KR20080101242A - Method and system of navigation map matching using positioning errors - Google Patents

Method and system of navigation map matching using positioning errors Download PDF

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Publication number
KR20080101242A
KR20080101242A KR1020070047741A KR20070047741A KR20080101242A KR 20080101242 A KR20080101242 A KR 20080101242A KR 1020070047741 A KR1020070047741 A KR 1020070047741A KR 20070047741 A KR20070047741 A KR 20070047741A KR 20080101242 A KR20080101242 A KR 20080101242A
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KR
South Korea
Prior art keywords
positioning error
error information
moving object
path
map matching
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KR1020070047741A
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Korean (ko)
Inventor
박사다
Original Assignee
팅크웨어(주)
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Application filed by 팅크웨어(주) filed Critical 팅크웨어(주)
Priority to KR1020070047741A priority Critical patent/KR20080101242A/en
Priority to PCT/KR2007/006499 priority patent/WO2008140166A1/en
Publication of KR20080101242A publication Critical patent/KR20080101242A/en

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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
    • G01C21/30—Map- or contour-matching
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3605—Destination input or retrieval
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3667—Display of a road map
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
  • Navigation (AREA)

Abstract

A navigation map matching method and system using a positioning error can provide the user with an exact search path by reducing an error generated according to the driving path through the navigation map matching. A navigation map matching method using a positioning error includes a step for searching data related to the location of a moving body moving along the predetermined search path(S201), a step for determining whether or not the moving body is positioned on the path connected to a predetermined receiving limited area with reference to the map data(S202), a step for determining positioning error information according to the location change of the moving body from the determination time if positioned on the path(S203), and a step for analyzing the positioning error information and determining whether the moving body breaks away from the path to the receiving limited area(S204).

Description

METHOD AND SYSTEM OF NAVIGATION MAP MATCHING USING POSITIONING ERRORS}

FIG. 1 is a diagram illustrating an overview of a navigation map matching method and system using a positioning error according to an embodiment of the present invention.

2 is a flowchart illustrating a navigation map matching method using positioning errors according to an embodiment of the present invention.

3 is a diagram illustrating an example of a navigation screen on which positioning error information is exposed according to an embodiment of the present invention.

4 is a block diagram illustrating a navigation map matching system using a positioning error according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

110: search path

120: exit path

400: navigation map matching system

The present invention relates to a navigation map matching method and system. More particularly, the present invention relates to a method and a system for providing an accurate route according to a road to which a user actually travels. will be.

Recently, a device such as a navigation device that provides a user with location information and a route to a destination desired by a user by using a positioning device such as a GPS has been widely used. Usually, such a device stores map data therein, receives a satellite signal from a GPS satellite, checks a user's current location on a map stored therein, and provides a service to the user based thereon.

Among the services provided to the user in a device such as a navigation device, the most common service is a route search service. When a user sets a destination in navigation, the navigation provides a route to the destination by connecting movable roads in a map stored therein. In such a service, various methods for providing a route to a destination in real time according to a change of a route in which a user moves is proposed.

Since the route search method searches the route using the current location of the user and the map data stored therein, even when the user deviates from the route, the route search method can identify the user's current position and search for a new route. However, when a user operates a reception restriction section such as a tunnel / underground road, it is difficult to determine the current location of the user, so that it is difficult to search a fast route.

In particular, most tunnels / underground roads and side streets are arranged side by side. Therefore, if the route is a roadway or tunnel sidewalk in navigation, the route cannot be judged by the current location information even if the user leaves the roadway or tunnel. There is a problem that it is not possible to expedite the correct path search by leaving.

Therefore, there is an urgent need for a new navigation map matching method and system that can overcome the above problems.

The present invention has been made to solve the problems of the prior art as described above, by providing an accurate search path to the user by reducing the error that can occur according to the driving route to the user through the navigation map matching.

According to the present invention, when the user deviates from the GPS-received signal-receiving section, the user may quickly provide a re-search path according to the deviating path.

The present invention increases the utilization of the positioning error information by using the positioning error information for quick recognition of the deviation of the path to the reception restriction section, and provides an opportunity for further consideration of future utilization plans.

In order to achieve the above object and to solve the above-mentioned problems of the prior art, the navigation map matching method using the positioning error information according to an embodiment of the present invention is a map associated with the position of the moving object moving according to the predetermined search path Retrieving data; determining whether the moving object is located on a path connected to a predetermined reception limit section by referring to the map data; and when the determination result is located on the path, starting from the determination time point. Determining positioning error information according to a change in the position of the moving object and analyzing the positioning error information to determine whether the moving object deviates from the reception limit section.

According to one aspect of the present invention, the navigation map matching method using the positioning error information further comprises the step of re-determining the search path in accordance with the path departure, when the moving object deviates from the path to the reception limit section.

According to another aspect of the present invention, the map data associated with the location of the moving object includes road information around the moving object, and the reception restriction section is characterized in that the GPS reception is restricted section.

According to another aspect of the present invention, the positioning error information is determined according to at least one GPS satellite information and the position information of the moving object, the positioning error information is a horizontal positioning error information (HDOP: Horizontal Dilution Of Precision).

According to another aspect of the present invention, the step of analyzing the location error information to determine whether the moving path to the reception limit section is determined when the positioning error information reaches a predetermined limit value, And determining to deviate to the reception restriction section.

Navigation map matching system using the positioning error information according to another embodiment of the present invention is a map search unit for retrieving the map data associated with the position of the moving object moving according to a predetermined search path, the mobile object predetermined by referring to the map data Position determination unit for determining whether or not located on the path connected to the reception restriction section of the positioning error, if the position is located on the path, the positioning error to determine the positioning error information according to the position change of the moving object from the determination point And a path deviation determining unit determining whether the moving object deviates from the reception limit section by analyzing a determination unit and the positioning error information.

According to another aspect of the present invention, the navigation map matching system using the positioning error information further includes a search path determining unit for re-determining the search path according to the path deviation when the moving object deviates from the path by the reception restriction section.

In addition, although the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings and the contents described in the accompanying drawings, the present invention is not limited or restricted by the embodiments.

FIG. 1 is a diagram illustrating an overview of a navigation map matching method and system using a positioning error according to an embodiment of the present invention.

As shown in FIG. 1, the navigation map matching system using the positioning error may provide the user with a search path 110 from the starting point to the arrival point. When the user is located at a point 131 that connects the GPS reception restriction section 120 sideways, such as a tunnel or an underground road, the navigation map matching system may search for map data associated with the current location. The map data may be stored in a predetermined storage device included in the navigation map matching system.

The navigation map matching system determines whether the user is located at the current point 131 with reference to the map data, and if it is determined that the user is located at the point 131, the location of the user from the determination time point. The positioning error information according to the change is measured. The positioning error information may indicate an error degree according to the number of GPS. The positioning error information may increase or decrease as the error increases, but for convenience of explanation, it is assumed that the GPS reception error increases as the positioning error information increases.

The navigation map matching system starts measuring the location error information at point 131, and measures the location error information in real time according to a change in position of the user or a predetermined time interval. After the start of the measurement, if the value of the positioning error information becomes non-ideally large and reaches a predetermined reference value, the navigation map matching system may determine that the user is moving to the reception limit section instead of moving to a predetermined search path. Can be.

According to the existing navigation map matching, it is not possible to determine whether the user deviates from the path to the extent that the user is located at the point 133, but the navigation map matching system using the positioning error may determine whether the user is separated from the point 132. Do.

The navigation map matching system can quickly find out whether the user has left, and can quickly re-search for an appropriate route to the arrival point where the departure is reflected.

2 is a flowchart illustrating a navigation map matching method using positioning errors according to an embodiment of the present invention. As illustrated in FIG. 2, the navigation map matching method using the positioning error may be performed in steps S201 to S205.

In operation S201, the navigation map matching system may search map data associated with a location of a moving object moving according to a predetermined search path, and the map data associated with the location of the moving object may include road information around the moving object. Can be.

The navigation map matching system may provide a search path from a starting point to an arrival point to a user associated with the moving object, and may search and expose the location of the moving object to the user in real time. The navigation map matching system may search for map data according to the position of the moving object, and the map data may include road information around the moving object. The map data may be stored in a predetermined storage device included in the navigation map matching system, or may be received from a predetermined map server capable of transmitting / receiving with the system via wired or wireless.

The navigation map matching system may perform map matching using the map data, and perform a role of collecting information about a road associated with the moving object and guiding a dangerous section. In particular, in the present invention, the navigation map matching system may determine whether the position on the path of the moving object is connected to the reception restriction section by using the map data.

In step S202, the navigation map matching system may determine whether the moving object is located on a path connected to a predetermined reception limit section by referring to the map data, and the reception limit section is limited to GPS reception. The section may be a section where the GPS reception is restricted may be an underground road / tunnel section.

The navigation map matching system may determine whether the moving object is connected to a section in which GPS reception is restricted, such as a tunnel / underground map, with reference to road information included in the map data. The reception restriction section may mean a section in which GPS reception is impossible or a location of the moving object is very difficult.

The location on the path connected to the reception limit section may mean a point at which the connection with the reception limit section starts in the path determined as the side road of the section such as the tunnel / underground road. Referring to FIG. 1, the point 131 may be referred to as a location on a path that is connected to the reception restriction section. On the actual road, there may be various points at which the connection with the reception restriction section starts. However, when the predetermined path is determined as the reception limit section, for example, when the predetermined search path is determined as the direction 120 in FIG. 1, the point 131 is a point at which connection with the reception limit section starts. I can not say.

In an embodiment of the present invention, the navigation map matching system determines and compares positioning error information to be described below from the point 131 even when the predetermined search path is determined in the direction 120 of FIG. It is possible to determine whether the path deviates. However, the positioning error information may be increased by entering the reception limit section, but may also be increased by various determinants such as weather, terrain, and satellite reception status. Therefore, in the case where the predetermined search path is determined as the reception limit section as described above, the determination using the positioning error information may be somewhat weak in accuracy and utilization.

In operation S203, when the navigation map matching system is located on the path as a result of the determination, the navigation map matching system may determine positioning error information according to a change in the position of the moving object from the determination time point. That is, the positioning error information may be determined according to a change in position due to the movement of the moving object.

According to one aspect of the present invention, the navigation map matching system may determine the positioning error information at predetermined time intervals according to the position change of the moving object from the determination time. That is, the navigation map matching system may determine the positioning error information according to the position change of the moving object from the determination time point, and may determine the positioning error information at a predetermined time interval from the determination time point. The positioning error information may be determined in consideration of all the time intervals.

The positioning error information may be determined according to at least one GPS satellite information and location information of the moving object, and the positioning error information may be horizontal dilution of precision (HDOP).

The navigation map matching system may use a GPS satellite receiving method to determine the position of the moving object. The GPS satellite receiving method generally requires receiving a plurality of GPS satellites to read a position. Some of the plurality of GPS satellites may be used for position calculation and another part may be used for time synchronization. The positioning error information may be calculated by grabbing a predetermined arrangement using the position of the moving object as a vertex, and in particular, the horizontal positioning error information may mean a horizontal error.

The navigation map matching system may receive the positioning error information in the form of a data format, and the navigation map matching system may directly calculate the positioning error information based on a predetermined parameter.

The positioning error information may mean a numerical value that is widely used in a navigation device by GPS satellite reception at present, and the navigation map matching system according to the present invention may provide a new and progressive service using the positioning error information. . Hereinafter, such positioning error information will be described in more detail with reference to FIG. 3.

In step S204, the navigation map matching system may analyze the positioning error information to determine whether the moving object deviates from the reception limit section.

The navigation map matching system may determine that the moving object deviates from the reception limit section when the positioning error information reaches a predetermined limit value.

The navigation map matching system determines from the road information of the map data that the moving object is traveling toward a road on a path that is connected to a side road of a reception restriction area such as the underground driveway or a tunnel, and then, from the determination point of time, The change in the value of the positioning error information can be observed. The navigation map matching system may automatically determine that the moving object has left the underground road / tunnel when the positioning error information reaches a predetermined limit (for example, HDOP 40.0) such as a state where GPS reception is stopped. In fact, when the moving object enters an underground roadway or a tunnel, the positioning error information may be increased. In a word, it is determined whether the underground road / tunnel is entered using the positioning error information. The positioning error information may include horizontal positioning error information.

In step S205, the navigation map matching system may re-determine the search path according to the path deviation when the moving object deviates from the path by the reception restriction section.

As described above, the navigation map matching system may automatically determine that the moving object has left the underground driveway / tunnel when the positioning error information reaches a predetermined limit (for example, HDOP 40.0) such as a state in which GPS reception is cut off. Can be. The navigation map matching system may determine a new search path reflecting the departure of the path when it is determined that the moving object is separated from the underground road / tunnel. Compared with the case of re-determining the search path by considering only the GPS reception, the user can be quickly provided with a new search path because the re-determination of the search path can be performed quickly and efficiently.

3 is a diagram illustrating an example of a navigation screen to which positioning error information is exposed according to an embodiment of the present invention.

As illustrated in FIG. 3, the navigation map matching system may expose positioning error information to the user. The horizontal dilution of precision (HPOP) illustrated in FIG. 3 may be an example of the positioning error information.

The vehicle may be equipped with a navigation map matching system to determine the location of the device and to provide an optimal route to the desired destination. Such a navigation map matching system may determine the positions of the moving bodies using a GPS (Global Positioning System).

The navigation map matching system may determine the position of the moving object by analyzing GPS signals received from at least four satellites. However, various positioning error factors may exist in determining the position of the moving object, and such error factors may include ionospheric delay errors, satellite clock errors, and multipaths. In particular, since GPS calculates the position of the moving object by calculating the propagation arrival time from the satellite to the moving object, the GPS signal is sufficient to receive a sufficient GPS satellite signal when the GPS signal is blocked or reflected back by a tall building or roadside in the city. It may not be possible to receive the error, which may be greater. In addition, the error may increase in value as the entry into the reception restriction section of the tunnel or the underground roadway.

The horizontal positioning error information 301 may be calculated by the GPS satellite arrangement. As described above, the normal horizontal positioning error information 301 may mean that the larger the value, the larger the error.

4 is a block diagram illustrating a navigation map matching system using a positioning error according to an embodiment of the present invention. As illustrated in FIG. 4, the navigation map matching system 400 using the positioning error includes a map searching unit 401, a position determining unit 402, a positioning error determining unit 403, a path deviation determining unit 404, and a navigation system. The path determiner 405 may be included.

The map search unit 401 may search for map data associated with a location of a moving object according to a predetermined search path, and the map data associated with the location of the moving object may include road information around the moving object.

The position determining unit 402 may determine whether the moving object is located on a path connected to a predetermined reception limit section with reference to the map data, and the reception limit section is a section in which GPS reception is restricted. The section where the GPS reception is restricted may be an underground road / tunnel section.

When the positioning error determiner 403 is located on the path as a result of the determination, the positioning error determiner 403 may determine the positioning error information according to the change of the position of the moving object. The positioning error determiner 403 may determine the positioning error information at predetermined time intervals according to a change in the position of the moving object from the determination time point, and the positioning error information may include at least one GPS satellite information and the position information of the moving object. The positioning error information may be horizontal dilution of precision (HDOP).

The path deviation determining unit 404 may analyze the positioning error information to determine whether the moving object deviates from the reception limit section, and the navigation path determining unit 405 determines that the moving object deviates from the receiving limit section. The search path may be re-determined according to the path departure, and when the positioning error information reaches a predetermined limit value, the moving object may be determined to be out of the path to the reception limit section.

The navigation map matching method using the positioning error according to the present invention can be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program instructions recorded on the media may be those specially designed and constructed for the purposes of the present invention, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks, such as floppy disks. Magneto-optical media, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

As described above, although the present invention has been described with reference to limited embodiments and drawings, the present invention is not limited to the above embodiments, and those skilled in the art to which the present invention pertains various modifications and variations from such descriptions. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the claims below but also by the equivalents of the claims.

According to the present invention, by providing an accurate search path to the user, the user can efficiently reach the destination.

According to the present invention, when the user deviates from the reception limit section in which the GPS satellite signal is not received, the reception connected to the side path of the search path whether the user vehicle has gone to a predetermined search path using positioning error information. You can quickly determine if you have reached the limit.

According to the present invention, by quickly grasping whether the path deviates to the reception restriction section, the user is quickly provided with a re-search path according to the path deviation. The present invention provides an opportunity to newly explore the field of map matching using the positioning error information by utilizing the positioning error information for quick recognition of the deviation of the path to the reception restriction section.

Claims (19)

Retrieving map data associated with a location of a moving object moving according to a predetermined search path; Determining whether the moving object is located on a path connected to a predetermined reception limit section by referring to the map data; Determining positioning error information according to a change in position of the moving object from the determination time point when the determination result is located on the path; And Analyzing the positioning error information to determine whether the moving object deviates from the reception limit section; Navigation map matching method using positioning error information comprising a. The method of claim 1, Re-determining a search path according to the path deviation when the moving object deviates from the path by the reception restriction section Navigation map matching method using the positioning error information further comprising. The method of claim 1, Map data associated with the location of the moving object, Navigation map matching method using the positioning error information, characterized in that it comprises road information around the moving object. The method of claim 1, The reception limit section, Navigation map matching method using the positioning error information, characterized in that the section is GPS reception is limited. The method of claim 4, wherein The section where the GPS reception is limited, Navigation map matching method using positioning error information, characterized in that the underground road / tunnel section. The method of claim 1, The determining of the positioning error information according to the change in the position of the moving object from the determination time point, Determining the positioning error information at predetermined time intervals according to a change in the position of the moving object from the determination time point. Navigation map matching method using positioning error information comprising a. The method of claim 1, The positioning error information, Navigation map matching method using positioning error information, characterized in that determined according to at least one GPS satellite information and the position information of the moving object. The method of claim 1, The positioning error information, Navigation map matching method using positioning error information, characterized in that the horizontal positioning error information (HDOP: Horizontal Dilution Of Precision). The method of claim 1, The step of analyzing the positioning error information to determine whether the moving object is off-path to the reception limit section, Determining that the moving object deviates from the reception limit section when the positioning error information reaches a predetermined limit value. Navigation map matching method using positioning error information comprising a. A computer-readable recording medium in which a program for executing the method of any one of claims 1 to 9 is recorded. A map search unit for searching map data associated with a location of a moving object moving according to a predetermined search path; A position determination unit for determining whether the moving object is located on a path connected to a predetermined reception limit section by referring to the map data; A positioning error determination unit determining positioning error information according to a change in position of the moving object from the determination time point when the position is located on the path as a result of the determination; And A path deviation determining unit for determining whether the moving object deviates from the path to the reception limit section by analyzing the positioning error information Navigation map matching system using location error information comprising a. The method of claim 11, A search path determining unit for re-determining a search path according to the path departure when the moving object deviates from the path by the reception restriction section Navigation map matching system using the positioning error information further comprising. The method of claim 11, Map data associated with the location of the moving object, Navigation map matching system using the positioning error information, characterized in that it comprises road information around the moving object. The method of claim 11, The reception limit section, Navigation map matching system using the positioning error information, characterized in that the section is GPS reception is limited. The method of claim 14, The section where the GPS reception is limited, Navigation map matching system using positioning error information, characterized in that the underground road / tunnel section. The method of claim 11, The positioning error determiner, The navigation map matching system using the positioning error information, characterized in that for determining the positioning error information at predetermined time intervals according to the position change of the moving object from the determination time. The method of claim 11, The positioning error information, Navigation map matching system using positioning error information, characterized in that determined according to at least one GPS satellite information and the position information of the moving object. The method of claim 11, The positioning error information, Navigation map matching system using positioning error information, characterized in that the horizontal positioning error information (HDOP: Horizontal Dilution Of Precision). The method of claim 11, The path deviation determining unit, When the positioning error information reaches a predetermined limit value, the navigation map matching system using the positioning error information, characterized in that for determining that the moving path to the receiving limit section.
KR1020070047741A 2007-05-16 2007-05-16 Method and system of navigation map matching using positioning errors KR20080101242A (en)

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