CN101726300B - Method and device for target navigation - Google Patents
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- CN101726300B CN101726300B CN 200810167909 CN200810167909A CN101726300B CN 101726300 B CN101726300 B CN 101726300B CN 200810167909 CN200810167909 CN 200810167909 CN 200810167909 A CN200810167909 A CN 200810167909A CN 101726300 B CN101726300 B CN 101726300B
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Abstract
The invention discloses a method and a device for target navigation, which comprise a navigation device arranged on a vehicle. The navigation device is provided with a navigation system. The navigation system comprises a plurality of secondary targets. The method for target navigation comprises the following steps: setting a main target to plan a main target route from the vehicle to the main target; in the main target route, determining a predetermined range according to the current position and traveling direction of the vehicle; comparing the plurality of secondary targets to screen at least a secondary target positioned in the predetermined range; selecting an optimized secondary target according to the shortest route distance from the vehicle to the at least a secondary target; and planning an optimized secondary target route to navigate to the optimized secondary target. The method and the device for target navigation not only can screen the plurality of secondary targets in the predetermined range and integrate the optimized secondary target position on a final destination route, but also have the function of receiving remote real-time information.
Description
Technical field
The present invention relates to a kind of method and device of target navigation, relate in particular to and a kind ofly can initiatively search several targets, and go out air navigation aid and the device of an optimal suggestion target by choice of parameters.
Background technology
See also TaiWan, China patent application case number No. 094122921 " devices for searching landscape and method thereof " patent, be arranged in the navigational system, to provide guidance path by navigational system, and provide the user to select scene types, include: the limited field module is in order to produce the preset range corresponding to guidance path, and then search module is searched at least one sight spot that meets scene types in preset range; Then, analysis module is set weight according to user's current position and each sight spot, and forms sight spot weight forms; At last, display module is shown sight spot weight forms, to allow clear and definite the obtaining from the nearest position, sight spot of current position of user.
Though aforementioned prior art has the function that path planning was searched and done at the sight spot, yet the effect of its not tool consideration, integration main target, for example user's final purpose is to go to first ground, and existing satellite navigation whether the sight spot of guiding can't be told be sight spot by the way, the shortest path sight spot that existing satellite navigation may demonstrate but may be in the other direction with the final destination, so only can judge the shortest path of next purpose, but increased on the contrary at last the route distance, quite inconvenient; And the convenience that aforementioned prior art is integrated is also not enough to some extent, it can't receiving remote information do the selection of demand (such as the room of stopping, staying for the user, the information such as ticket price), the prior art does not have the function that can carry out initiatively judging according to the sight spot, path of advising navigation again, and can't be according to present time parameter, distance parameter and the function at automatic switchover demand class sight spot.
Summary of the invention
Technical problem underlying to be solved by this invention is, overcome the shortcoming in the path, best sight spot that can't summarize simultaneously the primary and secondary purpose of prior art existence, and provide a kind of method and device of target navigation, it can filter out several by-ends in the setting range, and the parameter by setting, carry out optimal object filtering, integrate out the best by-end position on the final purpose distance.
The method of target navigation of the present invention is:
A kind of method of target navigation is characterized in that, comprises a goal programming flow process, and this goal programming flow process may further comprise the steps; Main target path planning step: set a main target to cook up vehicle to a main target path of this main target; Determine the preset range step: in this main target path, according to this vehicle current position and direct of travel, determine a preset range; Produce the by-end step: compare several by-ends to filter out at least one by-end that is positioned at this preset range; Produce best by-end step: according to this vehicle to this syllabus target shortest path distance and select a best by-end at least one times; Whereby, can provide a best by-end according to this preset range during in the main target path at Vehicle Driving Cycle, and for navigating.
The method of aforesaid target navigation, comprising a driving flow of navigation, this traffic navigation flow process is the execution that continues after finishing the goal programming flow process, this traffic navigation flow process may further comprise the steps; Produce turnover prompting point step: when this best by-end path is not identical with this main target path, the first turnover position of setting this main target path and this best by-end path is a turnover prompting point, if when this best by-end path is identical with this main target path, then setting this by-end position is a turnover prompting point.
The method of aforesaid target navigation, wherein the traffic navigation flow process comprises that still one produces the information step, points out point to provide an information with a prompting turnover prompting path to best by-end by this turnover; This generation information step: judge when this vehicle and depart from this main target path and travel when entering this turnover prompting point according to this information, namely produce an object judgement and within the schedule time, supply user's selection to navigate to this main target or should the best by-end; Selecting within the schedule time is to select to navigate according to the user, does not select if surpass schedule time user, then default this main target that navigates to.
The method of aforesaid target navigation, wherein the traffic navigation flow process comprises that still one produces the information step, points out point to provide an information with a prompting turnover prompting path to best by-end by this turnover; Produce the information step: judge when this vehicle and depart from this main target path and when advancing according to this information, namely produce an object judgement and within the schedule time, navigate to this main target or should the best by-end for user's selection; Selecting within the schedule time is to select to navigate according to the user, and if surpass schedule time user and do not select, default navigating to this best by-end then.
The method of aforesaid target navigation, wherein the traffic navigation flow process still comprises the new best by-end step of a generation, this produces new best by-end step is to judge in not departing from the main target path and carrying out by rear beginning of turnover prompting point; This produces new best by-end step: produce a new best by-end according to the goal programming flow process.
The method of aforesaid target navigation, wherein the traffic navigation flow process still comprises similarity of paths comparison step, to be that the user is non-selected when surpassing the schedule time navigate this similarity of paths comparison step, and default navigation is begun to carry out for to this best by-end the time; Similarity of paths comparison step: set this turnover prompting point to this best by-end path separation from one first estimated rate for judging the interval, carrying out the similarity of vehicle actual travel path and best by-end path planning in this judgement interval compares, when reaching interval and the two the average similarity of this judgement and reach second estimated rate, namely navigate to this best by-end; Then do not continue to carry out the similarity comparison if reach this judgement interval; If when reaching the interval but average similarity of this judgement and not reaching this second estimated rate, former this main target of then navigating back.
Aforesaid target navigation method, wherein goal programming flow process still comprise characteristic information screening step, and this characteristic information screening step is the execution that continues after finishing generation by-end step; Characteristic information screening step: give at least one by-end according to this characteristic information value of assigning weight, and filter out at least one by-end with weighted value.
The method of aforesaid target navigation, wherein this characteristic information in the characteristic information screening step is to come from the navigational system.
The method of aforesaid target navigation, wherein this characteristic information in the characteristic information screening step is to come from a remote-control device.
The method of aforesaid target navigation, wherein goal programming flow process still comprise that one selects by-end classification step, and this selection by-end classification step is the execution that continues after finishing decision preset range step; Select by-end classification step: select a by-end classification, and several by-ends that filter out this classification attribute.
The method of aforesaid target navigation, wherein the radius size of preset range is automatically to make change according to the driving place.
The method of aforesaid target navigation is characterized in that, described by-end classification is at least one and the automatically conversion according to time parameter or distance parameter.
Target navigation device of the present invention is:
A kind of target navigation device, it is characterized in that, be arranged at vehicle interior, in have several by-ends, it comprises a processing unit and a display unit, and this processing unit comprises a path planning module, location module, a by-end filtering module and a preset range setting module; This processing unit and this display unit are information and link; This locating module is to receive satellite signals and orient current vehicle position; This path planning module is for setting a main target to cook up this vehicle to a main target path of this main target; This preset range setting module is in this main target path, according to this current vehicle position and direct of travel, determines a preset range; This by-end filtering module be these several by-ends of comparison filtering out at least one by-end that is positioned at this preset range, and according to this vehicle to this syllabus target bee-line and select a best by-end at least one times; Whereby, can provide a best by-end according to this preset range during in this main target path at Vehicle Driving Cycle, for navigating.
Aforesaid target navigation device, wherein processing unit is provided with a classification and selects module and the link of described path planning module information; Described classification selects module that described several by-end dependencies are sorted disaggregatedly, it also is provided with the function of setting parameter screening, for set a time parameter or a distance parameter any one so that this classification selects module to automatically switch to a respective classes.
Aforesaid target navigation device, wherein the target navigation device is provided with a data receiver unit, has several characteristic informations in this data receiver unit.
Aforesaid target navigation device, wherein the target navigation device is provided with a data receiver unit, and this data receiver unit is at least one characteristic information that receives a remote-control device.
Aforesaid target navigation device, wherein the by-end filtering module still carries out the weighted value distribution according to described characteristic information, further to filter out at least one by-end that meets weighted value.
Aforesaid target navigation device, wherein path planning module is after selecting best by-end, plan again this best by-end path, and judge when this best by-end path is not identical with the main target path, the first turnover position of setting this main target path and described best by-end path is a turnover prompting point, when if best by-end path is identical with described main target path, setting described by-end position is a turnover prompting point.
Aforesaid target navigation device, when the determination module that wherein navigates enters described turnover prompting point when judging described vehicle to depart from described main target path, carrying out the similarity of vehicle actual travel path and best by-end path planning in a judgement interval compares, when reaching described judgement interval and similarity of paths and be higher than an estimated rate, namely navigate to this best by-end, if not, the former main target of then navigating back.
The present invention sets a turnover prompting point according to this best by-end, to enter this turnover prompting point or do not depart from former main target path and by this turnover prompting point according to vehicle, being the foundation of wanting to go to former destination or wanting to go to this best by-end as the judgement car owner; In addition, the scene types of this by-end select be can be according to time parameter, distance parameter and automatically conversion select; Navigation that wherein should the best by-end judge can be first according to take this turnover prompting point to this best by-end path separation from one first estimated rate be the judgement interval, and the similarity of carrying out vehicle actual travel path and best by-end path planning in this judgement interval is compared, when reaching interval and the two the average similarity of this judgement and reach second estimated rate, namely navigate to this best by-end; Then do not continue to carry out similarity comparison if reach this judgement interval, if reach this judgements interval in but when on average similarity does not reach this second estimated rate, the former main target of then navigating back.
The present invention's " method of target navigation and device ", it not only can filter out several by-ends in the setting range, do the best by-end position of integrating out on the final purpose distance, have more the function of receiving remote real-time information, it can set weighted value according to user's self-demand, and on guider, show in real time its information state of by-end that meets weighted value that filters out, whereby, can select best by-end.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the goal programming schematic flow sheet of target navigation method of the present invention.
Fig. 2 is another extension schematic flow sheet of goal programming of target navigation method of the present invention.
Fig. 3 is that the best by-end of target navigation method of the present invention produces schematic diagram.
Fig. 4 is the traffic navigation schematic flow sheet of target navigation method of the present invention.
Fig. 5 is the structure block schematic diagram of target navigation device of the present invention.
The number in the figure explanation:
1 goal programming flow process, 11 main target path plannings
12 determine that preset range 13 produces by-end
14 produce the best by-end of best by-end 15 planning path
16 select the screening of by-end classification 17 characteristic informations
2 traffic navigation flow processs 21 produce turnover prompting point
22 produce information 23 produces new best by-end
The comparison of 24 object judgements, 25 similarity of paths
3 target navigation devices, 31 processing units
311 path planning module, 312 locating modules
313 navigation determination modules, 314 by-end filtering modules
315 preset range setting modules, 316 classifications are selected module
32 data receiver unit, 33 display units
4 remote-control devices
Embodiment
The present invention's " method of target navigation and device ", it can filter out several by-ends in the setting range, and the parameter by setting, and carries out optimal object filtering, integrates out the best by-end position on the final purpose distance; See also shown in Figure 1ly, its target navigation method is mainly used in the navigational system, comprises a goal programming flow process 1 and a driving flow of navigation 2, and this goal programming flow process 1 may further comprise the steps.
Main target path planning 11 steps: set a main target to cook up this vehicle to a main target path of this main target;
Determine preset range 12 steps: in this main target path, according to this vehicle current position and direct of travel, determine a preset range, and the radius size of this preset range is automatically to make change according to the driving place, such as then less, the suburb of the scope settings such as then scope is larger of urban district;
Produce by-end 13 steps: compare these several by-ends to filter out at least one by-end that is positioned at this preset range;
Produce best by-end 14 steps: according to this vehicle to this syllabus target shortest path distance and select a best by-end at least one times;
Plan best by-end path 15 steps: at least one driving path of best by-end is done planning manifest.
Whereby, navigational system can Vehicle Driving Cycle during in the main target path according to this main target path and scope and a best by-end is provided, and navigate.
See also shown in Figure 2ly, it is the present invention's the second implementation method, and it mainly is to set up to select by-end classification 16 steps and receive feature information 17 steps in the first embodiment;
Select by-end classification 16 steps: be to be connected in to determine after preset range 12 steps, in order to filter out such other several by-ends, by filter out at least one by-end classification according to the category attribute mode classification, and this target classification can be done the classification conversion automatically by time parameter or distance parameter, so that more easily classification selection to be provided to the user, wherein this classification may be the parking lot, the restaurant, dining room etc., and this classification conversion can be according to this time parameter, distance parameter and automatically changing, be approaching morning such as the default time parameter of working as, noon, during date for dinner, this classification that automaticallyes switch is the dining room, and default this distance parameter is the highest mileage numerical value that vehicle is filled it up with oily institute wheeled, represents when satisfying condition so that gasoline is about to exhaust and the automatic switchover classification is the refuelling station;
See also shown in Figure 3, that the best by-end that the present invention cooks up according to the step of goal programming flow process 1 is implemented schematic diagram, be the present position of vehicle by round dot position on the icon, can cook up the main target path through main target path planning 11 steps, cook up the scope that wish produces by-end by decision preset range 12 steps again, in scope, produce several by-ends by producing by-end 13 steps, produce a best by-end (such as square position in the icon according to producing best by-end 14 steps again, triangle is the by-end of rejecting according to direction of traffic in addition, star is the by-end of rejecting according to running distance), again by the best by-end of planning path 15 steps, at least one driving path of best by-end is done planning manifest at last.
Table 1 is the characteristic information screening table of target navigation method of the present invention.
| The room number | Movable | Mark | |
| By-end 1 | 0 | 1 | 0 |
| By-end 2 | 1 | 1 | 2 |
| By-end 3 | 1 | 0 | 1 |
| By- |
0 | 1 | 0 |
| By-end 5 | 0 | 0 | 0 |
| By-end 6 | 1 | 1 | 2 |
| By-end 7 | 0 | 1 | 0 |
| By-end 8 | 1 | 1 | 2 |
| By-end 9 | 0 | 0 | 0 |
| By-end 10 | 1 | 0 | 1 |
As shown in table 1, that characteristic information of the present invention screens 17 steps, the information of doing receives, screening embodiment signal, as to select logic be to be set as in the situation of " * (1+ movable) is counted in the room ", this characteristic information screens 17 steps, all by-end information in the scope can be done demonstration, and comply with the logic that sets and do fractional statistics, as having simultaneously room number and movable by-end, its mark is 2 minutes, its mark of by-end of room number of only having is 1 minute, and any its mark of by-end of not having the room number only is 0 grading information, does selection for the user.
Seeing also shown in Figure 4ly, is that the present invention finishes goal programming flow process 1 rear traffic navigation flow process 2 of carrying out;
At first produce turnover prompting point 21 steps: when the best by-end path of driving is not identical with the main target path, the first turnover position of setting this main target path and this best by-end path is a turnover prompting point, when if best by-end path is identical with this main target path, setting this by-end position is a turnover prompting point, by this opportunity of transferring and pointing out point to turn as the prompting user;
Produce new best by-end 23 steps: when judging that this car does not depart from the main target path, and during by this turnover prompting point, the navigational system of this vehicle is then carried out this step, and this produces new best by-end 23 steps, is to regenerate a best by-end according to aforementioned goal programming flow process 1;
When judging that this car does not depart from the main target path, and when having entered this turnover prompting point, information namely can produce object judgement 24, this object judgement 24 selects to navigate to this main target or should the best by-end for the user within the schedule time, select within the schedule time is to select to navigate according to the user, do not select if surpass schedule time user, and systemic presupposition then navigates directly to this main target when navigating to this main target; If do not select but surpass schedule time user, and systemic presupposition then carries out following steps 25 when navigating to this best by-end again.
Similarity of paths is compared 25 steps: performed according to circumstances behind the aforementioned object judgement 24 that continues, do not select when surpassing schedule time user, and systemic presupposition is then carried out this step when navigating to this best by-end again, take this turnover prompting point to this best by-end path separation from one first estimated rate interval as judging, carrying out the similarity of vehicle actual travel path and best by-end path planning in this judgement interval compares, when reaching interval and the two the average similarity of this judgement and reach second estimated rate, namely navigate to this best by-end; Then do not continue to carry out the similarity comparison if reach this judgement interval, if reach this judgement interval in but average similarity when not reaching this second estimated rate, the former main target of then navigating back, the ratio of this first estimated rate for setting according to turnover prompting point to the path distance of best by-end; This second estimated rate is similarity of paths comparison success ratio, and better is set as 80%; For instance, as the prompting total path distance to this best by-end of supposing to transfer is 10KM, and the first estimated rate is set as 20%, then should judge when the interval is 2KM, that is the similarity of carrying out actual travel path and this best by-end path in 2KM is compared, when reaching 2KM, the two average similarity degree in distance reaches more than 80%, judges that namely vehicle wants to go to this best by-end and navigate; Anti-, if when reaching 2KM, the two similarity degree does not reach more than 80%, judges that then it might be the lost former main target of navigating back of car owner.
Whereby, by abovementioned steps, main target is cooked up in the path of will driving a vehicle and best by-end supplies steered reference, can have best by-end to select as another on the distance of going to main target in order to the user.
See also shown in Figure 5, it is target navigation device 3 of the present invention, be arranged at vehicle interior, in have several by-ends, it comprises a processing unit 31, one data receiver unit 32 and a display unit 33, this processing unit 31 comprise a path planning module 311, a location module 312, navigation determination module 313, a by-end filtering module 314 and a preset range setting module 315;
This processing unit 31 is to be information with this display unit 33 to link, wherein;
This locating module 312 is to receive satellite signals and orient current vehicle position;
This path planning module 311 is for setting a main target to cook up this vehicle to a main target path of this main target;
This preset range setting module 315 is in this main target path, according to this current vehicle position and direct of travel, determines a preset range; And
This by-end filtering module 314 these several by-ends of comparison to be filtering out at least one by-end that is positioned at this preset range, and according to this vehicle to this syllabus target bee-line and select a best by-end at least one times;
Whereby, can provide a best by-end according to this preset range during in this main target path at Vehicle Driving Cycle, for navigating.
Wherein, this processing unit 31 still comprises classification selection module 316 and this path planning module 311 information link;
It is that these several by-end dependencies are sorted disaggregatedly that this classification is selected module 316, it is provided with the function of setting parameter screening, for set a time parameter or a distance parameter any one so that this classification selects module 816 to automatically switch to a respective classes.
This target navigation device 3 is provided with a data receiver unit 32, have several characteristic informations in this data receiver unit, also can receive simultaneously at least one characteristic information that a remote-control device 4 transmits and so as to upgrading those several characteristic informations, and at least one characteristic information is sent to this by-end filtering module 314, this by-end filtering module carries out weighted value according to those characteristic informations and distributes, further to filter out at least one by-end that meets weighted value.
This path planning module 311 is after selecting best by-end, plan this best by-end path, and judge when this best by-end path is not identical with the main target path, the first turnover position of setting this main target path and this best by-end path is a turnover prompting point, when if best by-end path is identical with this main target path, setting this by-end position is a turnover prompting point.
When this navigation determination module 313 enters this turnover prompting point when judging this vehicle to depart from this main target path, carrying out the similarity of vehicle actual travel path and best by-end path planning in a judgement interval compares, when reaching this judgement interval and similarity of paths and be higher than an estimated rate, namely navigate to this best by-end, if not, the former main target of then navigating back.
This navigation determination module 313 is to judge usefulness as route or travel by vehicle, and it is this main target path of RX path planning module 311, and judges whether vehicle travels in this path.
Claims (9)
1. the method for a target navigation is characterized in that, comprises a goal programming flow process, and this goal programming flow process may further comprise the steps;
Main target path planning step: set a main target to cook up vehicle to a main target path of this main target;
Determine the preset range step: in this main target path, according to this vehicle current position and direct of travel, determine a preset range;
Produce the by-end step: compare several by-ends to filter out at least one by-end that is positioned at this preset range;
Produce best by-end step: according to this vehicle to this syllabus target shortest path distance and select a best by-end at least one times;
One driving flow of navigation, this traffic navigation flow process is the execution that continues after finishing the goal programming flow process, this traffic navigation flow process may further comprise the steps;
Produce turnover prompting point step: when this best by-end path is not identical with this main target path, the first turnover position of setting this main target path and this best by-end path is a turnover prompting point, if when this best by-end path is identical with this main target path, then setting this by-end position is a turnover prompting point;
One produces the information step, points out point to provide an information with a prompting turnover prompting path to best by-end by this turnover;
Produce the information step: judge when this vehicle and depart from this main target path and when advancing according to this information, namely produce an object judgement and within the schedule time, navigate to this main target or should the best by-end for user's selection;
Selecting within the schedule time is to select to navigate according to the user, and if surpass schedule time user and do not select, default navigating to this best by-end then;
To be that the user is non-selected when surpassing the schedule time navigate for one similarity of paths comparison step, this similarity of paths comparison step, and default navigation is begun to carry out for to this best by-end the time;
Similarity of paths comparison step: set this turnover prompting point to this best by-end path separation from one first estimated rate for judging the interval, carrying out the similarity of vehicle actual travel path and best by-end path planning in this judgement interval compares, when reaching interval and the two the average similarity of this judgement and reach second estimated rate, namely navigate to this best by-end;
Then do not continue to carry out the similarity comparison if reach this judgement interval;
If when reaching the interval but average similarity of this judgement and not reaching this second estimated rate, former this main target of then navigating back;
Whereby, can provide a best by-end according to this preset range during in the main target path at Vehicle Driving Cycle, and for navigating.
2. the method for target navigation according to claim 1 is characterized in that: described traffic navigation flow process comprises that still one produces the information step, by this turnover prompting point to provide an information with the prompting turnover prompting point path of best by-end extremely;
This generation information step: judge when this vehicle and depart from this main target path and travel when entering this turnover prompting point according to this information, namely produce an object judgement and within the schedule time, supply user's selection to navigate to this main target or should the best by-end;
Selecting within the schedule time is to select to navigate according to the user, does not select if surpass schedule time user, then default this main target that navigates to.
3. the method for target navigation according to claim 1, it is characterized in that: described traffic navigation flow process still comprises the new best by-end step of a generation, and this produces new best by-end step is to judge in not departing from the main target path and carrying out by rear beginning of turnover prompting point;
This produces new best by-end step: produce a new best by-end according to the goal programming flow process.
4. target navigation method according to claim 1 is characterized in that: described goal programming flow process still comprises characteristic information screening step, and this characteristic information screening step is in finishing the execution that continues after producing the by-end step;
Characteristic information screening step: give at least one by-end according to this characteristic information value of assigning weight, and filter out at least one by-end with weighted value.
5. the method for target navigation according to claim 4 is characterized in that: this characteristic information in the described characteristic information screening step is to come from the navigational system.
6. the method for target navigation according to claim 4 is characterized in that: this characteristic information in the described characteristic information screening step is to come from a remote-control device.
7. the method for target navigation according to claim 1 is characterized in that: described goal programming flow process comprises that still one selects by-end classification step, and this selections by-end classification step is the execution that continues after finishing decision preset range step;
Select by-end classification step: select a by-end classification, and several by-ends that filter out this classification attribute.
8. the method for target navigation according to claim 1 is characterized in that: the radius size of described preset range is automatically to make change according to the driving place.
9. the method for target navigation according to claim 7 is characterized in that, described by-end classification is at least one and the automatically conversion according to time parameter or distance parameter.
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| CN 200810167909 CN101726300B (en) | 2008-10-17 | 2008-10-17 | Method and device for target navigation |
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| CN 200810167909 CN101726300B (en) | 2008-10-17 | 2008-10-17 | Method and device for target navigation |
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| CN101726300B true CN101726300B (en) | 2013-03-06 |
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| CN107218950A (en) * | 2017-05-31 | 2017-09-29 | 北京小米移动软件有限公司 | A kind of method and apparatus for carrying out navigation processing |
| CN107255827A (en) * | 2017-07-06 | 2017-10-17 | 杨顺伟 | The scenic spot navigation method and device of a kind of unmanned plane |
| CN117496745B (en) * | 2023-10-09 | 2024-06-14 | 上海软杰智能设备有限公司 | Parking space guidance data analysis system and method based on artificial intelligence |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101000372A (en) * | 2006-12-30 | 2007-07-18 | 凯立德欣技术（深圳）有限公司 | Maprecording method and equipment for tracing navigation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101000372A (en) * | 2006-12-30 | 2007-07-18 | 凯立德欣技术（深圳）有限公司 | Maprecording method and equipment for tracing navigation |
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