CN101201255A - Vehicle combined navigation system based on intelligent navigation algorithm - Google Patents
Vehicle combined navigation system based on intelligent navigation algorithm Download PDFInfo
- Publication number
- CN101201255A CN101201255A CNA2007100509399A CN200710050939A CN101201255A CN 101201255 A CN101201255 A CN 101201255A CN A2007100509399 A CNA2007100509399 A CN A2007100509399A CN 200710050939 A CN200710050939 A CN 200710050939A CN 101201255 A CN101201255 A CN 101201255A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- road
- point
- gps
- change
- 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)
Abstract
A vehicle combined positioning system based on intelligent positioning algorithm consists of a GPS module, an electronic compass, a speed sensor and a speed signal processing circuit, an intelligent map-matching algorithm module, a vehicle track history display, recording and playback module, and a voice prompt module; the intelligent map-matching algorithm module uses the GPS positioning data, travel distance data output by the speed sensor and travel direction data output by the electronic compass, integrates the road network information on the electronic map, calculates on the known road with travel distance, so as to position the current location of the vehicle. The system is not affected by GPS signal, realizes uninterrupted vehicle positioning functions, and the implementation cost of the system is low.
Description
Technical field
The present invention relates to adopt the Vehicular navigation system of Computer Applied Technology, particularly intelligentized combined type car navigational system.
Background technology
The intelligent vehicle navigation system is the important component part of intelligent transportation system, is the high-tech system that advanced global positioning satellite (GPS) technology, integrated navigation technology, geographical information technology etc. are combined, and enters the nineties development later on rapidly.In recent years, increasing along with vehicle fleet size in the city, how to command, manage public service car and some special vehicles effectively in the city, become traffic and transportation sector and urban planning authority and faced the important problem in ground, Vehicular navigation system is subjected to people's attention more.Navigation and positioning system for vehicles has three kinds of autonomous type, non-autonomous type and combined types.The autonomous land vehicle navigation positioning system utilizes the inertial navigation principle, uses the displacement and the course information of sensor measurement vehicles such as gyroscope, mileage gauge, calculates the position of vehicle thus.DR (Dead Reckoning dead reckoning) is the typical case's representative in the self-aid navigation positioning system.Non-autonomous land vehicle navigation positioning system mainly with GPS (Global Positioning System) or differential GPS as positioning means.The combined type car navigation positioning system then is the combination of preceding two kinds of navigate modes.Vehicular navigation system based on the realization of GPS location technology, in the environment that gps signal is lost, as under the overpass, between tunnel, city high rise building, navigation and positioning function can not be provided, can not satisfy the functional requirement of the public service car and the special vehicle of some needs real-time positioning.Be to depend on the GPS/DR data mostly in the existing vehicle combination navigation algorithm, as map-matching algorithm based on cost function, map-matching algorithm based on weight, search for direct projected map matching algorithm etc. based on circle, because these algorithm accuracy depend on the accuracy of GPS/DR data, in Vehicular navigation system cheaply, the measuring error of the error of GPS itself, the cumulative errors of DR, sensor, the error of electronic chart, to make the vehicle location confidence level that GPS/DR estimates reduce, even make vehicle location depart from real road fully.And some map-matching algorithm principle is comparatively complicated, realize that difficulty is bigger, as based on the map-matching algorithm of neural network, based on the map-matching algorithm of Kalman filtering, based on map-matching algorithm of probability statistics etc., real time execution speed does not reach application requirements in the low Vehicular navigation system of low cost/computing power.
Summary of the invention
The purpose of this invention is to provide a kind of vehicle combination navigational system,, realize vehicle combination navigational system cheaply with comprehensive utilization electronic compass, vehicle speed sensor, GPS module locator data and electronic chart based on the intelligent navigation algorithm.
The object of the present invention is achieved like this: a kind of vehicle combination navigational system based on the intelligent navigation algorithm comprises: the gps signal receiver module: determine the initial travel of vehicle and the ID of road, output contains the gps data of the distance and the directional information of vehicle; Electronic compass: the travel direction data of determining and export vehicle; Vehicle speed sensor and vehicle speed signal treatment circuit: after the vehicle speed data that the vehicle speed signal treatment circuit collects vehicle speed sensor is handled, output vehicle ' range data; Vehicle driving trace demonstration, record and playback module, and voice cue module also have mental map matching algorithm module: in conjunction with the road network information of electronic chart, calculate according to the following steps:
(1) map match initialization
Look for the ID of initial lane of vehicle and path with the GPS point, and utilize the GPS course heading,, determine direction node and vehicle ' distance by the method that direct projection algorithm and circle searching algorithm combine;
(2)) before next GPS point does not also come, carry out the DR interpolation with last match point, the moment of interpolation is a benchmark with the time of obtaining the vehicle speed sensor data, turns to (3); (10) have been come to turn to as gps data;
(3) judge whether last match point has entered in the judgement territory,, otherwise change (4) if change (5);
(4) craspedodrome reckoning state: keep straight on to calculate that according to the speed of a motor vehicle point calculated then mates at the direction node if the speed of a motor vehicle is kept straight on, and changes (11) not on road;
(5) whether the difference of judging DR angle and road angle if change (6), otherwise turn to may change line state (8) less than specified angle;
(6) judge whether to have matched the direction node,, otherwise change (4) if change (7);
(7) calculate the DR dead-reckoning point, judge that the DR dead-reckoning point whether also in the judgement territory, if match the DR dead-reckoning point, may change line state (8) otherwise turn to;
(8) may change line state handles: finding out with the direction node in electronic chart is all roads of intersection point, determines whether that in conjunction with distance, course and a plurality of factors of the speed of a motor vehicle vehicle has changed the road; If determine to change the road then turn to (9), otherwise match the DR dead-reckoning point, change (10);
(9) preserve historical road information, calculate last match point intersection point on the road after changing the road, and match this intersection point; Upgrade road information and operating range;
(10) matching misinterpretation handles: if find to make mistakes, then should return a historical road and look for the road again;
(11) begin circulation from (2), up to withdrawing from coupling control.
Innovation point of the present invention has: (1) utilizes electronic map data, gps data, and the electronic compass data, the vehicle speed sensor data that receive are carried out overall treatment, thereby eliminates the error of low cost electronic compass, vehicle speed sensor data; (2) utilize gps data, vehicle heading, the vehicle ' range data that receives, carry out the intelligence coupling of electronic chart, thereby locate the position of current vehicle.
The invention has the beneficial effects as follows:
The present invention carry out the mental map coupling, thereby an intelligent integrated navigation system has been realized in the location of realizing vehicle location by comprehensive utilization electronic map information, gps data, electronic compass and vehicle speed sensor data cheaply.The influence that this system is not interrupted by gps signal has realized continual vehicle location function, satisfies the requirement that public service car and extraordinary service vehicle are uninterruptedly located tracking.The system implementation cost is low.
Description of drawings
Fig. 1 is a system construction drawing of the present invention;
Fig. 2 is the base program process flow diagram of system shown in Figure 1;
Embodiment
Fig. 1 illustrates, gps signal receiver module, electronic compass and treated vehicle speed signal, be input in the integrated navigation system by serial communication, (integrated navigation system of the present invention can be applicable on the various common GIS platforms integrated navigation system at the GIS platform, as ArcGIS, MapInfo, SuperMap etc.What use on the experimental prototype is homemade hypergraph SuperMap GIS platform) and the support of electronic chart basic data under, the gps data, vehicle heading, the vehicle ' range data that receive are handled, carry out the intelligence coupling of electronic chart, thereby locate the position of current vehicle, on electronic chart, demonstrate the driving trace of vehicle.At named place of destination, optimal path planning is made by system, can calculate navigation information according to the positional information of vehicle, and voice suggestion.
Fig. 2 illustrates, a kind of vehicle combination navigational system based on the intelligent navigation algorithm, comprise: the gps signal receiver module: determine the initial travel of vehicle and the ID (ID of road of road, it promptly is the numbering of this road in electronic chart, this ID can be used to unique road of determining in electronic chart), output contains the gps data of the distance and the directional information of vehicle; Electronic compass: the travel direction data of determining and export vehicle; Vehicle speed sensor and vehicle speed signal treatment circuit: after the vehicle speed data that the vehicle speed signal treatment circuit collects vehicle speed sensor is handled, output vehicle ' range data; Vehicle driving trace demonstration, record and playback module, and voice cue module, and mental map matching algorithm module:, calculate according to the following steps in conjunction with the road network information of electronic chart:
(1) map match initialization
Look for the ID of initial lane of vehicle and path with the GPS point, and utilize the GPS course heading, by direct projection algorithm and the method that combines of circle searching algorithm, determine that direction node and vehicle ' distance (in the map match initialization, can obtain the current location and the travel direction of vehicle by gps signal.In electronic chart, search for all roads then, find out and the road of Current GPS vertical dimension,postural in the certain distance scope, compare the direction of these roads and the travel direction that gps signal provides again, road direction is consistent with the GPS travel direction, and selected with the road that the Current GPS position is nearest, as the road of initial matching.This road follows sails direction end points forward, is current direction node.The GPS position is projected in the point on this road, with the distance of the end points of travel direction rear end be current operating range on this road);
(2)) before next GPS point does not also come, carry out the DR interpolation with last match point, the moment of interpolation is a benchmark with the time of obtaining the vehicle speed sensor data, turns to (3); (10) have been come to turn to as gps data;
(3) judge whether last match point has entered in the judgement territory,, otherwise change (4) if change (5);
(4) craspedodrome reckoning state: keep straight on to calculate that according to the speed of a motor vehicle point calculated then mates at the direction node if the speed of a motor vehicle is kept straight on, and changes (11) not on road;
(5) whether the difference of judging DR angle and road angle if change (6), otherwise turn to may change line state (8) less than specified angle;
(6) judge whether to have matched the direction node,, otherwise change (4) if change (7);
(7) calculate the DR dead-reckoning point, judge that the DR dead-reckoning point whether also in the judgement territory, if match the DR dead-reckoning point, may change line state (8) otherwise turn to;
(8) may change line state handles: finding out with the direction node in electronic chart is all roads of intersection point, determines whether that in conjunction with distance, course and a plurality of factors of the speed of a motor vehicle vehicle has changed the road; If determine to change the road then turn to (9), otherwise match the DR dead-reckoning point, change (10);
(9) preserve historical road information, calculate last match point intersection point on the road after changing the road, and match this intersection point.Upgrade road information and operating range;
(10) matching misinterpretation handles: if find to make mistakes, then should return a historical road and look for the road again;
(11) begin circulation from (2), up to withdrawing from coupling control.
In sensing data processing and systematic error correcting algorithm, when the gps signal reception good, system utilizes information such as the distance of GPS and direction, the travel direction data that the statistical study electronic compass transmits, the operating range data that transmit with the vehicle speed sensor treatment circuit, the systematic error of correcting electronic compass and vehicle speed sensor (when the gps signal reception good, can be known current vehicle location and travel direction by gps signal.When vehicle heading that electronic compass provides in one section sufficiently long distance, when not changing as hundreds of rice, think that then current vehicle ' is on the straight line highway section, by the vehicle location that two-end-point place gps signal on this straight line highway section provides respectively, can calculate the length in this straight line highway section.The pulse signal number that provides according to the speed sensors of getting on the bus in this straight line highway section again can calculate each pulse signal of vehicle speed sensor how many distances of having represented vehicle '.This bearing calibration can compensate the error of the vehicle ' distance that vehicle speed sensor that tire pressure, tyre temperature, tire wear degree etc. cause provides.Electronic compass is subjected to earth magnetism, reaches the interference of the electromagnetic environment of vehicular seat, and its indicated vehicle heading has error with the vehicle heading of reality.When the gps signal reception good, can know current vehicle location and travel direction by gps signal.When vehicle heading that electronic compass provides in one section sufficiently long distance, when not changing, think that then current vehicle ' is on the straight line highway section as hundreds of rice.Think then that the travel direction that GPS provides is real vehicle heading this moment, so can draw a corresponding relation of electronic compass direction indication and real vehicle heading.When vehicle after long distance is travelled in the somewhere, can draw the one-to-one relationship of electronic compass direction indication and real vehicle heading substantially.So afterwards in the driving process,,, can obtain real vehicle current driving direction) by the above-mentioned corresponding relation that obtains when electronic compass provides the current driving direction of a vehicle.In different regions, magnetic environment the inside, different ground, the angle indication of electronic compass has error, by correcting algorithm, can eliminate this error.Vehicle speed sensor generally is the data that provide how many circles of wheel, but tire pressure, tyre temperature, tire wear degree etc., the vehicle ' distance that the capital influence calculates by correcting algorithm, can be eliminated the operating range error that causes owing to above reason.
The basic thought of mental map matching algorithm is: (after utilizing the GPS locating information to find the road that vehicle correctly travels) after the map match initialization, the vehicle heading data of utilizing operating range data that vehicle speed sensor provides and electronic compass to provide, in conjunction with the road network information of electronic chart, on known road, calculate with operating range.
The experimental prototype system adopts homemade hypergraph SuperMap GIS platform, and own image data and big campus, river of drawing and near electronic chart are organized in the research and development of use model machine, on common Santana 2000 vehicles, use Shanghai Zhi Chuan company (
Http:// www.zc-sensor.com) the ZCC-D-I-232 electronic compass produced.Through actual preventing test, to close under gps signal 5-10 minute the situation (situation of simulating GPS dropout), this integrated navigation system still can provide correct vehicle location.
In the environment that common gps signal is lost, as under the overpass, between tunnel, city high rise building, gps signal may be lost 1-3 minute, generally can be above 5 minutes, therefore this integrated navigation system can be effectively under the situation that gps signal is lost, correctly positioned vehicle.
Claims (1)
1. vehicle combination navigational system based on the intelligent navigation algorithm comprises:
The gps signal receiver module: determine the initial travel of vehicle and the ID of road, output contains the gps data of the distance and the directional information of vehicle;
Electronic compass: the travel direction data of determining and export vehicle;
Vehicle speed sensor and vehicle speed signal treatment circuit: after the vehicle speed data that the vehicle speed signal treatment circuit collects vehicle speed sensor is handled, output vehicle ' range data;
Vehicle driving trace demonstration, record and playback module, and voice cue module is characterized in that: also have mental map matching algorithm module: in conjunction with the road network information of electronic chart, calculate according to the following steps:
(1) map match initialization
Look for the ID of initial lane of vehicle and path with the GPS point, and utilize the GPS course heading,, determine direction node and vehicle ' distance by the method that direct projection algorithm and circle searching algorithm combine;
(2)) before next GPS point does not also come, carry out the DR interpolation with last match point, the moment of interpolation is a benchmark with the time of obtaining the vehicle speed sensor data, turns to (3); (10) have been come to turn to as gps data;
(3) judge whether last match point has entered in the judgement territory,, otherwise change (4) if change (5);
(4) craspedodrome reckoning state: keep straight on to calculate that according to the speed of a motor vehicle point calculated then mates at the direction node if the speed of a motor vehicle is kept straight on, and changes (11) not on road;
(5) whether the difference of judging DR angle and road angle if change (6), otherwise turn to may change line state (8) less than specified angle;
(6) judge whether to have matched the direction node,, otherwise change (4) if change (7);
(7) calculate the DR dead-reckoning point, judge that the DR dead-reckoning point whether also in the judgement territory, if match the DR dead-reckoning point, may change line state (8) otherwise turn to;
(8) may change line state handles: finding out with the direction node in electronic chart is all roads of intersection point, determines whether that in conjunction with distance, course and a plurality of factors of the speed of a motor vehicle vehicle has changed the road; If determine to change the road then turn to (9), otherwise match the DR dead-reckoning point, change (10);
(9) preserve historical road information, calculate last match point intersection point on the road after changing the road, and match this intersection point; Upgrade road information and operating range;
(10) matching misinterpretation handles: if find to make mistakes, then should return a historical road and look for the road again;
(11) begin circulation from (2), up to withdrawing from coupling control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100509399A CN101201255A (en) | 2007-12-21 | 2007-12-21 | Vehicle combined navigation system based on intelligent navigation algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100509399A CN101201255A (en) | 2007-12-21 | 2007-12-21 | Vehicle combined navigation system based on intelligent navigation algorithm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101201255A true CN101201255A (en) | 2008-06-18 |
Family
ID=39516536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007100509399A Pending CN101201255A (en) | 2007-12-21 | 2007-12-21 | Vehicle combined navigation system based on intelligent navigation algorithm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101201255A (en) |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010127505A1 (en) * | 2009-05-08 | 2010-11-11 | Mediatek Singapore Pte. Ltd. | Poi displaying method and electronic apparatus utilizing the method |
| CN101975579A (en) * | 2010-09-30 | 2011-02-16 | 深圳市同洲电子股份有限公司 | Method and system for replaying vehicle track and vehicle-mounted monitoring device |
| CN102538826A (en) * | 2012-02-13 | 2012-07-04 | 光庭导航数据（武汉）有限公司 | Method for adaptively correcting gyro error based on map matching data and global position system (GPS) |
| CN102607575A (en) * | 2012-03-02 | 2012-07-25 | 哈尔滨工程大学 | Weighting map matching method based on multiple information resources |
| WO2013053093A1 (en) * | 2011-10-10 | 2013-04-18 | 海能达通信股份有限公司 | Terminal positioning method and terminal with electronic compass |
| CN103759736A (en) * | 2014-01-18 | 2014-04-30 | 深圳市金立通信设备有限公司 | Navigation method and terminal |
| CN103822638A (en) * | 2014-02-19 | 2014-05-28 | 华为技术有限公司 | User position information processing method and device |
| CN104200042A (en) * | 2014-09-17 | 2014-12-10 | 王伟 | Positioning-data trajectory tracking method |
| CN104392625A (en) * | 2014-11-26 | 2015-03-04 | 浙江大学 | Vehicle automatic pilot system and method based on various sensors |
| CN104422448A (en) * | 2013-08-23 | 2015-03-18 | 高德软件有限公司 | Vehicle positioning method and device |
| WO2015070451A1 (en) * | 2013-11-18 | 2015-05-21 | 宇龙计算机通信科技(深圳)有限公司 | Electronic compass calibrating method and terminal |
| CN105139676A (en) * | 2015-10-12 | 2015-12-09 | 上海斐讯数据通信技术有限公司 | Movable traffic signal lamp and realization method thereof |
| CN105187790A (en) * | 2015-09-08 | 2015-12-23 | 北京北大千方科技有限公司 | Method, device and system for monitoring working state of vehicle-mounted terminal |
| CN105628033A (en) * | 2016-02-26 | 2016-06-01 | 广西鑫朗通信技术有限公司 | Map matching method based on road connection relationship |
| CN105841708A (en) * | 2016-03-16 | 2016-08-10 | 佛山科学技术学院 | Vehicle navigation and positioning track matching method based on path tracing |
| CN106302811A (en) * | 2016-09-23 | 2017-01-04 | 上海图聚智能科技股份有限公司 | Describe road network adsorption method during terminal positioning track |
| CN106325270A (en) * | 2016-08-12 | 2017-01-11 | 天津大学 | Intelligent vehicle navigation system and method based on perception and autonomous calculation positioning navigation |
| CN106370190A (en) * | 2015-07-20 | 2017-02-01 | 腾讯科技（深圳）有限公司 | Vehicle navigation method, position marking method, apparatus, and system |
| CN106370182A (en) * | 2016-08-31 | 2017-02-01 | 北斗时空信息技术（北京）有限公司 | Personal integrated navigation method |
| CN106643712A (en) * | 2016-12-14 | 2017-05-10 | 北斗时空信息技术（北京）有限公司 | Vehicle-mounted combined navigation system |
| CN106840153A (en) * | 2017-03-14 | 2017-06-13 | 千寻位置网络有限公司 | A kind of high in the clouds calculates the method by speed in tunnel |
| CN108688659A (en) * | 2017-03-31 | 2018-10-23 | 株式会社斯巴鲁 | The travel controlling system of vehicle |
| CN109540158A (en) * | 2018-09-14 | 2019-03-29 | 上海擎感智能科技有限公司 | Air navigation aid, system, storage medium and equipment |
| CN109862521A (en) * | 2019-01-31 | 2019-06-07 | 湖北省基础地理信息中心（湖北省北斗卫星导航应用技术研究院） | A kind of position data road network real-time matching calculation method and system |
| CN110031011A (en) * | 2019-04-17 | 2019-07-19 | 首都师范大学 | The neighbouring vehicle-mounted real-time map matching primitives method round with weight is improved of integrated space-time |
| CN110031646A (en) * | 2019-05-10 | 2019-07-19 | 北京工业大学 | It is a kind of to correct running speed method using direction of traffic vibration acceleration |
| CN110118988A (en) * | 2019-05-28 | 2019-08-13 | 上海擎感智能科技有限公司 | A kind of combined positioning method and its device |
| CN110196058A (en) * | 2018-02-26 | 2019-09-03 | 德尔福技术有限公司 | Navigation system |
| CN110906924A (en) * | 2019-12-17 | 2020-03-24 | 杭州光珀智能科技有限公司 | Positioning initialization method and device, positioning method and device and mobile device |
| CN111207760A (en) * | 2019-12-31 | 2020-05-29 | 上海炬宏信息技术有限公司 | Method and device for correcting real-time track of intersection, electronic equipment and computer readable medium |
| CN111679309A (en) * | 2020-07-15 | 2020-09-18 | 北京天润海图科技有限公司 | Combined positioning method and device for outdoor intelligent rail car and storage medium |
| CN112665605A (en) * | 2021-01-12 | 2021-04-16 | 湖南科技大学 | Truck factory navigation system and method |
-
2007
- 2007-12-21 CN CNA2007100509399A patent/CN101201255A/en active Pending
Cited By (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9175974B2 (en) | 2009-05-08 | 2015-11-03 | Autochips Inc. | POI displaying method and electronic apparatus utilizing the method |
| WO2010127505A1 (en) * | 2009-05-08 | 2010-11-11 | Mediatek Singapore Pte. Ltd. | Poi displaying method and electronic apparatus utilizing the method |
| CN101975579A (en) * | 2010-09-30 | 2011-02-16 | 深圳市同洲电子股份有限公司 | Method and system for replaying vehicle track and vehicle-mounted monitoring device |
| CN101975579B (en) * | 2010-09-30 | 2012-11-28 | 深圳市同洲电子股份有限公司 | Method and system for replaying vehicle track and vehicle-mounted monitoring device |
| WO2013053093A1 (en) * | 2011-10-10 | 2013-04-18 | 海能达通信股份有限公司 | Terminal positioning method and terminal with electronic compass |
| CN102538826A (en) * | 2012-02-13 | 2012-07-04 | 光庭导航数据（武汉）有限公司 | Method for adaptively correcting gyro error based on map matching data and global position system (GPS) |
| CN102607575B (en) * | 2012-03-02 | 2014-06-25 | 哈尔滨工程大学 | Weighting map matching method based on multiple information resources |
| CN102607575A (en) * | 2012-03-02 | 2012-07-25 | 哈尔滨工程大学 | Weighting map matching method based on multiple information resources |
| CN104422448A (en) * | 2013-08-23 | 2015-03-18 | 高德软件有限公司 | Vehicle positioning method and device |
| CN104884895B (en) * | 2013-11-18 | 2018-06-15 | 宇龙计算机通信科技(深圳)有限公司 | electronic compass calibration method and terminal |
| WO2015070451A1 (en) * | 2013-11-18 | 2015-05-21 | 宇龙计算机通信科技(深圳)有限公司 | Electronic compass calibrating method and terminal |
| CN104884895A (en) * | 2013-11-18 | 2015-09-02 | 宇龙计算机通信科技(深圳)有限公司 | Electronic compass calibrating method and terminal |
| CN103759736A (en) * | 2014-01-18 | 2014-04-30 | 深圳市金立通信设备有限公司 | Navigation method and terminal |
| CN103822638A (en) * | 2014-02-19 | 2014-05-28 | 华为技术有限公司 | User position information processing method and device |
| CN103822638B (en) * | 2014-02-19 | 2017-07-07 | 华为技术有限公司 | The treating method and apparatus of customer position information |
| CN104200042A (en) * | 2014-09-17 | 2014-12-10 | 王伟 | Positioning-data trajectory tracking method |
| CN104200042B (en) * | 2014-09-17 | 2017-09-01 | 王伟 | A kind of location data trace tracking method |
| CN104392625A (en) * | 2014-11-26 | 2015-03-04 | 浙江大学 | Vehicle automatic pilot system and method based on various sensors |
| CN106370190A (en) * | 2015-07-20 | 2017-02-01 | 腾讯科技（深圳）有限公司 | Vehicle navigation method, position marking method, apparatus, and system |
| CN105187790A (en) * | 2015-09-08 | 2015-12-23 | 北京北大千方科技有限公司 | Method, device and system for monitoring working state of vehicle-mounted terminal |
| CN105139676A (en) * | 2015-10-12 | 2015-12-09 | 上海斐讯数据通信技术有限公司 | Movable traffic signal lamp and realization method thereof |
| CN105628033A (en) * | 2016-02-26 | 2016-06-01 | 广西鑫朗通信技术有限公司 | Map matching method based on road connection relationship |
| CN105841708A (en) * | 2016-03-16 | 2016-08-10 | 佛山科学技术学院 | Vehicle navigation and positioning track matching method based on path tracing |
| CN106325270A (en) * | 2016-08-12 | 2017-01-11 | 天津大学 | Intelligent vehicle navigation system and method based on perception and autonomous calculation positioning navigation |
| CN106325270B (en) * | 2016-08-12 | 2019-05-31 | 天津大学 | Intelligent vehicle air navigation aid based on perception and from host computer location navigation |
| CN106370182A (en) * | 2016-08-31 | 2017-02-01 | 北斗时空信息技术（北京）有限公司 | Personal integrated navigation method |
| CN106302811A (en) * | 2016-09-23 | 2017-01-04 | 上海图聚智能科技股份有限公司 | Describe road network adsorption method during terminal positioning track |
| CN106302811B (en) * | 2016-09-23 | 2019-07-09 | 上海图聚智能科技股份有限公司 | Describe road network adsorption method when terminal positioning track |
| CN106643712A (en) * | 2016-12-14 | 2017-05-10 | 北斗时空信息技术（北京）有限公司 | Vehicle-mounted combined navigation system |
| CN106840153A (en) * | 2017-03-14 | 2017-06-13 | 千寻位置网络有限公司 | A kind of high in the clouds calculates the method by speed in tunnel |
| CN108688659A (en) * | 2017-03-31 | 2018-10-23 | 株式会社斯巴鲁 | The travel controlling system of vehicle |
| CN110196058A (en) * | 2018-02-26 | 2019-09-03 | 德尔福技术有限公司 | Navigation system |
| CN110196058B (en) * | 2018-02-26 | 2023-06-30 | 德尔福技术有限公司 | Navigation system |
| CN109540158A (en) * | 2018-09-14 | 2019-03-29 | 上海擎感智能科技有限公司 | Air navigation aid, system, storage medium and equipment |
| CN109862521A (en) * | 2019-01-31 | 2019-06-07 | 湖北省基础地理信息中心（湖北省北斗卫星导航应用技术研究院） | A kind of position data road network real-time matching calculation method and system |
| CN110031011A (en) * | 2019-04-17 | 2019-07-19 | 首都师范大学 | The neighbouring vehicle-mounted real-time map matching primitives method round with weight is improved of integrated space-time |
| CN110031011B (en) * | 2019-04-17 | 2021-05-11 | 首都师范大学 | Vehicle-mounted real-time map matching calculation method integrating space-time proximity and improved weight circle |
| CN110031646A (en) * | 2019-05-10 | 2019-07-19 | 北京工业大学 | It is a kind of to correct running speed method using direction of traffic vibration acceleration |
| CN110118988A (en) * | 2019-05-28 | 2019-08-13 | 上海擎感智能科技有限公司 | A kind of combined positioning method and its device |
| CN110906924A (en) * | 2019-12-17 | 2020-03-24 | 杭州光珀智能科技有限公司 | Positioning initialization method and device, positioning method and device and mobile device |
| CN111207760A (en) * | 2019-12-31 | 2020-05-29 | 上海炬宏信息技术有限公司 | Method and device for correcting real-time track of intersection, electronic equipment and computer readable medium |
| CN111679309A (en) * | 2020-07-15 | 2020-09-18 | 北京天润海图科技有限公司 | Combined positioning method and device for outdoor intelligent rail car and storage medium |
| CN112665605A (en) * | 2021-01-12 | 2021-04-16 | 湖南科技大学 | Truck factory navigation system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101201255A (en) | Vehicle combined navigation system based on intelligent navigation algorithm | |
| CN101907714B (en) | GPS aided positioning system and method based on multi-sensor data fusion | |
| JP4598120B2 (en) | Location registration device, route search device, location registration method, location registration program, and recording medium | |
| CN103777220B (en) | Based on the accurate position and orientation estimation method in real time of optical fibre gyro, speed pickup and GPS | |
| CN104061899B (en) | A kind of vehicle side inclination angle based on Kalman filtering and angle of pitch method of estimation | |
| CN102147258B (en) | Feedback-mechanism-based vehicle navigation method and system | |
| US20090177387A1 (en) | Method of planning pedestrian navigation route | |
| CN106289275A (en) | For improving unit and the method for positioning precision | |
| EP3663804A1 (en) | Automatic detection of overhead obstructions | |
| JP2011523703A (en) | Method and system for constructing roadmap and determining vehicle position | |
| CN101750086B (en) | Navigation information correcting method and navigation device thereof | |
| Wang et al. | Vehicle localization at an intersection using a traffic light map | |
| CN107132563A (en) | A kind of odometer combination double antenna difference GNSS Combinated navigation method | |
| CN104236566A (en) | Map matching method based on intelligent mobile phone | |
| Pfaff et al. | Towards mapping of cities | |
| CN108334078A (en) | A kind of automatic Pilot method and system navigated based on high-precision map | |
| CN106643712A (en) | Vehicle-mounted combined navigation system | |
| CN109923375A (en) | Road determining device and vehicle control system | |
| CN106093992A (en) | A kind of sub-meter grade combined positioning and navigating system based on CORS and air navigation aid | |
| CN110375786B (en) | Calibration method of sensor external parameter, vehicle-mounted equipment and storage medium | |
| CN115597593A (en) | Real-time navigation method and device based on high-precision map | |
| CN101545781B (en) | Method for determining pulse equivalent of speedometer in on-board integrated navigation | |
| KR20120086571A (en) | Vehicle navigation apparatus and method | |
| CN110345949A (en) | The localization method and its system in a kind of vehicle place lane | |
| CN106646569A (en) | Navigation and positioning method and 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: 20080618 |