CN101949708A - Navigation method and device - Google Patents
Navigation method and device Download PDFInfo
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- CN101949708A CN101949708A CN 201010254117 CN201010254117A CN101949708A CN 101949708 A CN101949708 A CN 101949708A CN 201010254117 CN201010254117 CN 201010254117 CN 201010254117 A CN201010254117 A CN 201010254117A CN 101949708 A CN101949708 A CN 101949708A
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- gps satellite
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- inertial navigation
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Abstract
The invention relates to a navigation method in the technical field of navigation, comprising the following steps of: A: judging whether a navigation device can apply GPS (Global Position System) satellite signal navigation or not; if so, executing a step B, and if not, executing a step C; B: applying a GPS satellite signal to navigate a user; and C: entering an inertial navigation state, calculating one inertial navigation speed of the user, and navigating the user at the inertial navigation speed according to a pre-mapped navigation path. The embodiment of the invention further provides a corresponding navigation device. The technical scheme of the invention can be used for navigation service when the GPS satellite signal cannot be used for navigation, and solve the problems of high manufacture cost, large size and inconvenient carrying of the traditional navigation device formed by special mechanical or electronic devices, such as an accelerometer, a gyroscope, and the like.
Description
Technical field
The invention belongs to field of navigation technology, air navigation aid and device when relating in particular to a kind of can't the applying GPS satellite-signal navigation.
Background technology
At present, (Global Positioning System GPS) has been widely used in routine work and the life vehicle-bone global positioning system.The user in navigational system, be provided with departure place, destination, must be through ground, avoid ground etc., navigational system is provided with the suitable path of planning according to the user's, and shows for reference.
Existing GPS navigation device all is by receiving gps satellite signal, realizes GPS navigation by this gps satellite signal of GPS resume module.When the gps satellite signal undercapacity enough reaches the demand of navigation or in certain period during no satellite-signal, just can't provide navigation Service accurately, as in the tunnel, under the complicated viaduct, the inferior situation of overpass, the gps satellite signal insufficient strength all may occur or lose the situation of gps satellite signal.
For addressing this problem, prior art has proposed the guider formed by special machinery such as accelerometer and gyroscope or electronic installation, detects user's working direction and speed under the situation that GPS navigation can't normally be navigated, thereby realizes navigation.
The inventor finds that there is following shortcoming at least in prior art in realizing process of the present invention:
By the guider that special machinery such as accelerometer and gyroscope or electronic installation are formed, cost is high, and volume is bigger, carries inconvenience.
Therefore air navigation aid and device when a kind of easily can't the applying GPS satellite-signal navigation need be provided.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of air navigation aid and device, can carry out navigation Service when can't the applying GPS satellite-signal navigating.
The objective of the invention is to be achieved through the following technical solutions:
The technical scheme that the present invention takes comprises: a kind of air navigation aid is provided, comprises the steps:
Steps A: judge whether guider can navigate by the applying GPS satellite-signal; If can the applying GPS satellite-signal navigation, if execution in step B then is can not the navigation of applying GPS satellite-signal, then execution in step C;
Step B: the applying GPS satellite-signal navigates to the user;
Step C: enter inertial navigation mode, calculate described user's an inertial navigation speed, the guidance path that reaches planning in advance with described inertial navigation speed navigates to the user.
Also comprise: in the described steps A, judge that the step that guider whether can the navigation of applying GPS satellite-signal specifically comprises:
Judge currently whether can receive gps satellite signal, and whether the quantity of the gps satellite signal of current reception navigates enough;
Can receive gps satellite signal as if current, and the quantity of the gps satellite signal of current reception reaches the quantity of navigating, then definite can the navigation by the applying GPS satellite-signal;
If the current gps satellite signal that do not receive, maybe can receive gps satellite signal but the quantity of the gps satellite signal of current reception is lower than the quantity of navigating, then determining can not the navigation of applying GPS satellite-signal.
Also comprise: the step of calculating described user's an inertial navigation speed among the described step C specifically comprises:
With the instantaneous velocity that enters a certain moment before the inertial navigation mode as inertial navigation speed; Or
Calculating enters the average velocity of a certain period before the inertial navigation mode, with described average velocity as inertial navigation speed; Or
The average velocity of setting-up time section is the initial inertia navigation speed before the inertial navigation mode to enter, after entering inertial navigation mode, recomputate the average velocity of described setting-up time section every the schedule time, with the average velocity after described the recomputating as current inertial navigation speed.
Also comprise: after carrying out described step B and step C, described method also comprises:
Step D: judge whether navigation finishes; If do not finish, then return execution in step A.
Also comprise: the step whether described judgement navigation finishes specifically comprises:
Judge whether to arrive destination that the user sets or and the destination between distance in setting range; If arrive destination that the user sets or and the destination between distance in setting range, then the expression navigation finishes, otherwise the expression navigation does not finish.
The technical scheme that the present invention takes also comprises: a kind of guider is provided, comprises:
First judging unit is used to judge current whether can the navigation by the applying GPS satellite-signal;
The GPS navigation unit, being used for can the applying GPS satellite-signal during navigation in described judgment unit judges, and the applying GPS satellite-signal navigates to the user;
The inertial navigation unit, being used for can not the applying GPS satellite-signal during navigation in described judgment unit judges, enter inertial navigation mode, calculate described user's an inertial navigation speed, the guidance path that reaches planning in advance with described inertial navigation speed navigates to the user.
Also comprise: described judging unit further comprises:
Gps satellite signal receives subelement, is used to receive gps satellite signal;
First judgment sub-unit is used to judge that described gps satellite signal receives subelement and whether receives gps satellite signal;
Second judgment sub-unit, be used for judging that in described first judgment sub-unit definite described gps satellite signal receiving element receives under the described gps satellite signal situation, judges whether the quantity of the gps satellite signal that described gps satellite signal receiving element receives enough navigates.
Also comprise: described guider also comprises:
Second judging unit is used for judging whether navigation finishes, if do not finish, then notifies described first judging unit to continue to carry out decision operation.
Technical scheme of the present invention can be carried out navigation Service when can't the applying GPS satellite-signal navigating, solved existing guider cost height, the volume of forming by special machinery such as accelerometer and gyroscope or electronic installation big, carry inconvenient problem.
Description of drawings
Fig. 1 is an embodiment of the invention air navigation aid process flow diagram.
Fig. 2 is an one embodiment of the invention guider structural representation;
Fig. 3 is the first judging unit structural representation in the embodiment of the invention guider;
Fig. 4 is an another embodiment of the present invention guider structural representation.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Core concept of the present invention is, when can't the applying GPS satellite-signal navigating, enters inertial navigation mode, and the guidance path of using inertial navigation speed and planning in advance navigates to the user.
With reference to accompanying drawing 1, be one embodiment of the invention air navigation aid process flow diagram, after the navigation beginning, the described air navigation aid of present embodiment specifically comprises the steps:
Step 10: judge whether guider can navigate by the applying GPS satellite-signal;
If can navigate by the applying GPS satellite-signal, then execution in step 11, if can not navigate by the applying GPS satellite-signal, then execution in step 12;
Wherein, judge that the step that guider whether can the navigation of applying GPS satellite-signal specifically comprises:
Judge currently whether can receive gps satellite signal, and whether the quantity of the gps satellite signal of current reception navigates enough;
Can receive gps satellite signal as if current, and the quantity of the gps satellite signal of current reception reaches the quantity of navigating, then definite can the navigation by the applying GPS satellite-signal;
If the current gps satellite signal that do not receive, maybe can receive gps satellite signal but the quantity of the gps satellite signal of current reception is lower than the quantity of navigating, then determining can not the navigation of applying GPS satellite-signal.
Concrete deterministic process can for: at first judge whether to receive gps satellite signal,, then determine and can not navigate by the applying GPS satellite-signal if do not receive gps satellite signal; If can receive gps satellite signal, then accept, write down and resolve gps satellite signal, continue to judge whether the quantity of the gps satellite signal that receives enough navigates, generally speaking, for determining user's position, need to receive at least from the signal of three gps satellites, the gps satellite signal that receives when guider is less than three, shows that then the lazy weight of the gps satellite signal of current reception enough navigates.
Step 11: the applying GPS satellite-signal navigates to the user;
The method that concrete applying GPS satellite-signal navigates to the user is with reference to the prior art scheme, and the embodiment of the invention is not done detailed description to this.
Step 12: enter inertial navigation mode, calculate described user's an inertial navigation speed, the guidance path that reaches planning in advance with described inertial navigation speed navigates to the user.
Wherein, the method for the described user of described calculating an inertial navigation speed specifically comprises:
1) with the instantaneous velocity that enters a certain moment before the inertial navigation mode as inertial navigation speed; Or
2) calculate the average velocity enter a certain period before the inertial navigation mode, with described average velocity as inertial navigation speed; Or
3) average velocity of setting-up time section is the initial inertia navigation speed before the inertial navigation mode to enter, after entering inertial navigation mode, recomputate the average velocity of described setting-up time section every the schedule time, with the average velocity after described the recomputating as current inertial navigation speed.
Wherein, described guidance path with described inertial navigation speed and planning in advance comprises the method that the user navigates: according to inertial navigation speed and running time, calculate the distance that the user travels; Then according to the current location of user at the start position of this running time section and distance consumer positioning on the guidance path of planning in advance of travelling.
Step 13: judge whether navigation finishes;
If do not finish, then return execution in step 10, if finish, then finish navigation.
Wherein, the method that whether finishes of described judgement navigation specifically comprises:
The user when beginning navigation can be provided with departure place, destination and must be through ground, avoid ground etc., therefore, the operation whether judgement navigation described herein finishes can be judged according to the purpose that the user sets.Judge whether to arrive destination that the user sets or and the destination between distance in setting range; If arrive destination that the user sets or and the destination between distance in setting range, then the expression navigation finishes, otherwise the expression navigation does not finish.
Technical scheme of the present invention can be carried out navigation Service when can't the applying GPS satellite-signal navigating, solved existing guider cost height, the volume of forming by special machinery such as accelerometer and gyroscope or electronic installation big, carry inconvenient problem.
With reference to Fig. 2, the embodiment of the invention also provides a kind of guider, and as shown in Figure 2, described guider comprises: first judging unit 20, GPS navigation unit 21, inertial navigation unit 22;
Described first judging unit 20 is used to judge current whether can the navigation by the applying GPS satellite-signal; This first judging unit 20 judges that current method that whether can the navigation of applying GPS satellite-signal comprises: judge currently whether can receive gps satellite signal, and whether the quantity of the gps satellite signal of current reception navigates enough; Can receive gps satellite signal as if current, and the quantity of the gps satellite signal of current reception reaches the quantity of navigating, then definite can the navigation by the applying GPS satellite-signal; If the current gps satellite signal that do not receive, maybe can receive gps satellite signal but the quantity of the gps satellite signal of current reception is lower than the quantity of navigating, then determining can not the navigation of applying GPS satellite-signal.As shown in Figure 3, described first judging unit 20 may further include:
Gps satellite signal receives subelement 201, is used to receive gps satellite signal;
First judgment sub-unit 202 is used to judge that described gps satellite signal receives subelement 201 and whether receives gps satellite signal;
Second judgment sub-unit 203, be used for judging that in described first judgment sub-unit 202 definite described gps satellite signal receiving element 201 receives under the described gps satellite signal situation, judge whether the quantity of the gps satellite signal that described gps satellite signal receiving element 201 receives enough navigates.Generally speaking, for determining user's position, need to receive at least from the signal of three gps satellites, the gps satellite signal that receives when guider is less than three, shows that then the lazy weight of the gps satellite signal of current reception enough navigates.
Described GPS navigation unit 21 is used for judging that at described first judging unit 20 can the navigation of applying GPS satellite-signal the time, the applying GPS satellite-signal navigates to the user; The method that concrete applying GPS satellite-signal navigates to the user is with reference to the prior art scheme, and the embodiment of the invention is not done detailed description to this.
Described inertial navigation unit 22, be used for judging can not the navigation of applying GPS satellite-signal the time at described first judging unit 20, enter inertial navigation mode, calculate described user's an inertial navigation speed, the guidance path that reaches planning in advance with described inertial navigation speed navigates to the user.
As shown in Figure 4, described guider can also comprise:
Second judging unit 23 is used for judging whether navigation finishes, if do not finish, then notifies described first judging unit 20 to continue to carry out decision operation.This second judging unit 23 is carried out the operation whether described judgement navigation finishes after described GPS navigation unit 21 and the corresponding navigation operation of inertial navigation unit 22 execution.
The described guider of present embodiment can carry out navigation Service when can't the applying GPS satellite-signal navigating, solved existing guider cost height, the volume of forming by special machinery such as accelerometer and gyroscope or electronic installation big, carry inconvenient problem.
In sum, technical scheme of the present invention can be carried out navigation Service when can't the applying GPS satellite-signal navigating, solved existing guider cost height, the volume of forming by special machinery such as accelerometer and gyroscope or electronic installation big, carry inconvenient problem.
The above only is preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. an air navigation aid is characterized in that, comprises the steps:
Steps A: judge whether guider can navigate by the applying GPS satellite-signal; If can the applying GPS satellite-signal navigation, if execution in step B then is can not the navigation of applying GPS satellite-signal, then execution in step C;
Step B: the applying GPS satellite-signal navigates to the user;
Step C: enter inertial navigation mode, calculate described user's an inertial navigation speed, the guidance path that reaches planning in advance with described inertial navigation speed navigates to the user.
2. air navigation aid as claimed in claim 1 is characterized in that, in the described steps A, judges that the step that guider whether can the navigation of applying GPS satellite-signal specifically comprises:
Judge currently whether can receive gps satellite signal, and whether the quantity of the gps satellite signal of current reception navigates enough;
Can receive gps satellite signal as if current, and the quantity of the gps satellite signal of current reception reaches the quantity of navigating, then definite can the navigation by the applying GPS satellite-signal;
If the current gps satellite signal that do not receive, maybe can receive gps satellite signal but the quantity of the gps satellite signal of current reception is lower than the quantity of navigating, then determining can not the navigation of applying GPS satellite-signal.
3. air navigation aid as claimed in claim 1 is characterized in that, the step of calculating described user's an inertial navigation speed among the described step C specifically comprises:
With the instantaneous velocity that enters a certain moment before the inertial navigation mode as inertial navigation speed; Or
Calculating enters the average velocity of a certain period before the inertial navigation mode, with described average velocity as inertial navigation speed; Or
The average velocity of setting-up time section is the initial inertia navigation speed before the inertial navigation mode to enter, after entering inertial navigation mode, recomputate the average velocity of described setting-up time section every the schedule time, with the average velocity after described the recomputating as current inertial navigation speed.
4. as claim 1,2 or 3 described air navigation aids, it is characterized in that, carry out described step B and step C after, described method also comprises:
Step D: judge whether navigation finishes; If do not finish, then return execution in step A.
5. air navigation aid as claimed in claim 4 is characterized in that, the step whether described judgement navigation finishes specifically comprises:
Judge whether to arrive destination that the user sets or and the destination between distance in setting range; If arrive destination that the user sets or and the destination between distance in setting range, then the expression navigation finishes, otherwise the expression navigation does not finish.
6. a guider is characterized in that, comprising:
First judging unit is used to judge current whether can the navigation by the applying GPS satellite-signal;
The GPS navigation unit, being used for can the applying GPS satellite-signal during navigation in described first judgment unit judges, and the applying GPS satellite-signal navigates to the user;
The inertial navigation unit, being used for can not the applying GPS satellite-signal during navigation in described first judgment unit judges, enter inertial navigation mode, calculate described user's an inertial navigation speed, the guidance path that reaches planning in advance with described inertial navigation speed navigates to the user.
7. guider as claimed in claim 6 is characterized in that, described first judging unit further comprises:
Gps satellite signal receives subelement, is used to receive gps satellite signal;
First judgment sub-unit is used to judge that described gps satellite signal receives subelement and whether receives gps satellite signal;
Second judgment sub-unit, be used for judging that in described first judgment sub-unit definite described gps satellite signal receiving element receives under the described gps satellite signal situation, judges whether the quantity of the gps satellite signal that described gps satellite signal receiving element receives enough navigates.
8. guider as claimed in claim 6 is characterized in that, also comprises:
Second judging unit is used for judging whether navigation finishes, if do not finish, then notifies described first judging unit to continue to carry out decision operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010254117 CN101949708A (en) | 2010-08-13 | 2010-08-13 | Navigation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010254117 CN101949708A (en) | 2010-08-13 | 2010-08-13 | Navigation method and device |
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| CN101949708A true CN101949708A (en) | 2011-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010254117 Pending CN101949708A (en) | 2010-08-13 | 2010-08-13 | Navigation method and device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102289952A (en) * | 2011-07-15 | 2011-12-21 | 黄克 | Vehicle anti-collision method based on satellite navigation system and navigation system and application thereof |
| CN104596505A (en) * | 2015-02-02 | 2015-05-06 | 深圳市凯立德欣软件技术有限公司 | Day and night mode switching method and navigation equipment |
| CN108791268A (en) * | 2018-05-04 | 2018-11-13 | 徐继春 | The brake monitor of pilotless automobile |
| CN109084758A (en) * | 2018-06-30 | 2018-12-25 | 华安鑫创控股（北京）股份有限公司 | A kind of inertial navigation method and Related product |
| CN110006438A (en) * | 2019-02-15 | 2019-07-12 | 腾讯大地通途（北京）科技有限公司 | Navigation control method, device and computer equipment |
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| CN101183007A (en) * | 2007-12-06 | 2008-05-21 | 凯立德欣技术（深圳）有限公司 | Navigation method, device and navigation equipment |
| CN101183008A (en) * | 2007-11-22 | 2008-05-21 | 杭州电子科技大学 | Inertia compensation method used for earth-based vehicle GPS navigation |
| CN101298989A (en) * | 2008-06-25 | 2008-11-05 | 嘉兴闻泰通讯科技有限公司 | Method and system for compensating inability of positioning, tracking and navigation of GPS system |
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2010
- 2010-08-13 CN CN 201010254117 patent/CN101949708A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101183008A (en) * | 2007-11-22 | 2008-05-21 | 杭州电子科技大学 | Inertia compensation method used for earth-based vehicle GPS navigation |
| CN101183007A (en) * | 2007-12-06 | 2008-05-21 | 凯立德欣技术（深圳）有限公司 | Navigation method, device and navigation equipment |
| CN101298989A (en) * | 2008-06-25 | 2008-11-05 | 嘉兴闻泰通讯科技有限公司 | Method and system for compensating inability of positioning, tracking and navigation of GPS system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102289952A (en) * | 2011-07-15 | 2011-12-21 | 黄克 | Vehicle anti-collision method based on satellite navigation system and navigation system and application thereof |
| CN102289952B (en) * | 2011-07-15 | 2014-11-26 | 黄克 | Vehicle anti-collision method based on satellite navigation system and navigation system and application thereof |
| CN104596505A (en) * | 2015-02-02 | 2015-05-06 | 深圳市凯立德欣软件技术有限公司 | Day and night mode switching method and navigation equipment |
| CN108791268A (en) * | 2018-05-04 | 2018-11-13 | 徐继春 | The brake monitor of pilotless automobile |
| CN109084758A (en) * | 2018-06-30 | 2018-12-25 | 华安鑫创控股（北京）股份有限公司 | A kind of inertial navigation method and Related product |
| CN110006438A (en) * | 2019-02-15 | 2019-07-12 | 腾讯大地通途（北京）科技有限公司 | Navigation control method, device and computer equipment |
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Application publication date: 20110119 |