tunnel, and data processing centre is transferred to, in conjunction with Data2, the coordinate to vehicle in tunnel is handled
And mapping, navigation data Data3 is generated, and Data3 is shared into all D2D equipment in tunnel, and pass via D2D data channel
Navigation terminal in carriage return, for vehicle, navigator fix is used under D2D navigation mode in tunnel.
Map information of step 6. judging unit according to vehicle in tunnel determines when cut the D2D of vehicle communication is soft
Next D2D equipment is changed to, and after vehicle sails out of tunnel, cutting is connect with the D2D of terminal in vehicle, and removes Data3
In relevant location information.
Navigation terminal in the step 7. vehicle D2D out of tunnel navigates pattern switching to conventional navigation mode.
For a user, relative to conventional navigation systems, after entering tunnel, after starting D2D navigation mode, voice or
It is D2D navigation mode that person, which reminds user's Present navigation mode, and prompt restores normal navigation mode after leaving tunnel.
Fig. 7 is the D2D navigation system simulation schematic diagram provided in an embodiment of the present invention in tunnel, as shown in Figure 7.Its
In:
1.D2D equipment is disposed in tunnel according to the limitation of D2D communication distance and tunnel inner road variation, can be
One or more.
2. having been set up D2D communication connection in tunnel between D2D equipment, all vehicles are in tunnel in shared tunnel
Mapping location data Dada3.
3. detecting devices can be sensor or infrared equipment in tunnel, vehicle can be accurately detected when the vehicle passes by
?.It can not be influenced and be equidistantly placed by road path change.
Further, detecting devices can also be replaced with realtime graphic equipment, but postponing may be bigger, when transmission speed more
When fast, same effect can be brought.
4. carrying out data connection by high-speed channel between detecting devices and D2D equipment in tunnel, and use same synchronization
Clock.
This navigation scheme core algorithm:
In order to obtain Data3 from Data1 and Data2, specific algorithm is as follows:
Assuming that vehicle driving initial velocity of the vehicle before entering tunnel is v0, the speed v that vehicle drives into behind tunnel is based on v0
With the function of time t, v=g (v0, t), then the operating range s that vehicle enters tunnel is that Vehicle Speed enters in vehicle
Displacement integral in the range of time t behind tunnelNavigation data Data1 be based on s and t function f (s,
T) for so that Data1 can be calculated by above-mentioned 3 functional equation groups, arrangement is as follows:
Assuming that D2D navigation mode is δ to required precision in tunnel, the spacing in tunnel between detecting devices is ln, lnIt is big
The small parameter Maxl that can be used as navigation accuracy required for D2D navigation in control tunnelnThe number of≤δ, detecting devices are assumed
For 0~n.Operating range s' of the vehicle obtained so in tunnel by detecting devices in tunnel is that the detection that vehicle passes through is set
The function of standby quantity m.I.e.Therefore the navigation auxiliary data Data2 that is obtained in tunnel by detecting devices of vehicle be s' and
The function of t: Data2=f'(s', t) ', so that Data2 can be calculated by above-mentioned 2 functional equations, arrange as follows:
Data3 is navigation data after the calibration being calculated by Data1 and Data2, Data3=F (Data1, Data2,
V, t), the computation rule of function F: work as v=v0, namely the traveling that remains a constant speed after vehicle enters in tunnel | s-s'|=0,
Data3=Data1；When vehicle enters in tunnel speed with time change, start to cause that s's and s' is inconsistent, when s's and s'
Error be less than required navigation accuracy namely 0 < | when s-s'| < δ, Data3 can add the corrected value of error for Data1, as | s-
When s'| >=δ, illustrate that Data1 has begun the practical navigation position of substantial deviation, at this moment may enter tunnel for in-vehicle navigation apparatus
Just start or restart afterwards, takes Data2 as Data3 at this time.
In conclusion the embodiment of the present invention has following technical effect that
The positioning that the embodiment of the present invention is assisted using D2D connection and detecting devices, can provide in null zones
It is accurately positioned and navigation, the especially navigation in null zones accurately relocates, can both apply is that mobile network can not be covered
The long tunnel of long tunnel, river-crossing tunnel, lake Tunnel and the internal passageway complicated (having one or more forks in the road) of lid
Deng, and can be applied to the Large Underground Parking Space of no mobile network's covering, detection can also be placed using D2D equipment and rationally set
It is standby to carry out the positioning of vehicle underground and navigation.
Although describing the invention in detail above, but the invention is not restricted to this, those skilled in the art of the present technique
It can be carry out various modifications with principle according to the present invention.Therefore, all to be modified according to made by the principle of the invention, all it should be understood as
Fall into protection scope of the present invention.
Claims (10)
1. a kind of air navigation aid, comprising:
The device-to-device D2D navigation equipment in the region of navigation signal can not be received by, which being placed in, receives and has driven into the vehicle in the region
Send first position data；
The D2D navigation equipment detects the vehicle for driving into the region, obtains the second position data of the vehicle；
The D2D navigation equipment determines the reality of the vehicle according to the first position data and the second position data
Position data, and the actual location data is sent to the vehicle.
2. according to the method described in claim 1, described be placed in can not receive the D2D navigation equipment in the region of navigation signal and connect
Receive driven into the region vehicle send first position data include:
The D2D navigation equipment establishes D2D communication connection with the vehicle in its communication range；
The D2D navigation equipment is communicated to connect using the D2D, receives the first position data that the vehicle is sent；
Wherein, the first position data are vehicle determinations according to its motion state data.
3. according to the method described in claim 2, the motion state data includes the initial velocity that vehicle drives into the region, institute
Stating first position data includes the step of the first row sails distance and the first coordinate, and the vehicle determines first position data packet
It includes:
The vehicle drives into the speed behind the region according to the initial velocity for driving into the region, determination；
The vehicle drives into the first operating range behind the region according to the speed after driving into the region, determination；
The vehicle determines its first coordinate according to first operating range.
4. according to the method described in claim 3, the second position data include the second operating range and the second coordinate, it is described
D2D navigation equipment detects the vehicle for driving into the region, and the second position data for obtaining the vehicle include:
The D2D navigation equipment utilize preset detecting devices, determine after the vehicle drives into the region second traveling away from
From；
The D2D navigation equipment determines the second coordinate of the vehicle according to second operating range.
5. according to the method described in claim 4, having for communicating between the D2D navigation equipment and the detecting devices
High-speed channel, the detecting devices are located at least one sensor or at least one infrared detector in the region.
6. according to the method described in claim 4, the D2D navigation equipment is according to the first position data and the second
Data are set, determine that the actual location data of the vehicle includes:
D2D navigation equipment first operating range and second operating range；
If first operating range and second operating range are equal, the D2D navigation equipment is by the first position
Actual location data of the data as the vehicle；
If the difference of first operating range and second operating range is less than pre-set navigational accuracy value, the D2D is led
Equipment of navigating determines the actual location data of the vehicle according to the first position data and the pre-set navigational accuracy value；
If the difference of first operating range and second operating range is greater than or equal to the pre-set navigational accuracy value,
The D2D navigation equipment is using the second position data as the actual location data of the vehicle.
7. method described in -6 any one according to claim 1, further includes:
The D2D navigation equipment determines whether the vehicle has sailed out of the region, however, it is determined that the vehicle has sailed out of the area
Data related with the vehicle are then deleted in domain.
8. a kind of navigation device is placed in the region that can not receive navigation signal, comprising:
Receiving module, for receiving the first position data having driven into the vehicle in the region and having sent；
It obtains module and obtains the second position data of the vehicle for detecting to the vehicle for driving into the region；
Locating module, for determining the actual bit of the vehicle according to the first position data and the second position data
Data are set, and the actual location data is sent to the vehicle.
9. a kind of navigation equipment is placed in the region that can not receive navigation signal, comprising:
Processor, for receiving the first position data having driven into the vehicle in the region and having sent, and to driving into the region
Vehicle is detected, and obtains the vehicle in the second position data in the region, then according to the first position data and
The second position data determine the actual location data of the vehicle, and the actual location data are sent to the vehicle
?；
Memory, for storing the program that can be run on the processor.
10. a kind of storage medium is placed in the device-to-device D2D navigation equipment that can not receive the region of navigation signal,
It is stored thereon with Navigator, the Navigator realizes following steps when being executed by processor:
It receives and has driven into the first position data that the vehicle in the region is sent；
The vehicle for driving into the region is detected, the second position data of the vehicle are obtained；
According to the first position data and the second position data, the actual location data of the vehicle is determined, and by institute
It states actual location data and is sent to the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142631.5A CN110160534A (en) | 2018-02-11 | 2018-02-11 | A kind of air navigation aid, device, equipment and storage medium |
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| CN201810142631.5A CN110160534A (en) | 2018-02-11 | 2018-02-11 | A kind of air navigation aid, device, equipment and storage medium |
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| CN201810142631.5A Pending CN110160534A (en) | 2018-02-11 | 2018-02-11 | A kind of air navigation aid, device, equipment and storage medium |
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Application publication date: 20190823 |