CN101458087B - Navigation head using image map and method thereof - Google Patents

Navigation head using image map and method thereof Download PDF

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CN101458087B
CN101458087B CN 200710172374 CN200710172374A CN101458087B CN 101458087 B CN101458087 B CN 101458087B CN 200710172374 CN200710172374 CN 200710172374 CN 200710172374 A CN200710172374 A CN 200710172374A CN 101458087 B CN101458087 B CN 101458087B
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position
navigation
module
map
image
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CN 200710172374
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CN101458087A (en
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韩湘君
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环达电脑(上海)有限公司
神达电脑股份有限公司
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Abstract

本发明揭示一种使用图像地图的导航装置及其方法。 The present invention discloses a method of using a navigation device and a map image. 此导航装置至少包含一储存模块、一输入模块、一卫星定位模块及一处理模块。 This navigation device comprises at least a storage module, an input module, a satellite positioning module and a processing module. 本发明的方法至少包括下列步骤:提供一导航装置,其具有一储存模块、一输入模块、一卫星定位模块及一处理模块;通过储存模块储存一图像地图;以输入模块设定若干个定位位置及若干个颜色信息于图像地图上;设定一起点位置及一终点位置于图像地图上;通过卫星定位模块,提供一一对应这些定位位置的若干个位置信息;经由处理模块且根据这些颜色信息,辨识出若干条可行路径;根据一算法、这些位置信息及这些可行路径,计算出起点位置至终点位置的一导航路径。 The method of the present invention comprises at least the steps of: providing a navigation device, having a storage module, an input module, a satellite positioning module and a processing module; by the storage module stores a map image; an input module to set the number of positioning positions and a plurality of color image information on a map; together with the set-point position and a final position on the image map; satellite positioning module, providing a plurality of position information of the position of the positioning-one correspondence; information via the processing module in accordance with these colors and , several pieces of feasible paths identified; according to an algorithm, the location information, and these viable paths, calculates the starting position to the end position of a navigation route. 从而可使导航装置利用非电子地图进行导航。 Thereby allowing the navigation device using the non-electronic maps for navigation.

Description

使用图像地图的导航装置及其方法 Using the image map navigation device and method

【技术领域】 TECHNICAL FIELD

[0001] 本发明属于导航装置及方法的技术领域,特别是可使导航装置利用非电子地图进行导航的方法。 [0001] The present invention belongs to the technical field of a navigation device and method, in particular by allowing the navigation device using the non-electronic maps for navigation method.

【背景技术】 【Background technique】

[0002] 现在几乎所有全球定位系统的导航装置,都是基于电子地图(如向量地图)来进行定位与导航,其中最重要的关键就是与电子地图相关的路网信息。 [0002] Now almost all GPS navigation devices, are based on an electronic map (such as a vector map) to positioning and navigation, the most important key is associated with the electronic map of the road network information.

[0003] 传统上电子地图的路网信息的识别与提取方法,在产生向量的地理信息系统(Geography Information System, GIS)的过程中,先使用向量绘图仪绘制道路地图,再通过人工将复杂的道路信息逐点输入计算机中,以实现地图向量化的目的,但难以迅速得到符合精度要求的向量地图。 [0003] Identification and extraction methods conventional electronic map of the road network information, the process of generating vector GIS (Geography Information System, GIS), the first using the vector plotter draw the road map, and then manually complex by-point road information entered into the computer in order to achieve the purpose of the map to quantify, but it is difficult to quickly meet the accuracy requirements of the vector map. 此方法先以人工对纸本地图加以描图,再通过扫描机进行扫描,最后再细致化和向量化。 This method first be manually trace of a paper map, and then scanned by the scanner, and finally to fine quantization. 描图的过程将一张与纸本地图同样大小的透明纸蒙在地图上,再用铅笔沿着道路的中心线描绘出道路的轨迹,从而得到一幅黑白的道路网络图,再借助扫描机扫描道路网络图以获得黑白的图像图,同时储存图像图至计算机中,最后再将图像图进行细致化和向量化。 The process of tracing paper with a map of the same size on the mask transparent paper map, then pencil draws a trajectory along the center line of the road path, resulting in a black and white road network map, and by scanning the scanning unit FIG road network to obtain the image of FIG black and white image of FIG stored simultaneously into the computer, then the final image of FIG careful and vectorization.

[0004] 这种方法是典型的人工识别地理信息的方法,虽然操作简单,但速度缓慢,而且电子地图的精度取决于纸本地图的精度和工作人员的责任心。 [0004] This method is a typical method of manual identification of geographic information, although simple, but slow, and accuracy depends on the electronic map a paper map accuracy responsibility and staff. 在纸本地图比较精确,与工作人员的责任心很强的条件下,利用这种方式获得的电子地图比较精确。 In the paper more accurate map, the responsible staff strong conditions, using an electronic map obtained in this way more precise. 但随着人们对地理信息的大量需求与高性能计算器的快速发展,已使得地理信息的处理越来越快,人工识别相对成为一项既费时又费力的工作,地理信息的制作也就变成地理信息系统发展的瓶颈。 But with the rapid development of a large number of people and the needs of high-performance calculators of geographic information, geographic information processing has made faster and faster, manual identification become a relatively time-consuming and laborious work, making geographic information will change bottleneck to the development of geographic information systems.

[0005] 此外,另一种方法通过图像分析方式(即图像识别方式),自动或半自动提取道路网络的信息。 [0005] Further, another method by image analysis method (i.e. image recognition mode), automatic or semi-automatic road network information extraction. 但目前无论哪种图像分析软件,都还没有到达十分理想的程序,大都假设了一些相对的理想条件。 But no matter what kind of image analysis software, have not yet reached the ideal program, most assume that some relatively ideal conditions.

[0006] 因此,无论通过以上哪种方法得到的电子地图,都是费时费力的工作,致使现在电子地图制作成本居高不下,且所有的导航装置的大部分成本来自于电子地图。 [0006] Therefore, no matter which method is obtained by the above electronic maps, are time-consuming work, resulting in the high cost of electronic map production now, and most of the cost of all of the navigation device from the electronic map. 另外,由于制作过程复杂,相关的缺点也显现出来,如果现实世界中某些地区还没有电子地图,导航装置就无法进行导航。 In addition, because of the production process is complex, related shortcomings emerge, if the real world, some areas have not electronic maps, navigation devices will not be able to navigate. 同时,若道路有所变更,电子地图却没有及时更新,便会导致导航发生错误,甚至引起严重的后果。 Meanwhile, if the road is subject to change, but not up to date electronic map, it will lead to navigation errors, and even lead to serious consequences.

【发明内容】 [SUMMARY]

[0007] 有鉴于上述课题,本发明的目的提供一种使用图像地图的导航装置及其方法,特别是可使导航装置利用非电子地图进行导航的方法,以满足使用者对导航装置的需求,并解决现有技术的缺点,除制作成本低外,更可自行更新路网信息。 [0007] In view of the above problems, an object of the present invention to provide a navigation device and a method of using an image map, the navigation device can use in particular non-electronic maps for navigation method, in order to meet users' needs for a navigation device, disadvantages and to solve the prior art, in addition to low production costs, but also road network information update itself.

[0008] 因此,为达上述目的,本发明提出一种使用图像地图的导航装置,其至少包含一储存模块、一输入模块、一卫星定位模块及一处理模块。 [0008] Accordingly, to achieve the above object, the present invention proposes a navigation device using the map image, which comprises at least a storage module, an input module, a satellite positioning module and a processing module. 其中,储存模块储存一图像地图。 Wherein the storage module stores a map image. 输入模块设定若干个定位位置、若干个颜色信息、一起点位置及一终点位置于图像地图上。 Input module sets a plurality of position location, a plurality of color information, along with position and a final position on the image map. 而卫星定位模块提供一一对应这些定位位置的若干个位置信息。 And providing a plurality of satellite positioning module positions the positioning position information of correspondence. 另处理模块根据这些颜色信息辨识出若干条可行路径,并根据一算法、这些位置信息及这些可行路径,计算出起点位置至终点位置的一导航路径。 Another recognition processing module according to the color information of the several pieces of possible paths, and according to an algorithm, the location information, and these viable paths, calculates the starting position to the end position of a navigation route.

[0009] 此外,本发明再提出一种使用图像地图的导航方法,其至少包含下列步骤: [0009] Further, the present invention further proposes a method of using a navigation map image, which contains at least the following steps:

[0010] (a)提供一导航装置,其具有一储存模块、一输入模块、一卫星定位模块及一处理模块; [0010] (a) providing a navigation device, having a storage module, an input module, a satellite positioning module and a processing module;

[0011] (b)通过储存模块储存一图像地图; [0011] (b) by the storage module stores a map image;

[0012] (c)以输入模块设定若干个定位位置及若干个颜色信息于图像地图上; [0012] (c) setting a plurality of colors and a plurality of position location information to a map on the image input module;

[0013] (d)设定一起点位置及一终点位置于图像地图上; [0014] (e)通过卫星定位模块,提供一一对应这些定位位置的若干个位置信息; [0013] (d) together with the set point position and a final position on the map image; [0014] (e) through a satellite positioning module, providing a plurality of position information of the positioning-one correspondence of positions;

[0015] (f)经由处理模块且根据这些颜色信息,辨识出若干条可行路径; [0015] (f) and via a processing module according to the color information, identify several pieces feasible path;

[0016] (g)根据一算法、这些位置信息及这些可行路径,计算出起点位置至终点位置的一导航路径。 [0016] (g) according to an algorithm, the location information, and these viable paths, calculates the starting position to the end position of a navigation route.

[0017] 相较于现有技术,利用本发明,可以使得导航装置利用非电子地图进行导航。 [0017] Compared to the prior art, with the present invention, so that the navigation device may utilize non-electronic maps for navigation.

[0018] 为对本发明的目的、构造特征及其功能有进一步的了解,兹配合附图详细说明如下: [0018] The further understanding of the object of the present invention, the structural features and functionality, hereby described in detail with the accompanying drawings as follows:

【附图说明】 BRIEF DESCRIPTION

[0019] 图I显示本发明使用图像地图的导航装置的示意图。 [0019] FIG schematic map of the navigation apparatus of the present invention using the image I displayed.

[0020] 图2显示本发明使用图像地图的导航装置的较佳实施例示意图。 Example schematic [0020] Figure 2 shows a map image of the navigation device using the preferred embodiment of the present invention.

[0021] 图3显示本发明使用图像地图的导航方法的流程图。 [0021] FIG. 3 shows a flowchart of a method of using a navigation map image of the present invention.

【具体实施方式】 【Detailed ways】

[0022] 请参阅图1,显示本发明使用图像地图的导航装置的示意图。 [0022] Please refer to FIG. 1, a schematic view of a navigation device using the map image of the present invention. 图中,导航装置I为一全球定位系统装置、一具导航功能的移动电话及一具导航功能的个人数字助理其中之一,且至少包含一储存模块11、一输入模块12、一卫星定位模块13及一处理模块14。 FIG navigation device I is a global positioning system device, a personal digital mobile phones and navigation functions a navigation assistant one, and comprising at least one storage module 11, an input module 12, a satellite positioning module 13 and a processing module 14. 其中,储存模块11储存一图像地图111。 Wherein the storage module 11 stores a map image 111. 而输入模块12 (如触控式屏幕或按键组)设定至少三个不共线的定位位置1111、若干个颜色信息1112、一起点位置1113及一终点位置1114于图像地图111上,亦可设定至少一行经点位置于起点位置1113至终点位置1114之间。 The input module 12 (e.g., a touch screen or key group) position location 1111 is set at least three non-colinear, a plurality of color information 1112, 1113 and the position of a point with the end position 1114 on the image map 111, also by setting at least one line to the start position 1113 to position 1114 between the end position.

[0023] 另外,卫星定位模块13提供一一对应这些定位位置1111的若干个位置信息131,且每一位置信息131具有一经度坐标及一纬度坐标。 [0023] Further, satellite positioning module 13 which provides one-position location information 1111 of a plurality of positions 131, 131 and each position information having a latitude coordinate and a longitude coordinate. 还有,处理模块14根据这些颜色信息1112辨识出若干条可行路径141,并根据一算法143 (如A*算法)、这些位置信息131及这些可行路径141,计算出起点位置1113至终点位置1114的一导航路径142。 Further, the processing module 14 according to the color identification information 1112 several pieces feasible path 141, and 143 according to an algorithm (e.g., A * algorithm), the position information of these feasible paths 141 and 131, calculates the starting position to the end position 1114 1113 142 of a navigation route.

[0024] 此外,导航路径142亦可包含一未行经路径及一已行经路径,未行经路径具有一第一颜色信息,而已行经路径具有一第二颜色信息。 [0024] Also, the navigation may also include a path 142 and a path not passing path has been traveled, not passing through a path having a first color information, it has a path passing through second color information. 使用者可将第二颜色信息定义为不可行路径,使导航装置I不会重复规划已行经路径,以避免使用者重复行经同一条可行路径141。 A second color information may be a user defined path infeasible, so I will not repeat the navigation device has traveled the path planning, in order to avoid the user repeats a feasible path 141 passing through the same.

[0025] 请参阅图2,显示本发明使用图像地图的导航装置的较佳实施例示意图。 Example schematic [0025] Please refer to FIG. 2, navigation devices display a map image of the preferred embodiment of the present invention. 图中,使用者取得一张游乐中心2的导览地图,且导览地图显示若干个具有不同颜色信息的游乐区域(如饮食区、花卉区、游戏区及动物区…)及若干条路径。 Figure, users get a casino GuideMap 2, and the navigation map display several recreational areas (such as eating area, flower area, games area and fauna ...) have different color information and a number of paths.

[0026] 一开始时,使用者先利用一导航装置(或电子装置)的图像获取模块,对导览地图进行拍摄以取得一图像地图,并通过一储存模块储存图像地图。 [0026] When a start, the first user using a navigation device (or electronic apparatus) an image acquisition module, for capturing navigation maps to obtain an image map, and by a storage module storing image maps. 接着,以一输入模块(如触控式屏幕或按键组)设定一第一定位位置21、一第二定位位置22、一第三定位位置23、一第一颜色信息24、一起点位置25、一行经点位置27及一终点位置29于图像地图上。 Subsequently, an input module (e.g., a touch screen or button set) is set to a first positioning location 21, a second positioning location 22, a third positioning location 23, a first color information 24, position 25 with , a line through a point 27 and end position 29 on the image map. 再通过卫星定位模块提供第一定位位置21、第二定位位置22及第三定位位置23的经纬度坐标,以对此三个定位位置所形成的三角形区域进行定位。 Then providing a first position by the positioning satellite positioning module 21, a second positioning location 22 and the third positioning coordinates of longitude and latitude 23 to this triangular area formed by the three positioning position for positioning.

[0027] 接下来,经由一处理模块,且根据第一颜色信息24 (表示可行路径)及游乐区域的其它颜色信息(表示不可行路径),辨识出若干条可行路径。 [0027] Next, by a processing module, and 24 according to the first color information (indicating possible path) and the other color information of the play area (expressed infeasible path), several pieces of feasible paths identified. 最后,处理模块根据一算法(如A*算法)、经纬度坐标及可行路径,计算出起点位置25到行经点位置27,再到终点位置29的一导航路径,同时亦可计算出第一拐弯位置26及第二拐弯位置28。 Finally, the processing module according to an algorithm (e.g., A * algorithm), and the latitude and longitude coordinates of a feasible path, the calculated start position 25 to position 27 passing through the point, then the position of the end 29 of a navigation route, and also calculates a first turn position 26 and the second bend location 28. 如此一来,通过导航路径的规划顺序,由起点位置25 —第一拐弯位置26 —行经点位置27 —第二拐弯位置28 —终点位置29,便可使导航装置完成导航。 Thus, by programming the order of the navigation route, the start position 25 - a first turning position 26 - passing point position 27 - a second turning position 28 - the end position 29, can cause the navigation device to navigate and.

[0028] 除此之外,若使用者发现第一拐弯位置26、第二拐弯位置28或导航路径上任何一点的经纬度坐标出现偏差时,使用者可再提供至少三个定位位置,以精确定位。 [0028] In addition, if the user finds a first turning position 26, any latitude and longitude coordinates of a point position on the second turn 28 or the navigation route deviation, the user may then provide positioning at least three positions, in order to pinpoint . 另外,使用者亦可将导航路径的已行经路径设为不可行路径的颜色信息,以避免导航装置再次规划已行经路径于未来的导航路径中,而重复行走已行经路径。 Further, the user may have traveled to the route navigation route information of the color path is not feasible, to avoid re-planning navigation device has traveled in the path of future navigation route, it has been repeatedly travel path traveled.

[0029] 请参阅图3,显示本发明使用图像地图的导航方法的流程图。 [0029] Please refer to FIG. 3, a flowchart of a navigation method using an image map of the present invention. 以下通过图I所示使用图像地图的导航装置,以例示本发明的导航方法的各流程步骤,此导航方法通常包含下列步骤: I by using the image shown in FIG navigation device map to each of the process steps illustrated embodiment navigation method of the present invention, a navigation method generally comprises the steps of:

[0030] 步骤S31 :提供一导航装置I (如全球定位系统装置、具导航功能的移动电话或具导航功能的个人数字助理),其具有一储存模块11、一输入模块12、一卫星定位模块13及一处理模块14 ; [0030] Step S31: providing a navigation device I (such as a global positioning system device, having a navigation function of a mobile phone or with a navigation function Personal Digital Assistant), having a storage module 11, an input module 12, a satellite positioning module 13 and a processing module 14;

[0031] 步骤S32 :利用一图像获取模块拍摄一纸本地图为一图像地图111,并通过储存模块11储存图像地图111。 [0031] Step S32: acquisition module capturing an image using a local photo shows image maps of paper 111, and the storage module 11 by storing the map image 111. 此图像获取模块可设置于导航装置I或一电子装置上; This image acquisition module may be provided on the navigation device or an electronic device I;

[0032] 步骤S33 :以输入模块12 (如触控式屏幕或按键组)设定若干个定位位置1111及若干个颜色信息1112于图像地图111上; [0032] Step S33: In the input module 12 (e.g., a touch screen or key group) setting a plurality of position location 1111 and a plurality of color information on the image map 111 1112;

[0033] 步骤S34 :以输入模块12设定一起点位置1113及一终点位置1114于图像地图111上,亦可设定至少一行经点位置于起点位置1113至终点位置1114之间; [0033] Step S34: The input module 12 is set to position 1113 with 1114, and a final position on the map image 111, can also be set via at least one line to the start position 1113 to a position between the end position 1114;

[0034] 步骤S35 :通过卫星定位模块13提供一一对应这些定位位置1111的若干个位置信息131,且每一位置信息131具有一经度坐标及一纬度坐标; [0034] Step S35: providing a plurality of positioning position information 131 which correspond to positions 1111 through a satellite positioning module 13, and each position information 131 has a longitude coordinate and a latitude coordinate;

[0035] 步骤S36 :经由处理模块14且根据这些颜色信息1112,辨识出若干条可行路径141 ; [0035] Step S36: The processing module 14 via the color information 1112 and based on these, several pieces identify a feasible path 141;

[0036] 步骤S37 :经由处理模块14且根据一算法143 (如A*算法)、这些位置信息131及这些可行路径141,计算出起点位置1113至终点位置1114的一导航路径142。 [0036] Step S37: 14 and 143 according to an algorithm (e.g., A * algorithm), the position information of these feasible paths 141 and 131, calculates the starting position 1113 to the end position of a navigation route 142 via the processing module 1114.

[0037] 此外,导航路径142亦可包含一未行经路径及一已行经路径,未行经路径具有一第一颜色信息,而已行经路径具有一第二颜色信息。 [0037] Also, the navigation may also include a path 142 and a path not passing path has been traveled, not passing through a path having a first color information, it has a path passing through second color information. 使用者可将第二颜色信息定义为不可行路径,使导航装置I不会重复规划已行经路径,以避免使用者重复行经同一条可行路径141。 A second color information may be a user defined path infeasible, so I will not repeat the navigation device has traveled the path planning, in order to avoid the user repeats a feasible path 141 passing through the same.

Claims (12)

1. 一种使用图像地图的导航装置,其特征在于,该装置至少包含: 一储存模块,储存一图像地图; 一输入模块,设定若干个定位位置、若干个颜色信息、一起点位置及一终点位置于该图像地图上; 一卫星定位模块,提供一一对应这些定位位置的若干个位置信息; 一处理模块,根据这些颜色信息辨识出若干条可行路径,并根据一算法、这些位置信息及这些可行路径,计算出该起点位置至该终点位置的一导航路径,该导航路径更包含一未行经路径及一已行经路径,该未行经路径具有一第一颜色信息,该已行经路径具有一第二颜色信息。 CLAIMS 1. A navigation device using the map image, wherein the apparatus comprises at least: a storage module storing a map image; an input module, positioning a plurality of setting positions, a plurality of color information, and a position with end position on the map image; a satellite positioning module, providing a plurality of position information of the position of the positioning-one correspondence; a processing module, several pieces of feasible paths identified according to the color information, and according to an algorithm, the location information, and these possible paths, which calculates the starting position to the end position of a navigation route, the navigation route comprises a further path not passing through and has traveled a path not passing through the path having a first color information, which has traveled a path having The second color information.
2.如权利要求I所述的导航装置,其特征在于,该导航装置为一全球定位系统装置、一具导航功能的移动电话及一具导航功能的个人数字助理其中之一。 The navigation apparatus according to claim I, wherein the navigation means is a global positioning system device, a personal digital mobile phones and navigation functions a navigation assistant one.
3.如权利要求I所述的导航装置,其特征在于,该输入模块设定至少一行经点位置于该起点位置至该终点位置之间。 I navigation device according to claim 2, wherein the input module via at least one line is set to the center position between the start position to the end position.
4.如权利要求I所述的导航装置,其特征在于,该输入模块包含一触控式屏幕及一按键组其中之一。 I navigation device according to claim 4, wherein the input module comprises a touch screen and a key group in which one.
5.如权利要求I所述的导航装置,其特征在于,这些定位位置包含至少三个不共线的定位位置。 The navigation apparatus according to claim I, wherein the positioning comprises positioning the location position of at least three non-collinear.
6.如权利要求I所述的导航装置,其特征在于,每一位置信息具有一经度坐标及一纬度坐标。 The navigation apparatus according to claim I, wherein each of the position information having a latitude coordinate and a longitude coordinate.
7. 一种使用图像地图的导航方法,其特征在于,该方法至少包含下列步骤: (a)提供一导航装置,该导航装置具有一储存模块、一输入模块、一卫星定位模块及一处理模块; (b)通过该储存模块储存一图像地图; (C)以该输入模块设定若干个定位位置及若干个颜色信息于该图像地图上; (d)设定一起点位置及一终点位置于该图像地图上; (e)通过该卫星定位模块,提供一一对应这些定位位置的若干个位置信息; (f)经由该处理模块且根据这些颜色信息,辨识出若干条可行路径; (g)根据一算法、这些位置信息及这些可行路径,计算出该起点位置至该终点位置的一导航路径,该导航路径更包含一未行经路径及一已行经路径,该未行经路径具有一第一颜色信息,该已行经路径具有一第二颜色信息。 A navigation method using map image, characterized in that the method comprises at least the following steps: (a) providing a navigation device, the navigation device having a storage module, an input module, a satellite positioning module and a processing module ; (b) by the storage module stores a map image; (C) setting a plurality of position location and a plurality of color information to the image input module on the map; (d) with the set point position and a final position in the image map; (e) by the satellite positioning module, the position information provides a number of these one-localization position; (f) via the processing module and the color information based on these, several pieces of feasible paths identified; (G) according to an algorithm, the location information, and these viable paths, calculating a navigation route to the starting position to the end position, which further comprises a navigation route and a path not passing path has been traveled, the non-passing path having a first color information, which has been traveled path having a second color information.
8.如权利要求7所述的导航方法,其特征在于,该步骤(b)利用一图像获取模块拍摄一纸本地图为该图像地图。 The navigation method as claimed in claim 7, wherein the step (b) by using an image capturing module captures an image of the graph paper local map.
9.如权利要求7所述的导航方法,其特征在于,该步骤(d)之后,更包含一步骤(dl)设定至少一行经点位置于该起点位置至该终点位置之间。 9. The navigation method according to claim 7, wherein, after step (D), further comprising a step (DL) by setting at least one row to the center position between the start position to the end position.
10.如权利要求7所述的导航方法,其特征在于,该输入模块包含一触控式屏幕及一按键组其中之一。 10. The navigation method according to claim 7, wherein the input module comprises a touch screen and a key group in which one.
11.如权利要求7所述的导航方法,其特征在于,这些定位位置包含至少三个不共线的定位位置。 11. The navigation method according to claim 7, wherein the positioning comprises positioning the location position of at least three non-collinear.
12.如权利要求7所述的导航方法,其特征在于,每一位置信息具有一经度坐标及一纬度坐标。 12. The navigation method according to claim 7, wherein each of the position information having a latitude coordinate and a longitude coordinate.
CN 200710172374 2007-12-14 2007-12-14 Navigation head using image map and method thereof CN101458087B (en)

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US6083353A (en) 1996-09-06 2000-07-04 University Of Florida Handheld portable digital geographic data manager
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CN1696612A (en) 2004-05-12 2005-11-16 阿尔派株式会社 Navigation apparatus and method for displaying map using the same

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