CN101086449B - Navigation device dynamic target tracking method - Google Patents
Navigation device dynamic target tracking method Download PDFInfo
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- CN101086449B CN101086449B CN200710023772A CN200710023772A CN101086449B CN 101086449 B CN101086449 B CN 101086449B CN 200710023772 A CN200710023772 A CN 200710023772A CN 200710023772 A CN200710023772 A CN 200710023772A CN 101086449 B CN101086449 B CN 101086449B
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Abstract
The dynamic object tracking for a guide track device comprises the first guide device and the second guide device radio communication to acquire the location, displacement direction and speed, with the first guide device calculating the position for the second guide device to arrive at and its first target position first guide line through the position, displacement direction. If the second guide device does not match, the first guide device will compute the location of the second guide device, and work out the second guide line till the meeting of the first and the second guide devices.
Description
Technical field
The present invention relates to a kind of method for tracing of dynamic object of guider.
Background technology
Automobile is known by people with the route preview and the route guidance function of GPS navigation device.For example:
Germany Patent document DE3905493, american documentation literature US5832406, US5440060, US6249742, US5612881 and one Chinese patent application 200480014029.X, 200480004959.7,200410038749.1, all disclose have route searching, the onboard navigation system of route preview, route guidance function.
The weak point of above-mentioned prior art is: guider navigates after static point is made as the destination, can not carry out tracing navigation to dynamic object.
Chinese patent document publication number CN1937843 discloses a kind of China Mobile network positioning system; Technical matters that this system solved and main points: 1. range observation is with distance detecting file span; Measure to transmit file and be sent to the complete time of passing original position back from beginning through transmitting binary numeral between mobile communications network fixed base stations and the mobile phone back and forth, take advantage of the accurate distance of obtaining them in speed.Purposes is measured the distance with the fixed station and the connatural movement station of microwave transmitting and receiving numerical information.The summary of mobile phone and accurately the location measured the discrepancy in elevation between three limits of calculating length between a plurality of base stations and the mobile phone of three-dimensional coordinate and each base station and mobile phone with mobile communications network; Calculate the three flat triangles of forming apart from the limit, try to achieve transfer table three-dimensional coordinate location with triangle corner and tracerse survey computing formula.
Chinese patent document publication number CN1486072 discloses a kind of method of utilizing communication network to carry out communication navigation; The inquiry is to providing the professional telecommunications company of communication navigation to send navigation request; With the fixed telephone number of the starting point of road and destination county as locating information; Telecommunications company receives the request back according to locating information, utilizes GIS-Geographic Information System to find best course, and utilizes the switching network for communication network that navigation information is sent to the inquiry.
Chinese patent document publication number CN1948908 discloses a kind of air navigation aid and system based on mobile phone, receives the mobile phone current position signal that gps signal is confirmed through the mobile phone wireless communication module; Through mobile phone input device input target position information; Mobile phone current position signal and navigation target positional information are sent to navigation center; Navigational route database is searched according to current position signal and the navigation target positional information received by navigation center; If comprise current phone position and navigation target positional information in the database, then cook up a path, and the related data in the path of cooking up is sent to said mobile phone from the current phone position to the target location according to navigational route database.Storing electronic map in advance on the mobile phone, navigation information can provide with sound or figure or short message mode.
Chinese patent document publication number CN2754287 discloses a kind of device that utilizes mobile phone that vehicular traffic is monitored in real time.It utilizes the part of the mobile phone of setting in each vehicle unit as the means of access; Accomplish extensive information distribution rapidly and accurately and focus on professional customer service in conjunction with vehicle-mounted intelligent information unit box, information is sent on the wireless terminal device through signaling the most at last.
The above-mentioned scheme of utilizing the mobile communication network to position navigation, its weak point is: the information of the target that it is confirmed only limits to its position, and can't obtain information such as its moving direction, speed, is not easy to follow the trail of the objective.
Summary of the invention
Technical matters to be solved by this invention provides a kind of positional information, moving direction information and velocity information that can obtain dynamic object in real time so that the method for tracing of the dynamic object of the guider of tracking dynamic object.
For solving the problems of the technologies described above, the method for tracing of the dynamic object of guider of the present invention comprises:
A, first guider and second guider carry out wireless telecommunications, and obtain position information, moving direction information and the velocity information of second guider;
B, first guider be according to position information, moving direction information and the velocity information of second guider, calculate first unit after the period second guider with i.e. first target location, the position that arrives; First guider is according to self position, moving direction, calculates from self position to first guiding route of first target location, and shows;
C, first guider continue to carry out wireless telecommunications with second guider, and obtain new position information, moving direction information and the velocity information of second guider; If find that second guider is not through maybe arriving first target location; Then first guider calculate second unit after the period second guider with i.e. second target location, the position that arrives; Then according to new self position, moving direction; Calculate second guiding route, and show from new self position to second target location;
D, repeating step C meet until first guider and second guider.
Among the above-mentioned steps A, before first guider and second guider carried out wireless telecommunications, first guider sent the tracking request signal of dynamic object earlier to second guider; If second guider is through authentication and accept the tracking request of this dynamic object; Then feedback is agreed trace signals to the first guider; Set up the wireless telecommunications relation between first guider and second guider, first guider obtains position information, moving direction information and the velocity information of second guider simultaneously.
In the technique scheme, said first unit period and pairing time span of the second unit period and first guider are directly proportional with the spacing of second guider; Or, confirm the value of the first unit period and the second unit pairing time span of period according to the scope of the distance values of first guider and second guider.
The present invention has positive effect: in the method for tracing of the dynamic object of (1) guider of the present invention; Second guider sends to first guider with its self position information that records, moving direction information and velocity information; According to the moving direction of second guider and speed first guider just can calculate first unit after the period second guider dynamic object is convenient to follow the trail of in the position that arrives.Promptly in step C, first guider can be adjusted the guiding route of following the trail of second guider in real time before meeting, and has improved the accuracy and the reliability of following the trail of dynamic object.(2) among the present invention, carry out carrying out authentication before the wireless telecommunications, can guarantee the safe in utilization of guider of the present invention at first guider and second guider.(3) among the present invention, said next the pairing time span of unit period and first guider are directly proportional with the spacing of second guider; For example, when said spacing was 5Km, said next pairing time span of unit period can be made as the short time period, such as 3 minutes; Or, confirm the value of the first unit period and the second unit pairing time span of period according to the scope of the distance values of first guider and second guider.Can improve the precision of following the trail of dynamic object like this.
Description of drawings
Fig. 1 is first guider among the present invention and the circuit structure schematic diagram of second guider;
Fig. 2 carries out communication for first guider among the present invention and second guider through the wireless telecommunications net synoptic diagram;
The navigation picture information that Fig. 3 is shown for first guider among the step B of the method for tracing of the dynamic object of guider of the present invention;
The navigation picture information that Fig. 4 is shown for first guider among the step C of the method for tracing of the dynamic object of guider of the present invention;
Fig. 5 is the flow chart of method for tracing of the dynamic object of guider of the present invention.
Embodiment
(embodiment 1)
Like Fig. 1, first guider of present embodiment all comprises with second guider: CPU element 1, with the CPU element 1 two-way gps receiver 2 that is used to receive latitude and longitude information that is electrically connected, with the CPU element 1 two-way map data base that is used for store map data 3 that is electrically connected, with the CPU element 1 two-way program data base 4 that is used to store Navigator that is electrically connected; Being used for of being electrically connected with CPU element 1 controlled unit 6 with the instantaneous speech power 5 of voice mode output transport information with 1 two-way being used for displays image information and receiving the touch-screen that touches input signal of being electrically connected of CPU element; With the CPU element 1 two-way radio communication unit that is electrically connected 7.
First guider and second guider can calculate current position, moving direction and speed etc. according to the gps signal that gps receiver 2 receives.
Radio communication unit 7 is GSM unit or GPRS unit or 3G unit.GSM unit and GPRS unit are the radio communication unit that adopts in the existing mobile phone; 3G (3rd Generation) refers to the 3G (Third Generation) Moblie technology, and the 3G unit is meant the communication unit that can carry out communication with the 3G (Third Generation) Moblie network.GSM communication network, GPRS communication network and 3G (Third Generation) Moblie network are referred to as the mobile communication net.
Like Fig. 2, first guider and second guider can be that wireless telecommunications net 9 carries out wireless telecommunications through radio communication unit 7 through existing mobile communication network respectively.
During use, first guider of present embodiment and second guider all are arranged on the mobile vehicle (like automobile, motorcycle etc.).
W among Fig. 3 and Fig. 4 is the road net that has crisscross road to constitute.
See Fig. 3, Fig. 4 and Fig. 5, the method for tracing of the dynamic object of the guider of present embodiment comprises:
A, first guider and second guider carry out wireless telecommunications, and obtain position information, moving direction information and the velocity information of second guider; Wherein, before first guider and second guider carried out wireless telecommunications, first guider sent the tracking request signal of dynamic object earlier to second guider; If second guider is through authentication and accept the tracking request of this dynamic object; Then feedback is agreed trace signals to the first guider; Set up the wireless telecommunications relation between first guider and second guider, first guider obtains position information, moving direction information and the velocity information of second guider simultaneously.Otherwise if do not accept the tracking request of this dynamic object, then feedback is refused solicited message to the first guider.
B, first guider are according to position information, moving direction information and the velocity information of second guider; Calculate the spacing of first guider and second guider; And confirm pairing time span of the first unit period according to this spacing; Calculate then first unit after the period second guider i.e. first target location C1 in the position that arrives is seen Fig. 3; First guider calculates the first guiding route L1 from self position B1 to the first target location C1 according to self position B1, moving direction, and controls unit 6 demonstrations by touch-screen;
C, first guider continue to carry out wireless telecommunications with second guider, and obtain new position information, moving direction information and the velocity information of second guider; If find that second guider is not through maybe arriving the first target location C1; Then calculate the spacing of current first guider and second guider earlier; And confirm pairing time span of the second unit period according to this spacing; Calculate then second unit after the period second guider i.e. second target location C2 in the position that arrives is seen Fig. 4, then according to new self position B2, moving direction; Calculate the second guiding route L2, and control unit 6 by touch-screen and show from new self position B2 to the second target location C2; Wherein, First guider judges that second guider through the method for the first target location C1 is; First guider is according to the map datum in its map data base 3 and combine the new position information of second guider; Judge this second guider whether through the road segment segment at first target location C1 place, if process judges that then second guider is through the first target location C1.First guider judges that the method that second guider can not arrive the first target location C1 is; Before second guider is through the first target location C1; First guider is according to the map datum in its map data base 3 and combine the new position information of second guider; Judge whether this second guider is more and more far away from the road segment segment at first target location C1 place, if then second guider can not arrive the first target location C1.
D, repeating step C meet until first guider and second guider.
Said first unit period and pairing time span of the second unit period and first guider are directly proportional with the spacing of second guider.For example, when said spacing was 5Km, said first unit period or pairing time span of the second unit period can be made as the short time period, such as 3 minutes; Can improve the precision of following the trail of dynamic object like this.Otherwise when said spacing was 50Km, said first unit period or pairing time span of the second unit period can be made as 30 minutes.
Also, confirm the value of the first unit period and the second unit pairing time span of period according to the scope of the distance values of first guider and second guider.For example, said spacing is during less than 5Km, and said time span can be made as 2 minutes; Said spacing is between 5Km to 10Km the time, and said time span can be made as 5 minutes; Said spacing is greater than 10Km the time, and said time span can be made as 10 minutes.
Claims (3)
1. the method for tracing of the dynamic object of a guider comprises:
A, first guider and second guider carry out wireless telecommunications, and obtain position information, moving direction information and the velocity information of second guider;
B, first guider be according to position information, moving direction information and the velocity information of second guider, calculate first unit after the period second guider with i.e. first target location (C1), the position that arrives; First guider is according to self position (B1), moving direction, calculate from self position (B1) to first target location first guiding route (L1) of (C1), and show;
C, first guider continue to carry out wireless telecommunications with second guider, and obtain new position information, moving direction information and the velocity information of second guider; If find that second guider is not through maybe arriving first target location (C1); Then first guider calculate second unit after the period second guider with i.e. second target location (C2), the position that arrives; Then according to new self position (B2), moving direction; Calculate from new self position (B2) second guiding route (L2) of (C2), and show to second target location;
Wherein, First guider judges that the method that second guider can not arrive first target location (C1) is: preceding through first target location (C1) at second guider; First guider is according to the map datum in its map data base and combine the new position information of second guider; Judge whether this second guider is more and more far away from the road segment segment at place, first target location (C1), if then second guider can not arrive first target location (C1);
First guider judges that second guider through the method for first target location (C1) is: first guider is according to the map datum in its map data base (3) and combine the new position information of second guider; Judge the road segment segment whether this second guider has belonged to through first target location (C1); If process judges that then second guider is through first target location (C1);
D, repeating step C meet until first guider and second guider.
2. the method for tracing of the dynamic object of guider according to claim 1; It is characterized in that: among the above-mentioned steps A; Before first guider and second guider carried out wireless telecommunications, first guider sent the tracking request signal of dynamic object earlier to second guider; If second guider is through authentication and accept the tracking request of this dynamic object; Then feedback is agreed trace signals to the first guider; Set up the wireless telecommunications relation between first guider and second guider, first guider obtains position information, moving direction information and the velocity information of second guider simultaneously.
3. the method for tracing of the dynamic object of guider according to claim 1, it is characterized in that: said first unit period and pairing time span of the second unit period and first guider are directly proportional with the spacing of second guider; Or, confirm the value of the first unit period and the second unit pairing time span of period according to the scope of the distance values of first guider and second guider.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200710023772A CN101086449B (en) | 2007-07-09 | 2007-07-09 | Navigation device dynamic target tracking method |
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| CN200710023772A CN101086449B (en) | 2007-07-09 | 2007-07-09 | Navigation device dynamic target tracking method |
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| CN101086449B true CN101086449B (en) | 2012-09-05 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101498782B (en) * | 2008-02-02 | 2012-09-19 | 深圳富泰宏精密工业有限公司 | Position data processing unit and method thereof |
| CN102547577A (en) * | 2010-12-30 | 2012-07-04 | 上海博泰悦臻电子设备制造有限公司 | Inter-vehicle communication method and device |
| CN103575283B (en) * | 2012-07-27 | 2017-12-26 | 联想(北京)有限公司 | A kind of air navigation aid and electronic equipment |
| CN105987704A (en) * | 2015-02-09 | 2016-10-05 | 中兴通讯股份有限公司 | Bidirectional navigation method and device |
| CN105841711A (en) * | 2016-05-31 | 2016-08-10 | 百年金海科技有限公司 | Mobile navigation method |
| CN106403956A (en) * | 2016-11-01 | 2017-02-15 | 上海创功通讯技术有限公司 | Dynamic navigation system and method |
| CN110440821A (en) * | 2019-08-01 | 2019-11-12 | 深圳云天励飞技术有限公司 | Target based on digital map navigation arrests method and device |
| CN111510857B (en) * | 2020-04-27 | 2022-03-29 | 上海盛付通电子支付服务有限公司 | Method and equipment for realizing cooperative movement among users |
| CN112595338B (en) * | 2020-12-24 | 2023-04-07 | 中国联合网络通信集团有限公司 | Navigation method and navigation system |
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| US6424910B1 (en) * | 2000-11-22 | 2002-07-23 | Navigation Technologies Corp. | Method and system for providing related navigation features for two or more end users |
| CN1496484A (en) * | 2000-12-30 | 2004-05-12 | �ɵϡ����¿� | Method and apparatus for locating mobile units tracking another |
| CN1521484A (en) * | 2003-02-12 | 2004-08-18 | Lg电子株式会社 | Apparatus and method for guiding location of the other party in navigation system |
| CN1739125A (en) * | 2003-01-15 | 2006-02-22 | 株式会社丰田It开发中心 | Group interaction system for interaction with other vehicles of a group |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6424910B1 (en) * | 2000-11-22 | 2002-07-23 | Navigation Technologies Corp. | Method and system for providing related navigation features for two or more end users |
| CN1496484A (en) * | 2000-12-30 | 2004-05-12 | �ɵϡ����¿� | Method and apparatus for locating mobile units tracking another |
| CN1739125A (en) * | 2003-01-15 | 2006-02-22 | 株式会社丰田It开发中心 | Group interaction system for interaction with other vehicles of a group |
| CN1521484A (en) * | 2003-02-12 | 2004-08-18 | Lg电子株式会社 | Apparatus and method for guiding location of the other party in navigation system |
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Owner name: JIANGSU HUAKE NAVIGATION TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: JIANGSU SHINCO DIGITAL TECHNOLOGY CO., LTD. Effective date: 20080321 |
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