CN101424535B - Vehicle positioning method and device - Google Patents
Vehicle positioning method and device Download PDFInfo
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- CN101424535B CN101424535B CN2007101643889A CN200710164388A CN101424535B CN 101424535 B CN101424535 B CN 101424535B CN 2007101643889 A CN2007101643889 A CN 2007101643889A CN 200710164388 A CN200710164388 A CN 200710164388A CN 101424535 B CN101424535 B CN 101424535B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The invention relates to the vehicle positioning navigation field and discloses a vehicle positioning method and a vehicle positioning device. The method comprises the following steps that: an angle of inclination acquired when a vehicle runs on the road layer is received; the angle of inclination is compared with the initial gradient of the road layer prestored or obtained by calculation, or the height of the vehicle is calculated through the angle of inclination; the running road layer of the vehicle is determined to calculate the road layer closest to the height for the initial gradient/height of the road layer and the angle of inclination. In addition, the invention further discloses the corresponding vehicle positioning device for vehicle positioning. By adopting the method and the device provided in the invention, the running road layer of the vehicle can be recognized to realize the accurate position of the vehicle under the circumstance where the vehicle is in a network with a plurality of layers of road.
Description
Technical field
The present invention relates to vehicle positioning navigation field, particularly vehicle positioning method and device in the Multi-layer road.
Background technology
At present, the vehicle positioning and navigation system all is to be defined on the two dimensional surface for the location of vehicle, modal be GPS (Global Positioning System, GPS).The GPS terminal is installed in the vehicle that goes, and opens the GPS service, can realize location and navigation driving vehicle.
Gps system can satisfy on most road vehicle basically to the demand of its location with navigation.But along with developing rapidly of urban transportation, the road form in city is complicated day by day, the overpass that for example passes through up and down, the tunnel under penetratingly, and this layer stereo transportation network is very general in the big city.If vehicle ' to overpass or in the subterranean tunnel, realizes location and navigation, the planimetric position at then not only said vehicle place is the necessary condition that said vehicle is positioned and navigates, and the path layer at same vehicle place also is crucial.As shown in Figure 1, vehicle 101, vehicle 102 is on the same two dimensional surface coordinate with vehicle 103, and still, they but are in the different aspects of overpass, and the path layer of being walked, the direction of going are also inequality.If can not correctly identify the path layer that vehicle 101,102 and 103 belongs to respectively among Fig. 1, just can not make right judgement to the particular location of each car, also can not realize correct navigation certainly to said vehicle 101,102 and 103.
But, present gps system the error of the height of car locating information that can provide very big, normally the 2-3 of its plane positioning error is doubly.Even said height locating information is done the corresponding processing that reduces error, also can there be the error of 10-15 rice.In the Multi-layer road network in city, generally between 2-5 rice, average height difference is approximately 3 meters to the difference in height between the road of each layer.Therefore utilize the height positioning function of existing GPS can not satisfy in the existing Multi-layer road network, therefore also just can not be implemented in the Multi-layer road network of city accurate location driving vehicle to the concrete location requirement of driving vehicle.
Summary of the invention
Embodiment of the invention problem to be solved provides vehicle positioning method and device in the Multi-layer road, in the Multi-layer road network of city, can not carry out pinpoint problem to solve to vehicle.
For addressing the above problem, the embodiment of the invention provides a kind of vehicle positioning method, comprising:
Receive the angle of inclination of being gathered when vehicle sails path layer into;
The more said angle of inclination and the initial gradient of the path layer of storing or calculating in advance;
The path layer that sails into of locating said vehicle is the immediate path layer of the initial gradient of path layer and said angle of inclination.
Preferably, more said angle of inclination is specially with the difference of the path layer start angle of storing or calculating in advance:
Using formula | φ-θ | the said angle of inclination and the initial gradient of path layer of storing or calculating are in advance compared; Wherein, θ is the initial gradient of the path layer storing or calculate in advance, and φ is the angle of inclination of the said vehicle when vehicle ', gathered.
Preferably, it is characterized in that the path layer that sails into of locating said vehicle is that the immediate road of the initial gradient of path layer and said angle of inclination is specially:
Locate said vehicle and sail path layer into for according to formula | φ-θ | the pairing path layer of θ value of coincidence formula among the≤ε, wherein said ε trends towards 0.
Preferably, after execution received the angle of inclination of being gathered when vehicle sails road into, said method also comprised step:
Judge said vehicle sails to go on the path layer whether reach predeterminable range or Preset Time into said, if then carry out said relatively angle step.
Preferably, said method also comprises step:
Gather said vehicle in the said angle of rolling away from of sailing path layer into;
If the said angle of rolling away from conforms to the said path layer termination gradient of sailing into of storing in advance or calculating, then said vehicle rolls said path layer away from.
The embodiment of the invention also provides other a kind of vehicle positioning method, comprising:
Receive angle of inclination and the said vehicle gathered when vehicle sails path layer into and get into the said distance of going behind the path layer of sailing into;
Reach the said path layer height that sails into of high computational of the initial path layer of vehicle of storing in advance or calculating according to said angle of inclination, operating range;
More said path layer height and the path layer height of storing or calculating in advance of sailing into;
The path layer that sails into of locating said vehicle is said path layer height and the said immediate path layer of path layer height of storing in advance or calculating of sailing into.
Preferably, calculate the said path layer height that sails into of height that reaches the initial path layer of vehicle of storing in advance or calculating and be specially according to said angle of inclination, operating range:
Using formula h=dsin (φ)+z calculates the said height that sails path layer into; Wherein h is the said height that sails path layer into; D is that vehicle gets into the said distance of going behind the path layer of sailing into; φ is the angle of inclination of the said vehicle when vehicle ', gathered, and z is the height of the initial path layer of vehicle ' storing in advance in the database or calculate.
Preferably, after execution received the angle of inclination of being gathered when vehicle sails road into, said method also comprised step:
Judge said vehicle sails to go on the path layer whether reach predeterminable range or Preset Time into said, if then carry out said computed altitude step.
Correspondingly, the embodiment of the invention also provides a kind of vehicle locating device, comprising:
Receiving element is used to receive the angle of inclination of being gathered when vehicle sails path layer into;
Comparing unit is used for the more said angle of inclination and the initial gradient of path layer of storing or calculating in advance;
Positioning unit, the path layer that sails into that is used to locate said vehicle is the immediate path layer of the initial gradient of path layer and said angle of inclination.
Preferably, said device also comprises:
Judging unit is used to judge said vehicle sails to go on the path layer whether reach predeterminable range into said, if notify said comparing unit to carry out relatively angle step.
Correspondingly, the embodiment of the invention also provides other a kind of vehicle locating device, comprising:
Receiving element is used to receive angle of inclination and the said vehicle gathered when vehicle sails path layer into and gets into the said distance of going behind the path layer of sailing into;
Computing unit is used for the said height that sails path layer into of high computational according to the received angle of inclination of said receiving element, operating range and the initial path layer of vehicle storing in advance or calculate;
Comparing unit is used for more said path layer height and the path layer height of storing or calculating in advance of sailing into;
Positioning unit, the path layer that sails into that is used to locate said vehicle is said path layer height and the said immediate path layer of path layer height of storing in advance or calculating of sailing into.
Preferably, said device also comprises:
Judging unit is used to judge said vehicle sails to go on the path layer whether reach predeterminable range into said, if notify said computing unit to carry out the high computational step.
Compared with prior art; The embodiment of the invention is in the two dimensional surface position of collection vehicle; The reference position angle of inclination of collection vehicle road that sails in the Multi-layer road network; Compare with the initial gradient of the path layer of storing in advance or calculating, selecting the immediate path layer of said angle is the path layer that sails into of said vehicle; Perhaps calculate the height of vehicle operating on path layer according to said angle of inclination; Compare with the path layer height of storing in advance or calculating; Therefore selecting the immediate path layer of said height is the path layer that sails into of said vehicle, can be implemented in the Multi-layer road network the accurate location to said vehicle.
Description of drawings
Fig. 1 is that vehicle is in different path layer synoptic diagram in the stereo urban traffic network;
Fig. 2 is the method flow diagram of the embodiment of the invention;
Fig. 3 is the first preferred embodiment of the invention synoptic diagram;
Fig. 4 is another method flow diagram of the embodiment of the invention;
Fig. 5 is the second preferred embodiment of the invention synoptic diagram;
Fig. 6 is the structure drawing of device of the embodiment of the invention;
Fig. 7 is another structure drawing of device of the embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done detailed explanation.See also shown in Figure 2ly for the method flow diagram of the embodiment of the invention, comprise step:
Step S201: receive the angle of inclination of being gathered when vehicle sails path layer into;
Step S202: the more said angle of inclination and the initial gradient of the path layer of storing or calculating in advance;
Step S203: the path layer that sails into of locating said vehicle is the immediate path layer of the initial gradient of path layer and said angle of inclination.
Preferably, the embodiment of the invention adopts inclinometer to come the angle of inclination of measuring vehicle.Sail a certain path layer of multilevel traffic road into when vehicle after; Said inclinometer collects the angle of inclination of vehicle; And judge said vehicle sails to go on the path layer whether reach predeterminable range or Preset Time into said, if reach said predeterminable range or Preset Time, then the initial gradient of said angle of inclination with each path layer of in database, storing or calculating compared; Concrete implementation is following, and wherein each parameter is specially:
The θ---initial gradient of storage or the concrete a certain path layer that calculates in database;
The d---vehicle gets into the distance of going behind a certain path layer;
φ--the angle of inclination of the said vehicle that-said inclinometer is measured.
If the initial gradient of not storing each path layer in advance in the database; And just stored the height of said each path layer; Then get into the said path layer height of storing in the distance of going behind a certain path layer and the database, can calculate the initial gradient of said path layer according to the said vehicle that collects.
See also shown in Figure 3ly, said vehicle is the cruising state when the P1 point, and the corresponding road information of in database, storing or calculating is (z1, θ 1 for x1, y1); When driving to the P2 point, said vehicle driving up begins to get into another path layer; The road information that institute stores or calculates in the database at this moment is (x2, y2, z2; θ 2); The angle of inclination that said vehicle measures according to inclinometer is φ, therefore according to the initial gradient of each path layer of storing in the database or calculating and the inclination of vehicle angle that records, using formula
| φ-θ |≤ε (wherein ε trends towards 0)
Calculate the initial gradient of path layer and the difference of said inclination of vehicle angle; After said vehicle ' reaches apart from d; If said formula | φ-θ | the minimum path layer of difference be the path layer that said vehicle sails into; If the absolute value of said difference is excessive, think that then this path layer is not the path layer that said vehicle sails into.Through said angle comparison procedure, can realize the three-dimensional localization of said vehicle in the multilevel traffic network.After said vehicle crossed P3 ' point, the inclinometer of said vehicle returned the angle value before changing, and finishes this vehicle location process.
When said vehicle leaves said when sailing path layer into; Can gather the angle of inclination of said vehicle equally; And compare with the said end gradient of sailing path layer into that is stored in the database storage or calculate; If said comparative result coincidence formula | φ '-θ ' |≤ε, judge that then said vehicle leaves the said path layer that sails into.Wherein, φ ' is said angle of inclination when sailing road into for the said vehicle that collects leaves, and θ ' is the storage or the end gradient of sailing path layer into that calculates, and ε trends towards 0.
In addition, the embodiment of the invention also provides other a kind of vehicle positioning method, sees also shown in Figure 4ly, specifically comprises step:
Step S401: receive angle of inclination and the said vehicle gathered when vehicle sails path layer into and get into the said distance of going behind the path layer of sailing into;
Step S402: the said path layer height that sails into of high computational that reaches the initial path layer of vehicle of storing in advance or calculating according to said angle of inclination, operating range;
Step S403: more said path layer height and the path layer height of storing or calculating in advance of sailing into;
Step S404: the path layer that sails into of locating said vehicle is said path layer height and the said immediate path layer of path layer height of storing in advance or calculating of sailing into.
In second preferred embodiment of the present invention; Can sail the height that calculates gained behind the path layer into according to vehicle; Compare with the height that is stored in each path layer of storing in the database or calculating; And positioned vehicle is in the minimum pairing path layer of said height difference, and its concrete implementation is following:
Sail a certain path layer of multilevel traffic road into when vehicle after; Use the angle of inclination of inclinometer collection vehicle; And judge said vehicle sails to go on the path layer whether reach predeterminable range or Preset Time into said; If reach said predeterminable range or Preset Time, obtain said vehicle and getting into said operating range after sailing path layer into, using formula
h＝dsin(φ)+z
Calculate said vehicle and sail the path layer height into, wherein,
H---is said to sail the height that path layer obtains according to said inclination of vehicle angle calculation into;
The height of the initial path layer of vehicle ' of storing in advance in the z---database or calculating;
The said vehicle of d---gets into the said distance of going behind the path layer of sailing into;
The angle of inclination of φ--the said vehicle gathered during-said vehicle '.
If do not store the height of path layer in the database in advance; And the initial gradient of just having stored said path layer; Then get into the initial gradient of said path layer of storing in the distance of going behind a certain path layer and the database, can calculate the height of said path layer according to the said vehicle that collects.
See also shown in Figure 5ly, said vehicle is the cruising state when the P4 point, and the corresponding road information of in database, storing or calculating is (z4, θ 4 for x4, y4); When driving to the P5 point, said vehicle driving up begins to get into another path layer; The road information that institute stores or calculates in the database at this moment is (x5, y5, z5; θ 5); The angle of inclination that said vehicle measures according to inclinometer is φ, and according to a P5 between the P6 ' apart from d, said vehicle height z5 at initial path layer, calculate the said height that sails path layer into.Behind the said vehicle point of arrival P6 ', according to formula | h-z
6' | the height whether said height that sails path layer into of≤ε (wherein ε trends towards 0) checking meets database storing or calculate, wherein z
6' be the height of storage or the concrete a certain path layer that calculates in database.After said vehicle ' reaches apart from d, said formula | h-z
6' | the minimum path layer of difference be the path layer that said vehicle sails into, if the absolute value of said difference is excessive, think that then this path layer is not the path layer that said vehicle sails into.Through said height comparison procedure, can realize the three-dimensional localization of said vehicle in the multilevel traffic network.
After confirming the path layer that said vehicle sails into, then stop measurement to said vehicle ' distance; If said vehicle sails new path layer into, the angle of inclination of said inclinometer changes once more, remeasures the operating range of said vehicle, carries out the positioning step of said path layer.
Use the method that the embodiment of the invention provides; Can sail under the situation in the Multi-layer road network at vehicle; Sail the initial gradient or the said height that sails path layer into of path layer into according to vehicle; Judge the concrete road that said vehicle sails into, thereby realize the accurate location of said vehicle in the Multi-layer road network.
Correspondingly, the embodiment of the invention also provides a kind of vehicle locating device, sees also shown in Figure 6ly, comprises receiving element 601, is used to receive the angle of inclination of being gathered when vehicle sails path layer into; Comparing unit 602 is used for the more said angle of inclination and the initial gradient of path layer of storing or calculating in advance; Positioning unit 603, the path layer that sails into that is used to locate said vehicle is the immediate path layer of the initial gradient of path layer and said angle of inclination.
In addition, said device also comprises judging unit 604, is used to judge said vehicle sails to go on the path layer whether reach predeterminable range into said, if notify said comparing unit 602 to carry out relatively angle step.
Use device provided by the invention, be implemented in the Multi-layer road network and be the detailed process of the location of vehicle:
After said receiving element 601 receives the start angle of being gathered when vehicle sails road into; Use said judging unit 604 to judge whether said vehicle reaches predeterminable range in said travel; If; Then notify said comparing unit 602 to carry out the comparison of angle difference, if not, this then abandoned to sailing the location of road into.
Said comparing unit 602 using formulas
| φ-θ |≤ε (wherein ε trends towards 0)
The difference of the start angle of more said collection and the road start angle storing or calculate in advance, the path layer initial gradient of θ wherein for storing or calculate in advance, φ is vehicle measured angle of inclination on the road that goes.
Said positioning unit 603 compares formula according to said angle, locatees the road that road is and said start angle difference is minimum that sails into of said vehicle.
After confirming the road that said vehicle sails into, then stop measurement to said vehicle ' distance or running time; If said vehicle sails new path layer into, angle measuring instrument changes once more, remeasures the operating range of said vehicle; Said vehicle locating device upgrades the road that sails into of said vehicle, is sent to said vehicle.
Correspondingly, the embodiment of the invention also provides second kind of vehicle locating device, sees also shown in Figure 7ly, comprises receiving element 701, is used to receive angle of inclination and the said vehicle gathered when vehicle sails path layer into and gets into the said distance of going behind the path layer of sailing into; Computing unit 702 is used for the said height that sails path layer into of high computational according to the received angle of inclination of said receiving element, operating range and the initial path layer of vehicle storing in advance or calculate; Comparing unit 703 is used for more said path layer height and the path layer height of storing or calculating in advance of sailing into; Positioning unit 704, the path layer that sails into that is used to locate said vehicle is said path layer height and the said immediate path layer of path layer height of storing in advance or calculating of sailing into.
In addition, said device also comprises judging unit 705, is used to judge said vehicle sails to go on the path layer whether reach predeterminable range into said, if notify said computing unit 702 to carry out the high computational step.
Use device provided by the invention, the detailed process that is implemented in the Multi-layer road network the location of vehicle is:
After said receiving element 701 receives the start angle of being gathered when vehicle sails road into; Use said judging unit 705 to judge whether said vehicle reaches predeterminable range in said travel; If; Then notify said comparing unit 702 to carry out the comparison of angle difference, if not, this then abandoned to sailing the location of road into.
Said computing unit using formula
h＝dsin(φ)+z
Calculate the height that said vehicle sails path layer into, wherein,
H---is said to sail the height that path layer calculates according to the angle of inclination of said vehicle into;
The height of the initial path layer of vehicle ' of storing in advance in the z---database or calculating;
The said vehicle of d---is in the said distance of going on the path layer of sailing into;
φ--the angle of inclination of the said vehicle that-said inclinometer is measured.
After calculate obtaining the said height that sails path layer into; Said comparing unit 703 is according to formula | h-z ' | and≤ε (wherein ε trends towards 0); Wherein z ' is the height of storage or the concrete a certain path layer that calculates in database; More saidly sail the height of path layer and storage or the path layer height that calculates in database into, and utilize the said vehicle in positioning unit 704 location sail into path layer for said storage or the minimum road of path layer height difference that calculates.
Use the device that the embodiment of the invention provides; Can sail under the situation in the Multi-layer road network at vehicle; Through the reference position angle that vehicle sails road into, judge the concrete road that said vehicle sails into, thereby realize the accurate location of said vehicle in the Multi-layer road network.
The path layer of above-mentioned record comprises viaduct, sky way, subterranean tunnel, but is not limited only to this, can be the various forms in the multilevel traffic network.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; Can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (12)
1. a vehicle positioning method is characterized in that, comprising:
Receive the angle of inclination of being gathered when vehicle sails path layer into;
The more said angle of inclination and the initial gradient of the path layer of storing or calculating in advance;
The path layer that sails into of locating said vehicle is the immediate path layer of the initial gradient of path layer and said angle of inclination.
2. method according to claim 1 is characterized in that, more said angle of inclination is specially with the difference of the initial gradient of path layer of storing or calculating in advance:
Using formula | φ-θ | the said angle of inclination and the initial gradient of path layer of storing or calculating are in advance compared; Wherein, θ is the initial gradient of the path layer storing or calculate in advance, and φ is the angle of inclination of the said vehicle when vehicle ', gathered.
3. method according to claim 2 is characterized in that, the path layer that sails into of locating said vehicle is that the immediate road of the initial gradient of path layer and said angle of inclination is specially:
Locate said vehicle and sail path layer into for according to formula | φ-θ | the pairing path layer of θ value of coincidence formula among the≤ε, wherein said ε trends towards 0.
4. method according to claim 1 is characterized in that, after execution received the angle of inclination of being gathered when vehicle sails road into, said method also comprised step:
Judge said vehicle sails to go on the path layer whether reach predeterminable range or Preset Time into said, if then carry out said relatively angle step.
5. according to each described method of claim 1-4, it is characterized in that said method also comprises step:
Gather said vehicle in the said angle of rolling away from of sailing path layer into;
If the said angle of rolling away from conforms to the said path layer termination gradient of sailing into of storing in advance or calculating, then said vehicle rolls said path layer away from.
6. a vehicle positioning method is characterized in that, comprising:
Receive angle of inclination and the said vehicle gathered when vehicle sails path layer into and get into the said distance of going behind the path layer of sailing into;
Reach the said path layer height that sails into of high computational of the initial path layer of vehicle of storing in advance or calculating according to said angle of inclination, operating range;
More said path layer height and the path layer height of storing or calculating in advance of sailing into;
The path layer that sails into of locating said vehicle is said path layer height and the said immediate path layer of path layer height of storing in advance or calculating of sailing into.
7. method according to claim 6 is characterized in that, the said path layer height that sails into of high computational that reaches the initial path layer of vehicle of storing in advance or calculating according to said angle of inclination, operating range is specially:
Using formula h=dsin (φ)+z calculates the said height that sails path layer into; Wherein h is the said height that sails path layer into; D is that vehicle gets into the said distance of going behind the path layer of sailing into; φ is the angle of inclination of the said vehicle when vehicle ', gathered, and z is the height of the initial path layer of vehicle ' storing in advance in the database or calculate.
8. method according to claim 6 is characterized in that, after execution received the angle of inclination of being gathered when vehicle sails road into, said method also comprised step:
Judge said vehicle sails to go on the path layer whether reach predeterminable range or Preset Time into said, if then carry out said computed altitude step.
9. a vehicle locating device is characterized in that, comprising:
Receiving element is used to receive the angle of inclination of being gathered when vehicle sails path layer into;
Comparing unit is used for the more said angle of inclination and the initial gradient of path layer of storing or calculating in advance;
Positioning unit, the path layer that sails into that is used to locate said vehicle is the immediate path layer of the initial gradient of path layer and said angle of inclination.
10. device according to claim 9 is characterized in that, said device also comprises:
Judging unit is used to judge said vehicle sails to go on the path layer whether reach predeterminable range into said, if notify said comparing unit to carry out relatively angle step.
11. a vehicle locating device is characterized in that, comprising:
Receiving element is used to receive angle of inclination and the said vehicle gathered when vehicle sails path layer into and gets into the said distance of going behind the path layer of sailing into;
Computing unit is used for the said height that sails path layer into of high computational according to the received angle of inclination of said receiving element, operating range and the initial path layer of vehicle storing in advance or calculate;
Comparing unit is used for more said path layer height and the path layer height of storing or calculating in advance of sailing into;
Positioning unit, the path layer that sails into that is used to locate said vehicle is said path layer height and the said immediate path layer of path layer height of storing in advance or calculating of sailing into.
12. device according to claim 11 is characterized in that, said device also comprises:
Judging unit is used to judge said vehicle sails to go on the path layer whether reach predeterminable range into said, if notify said computing unit to carry out the high computational step.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2007101643889A CN101424535B (en) | 2007-10-30 | 2007-10-30 | Vehicle positioning method and device |
| PCT/CN2007/071186 WO2008128408A1 (en) | 2007-10-30 | 2007-12-06 | A vehicle locating method in multilayer roads and a device using the same |
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| CN2007101643889A CN101424535B (en) | 2007-10-30 | 2007-10-30 | Vehicle positioning method and device |
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| CN101424535A CN101424535A (en) | 2009-05-06 |
| CN101424535B true CN101424535B (en) | 2012-05-30 |
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| JP5691145B2 (en) * | 2009-08-10 | 2015-04-01 | ソニー株式会社 | Vehicle route determination method and navigation apparatus |
| CN102052922A (en) * | 2010-11-19 | 2011-05-11 | 中国人民解放军海军工程大学 | Disturbing gravity compensation method for impacts of actual gravity field on inertial navigation system |
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| CN104422449B (en) * | 2013-08-27 | 2017-09-05 | 上海博泰悦臻电子设备制造有限公司 | A kind of method of automobile navigation, device |
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| CN109300304B (en) * | 2017-07-24 | 2021-10-08 | 神州优车（平潭）电子商务有限公司 | Method and device for determining historical road conditions |
| CN110044256B (en) * | 2018-01-16 | 2022-02-08 | 爱信精机株式会社 | Self-parking position estimation device |
| CN110412630A (en) * | 2019-08-06 | 2019-11-05 | 深圳市元征科技股份有限公司 | Vehicle positioning method and relevant apparatus in a kind of garage |
| CN110455300B (en) * | 2019-09-03 | 2021-02-19 | 广州小鹏汽车科技有限公司 | Navigation method, navigation display device, vehicle and machine readable medium |
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| Publication number | Publication date |
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| CN101424535A (en) | 2009-05-06 |
| WO2008128408A1 (en) | 2008-10-30 |
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