CN101097136A - Geographical positioning track estimation method and system - Google Patents

Geographical positioning track estimation method and system Download PDF

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Publication number
CN101097136A
CN101097136A CN 200610036204 CN200610036204A CN101097136A CN 101097136 A CN101097136 A CN 101097136A CN 200610036204 CN200610036204 CN 200610036204 CN 200610036204 A CN200610036204 A CN 200610036204A CN 101097136 A CN101097136 A CN 101097136A
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China
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geographic
positioning
locating device
module
acceleration
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CN 200610036204
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Chinese (zh)
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张哲甫
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佛山市顺德区顺达电脑厂有限公司;神达电脑股份有限公司
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Priority to CN 200610036204 priority Critical patent/CN101097136A/en
Publication of CN101097136A publication Critical patent/CN101097136A/en

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Abstract

The invention discloses a geography orientation track calculating method and system which can be matched with a geography orientation device, for example, geography orientation device for GPS, and the geography orientation device is mounted on a moving carrier, such as vehicle, when it can not receive orientation satellite signal in a position, it can provide a geography orientation function for the vehicle; it can use a acceleration detector with two axes for output to resolve flat acceleration, and use mechanical gyroscope or digital electronic compass to resolve angle, it can use parameters to resolve geography position coordinate data in track calculating mode.

Description

地理定位轨迹推算方法及系统 Geopositioning trajectory estimation method and system

技术领域 FIELD

本发明系有关于一种全球定位技术,特别是有关于一种地理定位轨迹推算方法及系统。 The present invention relates to a global positioning technology, particularly relates to a method of calculating the trajectory and geographic positioning system.

背景技术 Background technique

全球定位系统(Global Positioning System, GPS)为一种公用的全球性的地理定位装置,其目前也已被广泛地应用于各种车辆,例如为长途客运汽车、货车、私用轿车、等等,用以让使用者可利用一可携式之电子装置,例如为掌上型计算机,及透过一电子地图来査看其目前所在的地理位置。 GPS (Global Positioning System, GPS) as a common global geo-positioning device, which has now been widely used in various vehicles such as long-distance passenger cars, trucks, private cars, etc., to let the user can use a portable electronic device of, for example, a handheld computer, and to view its current geographic location through an electronic map. 由于GPS地理定位装置可立即于电子地图上显示使用者目前所在的地理位置,因此目前也己被广泛地整合至各式的车辆中,用以让驾车外出的使用者可随时透过电子地图来了解其目前所在之地理位置,并透过电子地图的协助来寻访到其所前往的目的地。 Because GPS geographic locating device can immediately display the user's current location on the map where, so far has also been widely integrated into a variety of vehicles to allow users to drive at any time to go out through the electronic map understand the location of the current location, and through the assistance of electronic maps to look for destinations to which they are to visit.

由于GPS地理定位装置系透过多个卫星所发射的无线信号来定位出使用者目前所在的地理位置(通常以经度和纬度来表示),因此若遇到卫星无线信号接收不佳的状况时(例如为天气恶劣或于山谷中行驶时),则此状况将使得GPS地理定位装置暂时失效而无法对使用者提供地理位置信息,因此而可能会导致使用者迷路。 Due to GPS geographic locating device via a wireless system a plurality of satellite signals transmitted to locate the user's current geographic location (usually expressed in latitude and longitude), so if the satellite radio signal reception encounter poor conditions ( for example, bad weather or when driving in the valley), this situation will make GPS geographic locating device temporarily disabled and unable to provide location information to the user, thus the user may be lost.

发明内容 SUMMARY

鉴于以上所述问题,本发明的主要目的便是在于提供一种地理定位轨迹推算方法及系统,其可于一GPS地理定位装置暂时失效时,立即取代该失效之GPS 地理定位装置来对使用者提供一替代性的地理定位功能,也即借一轨迹推算方式(dead reckoning, DR)来估计出该车辆于后续所在的地理位置。 In view of the above problems, the main object of the present invention is to provide a method of calculating the trajectory and geographic positioning system, which may be in a temporarily disabled GPS geographic locating device, the GPS geographic locating device immediately replace the failed by the user providing an alternative geographic positioning function, i.e., by estimating a trajectory manner (dead reckoning, DR) to estimate the geographic location of the vehicle to a subsequent location.

本发明的地理定位轨迹推算方法及系统系设计来应用于搭配至一车辆用的地理定位装置,例如为全球定位系统(Global Positioning System, GPS)、且该地理定位装置系装设于一车辆,用以对该车辆提供一全球定位轨迹推算功能, 藉此来于该地理定位装置无法正常接收到定位卫星信号而暂时失效时,凭借一轨迹推算方式(dead reckoning, DR)来估计出该车辆于后续所在的地理位置。 Geopositioning trajectory estimation method of the present invention and based systems designed to be applied to the geographic locating device with a vehicle, such as a global positioning system (Global Positioning System, GPS), and the geographic positioning system device mounted in a vehicle, for providing a global positioning when the vehicle trajectory estimation function, to thereby positioning means in the geographic positioning satellite signals can not be received normally fail temporarily, with a trajectory estimation mode (dead reckoning, DR) of the vehicle to be estimated location where the follow-up.

本发明的地理定位轨迹推算方法及系统的特点在于例如利用一两轴输出式的加速度量测器来求得车辆的平面加速度、以及例如利用机械式的陀螺仪或数 Positioning trace geographical features of the present invention is that the calculation method and system for example by means of a two-axis acceleration output type detector to obtain the amount of plane acceleration of the vehicle, and, for example using a mechanical gyroscope or an

字式的电子罗盘来求得行车方位角度,即可利用此些参数来以轨迹推算方式求得的地理位置坐标数据。 Word-type electronic compass azimuth angle determined traffic can use this parameter to some geographical coordinate data to calculate the trajectory determined manner.

附图说明 BRIEF DESCRIPTION

图1为一系统架构示意图,其中显示本发明的地理定位轨迹推算系统的应用 FIG 1 is a schematic diagram of a system architecture, according to the present invention the geographic positioning system which shows the trajectory estimation

方式及其模块化的系统架构; Style and modular system architecture;

图2A-2B均为几何示意图,用以显示本发明的地理定位轨迹推算系统所采用之轨迹推算运算法的基本几何原理; Figures 2A-2B are a schematic diagram of the geometry for displaying the trajectory geopositioning trajectory estimation system of the present invention used in the estimation algorithms of basic geometric principles;

图3为一立体结构示意图,用以显示本发明的地理定位轨迹推算系统中的平面加速度侦测模块所采用之一种两轴输出式加速度量测器的立体结构形态;以及 3 is a perspective schematic structural view of the geolocation of the present invention to display a trajectory estimation and morphogenesis of a three-dimensional structure employed in the system plane two acceleration detecting module output shaft acceleration measurement device; and

图4为一几何示意图,用以显示图3所示的两轴输出式加速度量测器求得平面加速度的基本几何原理。 FIG 4 is a schematic diagram of the geometry for a two-axis accelerometer output measurements shown in Figure 3 shows the basic geometric principles plane determined acceleration.

具体实施方式 Detailed ways

以下即配合所附的图式,详细揭露说明本发明的地理定位轨迹推算方法及系统之实施例。 I.e. with the accompanying drawings, a detailed disclosure of the present invention is described geopositioning trajectory estimation method and system of the embodiment.

图1即显示本发明的地理定位轨迹推算系统(如标号100所指的虚线框所包含的部分)的应用方式及其模块化的系统架构。 FIG 1 is displayed geographic positioning system according to the present invention, the trajectory estimation (dashed box portion numeral 100 included within the meaning of) the application mode and modular system architecture. 如图所示,本发明之地理定位轨迹推算系统100于实际应用上系搭配至一地理定位装置20,例如为全球定位系统(Global Positioning System, GPS),且该GPS地理定位装置20系装设于一运动载具,例如为一车辆10 (也即轿车、卡车、公共汽车、出租车、火车、军用装甲车辆、等等);并可例如透过一电子地图单元30来显示出该车辆目前所在的地理位置。 As shown, the geographic positioning system according to the present invention, the trajectory estimation with 100 lines 20 to a geographic locating device in practical application, for example, a global positioning system (Global Positioning System, GPS), GPS geographic locating device and the mounting system 20 in a moving vehicle, for example, 10 (i.e., cars, trucks, buses, taxis, trains, military armored vehicles, etc.) a vehicle; and, for example, an electronic map through a display unit 30 that the vehicle is currently geographic location.

在正常的使用状况下(也即该GPS地理定位装置20可正常地接收到定位卫星信号的情况下),使用者即可透过该GPS地理定位装置20显示于电子地图单元30上的信息来得知其目前所在的地理位置;而于该GPS地理定位装置20可正常地接收到定位卫星信号而暂时失效的情况下(例如为天气恶劣或于山谷中行驶时),本发明的地理定位轨迹推算系统100即可被立即启动来以一轨迹推算方式(dead reckoning, DR)粗略估计出该车辆10目前所在的地理位置,以让使用者仍可透过电子地图单元30来大致了解其目前所在的地理位置。 Information in normal use conditions (i.e. the GPS geographic locating device 20 may be normally the case where the received positioning satellite signal), the user can map 20 displayed on the electronic unit 30 through the GPS geographic locating device Lantus know the current location is located; and in the case where the GPS geographic locating device 20 may be normally received positioning satellite signals temporarily invalid (for example, bad weather or when traveling in the valley), according to the present invention geopositioning trajectory estimation the system 100 can be activated immediately to a trajectory calculated in a manner (dead reckoning, DR) roughly estimated geographic location of the vehicle 10 is currently located, to enable a user through electronic map unit 30 can still be substantially understand its current location location.

以下将首先配合所附图式中的第2A-2B图来简述本发明的地理定位轨迹推算系统100所采用的轨迹推算方法的基本原理。 The following will first accompanying figures 2A-2B of the drawings briefly the basic principles of the present invention geopositioning trajectory trajectory estimation system 100 of the calculation method employed.

如图2A所示,假设车辆10于行进到地理位置P。 2A, assuming the vehicle 10 to travel to the location P. 点之后(假设P。点的坐标为(X。, Y。),其中X。代表经度、而Y"则代表纬度),其GPS地理定位装置20因无法正常接收到定位卫星信号而暂时失效,则此时由于坐标P。(X。, Y。)的值仍为已知, After point (assuming coordinates of the point P. (X., Y.), representative of the longitude where X., and Y "represents latitude), GPS geographic locating device 20 which can not be received due to the normal positioning satellite signals and temporarily disabled, At this time, since the value of the coordinates P. (X., Y.) is still known,

因此接着只要能够得知车辆10的行进方位角度(例如为行进方向与正北之间的夹角e)和车辆io于时距At后的行进距离D,则即可利用基本之几何原理来计算出新的地理位置P'的理论坐标值(X,, Y》。而由于行进距离D与车辆10的平面加速度a有关,因此只要能测得车辆10的平面加速度a,即可利用平面加速度a换算为平面速度v (以平面加速度a对时间作积分),并以基本物理学的运动公式来求得D值,也即: So long as that followed when the traveling azimuth angle (e.g., between north and the angle of travel direction e) the vehicle 10 and the vehicle distance io At the rear of the travel distance D, the sum can be calculated using basic geometric principles new location P 'theoretical coordinate values ​​(X ,, Y ". and because a travel distance of the plane D and the acceleration of the vehicle 10, and therefore as long as the measured acceleration a plane of the vehicle 10, the acceleration a can by a planar in terms of planar velocity v (in a plane with respect to time integral of acceleration), and the basic physics equations of motion to be determined D value, namely:

于定速下:D=v*At At constant speed: D = v * At

于力口速下:D二v*At + (l/2)*a*At2 The mouth of the force: D two v * At + (l / 2) * a * At2

据此即可求得车辆IO在坐标P(,(X。, Y。)之的地点继续行进时距At后的新的位置的坐标值PJX" Y,)。接着依此推算程序即可如第2B图所示,以时距At 为周期而重复循环不断地推算出后续之各个位置的坐标值P2(X2, Y2)、P3(X3, Y3)、 Thus the vehicle can be obtained IO (coordinate values ​​of the new position from At PJX "Y when the location continues to travel, (X., Y.),) coordinates P. The program can then so projections of FIG 2B, at is the time from cycle to cycle is repeated continuously calculate the coordinate value of each subsequent position P2 (X2, Y2), P3 (X3, Y3),

P4(l, Y4)、 P5(X5, Y5)........,直至GPS地理定位装置20重新回复到可正常 P4 (l, Y4), P5 (X5, Y5) ........, until GPS geographic locating device 20 may return to normal again

地接收到GPS定位卫星信号为止。 Until the GPS received positioning satellite signals.

如图1所示,本发明的地理定位轨迹推算系统100的模块化的内部系统架构至少包含:(a) —卫星信号定位数据记录模块110; (b) —行进方位侦测模块120; (c)一平面加速度侦测模块130; (d)—位移坐标计算模块140;以及(e)—地理位置显示模块150。 1, the present invention geopositioning trajectory estimation modular architecture of the system within the system 100 comprises at least: (a) - the satellite signal positioning data recording module 110; (b) - the traveling direction detecting module 120; (c ) a planar acceleration detection module 130; (d) - the displacement coordinate calculation module 140; and (e) - location display module 150.

卫星信号定位数据记录模块110可在该GPS地理定位装置20正常运作时, 持续地记录该GPS地理定位装置20所接收到的卫星信号所定出的地理定位数据(即坐标数据);并可于该GPS地理定位装置20无法正常地接收到定位卫星信号时,发出一轨迹推算致能信息,并同时记录下该GPS地理定位装置20所正常定出的最后一组坐标值(以下以P(X。, Y。)来表示此坐标值,其中X。代表经度、而Y。则代表纬度)。 Satellite signal positioning data when the recording module 110 may GPS geographic locating device 20 of the normal operation, continuously recording the GPS geographic locating device geolocation data (i.e., coordinate data) 20 of the received satellite signals to fix; and in that when GPS geographic locating device 20 can not normally received positioning satellite signals, a trajectory estimation issue enable information and simultaneously recording the GPS 20 at a desired final set of coordinate values ​​(or less normal to defined geographical positioning means P (X. , Y.) to represent the coordinate values ​​representative of the longitude where X., Y. and represents latitude).

行进方位侦测模块120可响应上述的卫星信号定位数据记录模块110所发出的轨迹推算致能信息而被启动来侦测该车辆IO目前的行进方位角度,例如为该车辆IO目前的行进方向相对于北极的方位角度(以下以e来表示此行进方位 Traveling azimuth detection module 120 may be responsive to said satellite positioning signals emitted from the data recording module 110 to estimate the trajectory information is enabled to start detecting the current vehicle travel azimuth angle IO, for example, the relative direction of travel of the vehicle current IO Arctic at azimuthal angles (hereinafter, this is represented in the traveling direction e

角度),并将此行进方位角度e的值转换成数字型式后再传送给位移坐标计算 Angle), and converts the value of this traveling azimuth angle e is then sent to a digital version of the displacement coordinate calculation

模块140。 Module 140. 于具体实施上,此行进方位侦测模块120例如可为一机械式的陀螺仪(gyro)、或为一数字式的电子罗盘,其可自动判别该车辆IO目前的行进方向相对于一预定方向(例如为正北方向)的夹角角度,并将此角度的值转换成数字型式后再传送给位移坐标计算模块140。 On the particular embodiment, the traveling direction detection module 120 may be, for example, a mechanical gyroscope (Gyro), or from a digital electronic compass, which can automatically determine a current IO predetermined direction of the vehicle relative to the traveling direction (for example, north direction) of the included angle, and converts the value into a digital version of this displacement angle is then transmitted to the coordinate calculation module 140.

平面加速度侦测模块130可响应上述的卫星信号定位数据记录模块110所发出的轨迹推算致能信息而被启动来侦测该车辆10目前行进时平行于地球表平面的加速度(以下以s来表示此平面加速度),并将此平面加速度s的值转换成数字型式后再传送给位移坐标计算模块140。 An acceleration detection module 130 may be planar locus of the satellite signals in response to positioning data recording module 110 emitted estimate enable information to be activated is currently detecting the vehicle 10 is parallel to the plane of the Earth's acceleration when traveling (hereinafter, expressed in s this acceleration plane) and the plane of acceleration converted to a digital value s is then transmitted to the displacement pattern coordinate calculation module 140. 于具体实施上,此平面加速度侦测模块130例如采用一如第3图所示的一种已知的两轴输出式的加速度量测器 On the particular embodiment, the plane acceleration detection module 130 uses, for example, as shown in FIG. 3 of a known type two-axis acceleration output gauges

(accelerometer) 131。 (Accelerometer) 131. 此加速度量测器131于实际应用时,需令其fo轴和fo 轴与水平面成45°夹角,从而使得 When this amount of acceleration measuring device 131 for practical use, so that it need fo fo axis with the horizontal axis and the angle of 45 °, so that

<formula>formula see original document page 7</formula> <Formula> formula see original document page 7 </ formula>

其中 among them

fo为加速度量测器所测得的X轴方向的加速度; fe为加速度量测器所测得的Z轴方向的加速度; g为地表的重力加速度。 Acceleration fo X-axis direction acceleration gauges measured; fe acceleration is an acceleration measured by the detector in the Z-axis direction; G is the gravitational acceleration surface.

因此如第图4所示,当车辆10行驶在一路面时,可得到以下的等式: Therefore, as shown on FIG. 4, when the vehicle 10 is traveling on a road, the following equation can be obtained:

<formula>formula see original document page 7</formula>若车辆10为在水平路面上行驶,则 <Formula> formula see original document page 7 </ formula> If the vehicle 10 is traveling on a level surface, the

因此 therefore

若车辆10为在下坡路面上行驶,则iGxl 〈 |Gz| 因此 If the vehicle 10 is traveling on a downhill road surface, the iGxl <| Gz | thus

<formula>formula see original document page 7</formula> <Formula> formula see original document page 7 </ formula>

反之,若车辆10为在上坡路面上行驶,贝UlGxl 〉 |Gz| Conversely, if the vehicle 10 is traveling on an uphill gradient, shellfish UlGxl> | Gz |

因此 therefore

<formula>formula see original document page 7</formula> <Formula> formula see original document page 7 </ formula>

平面加速度侦测模块130即会将此图3所示的两轴输出式的加速度量测器所得的平面加速度s的值转换成数字型式后再传送给位移坐标计算模块140。 Converting the resulting value of the output type acceleration detector plane of the two axes, ie the amount will be shown in this plane acceleration detection module 130 in FIG. 3 s acceleration into a digital version and then transmitted to the displacement coordinate calculation module 140.

位移坐标计算模块140即可依据上述的平面加速度侦测模块130所侦测到的平面加速度a转换为该车辆10目前的行进速度v,并通过行进方位侦测模块120 所提供的行进方位角度参数^和该车辆10目前的行进速度参数"来以一轨迹推算运算法计算出该车辆10于各个时距A ^后相对于AU', F。)的各个后续的 Displacement coordinate calculation module 140 can be converted 130 according to the detected acceleration a plane above the plane of acceleration detecting module 10 for the current traveling speed v of the vehicle, and the traveling angle of the traveling azimuth orientation detection module 120 provides the parameters 10 ^ and the current travel speed parameter "of the vehicle to follow after the respective estimated vehicle 10 is calculated from a ^ algorithms with respect to each of AU ', F.) at a locus

位置点的坐标值月U, K)、尸2U, r2)、AU, r3)、^U,幻、/^U,幻、......., Month position coordinate value of the point U, K), dead 2U, r2), AU, r3), ^ U, magic, / ^ U, magic, .......,

并将此些坐标值传送给地理位置显示模块150。 Such a coordinate value and transfers the display module 150 to the location. 地理位置显示模块150可将上述之位移坐标计算模块140以时距A t为周期而依序计算出之坐标推算值闩U, K)、 AU, r》、AU,冗)、AU, K)、 /UA, k)........,转换成一连串的电子地图显示信息,并将此些电子地图显示信息 Location module 150 may display the above-described displacement distance A t is the coordinate calculation cycle is calculated sequentially estimated value of the coordinate module 140 when latch U, K), AU, r ", AU, redundant), AU, K) , / UA, k) ........, converted into a series of electronic map display information, and some electronic map display this information

显示于该电子地图单元30上,从而让使用者在GPS地理定位装置20暂时失效的情况下,仍可透过电子地图单元30来地得知该车辆10目前所在的地理位置。 A case where the electronic map on the display unit 30, so that the user GPS geographic locating device 20 is temporarily disabled, may still be transmitted through the electronic map units 30 to learn the location of the vehicle 10 is currently located. 以下即以实例来说明本发明的地理定位轨迹推算系统100于实际应用时的运作方式。 I.e. the following examples of the present invention will be described geopositioning trajectory estimation works for practical use when the system 100.

如图1所示,当使用者驾驶车辆10外出时,其即可利用GPS地理定位装置20来接收GPS卫星信号而透过电子地图单元30来得知该车辆10目前所在的地理位置。 1, when the user drives the vehicle out 10, which can be 20 to receive GPS satellite signals using GPS geographic locating device and the geographic location of the vehicle 10 to know the current through the electronic map where the unit 30. 在此同时,卫星信号定位数据记录模块110将持续记录该GPS地理定位装置20所定出的坐标数据。 At the same time, the satellite signal positioning data recording module 110 will continue to record the GPS geographic locating device 20 fix the coordinate data.

当GPS地理定位装置20无法正常接收到GPS卫星信号时,例如为天气恶劣或于山谷中行驶时,卫星信号定位数据记录模块110即可响应此突发状况而发出一轨迹推算致能信息,并同时记录下该GPS地理定位装置20所定出的最后一组坐标值(以下例如以a (x, k)来表示此坐标值)。 When the GPS geographic locating device 20 can not receive GPS satellite signals properly, for example, bad weather or when traveling in the valley, the satellite signal positioning data recording module 110 in response to unexpected situations this information can emit a projection track actuator, and while the recorded GPS geographical positioning a set of coordinate values ​​last fix device 20 (hereinafter, for example a (x, k) to represent the coordinate values).

此轨迹推算致能信息即可同时地致使行进方位侦测模块120开始持续侦测该车辆10目前的行进方位角度S以及致使该平面加速度侦测模块130开始持续侦测该车辆IO目前的平面加速度a,并将此些资料(^ s)每隔一预定时距A t 即传送给位移坐标计算模块140,令位移坐标计算模块140依据一组预定的轨迹 This track estimate can be activated simultaneously so that information can be traveling start position detecting module 120 continuously monitors the vehicle 10 is currently traveling, and cause the azimuth angle of the plane S acceleration start detecting module 130 continuously monitors the vehicle acceleration plane current IO a, and of such data (^ s) from the a t i.e. every transfer to the displacement coordinate calculation module 140, so that when a predetermined displacement coordinates calculation module 140 according to a predetermined set of tracks

推算运算公式来计算出该车辆io后续的所在的地理位置坐标相对于^ u;,幻 Calculating an estimation equation to calculate the location coordinates of the vehicle io subsequent location relative to the phantom ^ u ;,

的推算值au, k)、月a, r2)、 au, k)、厶u, r4)、 aU, k)、......., The estimated value of the au, k), month a, r2), au, k), Si u, r4), aU, k), .......,

并令地理位置显示模块i50将此些推算坐标值闩u, k)、/iU, r》、AU, W、 And to make this location of these display module i50 latch estimated coordinate value u, k), / iU, r ", AU, W,

月U;, r4)、尸5(1幻........依序显示于电子地图单元30上。此推算程序 Month U ;, r4), 5 dead (1 Magic ........ sequentially displayed on the electronic map unit 30. This estimation procedure

将以时距at为周期而重复不断进行,从此而不断依据新的参数值(p, r, s) Pitch cycle will be repeated at the time continuous, and continuous basis from the new parameter values ​​(p, r, s)

来推算出后续的推算坐标值,直至GPS地理定位装置20重新回复到可正常地接收到GPS卫星信号为止。 To calculate subsequent estimated values ​​of the coordinates, GPS geographic locating device 20 until the return back to the normally received until the GPS satellite signal.

总而言之,本发明提供了一种新颖的地理定位轨迹推算方法及系统,其可搭 In summary, the present invention provides a novel method of calculating the trajectory and geographic positioning system, which can take

配至一车辆用的地理定位装置,例如为GPS的地理定位装置、且该地理定位装 A geographic locating device equipped to the vehicle is, for example, GPS geographic locating device, and the geographic positioning means

置为装设于一车辆,于是来在该地理定位装置无法正常接收到定位卫星信号而 Set mounted in a vehicle, thus can not be received normally in the geographic positioning means positioning satellite signals

暂时失效时,提供一轨迹推算式的地理位置定位功能;且其特点在于例如利用 Temporarily failure, there is provided a projection type track location targeting; and characterized by the use of e.g.

一两轴输出式的加速度量测器来求得车辆的平面加速度、以及例如利用机械式的陀螺仪或数字式的电子罗盘来求得行车方位角度,即可利用此些参数来以轨迹推算方式求得大略的地理位置坐标数据。 Twelve output shaft acceleration gauges of formula to obtain a plane acceleration of the vehicle, and, for example by a mechanical gyroscopes or digital electronic compass azimuth angle determined traffic, use of such parameter can be calculated in a manner trajectory geographic coordinate data obtained by the rough. 本发明因此具有极佳的进步性及实用性。 The present invention thus has excellent practical and progressive.

Claims (11)

1.一种地理定位轨迹推算方法,其可应用于一地理定位装置、且该地理定位装置是装设于一运动载具,并且其可对该运动载具提供一地理定位轨迹推算功能;其特征在于: 此地理定位轨迹推算方法至少包含下列步骤在该地理定位装置正常运作时,记录该地理定位装置依据所接收到的定位卫星信号所定出的地理坐标资料; 在该地理定位装置无法正常接收到定位卫星信号而暂时失效时,因应该地理定位装置所纪录的最后一组地理坐标数据发出一轨迹推算致能信息; 因应该轨迹推算致能信息而侦测出该运动载具目前的一行进方位角度; 因应该轨迹推算致能信息而侦测出该运动载具目前行进时平行于地球表平面的一平面加速度,并且该平面加速度转换为运动载具目前的一行进速度; 执行一轨迹推算运算程序,其中为依据该目前行进方位角度以及该目前行 A method of calculating the geographic positioning trace, which may be applied to a geographic locating device, and the geographic positioning means is mounted in a moving vehicle, and which can provide a geographic positioning trace the motion estimation function carrier; which characterized in that: this geopositioning trajectory estimation method comprising at least the following steps when the geographic positioning means normal operation, record the geographic coordinates of data of the geographic locating device based on the received positioning satellite signals fixed for; the geographic locating device can not receive properly when temporarily positioning satellite signals fails, the last set of data due to geographic coordinates to be the geographic locating device issuing a track record enabling projection information; trajectory estimation result should enable the movement information and detect a current traveling carrier azimuth angle; trajectory estimation result should enable the movement of the information carrier detect a plane parallel to the plane of the Earth's acceleration current travel time, and the plane is converted to an acceleration of a moving vehicle is currently traveling speed; a trajectory estimation performed operation program, which is based on the current travel azimuth angle, and the current row 进速度及基于一轨迹推算运算法来计算出该运动载具后续的各个所在位置的推算坐标值;以及依据所计算出之的推算坐标值而于一电子地图单元上显示出该运动载具目前的地理位置。 Feed rate and the estimated coordinate value based on a trajectory estimation algorithms to calculate the moving carrier subsequent position of each location; and based on the calculated sum of the estimated coordinate value exhibits on an electronic map units This movement carrier current location.
2. 根据权利要求1所述的地理定位轨迹推算方法,其特征在于:地理定位装置为一GPS (Global Positioning System, GPS)式的地理定位装置。 The geographical positioning trace of the calculation method of claim 1, characterized in that: a geographic locating device is GPS (Global Positioning System, GPS) type geographic locating device.
3. 根据权利要求1所述的地理定位轨迹推算方法,其特征在于:运动载具的种类包括:轿车、卡车、公共汽车、出租车、火车、以及军用装甲车辆。 The geographical positioning trace of the calculation method of claim 1, wherein: the type of movement of the carrier comprising: cars, trucks, buses, taxis, trains, and military armored vehicles.
4. 根据权利要求1所述的地理定位轨迹推算方法,其特征在于:轨迹推算运算程序循环地以一预定的时距为周期来计算出该运动载具后续的各个所在位置的推算坐标值。 The geographical positioning trace of the calculation method of claim 1, wherein: the trajectory estimation calculation program cyclically at a predetermined pitch period is calculated as the estimated vehicle motion coordinate value of the position of each subsequent location.
5. —种地理定位轨迹推算系统,其可搭配至一地理定位装置、且该地理定位装置是装设于一运动载具,并且其可对该运动载具提供一地理定位轨迹推算功能;其特征在于:此地理定位轨迹推算系统至少包含一卫星信号定位数据记录模块,其可记录该地理定位装置依据所接收到的定位卫星信号所定出的地理坐标资料;并可于该地理定位装置无法正常接收到定位卫星信号而暂时失效时,记录下该地理定位装置所定出的最后一组地理坐标数据,并同时发出一轨迹推算致能信息;一行进方位侦测模块,其可响应该卫星信号定位数据记录模块所发出的轨迹推算致能信息而侦测出该运动载具目前的行进方位角度; 一平面加速度侦测模块,其可响应该卫星信号定位数据记录模块所发出的轨迹推算致能信息而侦测该运动载具目前行进时平行于地球表平面的平面加速 5. - geographic positioning trace species reckoning system, to which can be used with a geographic locating device, and the geographic positioning means is mounted in a moving vehicle, and which can provide a geographic positioning trace the motion estimation function carrier; which characterized in that: this geographic positioning trace reckoning system comprises at least one satellite positioning signal data recording module may record the geographic coordinates data according to the received geographic locating device to fix the positioning satellite signal; and not to the normal geographic locating device upon receiving positioning satellite signals temporarily fails, a set of geographic coordinates of the last recorded data in the geographic locating device fixed for the next, and sends a message can calculate a track actuator; detecting a traveling azimuth module, which may be in response to the positioning satellite signals module issued a data recording track projections enable movement of the information carrier detect the current traveling azimuth angle; module detecting an acceleration in a plane, which may be in response to the trajectory of the satellite positioning signal emitted from the data recording module enabling information calculated the plane parallel to the plane of the Earth when detecting the motion of the traveling vehicle is currently accelerating 度,并将所得的平面加速度转换为该运动载具目前的行进速度;一位移坐标计算模块,其可依据该平面加速度侦测模块所侦测到的行进方位角度及经由该平面加速度所取得的行车速度,来以一轨迹推算运算法计算出该运动载具后续之的各个所在位置的推算坐标值;以及一地理位置显示模块,其可依据位移坐标计算模块所计算出的推算坐标值来于一电子地图单元上显示出运动载具目前的地理位置。 Degrees, and the resulting accelerations plane carrier traveling speed for the current movement; displacement of a coordinate calculation module, which can be detected by the acceleration detection module according to the plane angle and the traveling direction obtained by the acceleration plane driving speed, to calculate a trajectory estimation algorithms to calculate the coordinate value of each position where the subsequent movement of the vehicle; and a geographic display module, which may be based on the displacement of the coordinate calculation module calculates the coordinate values ​​of the estimated showing movement carrier current location on an electronic map unit.
6. 根据权利要求5所述的地理定位轨迹推算系统,其特征在于:地理定位装置为一GPS (Global Positioning System, GPS)式的地理定位装置。 According to claim 5, wherein the geographic positioning trajectory estimation system, characterized in that: a geographic locating device is a GPS (Global Positioning System, GPS) type geographic locating device.
7. 根据权利要求5所述的地理定位轨迹推算系统,其特征在于:运动载具的种类包括:轿车、卡车、公共汽车、出租车、火车、以及军用装甲车辆。 According to claim 5, wherein the geographic positioning trajectory estimation system, characterized in that: the kind of movement of the carrier comprising: cars, trucks, buses, taxis, trains, and military armored vehicles.
8. 根据权利要求5所述的地理定位轨迹推算系统,其特征在于:行进方位侦测模块包括一机械式的陀螺仪。 According to claim 5, wherein the geographic positioning trajectory estimation system, characterized in that: the traveling position detecting module comprises a mechanical gyroscope.
9. 根据权利要求5所述的地理定位轨迹推算系统,其特征在于:行进方位侦测模块包括一数字式电子罗盘。 According to claim 5, wherein the geographic positioning trajectory estimation system, characterized in that: the traveling position detecting module comprises a digital electronic compass.
10. 根据权利要求5所述的地理定位轨迹推算系统,其特征在于:平面加速度侦测模块包括一两轴输出式的加速度量测器。 Geopositioning according to claim 5, wherein the trajectory estimation system, characterized in that: the plane of acceleration detecting module includes a two-axis acceleration output type gauges.
11. 根据权利要求5所述的地理定位轨迹推算系统,其特征在于:位移坐标计算模块循环地以一预定的时距为周期来计算出该运动载具后续的各个所在位置的推算坐标值。 According to claim 5, wherein the geographic positioning trajectory estimation system, characterized in that: the displacement coordinate calculation module cyclically in a predetermined time period to calculate the distance of movement of the carrier of the estimated values ​​of the position coordinates of each subsequent location.
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