CN101458094A - Navigation device capable of being corrected by map matched position and method thereof - Google Patents
Navigation device capable of being corrected by map matched position and method thereof Download PDFInfo
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- CN101458094A CN101458094A CNA2007101723756A CN200710172375A CN101458094A CN 101458094 A CN101458094 A CN 101458094A CN A2007101723756 A CNA2007101723756 A CN A2007101723756A CN 200710172375 A CN200710172375 A CN 200710172375A CN 101458094 A CN101458094 A CN 101458094A
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Abstract
The invention discloses a navigation device for correction based on a map-matching position and a method thereof. The navigation device comprises a satellite positioning module, an electronic map database, a map-matching module and a correction module. The satellite positioning module provides a plurality of location messages. The electronic map database stores at least one map message. The map-matching module matches the location messages with the map messages so as to generate map-matching locations corresponding to the location messages. In addition, the correction module provides at least a turning point, and each of the turning points is located on the map-matching positions with an angular variation. When the angular variation is more than a threshold value, the correction module calculates the statistical location messages and map-matching positions within a preset period of time according to an algorithm, so as to generate a deviation value to correct location messages after the turning points.
Description
[technical field]
The invention provides guider and method thereof that a kind of matched position is according to the map proofreaied and correct, particularly produce an off-set value, to proofread and correct the positional information that a GPS is received relevant for matched position according to the map.
[background technology]
Flourish along with mobile communication and satellite navigation, guider is as the mobile phone of a global positioning system apparatus, a tool navigation feature or the personal digital assistant of a tool navigation feature ... or the like, also become the indispensable instrument of people apace.But because of satellite positioning signal during from satellites transmits to ground, be very easy to be subjected to various landform, veil, satellite time error or transmit signal delay ... etc. factor affecting and interference, so that many errors often appear in the positional information that GPS received, come correction position information so need to produce an off-set value (Offset), precisely to be positioned on the navigation map by a device or method.
End is seen in the present prior art, but has been proposed the method that a kind of location information is proofreaied and correct.The method is set up at least one differential Global Positioning System (Differential Global Positioning System in advance, DGPS) base station, in order to receive plurality of location, and the reference position of these positional informations and known latitude and longitude coordinates carried out computing, to produce an off-set value, send off-set value to a guider via a delivery module again.The then built-in differential Global Positioning System receiver of guider receives off-set value, proofreading and correct the positional information that its GPS is received, and then improves a precision of map match.
The shortcoming of above-mentioned prior art, be that the method must set up at least one differential Global Positioning System base station in advance, and guider also need install a differential Global Positioning System receiver additional in addition, that is the method need additionally expend many funds and software and hardware facilities just can be reached.If guider is positioned at the place of not setting up the differential Global Positioning System base station, perhaps guider itself is not installed the differential Global Positioning System receiver conversely speaking,, and then the method just can't play a role.
For solving the shortcoming of prior art, to satisfy the demand of user to guider, the inventor is based on going in for the study for many years and many practical experience, through research and design and special topic are inquired in many ways, in the present invention guider and the method thereof that a kind of matched position is according to the map proofreaied and correct proposed, with as aforementioned expectation one implementation and foundation.
[summary of the invention]
Because above-mentioned problem, guider and method thereof that purpose of the present invention provides a kind of matched position according to the map to proofread and correct, particularly produce an off-set value relevant for matched position according to the map, to proofread and correct the positional information that a GPS is received, and then satisfy the demand of user to guider, and the shortcoming of solution prior art, except need not setting up the differential Global Positioning System base station, also the differential Global Positioning System receiver needn't be additionally installed additional, the function of differential Global Positioning System can be reached easily.
Edge is, for reaching above-mentioned purpose, the present invention proposes the guider that a kind of matched position is according to the map proofreaied and correct, and it comprises a satellite positioning module, an electronic map database, a map-matching module and a correction module at least.Wherein, satellite positioning module provides plurality of location.Electronic map database stores at least one cartographic information.And map-matching module is mated these positional informations and cartographic information, to produce one by one and corresponding several map match positions of these positional informations.In addition correction module provides at least one turning point, and each turning point is positioned on these map match positions, and forms an angle with more preceding map match position and change.When angle changed greater than a threshold value, then correction module was performed on these positional informations and these map match positions of being added up in the Preset Time according to an algorithm, to produce these positional informations after an off-set value is proofreaied and correct turning point.
For reaching above-mentioned purpose, the present invention proposes the method that a kind of matched position is according to the map proofreaied and correct, and it comprises the following step at least:
(a) provide plurality of location by a satellite positioning module;
(b) utilize an electronic map database to store at least one cartographic information;
(c) by a map-matching module these positional informations and cartographic information are mated, to produce one by one and corresponding several map match positions of these positional informations;
(d) utilization one correction module provides at least one turning point, and each turning point is positioned on these map match positions, and forms an angle with more preceding map match position and change;
(e) when angle changed greater than a threshold value, then correction module was performed on these positional informations and the map match position of being added up in the Preset Time according to an algorithm, to produce these positional informations after an off-set value is proofreaied and correct turning point.
For purpose of the present invention, structural attitude and function thereof are had further understanding, conjunction with figs. is described in detail as follows now:
[description of drawings]
Fig. 1 shows the synoptic diagram of the guider that matched position according to the map of the present invention is proofreaied and correct.
Fig. 2 shows the synoptic diagram of the method that matched position according to the map of the present invention is proofreaied and correct.
Fig. 3 shows the process flow diagram of the method that matched position according to the map of the present invention is proofreaied and correct.
[embodiment]
For above-mentioned purpose of the present invention, feature and advantage can be become apparent, hereinafter comply with guider and the method thereof that matched position according to the map of the present invention is proofreaied and correct, especially exemplified by preferred embodiment, and cooperate appended relevant indicators, be described in detail below, wherein identical assembly will be illustrated with identical element numbers.
See also Fig. 1, show the synoptic diagram of the guider that matched position according to the map of the present invention is proofreaied and correct.Among the figure, guider 1 is generally the mobile phone of a global positioning system apparatus, a tool navigation feature or the personal digital assistant of a tool navigation feature, and it comprises a satellite positioning module 11, an electronic map database 12, a map-matching module 13 and a correction module 14 at least.Wherein, satellite positioning module 11 is generally a GPS, and plurality of location 111 is provided, and each positional information 111 has a longitude coordinate and a latitude coordinate.Electronic map database 12 stores at least one cartographic information 121.And map-matching module 13 is mated these positional informations 111 with cartographic information 121, producing one by one and these positional information 111 corresponding several map match positions 131, and each map match position 131 has a longitude coordinate and a latitude coordinate.
In addition correction module 14 provides at least one turning point 141, and each turning point 141 is positioned on these map match positions 131, and forms an angle with more preceding map match position 131 and change 1411.When angle changes 1411 during greater than a threshold value, then correction module 14 is performed on these positional informations 111 and these map match positions of being added up in the Preset Time 131 according to an algorithm 142, producing these positional informations 111 after an off-set value 1421 is proofreaied and correct turning point 141, and then improve an arithmetic speed of map-matching module 13 and a precision of these map match positions 131.
What specify is, algorithm 142 comprises Delta=, and (P (1 ... n)-p (1 ... n))/and n, Delta is an off-set value 1421, P (1 ... n) be these positional informations 111, p (1 ... n) be these map match positions 131, and n is a quantity of being added up in the Preset Time.Wherein, off-set value 1421, each positional information 111 and each map match position 131 have a longitude coordinate and a latitude coordinate all simultaneously.
See also Fig. 2, show the synoptic diagram of the method that matched position according to the map of the present invention is proofreaied and correct, be applicable on the guider, for example the personal digital assistant of the mobile phone of a global positioning system apparatus, a tool navigation feature or a tool navigation feature.Among the figure, earlier provide plurality of location 22 by a satellite positioning module (as a GPS), for example P (1), P (2) ..., P (n-1), P (n), and each positional information 22 has a longitude coordinate and a latitude coordinate.Simultaneously, utilize an electronic map database to store at least one cartographic information 21.Then, by a map-matching module these positional informations 22 are mated with cartographic information 21, to produce one by one and these positional information 22 corresponding several map match positions 23, for example p (1), p (2) ..., p (n-1), p (n), and each map match position 23 has a longitude coordinate and a latitude coordinate.
Come again, use a correction module that at least one turning point 25 is provided, and each turning point 25 is positioned on these map match positions 23, and form an angle with more preceding map match position 23 and change 24, for example turning point 25 is a map match position p (a), and p (a) changes 24 with p (1)～p (n) angulation.When angle changes 24 during greater than a threshold value, then correction module is performed on these positional informations 22 and these map match positions of being added up in the Preset Time 23 according to an algorithm, producing the positional information 22 after an off-set value is proofreaied and correct turning point 25, and then improve an arithmetic speed of map-matching module and a precision of these map match positions 23.
What specify is that algorithm comprises Delta=, and (P (1 ... n)-p (1 ... n))/and n, Delta is an off-set value, P (1 ... n) be these positional informations 22, p (1 ... n) be these map match positions 23, and n is a quantity of being added up in the Preset Time.Wherein, off-set value, each positional information 22 and each map match position 23 have a longitude coordinate and a latitude coordinate all simultaneously.
See also Fig. 3, show the process flow diagram of the method that matched position according to the map of the present invention is proofreaied and correct.Among the figure, the synoptic diagram of the guider proofreaied and correct of matched position according to the map shown in corresponding the 1st figure of the method, and be applicable on the guider 1, the personal digital assistant of the mobile phone of a global positioning system apparatus, a tool navigation feature or a tool navigation feature for example, the method comprises the following step at least:
Step S31: provide plurality of location 111 by a satellite positioning module 11 (as a GPS), and each positional information 111 has a longitude coordinate and a latitude coordinate;
Step S32: utilize an electronic map database 12 to store at least one cartographic information 121;
Step S33: these positional informations 111 are mated with cartographic information 121 by a map-matching module 13, producing one by one and these positional information 111 corresponding several map match positions 131, and each map match position 131 has a longitude coordinate and a latitude coordinate.
Step S34: use a correction module 14 that at least one turning point 141 is provided, and each turning point 141 is positioned on these map match positions 131, and forms an angle with more preceding map match position 131 and change 1411.
Step S35: when angle changes 1411 during greater than a threshold value, then correction module 14 is performed on these positional informations 111 and these map match positions of being added up in the Preset Time 131 according to an algorithm 142, producing these positional informations 111 after an off-set value 1421 is proofreaied and correct turning point 141, and then improve an arithmetic speed of map-matching module 13 and a precision of these map match positions 131.What specify is, algorithm 142 comprises Delta=(P (1...n)-p (1...n))/n, and Delta is an off-set value 1421, and P (1...n) is these positional informations 111, p (1...n) is these map match positions 131, and n is a quantity of being added up in the Preset Time.Wherein, off-set value 1421, each positional information 111 and each map match position 131 have a longitude coordinate and a latitude coordinate all simultaneously.
Claims (16)
1, the guider proofreaied and correct of a kind of matched position according to the map is characterized in that this device comprises at least:
One satellite positioning module provides plurality of location;
One electronic map database stores at least one cartographic information;
One map-matching module is mated these positional informations and this cartographic information, to produce one by one and corresponding several map match positions of these positional informations;
One correction module, at least one turning point is provided, and each this turning point is positioned on these map match positions, and form an angle with more preceding map match position and change, when this angle changes greater than a threshold value, then this correction module is performed on these positional informations and these map match positions of being added up in the Preset Time according to an algorithm, to produce these positional informations after an off-set value is proofreaied and correct this turning point.
2, guider as claimed in claim 1 is characterized in that, it comprises the mobile phone of a global positioning system apparatus, a tool navigation feature or the personal digital assistant of a tool navigation feature.
3, guider as claimed in claim 1 is characterized in that, this satellite positioning module comprises a GPS.
4, guider as claimed in claim 1 is characterized in that, these positional informations comprise several latitude and longitude coordinates.
5, guider as claimed in claim 1 is characterized in that, these map match positions comprise several latitude and longitude coordinates.
6, guider as claimed in claim 1, it is characterized in that, this algorithm comprises Delta=(P (1...n)-p (1...n))/n, Delta is this off-set value, P (1...n) is these positional informations, p (1...n) is these map match positions, and the quantity of n for being added up in this Preset Time.
7, guider as claimed in claim 1 is characterized in that, this off-set value is in order to improve an arithmetic speed of this map-matching module.
8, guider as claimed in claim 1 is characterized in that, this off-set value is in order to improve a precision of these map match positions.
9, a kind of matched position according to the map method of proofreading and correct is applicable on the guider that it is characterized in that, this method comprises at least:
Provide plurality of location by a satellite positioning module;
Utilize an electronic map database to store at least one cartographic information;
By a map-matching module these positional informations and this cartographic information are mated, to produce one by one and corresponding several map match positions of these positional informations;
Use a correction module that at least one turning point is provided, and each this turning point is positioned on these map match positions, and forms an angle with more preceding map match position and change;
When this angle changed greater than a threshold value, then this correction module was performed on these positional informations and these map match positions of being added up in the Preset Time according to an algorithm, to produce these positional informations after an off-set value is proofreaied and correct this turning point.
As claim 9 method that described matched position is according to the map proofreaied and correct, it is characterized in that 10, this guider comprises the mobile phone of a global positioning system apparatus, a tool navigation feature or the personal digital assistant of a tool navigation feature.
11, as claim 9 method that described matched position is according to the map proofreaied and correct, it is characterized in that this satellite positioning module comprises a GPS.
12, as claim 9 method that described matched position is according to the map proofreaied and correct, it is characterized in that these positional informations comprise several latitude and longitude coordinates.
13, as claim 9 method that described matched position is according to the map proofreaied and correct, it is characterized in that these map match positions comprise several latitude and longitude coordinates.
14, as claim 9 method that described matched position is according to the map proofreaied and correct, it is characterized in that, this algorithm comprises Delta=(P (1...n)-p (1...n))/n, Delta is this off-set value, P (1...n) is these positional informations, p (1...n) is these map match positions, and the quantity of n for being added up in this Preset Time.
As claim 9 method that described matched position is according to the map proofreaied and correct, it is characterized in that 15, this off-set value is in order to improve an arithmetic speed of this map-matching module.
As claim 9 method that described matched position is according to the map proofreaied and correct, it is characterized in that 16, this off-set value is in order to improve a precision of these map match positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101723756A CN101458094A (en) | 2007-12-14 | 2007-12-14 | Navigation device capable of being corrected by map matched position and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101723756A CN101458094A (en) | 2007-12-14 | 2007-12-14 | Navigation device capable of being corrected by map matched position and method thereof |
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| CN101458094A true CN101458094A (en) | 2009-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNA2007101723756A Pending CN101458094A (en) | 2007-12-14 | 2007-12-14 | Navigation device capable of being corrected by map matched position and method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101876549B (en) * | 2010-01-25 | 2013-04-10 | 青岛海信移动通信技术股份有限公司 | Method and mobile terminal for navigating by geographical positions |
| CN103438897A (en) * | 2013-09-04 | 2013-12-11 | 杭州东信捷峻科技有限公司 | Route track correction method based on raster map |
| CN108731691A (en) * | 2017-04-19 | 2018-11-02 | 腾讯科技（深圳）有限公司 | The determination method and apparatus of the yaw point of navigation equipment |
| CN110320536A (en) * | 2018-03-30 | 2019-10-11 | 北京百度网讯科技有限公司 | Satellite positioning parameter calibrating method, device, terminal device and storage medium |
| CN110609306A (en) * | 2018-05-29 | 2019-12-24 | 杨炯 | Electronic map correction method, system and storage medium |
| CN111323802A (en) * | 2020-03-20 | 2020-06-23 | 北京百度网讯科技有限公司 | Vehicle positioning method, device and equipment |
| CN112067005A (en) * | 2020-09-02 | 2020-12-11 | 四川大学 | Offline map matching method and device based on turning points and terminal equipment |
-
2007
- 2007-12-14 CN CNA2007101723756A patent/CN101458094A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101876549B (en) * | 2010-01-25 | 2013-04-10 | 青岛海信移动通信技术股份有限公司 | Method and mobile terminal for navigating by geographical positions |
| CN103438897A (en) * | 2013-09-04 | 2013-12-11 | 杭州东信捷峻科技有限公司 | Route track correction method based on raster map |
| CN103438897B (en) * | 2013-09-04 | 2016-02-17 | 杭州东信捷峻科技有限公司 | Based on the path locus bearing calibration of grating map |
| CN108731691A (en) * | 2017-04-19 | 2018-11-02 | 腾讯科技（深圳）有限公司 | The determination method and apparatus of the yaw point of navigation equipment |
| CN110320536A (en) * | 2018-03-30 | 2019-10-11 | 北京百度网讯科技有限公司 | Satellite positioning parameter calibrating method, device, terminal device and storage medium |
| CN110609306A (en) * | 2018-05-29 | 2019-12-24 | 杨炯 | Electronic map correction method, system and storage medium |
| CN111323802A (en) * | 2020-03-20 | 2020-06-23 | 北京百度网讯科技有限公司 | Vehicle positioning method, device and equipment |
| CN111323802B (en) * | 2020-03-20 | 2023-02-28 | 阿波罗智能技术(北京)有限公司 | Intelligent driving vehicle positioning method, device and equipment |
| CN112067005A (en) * | 2020-09-02 | 2020-12-11 | 四川大学 | Offline map matching method and device based on turning points and terminal equipment |
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Application publication date: 20090617 |