CN101825473A - Navigation method and navigation system - Google Patents
Navigation method and navigation system Download PDFInfo
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- CN101825473A CN101825473A CN 201010140935 CN201010140935A CN101825473A CN 101825473 A CN101825473 A CN 101825473A CN 201010140935 CN201010140935 CN 201010140935 CN 201010140935 A CN201010140935 A CN 201010140935A CN 101825473 A CN101825473 A CN 101825473A
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Abstract
The invention discloses a navigation method and a navigation system. The method comprises: a step A of receiving position information from satellites of a global positioning system GPS and performing retrieval by window according to the position information; a step B of judging whether a composite crossing is retrieved or not, if the composite crossing is retrieved, entering a step C, otherwise, entering a step D; the step C of combining a plurality of cross points of the crossing into one cross point to participate in path navigation, and entering the step D; and the step D of performing navigation according to map data and outputting navigation information. In the technical scheme of the invention, the composite crossing is used as an integrated point to participate in the calculation of point-line topological relationships, so an optimal path is retrieved and accurate navigation information is provided for a user.
Description
Technical field
The present invention relates generally to navigation field, is meant a kind of air navigation aid and navigational system especially.
Background technology
GPS (Global Positioning System, GPS) utilization, bring great convenience for the people's life,, be very easy to the people's trip especially with positioning system and the formed onboard navigation system of combining of electronic chart, automobile.It not only can intelligence give user's programme path, and can be in bootup process real-time demonstration on the spot information and the voice suggestion user this how to drive.
Electronic chart carries out obtaining after the abstract to real world, it with planar road surface abstract be line, therefore, when the road surface in the reality is very complicated, the abstract road route that comes out also be very complicated.And when complicated road is formed a crossing, in navigational system, also need to form this crossing just compound crossing with lines and point of crossing.
The inventor finds that there is following defective at least in prior art in the process of implementing technical solution of the present invention: the user drives to operate according to the prompting of navigational system, thereby can provide correct prompting to require for navigational system very high.Under the situation of crossing complexity (compound crossing), tend to unnecessary prompting to occur or occur allowing the user mislead or even wrong prompting at the scene.
Summary of the invention
The present invention proposes a kind of air navigation aid and navigational system, in the path computing process, the calculating of dotted line topological relation is participated in as an integrated point in compound crossing, thereby retrieve optimal path, gives the correct navigation information of user.
Technical scheme of the present invention is achieved in that
A kind of air navigation aid comprises:
Steps A: the positional information that the receiving world locational system gps satellite sends, and position retrieval according to described positional information;
Step B: judge whether to retrieve compound crossing,, otherwise enter step D if retrieve compound crossing then enter step C;
Step C: a plurality of point of crossing at described compound crossing are merged processing, be merged into a point of crossing and participate in path navigation, enter step D;
Step D: data are navigated according to the map, the output navigation information.
Preferably, in described step B, judge whether to retrieve compound crossing according to the quantity of first threshold scope intersection point.
Preferably, described quantity according to the threshold range intersection point is for judging whether that retrieving compound crossing is specially:
Whether the quantity of judging described first threshold scope intersection point is greater than second threshold value, if the quantity of described first threshold scope intersection point then is compound crossing greater than described second threshold value;
If the quantity of described first threshold scope intersection point is not more than described second threshold value, then is not compound crossing.
A kind of navigational system comprises:
Locating module is used for the positional information that the receiving world locational system gps satellite sends, and positions retrieval according to described positional information;
Judge module is used to judge whether to retrieve compound crossing;
Compound crossing processing module is used for judging when retrieving compound crossing when described judge module, and a plurality of point of crossing at described compound crossing are merged processing, is merged into a point of crossing and participates in path navigation;
Navigation module is used for according to the map data and navigates, the output navigation information.
Preferably, described judge module judges whether to retrieve compound crossing according to the quantity of first threshold scope intersection point.
Preferably, described judge module comprises:
Judge submodule, be used to judge that whether the quantity of described first threshold scope intersection point is greater than second threshold value;
Output sub-module if the quantity of described first threshold scope intersection point then is compound crossing greater than described second threshold value, if the quantity of described first threshold scope intersection point is not more than described second threshold value, then is not compound crossing.
Technical solution of the present invention can solve the inaccurate problem of compound turn-by-turn navigation, in the path computing process, the calculating of dotted line topological relation is participated in as an integrated point in compound crossing, thereby retrieve optimal path, gives the correct navigation information of user.
Description of drawings
In order to be illustrated more clearly in the technical scheme of the embodiment of the invention, the accompanying drawing of required use is done to introduce simply in will describing embodiment below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of a kind of air navigation aid first embodiment of the present invention;
Fig. 2 is the structural representation of a kind of navigational system first embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
With reference to Fig. 1, show the schematic flow sheet of a kind of air navigation aid first embodiment of the present invention, comprise step:
The positional information that step S 110, receiving world locational system gps satellite send, and position retrieval according to described positional information.
The GPS positioning principle, briefly, each satellite can tell receiver three things, 1, be which number satellite, 2, the present position there, 3, when send information.Can be after the GPS receiver receives these information with information stores such as ephemeris data, these information also are used to revise the time on the GPS receiver.The difference of the time that each satellite-signal of GPS receiver comparison receives and the time of receiver own, thus calculate the distance of each satellite to receiver.Receiver can utilize triangle formula to calculate the position of receiver when receiving more satellites.Three satellites can be done so-called 2D location (longitude and latitude), and four or more satellites can be done so-called 3D location (longitude, latitude and height).Receiver upgrades user's position with keeping, thereby can calculate user's moving direction and speed.
Step S120, judge whether to retrieve compound crossing.If retrieve compound crossing then enter step S130, otherwise enter step S140.
Compound crossing is meant that many roads intersect, and its intersection is counted more than or equal to 2.
On specific implementation, judge whether to retrieve compound crossing according to the quantity of first threshold scope intersection point.
Whether the quantity of judging described first threshold scope intersection point is greater than second threshold value, if the quantity of described first threshold scope intersection point is greater than described second threshold value, it then is compound crossing, if the quantity of described first threshold scope intersection point is not more than described second threshold value, then is not compound crossing.
Described first threshold and described second threshold value can be set according to actual conditions, and first threshold can be set at 10m as described
2, described second threshold value can be set at 4; Described first threshold can also be set at 100m
2, described second threshold value can be set at 6, certainly, can also be set at other numerical value, and the present invention does not limit this.
Step S130, a plurality of point of crossing at described compound crossing are merged processing, be merged into a point of crossing and participate in path navigation, enter step S140.
Route is one group of data of storing in the internal memory, comprises the coordinate of a starting point and a terminal point, can also comprise the coordinate of some intermediate points, and the line segment between per two coordinate points can be called one " leg ".
After being judged as compound crossing, each point at crossing all can write down a road sign, and one " leg " of record on route between points with these road signs and " leg " integrated crossing face, thereby set up the topological relation of a face.
On the route of planarization, compose a special property value (crossing LINK), thereby two or more point of crossing are merged processing (promptly setting up the topological relation between the some point).
Concrete grammar is, adopt GIS (Geographic Information System, Geographic Information System) as the integrated platform of multi-source data, on the basis of relational database, set up graphic data base, various geographic elements are stacked and placed on the electronic chart, and with the attribute data in the relational database, remote sensing image data interrelates, with data, text, multimedia messages, image graphics is integrated on the platform, carry out space orientation and attribute integrated management, attribute assignment all will not calculate the length of " leg " for the data of " crossing LINK " so, and with all dotted lines at compound crossing, all be integrated on the point, record in the road sign and go, thereby a plurality of point of crossing at described compound crossing are merged processing, path navigation is participated in as a point of crossing in the compound crossing of complexity.
Step S140, data are navigated according to the map, the output navigation information.
The specific implementation of navigation realizes in the 4S integrated system, now the 4S integrated system is described.
4S integrated system (GIS, RS, GPS, ES) is meant (the remote sensing with RS, remote sensing system) and GPS as the major technique means of obtaining and upgrade basic data fast, with the basic platform of GIS as storage, management, analytical information and data, with ES (Expert System, expert system) is leitungskern, by the technical system of certain integration mode formation.
Wherein, GIS is a Geographic Information System.The computer information system that is collection, manages, inquires about, analyzes, operates and show the data message relevant with geography can provide important supporting platform for analysis, decision-making.It can be carried out to figure and analysis to thing and the event that exists on earth.The GIS technology integrates the visualization effect of this uniqueness of map and geography-analysis function and general database manipulation, for GIS, GPS provides a kind of very important method of in real time, dynamically, accurately obtaining spatial data, be the significant data source of GIS, GPS has expanded application and the application mode of GIS widely.And for GPS, GIS is that a kind of important spatial data is handled, integrated and application tool.
RS is remote sensing, be to use detection instrument, do not contact with the detection of a target, from the high-altitude or the outer space receive electromagnetic wave information from all kinds of atural objects of epigeosphere, and by these information are scanned, photograph, transmit and handle, thus the modern comprehensive survey technology that all kinds of atural objects in the face of land and phenomenon are carried out remote detection and identification, remote sensing generally has three key elements, object, sensor, and measuring method.
GPS is a GPS.General reference is utilized satellite technology (satellite sends ephemeris parameter and the temporal information of self incessantly, and the user receives the information such as three-dimensional position, movement velocity and time of obtaining receiver after these information through calculating), and the global geographic coordinate is provided in real time.
ES is an expert system.Be one and have a large amount of special knowledge and the programming system of experience, its using artificial intellectual technology and computer technology, the knowledge and experience that provides according to the one or more experts in certain field, carry out reasoning and judgement, simulating human expert's decision process, so that solve the challenge that those need the human expert to handle, in brief, expert system is the computer programming system that a kind of simulating human expert solves field question.
Technical solution of the present invention can solve the inaccurate problem of compound turn-by-turn navigation, in the path computing process, the calculating of dotted line topological relation is participated in as an integrated point in compound crossing, thereby retrieve optimal path, gives the correct navigation information of user.
With reference to Fig. 2, show the structural representation of a kind of navigational system first embodiment of the present invention.Described navigational system 200 comprises:
Locating module 210 is used for the positional information that the receiving world locational system gps satellite sends, and positions retrieval according to described positional information.
Judge module 220 is used to judge whether to retrieve compound crossing.
Compound crossing processing module 230 is used for judging when retrieving compound crossing when described judge module 220, and a plurality of point of crossing at described compound crossing are merged processing, is merged into a point of crossing and participates in path navigation.
Navigation module 240 is used for according to the map data and navigates, the output navigation information.
Wherein, described judge module 220 judges whether to retrieve compound crossing according to the quantity of first threshold scope intersection point.
Preferably, described judge module 220 comprises:
Judge submodule (figure does not show), be used to judge that whether the quantity of described first threshold scope intersection point is greater than second threshold value;
Output sub-module (figure does not show) if the quantity of described first threshold scope intersection point then is compound crossing greater than described second threshold value, if the quantity of described first threshold scope intersection point is not more than described second threshold value, then is not compound crossing.
Technical solution of the present invention can solve the inaccurate problem of compound turn-by-turn navigation, in the path computing process, the calculating of dotted line topological relation is participated in as an integrated point in compound crossing, thereby retrieve optimal path, gives the correct navigation information of user.
One of ordinary skill in the art will appreciate that, realize that all or part of step in the foregoing description method is to instruct relevant hardware to finish by program, described program can be stored in the computer read/write memory medium, this program is when carrying out, comprise step as above-mentioned method embodiment, described storage medium, as: magnetic disc, CD, read-only storage memory body (Read-Only Memory, ROM) or at random store memory body (Random Access Memory, RAM) etc.In each method embodiment of the present invention; the sequence number of described each step can not be used to limit the sequencing of each step; for those of ordinary skills, under the prerequisite of not paying creative work, the priority of each step is changed also within protection scope of the present invention.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. an air navigation aid is characterized in that, comprising:
Steps A: the positional information that the receiving world locational system gps satellite sends, and position retrieval according to described positional information;
Step B: judge whether to retrieve compound crossing,, otherwise enter step D if retrieve compound crossing then enter step C;
Step C: a plurality of point of crossing at described compound crossing are merged processing, be merged into a point of crossing and participate in path navigation, enter step D;
Step D: data are navigated according to the map, the output navigation information.
2. air navigation aid according to claim 1 is characterized in that, in described step B, judges whether to retrieve compound crossing according to the quantity of first threshold scope intersection point.
3. air navigation aid according to claim 2 is characterized in that, described quantity according to the threshold range intersection point is for judging whether that retrieving compound crossing is specially:
Whether the quantity of judging described first threshold scope intersection point is greater than second threshold value, if the quantity of described first threshold scope intersection point then is compound crossing greater than described second threshold value;
If the quantity of described first threshold scope intersection point is not more than described second threshold value, then is not compound crossing.
4. a navigational system is characterized in that, comprising:
Locating module is used for the positional information that the receiving world locational system gps satellite sends, and positions retrieval according to described positional information;
Judge module is used to judge whether to retrieve compound crossing;
Compound crossing processing module is used for judging when retrieving compound crossing when described judge module, and a plurality of point of crossing at described compound crossing are merged processing, is merged into a point of crossing and participates in path navigation;
Navigation module is used for according to the map data and navigates, the output navigation information.
5. navigational system according to claim 4 is characterized in that, described judge module judges whether to retrieve compound crossing according to the quantity of first threshold scope intersection point.
6. navigational system according to claim 5 is characterized in that, described judge module comprises:
Judge submodule, be used to judge that whether the quantity of described first threshold scope intersection point is greater than second threshold value;
Output sub-module if the quantity of described first threshold scope intersection point then is compound crossing greater than described second threshold value, if the quantity of described first threshold scope intersection point is not more than described second threshold value, then is not compound crossing.
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| CN2010101409351A CN101825473B (en) | 2010-04-02 | 2010-04-02 | Navigation method and navigation system |
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| CN2010101409351A CN101825473B (en) | 2010-04-02 | 2010-04-02 | Navigation method and navigation system |
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| CN101825473B CN101825473B (en) | 2012-05-23 |
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Cited By (7)
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| CN102409678A (en) * | 2011-09-26 | 2012-04-11 | 武汉理工大学 | GPS (global positioning system)-based dam concrete material tank collision monitoring and navigation positioning method |
| CN103363953A (en) * | 2013-07-05 | 2013-10-23 | 河海大学 | Method for improving accuracy of satellite altimetry cross point |
| CN104157020A (en) * | 2014-08-12 | 2014-11-19 | 广州中国科学院沈阳自动化研究所分所 | Hand-held intelligent inspection terminal |
| CN106323307A (en) * | 2015-07-08 | 2017-01-11 | 高德软件有限公司 | Path searching method and device |
| CN108205148A (en) * | 2016-12-19 | 2018-06-26 | 千寻位置网络有限公司 | The quick method and its device for establishing national coordinate frame benchmark |
| CN113624245A (en) * | 2020-05-08 | 2021-11-09 | 北京京东乾石科技有限公司 | Navigation method and device, computer storage medium and electronic equipment |
| CN113624245B (en) * | 2020-05-08 | 2024-04-16 | 北京京东乾石科技有限公司 | Navigation method and device, computer storage medium and electronic equipment |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102409678A (en) * | 2011-09-26 | 2012-04-11 | 武汉理工大学 | GPS (global positioning system)-based dam concrete material tank collision monitoring and navigation positioning method |
| CN102409678B (en) * | 2011-09-26 | 2013-10-16 | 武汉理工大学 | GPS (global positioning system)-based dam concrete material tank collision monitoring and navigation positioning method |
| CN103363953A (en) * | 2013-07-05 | 2013-10-23 | 河海大学 | Method for improving accuracy of satellite altimetry cross point |
| CN103363953B (en) * | 2013-07-05 | 2015-06-17 | 河海大学 | Method for improving accuracy of satellite altimetry cross point |
| CN104157020A (en) * | 2014-08-12 | 2014-11-19 | 广州中国科学院沈阳自动化研究所分所 | Hand-held intelligent inspection terminal |
| CN106323307A (en) * | 2015-07-08 | 2017-01-11 | 高德软件有限公司 | Path searching method and device |
| CN106323307B (en) * | 2015-07-08 | 2019-05-07 | 高德软件有限公司 | A kind of path searching method and device |
| CN108205148A (en) * | 2016-12-19 | 2018-06-26 | 千寻位置网络有限公司 | The quick method and its device for establishing national coordinate frame benchmark |
| CN113624245A (en) * | 2020-05-08 | 2021-11-09 | 北京京东乾石科技有限公司 | Navigation method and device, computer storage medium and electronic equipment |
| CN113624245B (en) * | 2020-05-08 | 2024-04-16 | 北京京东乾石科技有限公司 | Navigation method and device, computer storage medium and electronic equipment |
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| CN101825473B (en) | 2012-05-23 |
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