CN101033975A - Mobile position information measuring and calculating device - Google Patents
Mobile position information measuring and calculating device Download PDFInfo
- Publication number
- CN101033975A CN101033975A CNA2006100245926A CN200610024592A CN101033975A CN 101033975 A CN101033975 A CN 101033975A CN A2006100245926 A CNA2006100245926 A CN A2006100245926A CN 200610024592 A CN200610024592 A CN 200610024592A CN 101033975 A CN101033975 A CN 101033975A
- Authority
- CN
- China
- Prior art keywords
- gps
- gyroscope
- signal
- accelerometer
- chip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
This invention relates to a kind of mobile information calculations equipment, the character lay in : the equipment includes GPS aerial, used in induce GPS wireless signal; integrated navigation chip, which include CPU, GPS radio frequency unit, GPS baseband cell, gyroscope, accelerometer; RF filter, from above state GPS antennae receiving signals through RF filter, then import to GPS baseband cell; GPS baseband cell process handing then gain parameter value;hour, velocity, latitude, longitude, height, and transmit to CPU; gyroscope and accelerometer are used for measuring vehicle respond angular velocity / linear velocity and acceleration when running, and transmit to CPU; flash deposit, contain required procedure aim at locating terminal movement, and positioning algorithm;USB mouthpiece, be used for amend or change procedure of locating terminal. This invention has one chip to realize positioning, can reduce cost and advance efficacy, possess preferable effect compare with now technology.
Description
Technical field
The present invention relates to the system of mobile positioning information, be specifically related to mobile position information measuring and calculating device.
Background technology
Below prior art and related invention will be described.
In general, navigation terminal machine (Navigation system terminal) is presented at the present position of the moving body of the information calculations of utilizing GPS (Global Positioning System is hereinafter referred to as GPS) to receive on the map of display frame demonstration.
Above-mentioned navigation terminal machine (or GPS positioning equipment) is to be installed in various moving bodys such as boats and ships, aircraft, automobile now, is widely used in present present position and the translational speed of confirming moving body, or the decision mobile route.
Such navigation terminal machine to the driver working direction that shows moving body is provided, to the path that is provided with before present translational speed, the driver of the distance between the destination, moving body travels, to the required various information of travelling such as optimal path of destination.
Particularly, a plurality of moonlets that the navigation terminal machine is subordinated to GPS receive the electric wave of representing latitude, longitude, height etc., after calculating the present present position of moving body, show or represent to comprise the cartographic information of this present position for picture the driver with voice.
Recently, above-mentioned navigation terminal machine has added diversified function, particularly possesses broadcast capability, television receiving function, telephony feature, memory function etc., and button and the menu that can search for multiple functional item also are provided.
Fig. 1 is the independent respectively pie graph that constitutes the general navigation terminal machine of each ingredient.
With reference to Fig. 1, gps receiver 102 receives the certain position data that a plurality of gps satellites 100 transmit in order to obtain navigation Service with reception means-antenna, is transferred to controller 110.
In addition, sensor 104 comprises speed pickup (Velocity Sensor)/gyroscope (Gyro Sensor) etc., responds to the anglec of rotation of each vehicle and speed etc., is transferred to controller 110.
In addition, button input unit 106 comprises button, the touch screen of various functions, the search means of roller button (Jog dial) type, and being provides for search and choice menus.
The molar behavior of controller 110 control navigational system.For this reason, controller 110 is present present positions of judging moving body with the received signal of gps receiver 102, and the map datum of the present present position of the moving body of judging and 108 storages of map datum reservoir is mated.
In addition, when the user imports departure places and destination by button input unit 106, the map datum that controller 110 stores with reference to map datum reservoir 108, search, and is presented at the driving path of search on the display 114 by display driver 112 with electronic chart to the driving path the destination from the present present position of moving body.
In addition, obtain by button input unit 106 input function key or from the input of the push button signalling of roller button input, make it be presented at display 114, control.Aforementioned display device 114 is meant the equipment of LCD and so on as the demonstration means with OSD (On Screen Display screen display) function.
In addition, internal memory 111 has the normally program and the various data of operational system.
Also, give sound equipment 118 output guiding voice, the driving path of guiding moving body by voice guide device 116.
Above-mentioned navigational system is to receive gps satellite signal from a plurality of gps satellites 100 that the earth distributes, and grasps the present present position and the travel direction of vehicle, follows the tracks of driving trace.In addition, still one can arrive at the destination it from the departure place by multiple driving path, and the service in bee-line path is provided to vehicle user.
Such navigational system makes it can conveniently select diversified function because of with television receiving function, broadcast capability, telephony feature, information storage function, and menu should be provided.For this reason, the menu-style that embodies of the picture of display 114 should embody with the form of the button that is matched with button input unit 106.
For this reason, button input unit 106 constitutes the menu search means of roller button (Jog dial) type, and for the menu indication, constitute the menu indicatory device of roller push-button type on the picture, rotating disk (dial) radius arranging menu frame according to indicatory device, when making the user directly rotate the menu search means with this, the radius that also can search for cursor of mouse (cursor) indication of supporting the menu means is with interior menu.
In addition, the relevant content of GPS will be specified.
GPS after receiving specific signal from gps satellite, analyzes its satellite-signal, shows the equipment of this position (latitude value, longitude), is commonly referred to as GPS module (gps receiver).
If gps antenna is inserted in above-mentioned GPS module, and connect power supply (5V-12V) and computer, just have the present position to output on the picture of computer.
Above-mentioned GPS inside modules is designed to just as central processing unit (CPU) and ROM (read-only memory) (ROM), the compression of random access memory computers such as (RAM) are placed.
In the above, the CPU calculating location information, the program of the built-in calculating location information of ROM, RAM has simple information such as nearest positional information.
If open after closing GPS for a long time, just show its position slightly after a period of time, this be because, as the start-up course of computer, carry out the POST (self detects) of gps receiver, the program in the operation ROM, analytic signal is recorded in RAM to positional information afterwards, and final outgoing position.
The signal that can receive gps signal output is varied really.
Give an example,, latitude value, longitude, speed, moving direction etc. are arranged as the data that are presented on the binary map.
In addition, the GPS of aircraft utilization is a three dimensions, therefore also correctly shows its height.
The positional information that the equipment of omniselector or unmanned monitoring camera-shooting device and so on is exported according to the GPS module like this, show (navigation) present position now on the map, latitude and longitude that unmanned monitoring camera-shooting device position of perhaps having imported more (latitude, longitude etc.) and present actual GPS module receive, information such as output danger or deceleration.
The electric wave of gps satellite transmission is higher because of frequency band, and rectilinear propagation is higher; Because of transmissivity is lower, gps antenna should be all the time skywards.
Fig. 2 a is the synoptic diagram that expression information terminal-teleprocessing device constitutes at automotive interior.
As shown in the figure, constitute teleprocessing device 201 in the automobile, make driver and occupant spend effective time.
Fig. 2 b is expression separates teleprocessing device 201 from automobile a synoptic diagram.
Fig. 3 a is the mileometer (Odometer) 304 that independent respectively GPS302 of formation of expression and gyroscope (Gyro) 303 reach at vehicle speed measurement, the integration map of link information terminating machine-teleprocessing device 301.
In above-mentioned formation,, use GPS substantially for the location of telematics terminal, in the place that can't receive GPS, utilize velocity pulse (Speed Pulse) signal that wheel when rotation of gyroscope and vehicle produce, the measuring position, the position display of automobile at map (MAP).
Fig. 3 b is expression GPS, gyroscope and the be connected block diagram of accelerometer with telematics terminal
In above-mentioned formation, GPS is used in the area that can receive GPS, and gyroscope and accelerometer are used in the place that can't receive GPS, locate.
But utilize the positioning equipment of above-mentioned existing mobile message all to buy uses such as GPS module, gyro module and acceleration module separately.Therefore, no matter be to locate partly in price, still aspect utilization, caused many difficulties and inconvenience to the user.
Summary of the invention
Given this, propose can be with the new composite chip of the position of a chip embodiment special object, angular velocity, acceleration information in the present invention.
The present invention proposes a kind of system of mobile positioning information, and the information from composite chip output GPS, a MEMS Gyro scope, MEMS accelerometer is transferred to the teleprocessing device by interface means.
The system equipment of mobile positioning information of the present invention is with position and the measurement of angular velocity and acceleration and the comprehensive positioning chip of processing of a chip operation to above-mentioned special object; At least store the output information of above-mentioned positioning chip more than and the internal memory of working procedure; The interface that connects above-mentioned positioning chip and said system.
As a technical scheme of the present invention,
A kind of mobile position information measuring and calculating device provided by the present invention comprises:
Gps antenna is used to respond to the GPS radio signal;
Comprehensive positioning chip, it comprises central processing unit, GPS radio frequency unit, GPS Base Band Unit, gyroscope, accelerometer;
The RF wave filter after the signal that receives from above-mentioned gps antenna filters by the RF wave filter, is input to the GPS Base Band Unit;
After handling, the GPS Base Band Unit obtains parameter value: time, speed, latitude, longitude, highly, and be transferred to central processing unit;
Gyroscope, corresponding angular velocity when being used for measuring vehicle and travelling;
Accelerometer, relevant acceleration when being used for measuring vehicle and travelling;
The signal of gyroscope and the output of accelerometer chip is transferred to central processing unit;
Mileometer is used for corresponding pulse signal is exported to central processing unit, and central processing unit utilizes above-mentioned pulse signal, calculates the displacement of vehicle, and described mileometer pulse signal is to obtain from wheel;
Flash memory is equipped with at locating terminal action required program and location algorithm;
USB interface is used to revise or change the program of locating terminal.
Described gyroscope and accelerometer can carry out the output of simulating signal and the output of digital signal; During the output simulating signal, be converted to digital signal, be transferred to central central processing unit by A/D converter.
Program can be moved among the RAM and move so that travelling speed is rapider.
What pairing angle value adopted when measuring vehicle was travelled is microelectromechanical systems (MEMS) gyroscope.
Measure the speed change value of mobile object by the microelectromechanical systems accelerometer.
As mentioned above, mobile position information measuring and calculating device of the present invention is from the information of a composite chip output GPS, MEMS gyroscope, MEMS accelerometer, may be displayed on the teleprocessing device by interface.
That is, realize the location with a chip, the raising effect that reduces cost is compared with present technology has better effect.
Description of drawings
Fig. 1 is the pie graph of general navigation terminal machine;
Fig. 2 a is the synoptic diagram that expression information terminal-teleprocessing device (TELEMATICS) constitutes at automotive interior;
Fig. 2 b is expression separates the teleprocessing device from automobile a synoptic diagram;
Fig. 3 a is GPS, gyroscope and mileometer and the block diagram that is connected of telematics terminal;
Fig. 3 b is GPS, gyroscope and accelerometer and the block diagram that is connected of telematics terminal;
Fig. 4 is the chip of the integrated GPS of expression and gyroscope and accelerometer, the connection diagram between mileometer and the telematics terminal;
Figure 5 shows that the embodiment pie graph of composite chip of the present invention.
Embodiment
Below with reference to accompanying drawings mobile position information measuring and calculating device embodiment of the present invention is elaborated.
Fig. 4 is the chip of the integrated GPS of expression and gyroscope and accelerometer, the connection diagram between mileometer and the telematics terminal.
As shown in the figure, chip 402a comprises GPS and gyroscope and accelerometer, and this chip 402a obtains velocity pulse (Speed Pulse) from mileometer 402b, after positioning relevant all and handling, locator data is transferred to telematics terminal 401.
Figure 5 shows that the pie graph of the embodiment of composite chip of the present invention.
As shown in the figure, comprehensive locating terminal machine 500 is with comprehensive positioning chip 501 of the present invention and circumferential component-internal memory 512,513 and interface 514,515 formations.
Comprehensive positioning chip 501 is to make with SIP (the single package system of System in a Package) form or SoP (System on a Package system in package) form.
SIP is meant respectively and makes the chip that can not finish making with an engineering, be placed on the signal wire that connects each chip chamber above the PCB (Printed Circuit Board circuit board) after, encapsulate (Packing), have a chip visual effect with this.
The chip of making is made in such SIP mode mostly recently.
Above-mentioned comprehensive positioning chip 501 is shown central processing unit 509, GPS L1/L2C RFIC504, GPS L1/L2C base band (Baseband) chip 505, MEMS gyroscope (Gyroscope) chip 506, MEMS acceleration chip 507 formations greatly.
In addition, for the signal of above-mentioned MEMS (Micro Electro Mechanical Systems) gyroscope and the output of accelerometer chip is transferred to central processing unit, need A/D converter (Converter) 508.
At foregoing, MEMS (Micro Electro Mechanical Systems) is meant microelectromechanical systems, as the technology that electronics and mechanical part is integrated into integral unit with microminiature, in conjunction with the mechanicalness of micro scale (microscale) and the structure of electronics, make system and be referred to as MEMS with new function.
In order to receive gps signal, gps antenna 502 needs to connect comprehensive locating terminal 500, and the signal that receives from above-mentioned gps antenna 502 passes through RF Filter (wave filter) 503, only by necessary signal band.
RF Filter is all by GPS L1 frequency (1575.42MHZ) and L2 (1227.60MHZ) frequency.
GPS L1/L2C baseband chip 504 receives the signal of GPS L1/L2C RF IC504 output, handles.
At GPS L1/L2C baseband chip internal analysis gps signal, extract necessary signal (time, speed, latitude, longitude, height etc.), be transferred to central processing unit 509.
In addition, MEMS gyroscope 506 is the measurements at angular velocity, if vehicle ', just corresponding angle value therewith is transferred to central processing unit 509.
In addition, MEMS accelerometer 507 is at velocity survey, if the speed of vehicle changes, just corresponding value therewith is transferred to central processing unit.
Above-mentioned MEMS gyroscope and accelerometer can carry out the output of simulating signal and the output of digital signal.Therefore, during the output simulating signal, should be converted to digital signal, be transferred to central processing unit by A/D converter 508.
In addition, if wheel rotation, mileometer 510 is just exported to central processing unit to corresponding pulse signal therewith, and central processing unit utilizes above-mentioned pulse signal, calculates the displacement of vehicle.The mileometer signal is to obtain from 4 wheels.
Direction (Direction) 511 signals are signals that the expression vehicle forwards advances or retreats, and central processing unit receives above-mentioned signal, use when navigating.
Central processing unit is to be the position that the basis shows vehicle with the gps signal.But gps signal is in shade places such as the intensive zone of skyscraper or the woods, and its accepting state might badly maybe can't receive.At this moment, utilize the signal of accelerometer, gyroscope, mileometer etc., calculate the position of vehicle, show.
Flash memory (Flash Memory) 513 is equipped with at locating terminal 500 actions required program and location algorithm, and is rapider in order to make travelling speed when making actual act, and program is moved to RAM512, makes action.
As mentioned above, when representing the position with gps signal, if can't receive gps signal, just utilize gyroscope, accelerometer, mileometer signal etc., the mode of calculating vehicle location is called DR (DeadReconing) mode.
Above-mentioned DR mode is the mode of guided missile and aircraft measuring position as the method for measuring location, needs accurate algorithm.Such algorithm is to be contained in central processing unit to make action.
Central processing unit is to constitute the information of output based on above-mentioned each, calculates the position data of self all the time, is transferred to telematics terminal 520.
At this moment, use serial communication, specifically use RS232 Tranceiver (optical transceiver module) 514.
Telematics terminal 510 is to obtain the locator data (time, speed, latitude, longitude, height etc.) that positioning chip 501 provides, and is used to navigate or function that other telematics terminal is required.
Above-mentioned RS232 Tranceiver514 also be used for for telematics terminal between communicate by letter, also use for development of substrates (board) or for communication at 521 of the PC of debug (debug).
As mentioned above, the objective of the invention is to,, also make the relevant all functions in location make action, reduce its price at chip comprehensively making action with the chip of independently chip or module use with a chip respectively now.
But what GPS was relevant partly is to be divided into RF and base band, because of its engineering difference, is not made as a chip, but separately, makes chip respectively.
That is, RF IC makes the RF action, does not therefore use general CMOS (complementarymetal-oxide semiconductor) engineering, but makes with the BiCOM engineering; The GPS base band is made with the CMOS engineering because of making general numeral action.
In addition, gyroscope and accelerometer are to make with the MEMS engineering, use the engineering different with the GPS chip.
The above-mentioned chip made from different engineerings is to be made as a chip, and these are called SoP.
If specify, with SoC (System On Chip system level chip) all engineerings are compared as a making, SoP (System On Package system in package) be because of can not using identical engineering, the chip of making respectively as an encapsulation (Package).
Therefore, the present invention is that a plurality of Chip Packaging (Package) that interface (interpace) is designed to be correlated with integrated location are one, and portion can be interactive within it, also can make algorithm make action.
Embodiments of the invention more than have been described, but the present invention can use diversified variation and change and be equal to the example of replacement.
The present invention can suitably change the foregoing description fully, uses with effect same.Therefore, foregoing of the present invention is not limited to this, and technical scope of the present invention is determined by claim.
Claims (5)
1, a kind of mobile position information measuring and calculating device is characterized in that, comprising:
Gps antenna is used to respond to the GPS radio signal;
Comprehensive positioning chip, it comprises central processing unit, GPS radio frequency unit, GPS Base Band Unit, gyroscope, accelerometer;
The RF wave filter after the signal that receives from above-mentioned gps antenna filters by the RF wave filter, is input to the GPS Base Band Unit;
After handling, the GPS Base Band Unit obtains parameter value: time, speed, latitude, longitude, highly, and be transferred to central processing unit;
Gyroscope, corresponding angular velocity when being used for measuring vehicle and travelling;
Accelerometer, relevant acceleration when being used for measuring vehicle and travelling;
The signal of gyroscope and the output of accelerometer chip is transferred to central processing unit;
Mileometer is used for corresponding pulse signal is exported to central processing unit, and central processing unit utilizes above-mentioned pulse signal, calculates the displacement of vehicle, and described mileometer pulse signal is to obtain from wheel;
Flash memory is equipped with at locating terminal action required program and location algorithm;
USB interface is used to revise or change the program of locating terminal.
2, mobile position information measuring and calculating device as claimed in claim 1 is characterized in that, described gyroscope and accelerometer can carry out the output of simulating signal and the output of digital signal; During the output simulating signal, be converted to digital signal, be transferred to central central processing unit by A/D converter.
3, mobile position information measuring and calculating device as claimed in claim 1 or 2 is characterized in that,
Program can be moved among the RAM and move so that travelling speed is rapider.
4, mobile position information measuring and calculating device as claimed in claim 2 is characterized in that, what pairing angle value adopted when measuring vehicle was travelled is microelectromechanical systems (MEMS) gyroscope.
5, mobile position information measuring and calculating device as claimed in claim 2 is characterized in that, measures the speed change value of mobile object by the microelectromechanical systems accelerometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006100245926A CN101033975A (en) | 2006-03-10 | 2006-03-10 | Mobile position information measuring and calculating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006100245926A CN101033975A (en) | 2006-03-10 | 2006-03-10 | Mobile position information measuring and calculating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101033975A true CN101033975A (en) | 2007-09-12 |
Family
ID=38730636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006100245926A Pending CN101033975A (en) | 2006-03-10 | 2006-03-10 | Mobile position information measuring and calculating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101033975A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101923155A (en) * | 2009-04-27 | 2010-12-22 | 思科技术公司 | Location filtering based on device mobility classification |
| CN102023233A (en) * | 2009-09-15 | 2011-04-20 | 索尼公司 | Velocity calculating device, velocity calculating method, and navigation device |
| CN102087299A (en) * | 2009-12-03 | 2011-06-08 | 索尼公司 | Velocity calculating apparatus, velocity calculating method, navigation apparatus, and mobile phone with navigation function |
| CN102121992A (en) * | 2009-12-15 | 2011-07-13 | 卡西欧计算机株式会社 | Positioning device, positioning method and image capturing device |
| CN102155954A (en) * | 2010-02-11 | 2011-08-17 | 上海博泰悦臻电子设备制造有限公司 | Vehicular equipment and navigation method thereof |
| CN102162856A (en) * | 2010-12-29 | 2011-08-24 | 上海华勤通讯技术有限公司 | Mobile terminal capable of being positioned under condition of weak positioning signal and method for positioning same |
| CN102680725A (en) * | 2012-06-04 | 2012-09-19 | 交通运输部公路科学研究所 | System and method for measuring wheel speed of single-axis gyroscope |
| CN104697522A (en) * | 2015-03-24 | 2015-06-10 | 芜湖航飞科技股份有限公司 | Inertial navigation system for ship |
| CN105954533A (en) * | 2016-07-19 | 2016-09-21 | 北京耘华科技有限公司 | Vehicle wheel speed measuring device and vehicle |
| CN107462242A (en) * | 2016-06-06 | 2017-12-12 | 千寻位置网络有限公司 | Vehicle speed measuring method and its device |
-
2006
- 2006-03-10 CN CNA2006100245926A patent/CN101033975A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101923155A (en) * | 2009-04-27 | 2010-12-22 | 思科技术公司 | Location filtering based on device mobility classification |
| CN101923155B (en) * | 2009-04-27 | 2013-09-18 | 思科技术公司 | Location filtering based on device mobility classification |
| CN102023233A (en) * | 2009-09-15 | 2011-04-20 | 索尼公司 | Velocity calculating device, velocity calculating method, and navigation device |
| CN102023233B (en) * | 2009-09-15 | 2012-10-10 | 索尼公司 | Velocity calculating device, velocity calculating method, and navigation device |
| CN102087299A (en) * | 2009-12-03 | 2011-06-08 | 索尼公司 | Velocity calculating apparatus, velocity calculating method, navigation apparatus, and mobile phone with navigation function |
| CN102087299B (en) * | 2009-12-03 | 2012-11-21 | 索尼公司 | Velocity calculating apparatus, velocity calculating method, navigation apparatus, and mobile phone with navigation function |
| US8416294B2 (en) | 2009-12-15 | 2013-04-09 | Casio Computer Co., Ltd. | Positioning device, positioning method, storage medium and image capturing device |
| CN102121992A (en) * | 2009-12-15 | 2011-07-13 | 卡西欧计算机株式会社 | Positioning device, positioning method and image capturing device |
| CN102121992B (en) * | 2009-12-15 | 2013-11-06 | 卡西欧计算机株式会社 | Positioning device, positioning method and image capturing device |
| CN102155954A (en) * | 2010-02-11 | 2011-08-17 | 上海博泰悦臻电子设备制造有限公司 | Vehicular equipment and navigation method thereof |
| CN102162856A (en) * | 2010-12-29 | 2011-08-24 | 上海华勤通讯技术有限公司 | Mobile terminal capable of being positioned under condition of weak positioning signal and method for positioning same |
| CN102680725A (en) * | 2012-06-04 | 2012-09-19 | 交通运输部公路科学研究所 | System and method for measuring wheel speed of single-axis gyroscope |
| CN104697522A (en) * | 2015-03-24 | 2015-06-10 | 芜湖航飞科技股份有限公司 | Inertial navigation system for ship |
| CN107462242A (en) * | 2016-06-06 | 2017-12-12 | 千寻位置网络有限公司 | Vehicle speed measuring method and its device |
| CN107462242B (en) * | 2016-06-06 | 2020-09-29 | 千寻位置网络有限公司 | Vehicle speed measuring method and device |
| CN105954533A (en) * | 2016-07-19 | 2016-09-21 | 北京耘华科技有限公司 | Vehicle wheel speed measuring device and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101033975A (en) | Mobile position information measuring and calculating device | |
| JP5985788B2 (en) | Information processing device | |
| US9476722B2 (en) | Route comparison device, route comparison method, and program | |
| CN101586962B (en) | Map feedback correction method of inertial navigation system | |
| EP2291608B1 (en) | Navigation device&method for determining road-surface features | |
| CN1204373C (en) | Navigation device for vehicle | |
| CN101578501B (en) | Navigation device and method | |
| JP4345842B2 (en) | VEHICLE POSITION INFORMATION PROVIDING DEVICE, VEHICLE POSITION INFORMATION PROVIDING METHOD, AND COMPUTER PROGRAM | |
| CN102713520B (en) | Guider and method | |
| US8676505B2 (en) | Positioning system, communication device, positioning method | |
| US9268474B2 (en) | Information processing apparatus, method, and non-transitory computer-readable medium to control display of a map | |
| US20100057359A1 (en) | Location systems for handheld electronic devices | |
| CN1734236A (en) | Orientation data generation method, orientation sensor unit and portable electronic equipment | |
| US20120053823A1 (en) | Navigation device & method | |
| US20130132019A1 (en) | Altitude estimation apparatus, altitude estimation method, and program | |
| US9961506B2 (en) | Systems and methods for determining position using a geofeature | |
| US10830606B2 (en) | System and method for detecting non-meaningful motion | |
| CN1892179A (en) | Apparatus and method for detecting azimuth and inclination angle, program for detecting the same, and portable terminal device for detecting the same | |
| JP2011141131A (en) | Navigation apparatus, navigation method, and program | |
| JP2018513370A5 (en) | ||
| JP2018513370A (en) | Ad hoc real-time kinematic roving network for automobiles | |
| CN114494408A (en) | Star finding method and device | |
| US9638531B2 (en) | Map matching methods for mobile devices | |
| US20110196607A1 (en) | Navigation method and electronic apparatus with navigation function | |
| CN114001746A (en) | Determination method of walking guide point, walking navigation method and related device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20070912 |