CN102192742B - Navigation method and device - Google Patents
Navigation method and device Download PDFInfo
- Publication number
- CN102192742B CN102192742B CN201010121389.7A CN201010121389A CN102192742B CN 102192742 B CN102192742 B CN 102192742B CN 201010121389 A CN201010121389 A CN 201010121389A CN 102192742 B CN102192742 B CN 102192742B
- Authority
- CN
- China
- Prior art keywords
- navigation
- guider
- information
- target
- map
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims description 48
- 238000012937 correction Methods 0.000 claims description 31
- 230000001133 acceleration Effects 0.000 claims description 24
- 238000012545 processing Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000001915 proofreading effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Landscapes
- Navigation (AREA)
Abstract
The embodiment of the invention provides a navigation method. The navigation method comprises the following steps of: acquiring a target space coordinate value and a direction value from a sensor; acquiring navigation information of a navigation device in a preset navigation map according to the space coordinate value and the direction value as well as the navigation map; and displaying the navigation information. The embodiment of the invention also provides a corresponding navigation device. The sensor is arranged on the navigation device or a target object and wirelessly communicates with the navigation device. By the invention, low-cost and high-precision multi-scene and multifunctional navigation application which cannot be influenced by buildings can be realized; and a use experience of the navigation device is enhanced.
Description
Technical field
The present invention relates to electronic technology field, relate in particular to a kind of air navigation aid and device.
Background technology
Along with the fast development of social economy and science and technology, navigational system appears in people's life, as GPS navigation system, can guide easily people's trip.Its ultimate principle is, receives the signal that position location satellite sends, and measures the satellite of known location to the distance between receiver user, and then the data of comprehensive multi-satellite just can be known the particular location of receiver.From principle realizes, we can see that satellite broadcasting exists ephemeris error, is subject to the factors such as the clock difference of sluggishness, multipath effect error and receiver of atmosphere and cloud layer and computing relay in propagating, the state of the art that all shows GPS navigation system is that real-time is not strong, precision can be too not high, generally be applied in large region, not too be suitable for region less, the occasion that precision is higher, and system realizes, and cost is high to be held high.Due to signal propagation attenuation, in most of indoor scenarios, all cannot realize navigation feature on the other hand, these have all limited airmanship greatly in real-life range of application.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of air navigation aid and device, the multi-functional navigation application of many scenes that can realize low-cost and high-precision, not disturbed by building, the experience of enhanced navigation device.
The embodiment of the present invention provides a kind of air navigation aid, comprising:
From sensor, obtain spatial value and the direction value of target;
According to described spatial value and direction value, in conjunction with preset navigation map, obtain the navigation information of guider in described navigation map;
Show described navigation information.
Further described air navigation aid also comprises:
Sensor obtains the motion sensing data of target, and described motion sensing data comprise acceleration sensing data and/or the gyro sense data of target;
Sensor carries out to described motion sensing data spatial value and the direction value that calculation process obtains target.
Further described motion sensing data also comprise terrestrial magnetic field sense data and/or the barometric information of target.
Further described air navigation aid also comprises:
Obtain described navigation map.
The mode of further obtaining described navigation map is:
By wired or wireless mode, from central navigation server, obtain described navigation map, and combine according to any one or two kinds of modes that the Grid Track that gathers navigation area edge generates two kinds of modes of described navigation map.
Further described air navigation aid also comprises:
From calibration device, obtain position correction information;
According to described position correction information, navigation information is proofreaied and correct.
Correspondingly the embodiment of the present invention provides a kind of guider, and described guider comprises:
Receiving element, for obtaining spatial value and the direction value of target from sensor;
Navigation information acquisition unit, obtains guider at the navigation information of described navigation map for carrying out computing according to described spatial value and direction value in conjunction with preset navigation map;
Display unit, for showing described navigation information.
Further, described sensor is arranged on described guider or is arranged on target object and communicates by wireless mode with described guider, and described sensor comprises:
Sense data acquiring unit, for obtaining the motion sensing data of target, described motion sensing data comprise acceleration sensing data and/or the gyro sense data of target;
Data processing unit, for carrying out spatial value and the direction value that calculation process obtains guider to described motion sensing data.
Further described motion sensing data also comprise terrestrial magnetic field sense data and/or the barometric information of target.
Further described guider also comprises:
Navigation map acquiring unit, for obtaining described navigation map.
Further described navigation map acquiring unit comprises:
Map download unit, for obtaining described navigation map by wired or wireless mode from central navigation server;
Map generation unit, generates described navigation map for the Grid Track at the collection navigation area edge that gets according to described receiving element.
Further described guider also comprises:
Locating information acquiring unit, for obtaining position correction information from calibration device;
Correcting unit, for proofreading and correct navigation information according to described position correction information.
The embodiment of the present invention obtains spatial value and direction value by motion sensing data and then the calculation process of obtaining by target object, navigation map is further processed the navigation information that obtains target, can be widely used in various occasions, realize low-cost and high-precision, be not subject to build the multi-functional navigation application of many scenes of disturbing, strengthened the experience of guider.
Accompanying drawing explanation
Fig. 1 is the composition structural representation of navigational system in first embodiment of the invention;
Fig. 2 is the composition structural representation of guider in first embodiment of the invention;
Fig. 3 is the schematic flow sheet of air navigation aid in first embodiment of the invention;
Fig. 4 is the composition structural representation of navigational system in second embodiment of the invention;
Fig. 5 is the composition structural representation of guider in second embodiment of the invention;
Fig. 6 is the schematic flow sheet of air navigation aid in second embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment, those of ordinary skills are only the present invention's part embodiment not making the every other example of executing obtaining under creative work prerequisite, rather than whole embodiment.Embodiment based in the present invention, belongs to the scope of protection of the invention.
Fig. 1 is the composition structural representation of navigational system in first embodiment of the invention, and this navigational system comprises at least one guider 10 and central navigation server 20 as shown in the figure, wherein:
Guider 10 is for obtaining the motion sensing data of guider self, described exercise data comprises acceleration sensing data and/or the gyro sense data of guider, described motion sensing data are carried out to spatial value and the direction value that calculation process obtains guider, according to described spatial value and direction value, in conjunction with the navigation map obtaining in advance, carry out computing and obtain the navigation information of guider in described navigation map, show described navigation information.Described guider 10 can be with independently guider realization; Also can for example, with guider and mobile terminal (mobile phone, PDA etc.), be connected, guider carries out sense data, data operation generates navigation information, by navigation information meet at that mobile terminal shows, prompting and storage etc.; Can also be in the mobile terminal of built-in sensors in addition the mode of supporting navigation software realize.
Central navigation server 20 is for generating described navigation map, and sends described navigation map to described guider.In described central navigation server 10, generating this navigation map can be edited in advance by background work personnel, described navigation map comprise place, space map, area identification, can track route etc. information.Central navigation server 10 can be issued described guider by described navigation map by short-distance wireless data transfer mode.Central navigation server can also be obtained described spatial value and direction value from guider, and navigation map obtains navigation information and shows, so that described guider is monitored.Central navigation server can also be revised at any time and upgrade described navigation map according to the navigation information obtaining further.
Further, described navigational system can also comprise at least one calibration device 30, for navigation device 10, sends positioning correction information or positioning indicating information.Guider 10 can be proofreaied and correct navigation information according to described positioning correction information, or according to described positioning indicating delivering prompting message.Particularly, described calibration device 30 can be located in navigation area, to in guider 10 send positioning correction information, the navigation information that 10 computings obtain to guider is assisted correction, also can be located at the special areas such as navigation area edge, outlet or forbidden district, guider near this calibration device is sent to positioning indicating information, the attention information of prompting this position of navigation object, the calibration device of being located at above-mentioned special area can also send a warning according to sensing the close of guider.Further, described calibration device 30 can also be as the communication repeating between guider 10 and central navigation server 20.
Fig. 2 is the composition structural representation of a kind of guider in first embodiment of the invention, and this guider at least comprises as shown in the figure: motion sensing unit 101, data processing unit 102, navigation information acquisition unit 103 and display unit 104, wherein:
When application, acceleration transducer and/or gyrostatic scheme can be selected in motion sensing unit 101 in guider, can also suitably select magnetometer and/or barometer to be used in conjunction with, and can obtain different precision, as seven kinds of schemes below, can be applied to different occasions according to accuracy requirement.
Scheme one: adopt acceleration transducer, gyroscope, motion sensing unit 101 described in four kinds of sensor mix proportions of magnetometer and barometer, data processing unit 102 senses the acceleration sensing data of target according to acceleration transducer, computing obtains the straight-line displacement of target, sense the angular acceleration values of target with gyroscope, computing obtains two kinds of data of angular displacement of target, can calculate the volume coordinate of telepilot motion and the movement locus that the volume coordinate in certain hour forms, and the geomagnetic data that magnetometer senses provides absolute direction value, the barometric information of the target being recorded by barometer provides absolute altitude value, can revise the straight-line displacement calculating and angular displacement, and then spatial value and direction value are carried out to drift compensation, improve the data precision calculating.
Scheme two: motion sensing unit 101 described in employing acceleration transducer, gyroscope and three kinds of sensor mix proportions of magnetometer, the sense data that data processing unit 102 gets according to motion sensing unit 101 carries out spatial value and the direction value that computing obtains target, and the absolute direction value that the geomagnetic data sensing according to magnetometer provides is carried out drift compensation, but due to the absolute altitude value that does not have barometer to provide, precision is in vertical direction not as scheme one.
Scheme three: sensor assembly described in employing acceleration transducer and two kinds of sensor mix proportions of gyroscope, motion sensing unit 101, the sense data that data processing unit 102 gets according to motion sensing unit 101 carries out spatial value and the direction value that computing obtains target, but the absolute altitude value providing due to the absolute direction value that has not had magnetometer to provide and barometer, may produce position excursion, precision is an as above scheme not.
Scheme four: only adopt a kind of sensor of acceleration transducer to form described sensor assembly, can utilize a plurality of acceleration transducers to simulate gyrostatic characteristic, as, with three acceleration transducers, be placed on respectively in the positive axis of horizontal X axle, Y-axis and Z axis of certain radius, just can simulate gyrostatic characteristic, can utilize the data that sense to calculate the spatial attitude of volume coordinate and target, and then obtain the effect of the scheme that is similar to three.
Scheme five: only adopt a kind of sensor of gyroscope to form described sensor assembly, although the rectilinear motion of gyroscope on can not etection theory, but in actual use, most rectilinear motions are not absolute, rectilinear motion can be regarded as to the curvilinear motion that radius is very large, directly, according to the data of the angular acceleration values of gyroscope output, by computing, speed or displacement and direction can be obtained, volume coordinate and direction value with respect to original coordinates point can be drawn.
Scheme six: sensor assembly described in employing acceleration transducer and magnetometer mix proportion, this scheme, on the basis of scheme three, has increased the absolute direction value that magnetometer provides, identical with scheme four principles, and data are carried out to drift compensation, has improved precision.
Scheme seven: sensor assembly described in employing gyroscope and magnetometer mix proportion, this scheme, on the basis of scheme four, has increased the absolute direction value that magnetometer provides, identical with scheme Wuyuan reason, and data are carried out to drift compensation, has improved precision.
Navigation information acquisition unit 103 obtains guider at the navigation information of described navigation map for carrying out computing according to described spatial value and direction value in conjunction with preset navigation map.Described navigation information can comprise that the position of guider in navigation map, institute, to direction, the information such as track, further can also comprise guider environmental data around.Particularly, the mode that described navigation information acquisition unit is obtained the navigation information of guider in navigation map can be: an initial position point and direction value can be set in navigation map, for example in entry position, navigation map edge, initial position point is set, after guider start, it is exactly the initial position point in navigation map that data processing unit 10 is processed the volume coordinate initial point obtaining, if position is not inconsistent in navigating instrument holder current position and figure, need on navigating instrument screen, starting point be dragged to current true location point by the acquiescence initial point that powers on, complete location and check work, now data processing unit 10 process the volume coordinate point that obtains just with navigation map in location point formed mapping relations one to one, next moving or turning to along with guider, data processing unit 10 gets new coordinate figure or new direction value, navigation information acquisition unit 103 just makes a change the described location point in navigation map is corresponding with direction value according to new coordinate figure or new direction value, obtained the position of guider in navigation map and institute to direction, record is carried out in the variation of the location point to guider in navigation map, just obtained the trace information of guider in map.
Further, described guider can also comprise navigation map acquiring unit 105, for obtaining described navigation map.Described navigation map acquiring unit 105 can comprise:
Map download unit, for obtaining described navigation map by wired or wireless mode from central navigation server;
Map generation unit, generates described navigation map for the Grid Track at the collection navigation area edge that gets according to described receiving element.Particularly, guider can be at navigation area edge or special area edge move once navigation area data gathered, according to the track lines that collect, generate navigation map.Described navigation map is obtained in the combination that navigation map acquiring unit 105 can adopt above-mentioned download or independently generate any one or two kinds of modes of two kinds of obtain manners.
Further, described guider can also comprise locating information acquiring unit 106 and correcting unit 107, wherein:
Locating information acquiring unit 106 is for obtaining position correction information or position indicating message from calibration device.Particularly, described locating information acquiring unit 106 can obtain described positioning correction information from the calibration device of being located in navigation area by short-distance wireless communication modes.
Correcting unit 107 is for proofreading and correct navigation information according to described position correction information.
Further, described guider can carry out information interaction by relaying and the described central navigation server of calibration device.
Fig. 3 is the schematic flow sheet of a kind of air navigation aid in first embodiment of the invention, and this flow process comprises as shown in the figure:
Step S301, obtains the motion sensing data of guider self, and described exercise data comprises acceleration sensing data and/or the gyro sense data of guider.Further described exercise data can also comprise terrestrial magnetic field sense data and/or barometric information.
Step S302, carries out to described motion sensing data spatial value and the direction value that calculation process obtains guider.Be specifically as follows: according to the acceleration sensing data that get calculate the spatial value of guider, direction value, magnetic field, the base area sense data that obtains guider according to the gyro sense data that gets carries out spatial value to revise and revise and according to barometric information, the direction coordinate perpendicular to the ground of guider is revised.In specific implementation, can, referring to 7 kinds of implementations described in the guider in Fig. 2 above, repeat no more herein.
Step S303, obtains the navigation information of guider in described navigation map according to described spatial value and direction value in conjunction with preset navigation map.Described navigation information can comprise that the position of guider in navigation map, institute, to direction, the information such as track, further can also comprise guider environmental data around.Particularly, the mode that described navigation information acquisition unit is obtained the navigation information of guider in navigation map can be: an initial position point and direction value can be set in navigation map, for example in entry position, navigation map edge, initial position point is set, after guider start, it is exactly the initial position point in navigation map that step S302 processes the volume coordinate initial point obtaining, if position is not inconsistent in navigating instrument holder current position and figure, need on navigating instrument screen, starting point be dragged to current true location point by the acquiescence initial point that powers on, complete location and check work, now data processing unit 10 process the volume coordinate point that obtains just with navigation map in location point formed mapping relations one to one, next moving or turning to along with guider, can get new coordinate figure or new direction value, according to new coordinate figure or new direction value, make a change the described location point in navigation map is corresponding with direction value, obtained the position of guider in navigation map and institute to direction, record is carried out in the variation of the location point to guider in navigation map, just obtained the trace information of guider in map.
Step S304, shows described navigation information.Particularly, can be on the display screen of guider in show navigator map, on navigation map, show a bright spot with direction signs indicate guider current in navigation map location point and direction, and represent the visit trace information of guider in map according to the change in location generation track lines of this bright spot, prompting user has gone sight-seeing those places, avoids the unnecessary visit that repeats.
This air navigation aid can also comprise further:
Obtain described navigation map.The mode of obtaining particularly described navigation map can be for downloading from central navigation server by wired or wireless mode, also can be guider at navigation area edge or special area edge move once navigation area data gathered, according to the track lines that collect, generate navigation map, or adopt the combination of above-mentioned two kinds of modes to obtain described navigation map.
This air navigation aid can also comprise further:
From calibration device, obtain position correction information.In specific implementation, can from the calibration device of being located in navigation area, obtain described positioning correction information by short-distance wireless communication modes.
According to described position correction information, navigation information is proofreaied and correct.
Further, described guider can described calibration device relaying and described central navigation server are carried out information interaction.
The present embodiment carries out inertial navigation location by the exercise data of sensing navigating instrument self, can be in the various Scene realization initiatives navigation such as indoor, be applied to the navigating instrument of various occasions, scenes such as exhibitions navigation, the navigation of sight spot, park and ground end mine navigation operation, cost is low, precision is high, do not built landform and disturbed, strengthened the experience of guider.
Fig. 4 is the composition structural representation of a kind of navigational system in second embodiment of the invention, and this navigational system comprises at least one sensor 40 and a guider 50 as shown in the figure, wherein:
Further, this navigational system can also comprise at least one calibration device 60, for navigation device 50, sends positioning correction information or positioning indicating information.Guider 50 can be proofreaied and correct navigation information according to described positioning correction information, or according to described positioning indicating delivering prompting message.Particularly, described calibration device 60 can be located in navigation area, to close target sensor 40 at one's side, send positioning correction information, sensor 40 navigation device 50 send described positioning correction information, the navigation information that 50 pairs of computings of guider obtain is assisted correction, described calibration device 60 also can be located at navigation area edge, outlet, or the special area such as forbidden district, target near this calibration device 60 sensor 40 is at one's side sent to positioning indicating information, sensor navigation device sends this positioning indicating information, prompting target is in this position, the calibration device 60 of being located at above-mentioned special area can also send a warning according to sensing the close of target sensor at one's side.Further, described calibration device 60 can also be as the communication repeating between guider 50 and central navigation server.
Fig. 5 is the composition structural representation of guider in second embodiment of the invention, and this guider can comprise as shown in the figure: receiving element 501, navigation information acquisition unit 502 and display unit 503, wherein:
Receiving element 501 is for obtaining spatial value and the direction value of target from sensor.Particularly, described receiving element 501 can obtain by short-distance wireless transmission mode spatial value and the direction value of target from described sensor.
Navigation information acquisition unit 502 obtains target at the navigation information of described navigation map for carrying out computing according to the spatial value of described target and direction value in conjunction with preset navigation map.Particularly, the mode that described navigation information acquisition unit 502 is obtained the navigation information of target in navigation map can be: an initial position point and direction value can be set in navigation map, for example in entry position, navigation map edge, initial position point is set, after guider start, it is exactly the initial position point in navigation map that receiving element 501 receives the volume coordinate initial point obtaining, if position is not inconsistent in navigating instrument holder current position and figure, need on navigating instrument screen, starting point be dragged to current true location point by the acquiescence initial point that powers on, complete location and check work, now receiving element 501 receive the volume coordinate point that obtains just with navigation map in location point formed mapping relations one to one, next moving or turning to along with guider, receiving element 501 gets new coordinate figure or new direction value, navigation information acquisition unit 502 just makes a change the described location point in navigation map is corresponding with direction value according to new coordinate figure or new direction value, obtained the position of target in navigation map and institute to direction, record is carried out in the variation of the location point to target in navigation map, just obtained the trace information of target in map.
Further, described guider can also comprise navigation map acquiring unit 504, for obtaining described navigation map.Described navigation map acquiring unit 504 can comprise:
Map download unit, for obtaining described navigation map by wired or wireless mode from central navigation server;
Map generation unit, generates described navigation map for the Grid Track at the collection navigation area edge that gets according to described receiving element.Particularly, guider can be at navigation area edge or special area edge move once navigation area data gathered, according to the track lines that collect, generate navigation map.Described navigation map is obtained in the combination that navigation map acquiring unit 504 can adopt above-mentioned download or independently generate any one or two kinds of modes of two kinds of obtain manners.
Further, described guider can also comprise locating information acquiring unit 505 and correcting unit 506, wherein:
Locating information acquiring unit 505 is for obtaining the position correction information of calibration device.Particularly, described locating information acquiring unit 505 can obtain described position correction information from sensor by short-distance wireless transmission mode, and described sensor is for to obtain described positioning correction information by short-distance wireless communication modes from close calibration device.
Correcting unit 506 is for proofreading and correct navigation information according to described position correction information.
Further, described receiving element 501 can obtain for the relaying by calibration device spatial value and the direction value of the target that sensor sends.
Fig. 6 is air navigation aid schematic flow sheet in second embodiment of the invention, and the method flow process comprises as shown in the figure:
Step S601, obtains spatial value and the direction value of target from sensor.In specific implementation, can by short-distance wireless transmission mode, from described sensor, obtain for guider spatial value and the direction value of target.Described sensor is located on target object, obtains the motion sensing data of target, comprises acceleration sensing data and/or the gyro sense data of target, and described motion sensing data are carried out to spatial value and the direction value that calculation process obtains target.Further described exercise data can also comprise terrestrial magnetic field sense data and/or barometric information.Described sensor can adopt any in the 7 kinds of described implementations in first embodiment of the invention to obtain spatial value and the direction value of target.
Step S602, obtains the navigation information of guider in described navigation map according to described spatial value and direction value in conjunction with preset navigation map.Particularly, the mode of obtaining the navigation information of target in navigation map can be: an initial position point and direction value can be set in navigation map, for example in entry position, navigation map edge, initial position point is set, after guider start, it is exactly the initial position point in navigation map that step S601 processes the volume coordinate initial point obtaining, if position is not inconsistent in navigating instrument holder current position and figure, need on navigating instrument screen, starting point be dragged to current true location point by the acquiescence initial point that powers on, complete location and check work, now process the volume coordinate point obtain just with navigation map in location point formed mapping relations one to one, next moving or turning to along with guider, step S601 gets new coordinate figure or new direction value, just can make a change the described location point in navigation map is corresponding with direction value according to new coordinate figure or new direction value, obtained the position of target in navigation map and institute to direction, record is carried out in the variation of the location point to target in navigation map, just obtained the trace information of target in map.
Step S603, shows described navigation information.Particularly, can be on the display screen of guider in show navigator map, on navigation map, show a bright spot with direction signs indicate guider current in navigation map location point and direction, and according to the change in location of this bright spot, produce track lines and represent the trace information of guider in navigation map.
In this embodiment, air navigation aid can also comprise further:
Obtain described navigation map.The mode of obtaining particularly described navigation map can be for downloading from central navigation server by wired or wireless mode, also can be guider at navigation area edge or special area edge move once navigation area data gathered, according to the track lines that collect, generate navigation map, or adopt the combination of above-mentioned two kinds of modes to obtain described navigation map.
In this embodiment, air navigation aid can also comprise further:
Obtain the position correction information of calibration device.In specific implementation, can from sensor, obtain described position correction information by short-distance wireless transmission mode, described sensor is for to obtain described positioning correction information by short-distance wireless communication modes from close calibration device.
According to described position correction information, navigation information is proofreaied and correct.
Further, described guider can also carry out information interaction by relaying and the described central navigation server of calibration device.
The present embodiment processes by obtaining from target sensor at one's side by the motion sensing data operation of target object spatial value and the direction value obtaining, navigation map is further processed the navigation information that obtains target, can be widely used in the monitoring navigation of various occasions to target object, the for example indoor monitoring to child or pet, security monitoring of end staff etc. over the ground, realize low-cost and high-precision and be not subject to and built the multi-functional navigation application of many scenes of disturbing, strengthened the experience of guider.
By the description of above-described embodiment, one of ordinary skill in the art will appreciate that all or part of flow process that realizes above-described embodiment, to come the hardware that instruction is relevant to complete by computer program, described program can be stored in a computer-readable medium, this program when carrying out, can comprise as the embodiment of above-mentioned each side method flow process.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access Memory, RAM) etc.
Above disclosed is only preferred embodiment of the present invention, certainly can not limit with this interest field of the present invention, and the equivalent variations of therefore doing according to the claims in the present invention, still belongs to the scope that invention is contained.
Claims (8)
1. an air navigation aid, is characterized in that, described air navigation aid comprises:
Sensor obtains the motion sensing data of target, and described motion sensing data comprise acceleration sensing data and/or the gyro sense data of target, also comprises the terrestrial magnetic field sense data of target;
Sensor carries out to described motion sensing data spatial value and the direction value that calculation process obtains target in conjunction with default initial position point and direction value;
From sensor, obtain spatial value and the direction value of target;
According to described spatial value and direction value, in conjunction with preset navigation map, obtain the navigation information of guider in described navigation map;
From calibration device, obtain position correction information;
According to described position correction information, navigation information is proofreaied and correct;
Show described navigation information.
2. air navigation aid as claimed in claim 1, is characterized in that, described motion sensing data also comprise the barometric information of target.
3. air navigation aid as claimed in claim 1, is characterized in that, described air navigation aid also comprises:
Obtain described navigation map.
4. air navigation aid as claimed in claim 3, is characterized in that, described in obtain described navigation map mode be:
By wired or wireless mode, from central navigation server, obtain described navigation map, and combine according to any one or two kinds of modes that the Grid Track that gathers navigation area edge generates two kinds of modes of described navigation map.
5. a guider, is characterized in that, described guider comprises:
Receiving element, for obtaining spatial value and the direction value of target from sensor;
Navigation information acquisition unit, obtains guider at the navigation information of described navigation map for carrying out computing according to described spatial value and direction value in conjunction with preset navigation map;
Locating information acquiring unit, for obtaining position correction information from calibration device;
Correcting unit, for proofreading and correct navigation information according to described position correction information;
Display unit, for showing described navigation information;
Wherein, described sensor is arranged on described guider or is arranged on target object and communicates by wireless mode with described guider, and described sensor comprises:
Sense data acquiring unit, for obtaining the motion sensing data of target, described motion sensing data comprise acceleration sensing data and/or the gyro sense data of target, also comprise the terrestrial magnetic field sense data of target;
Data processing unit, carries out to described motion sensing data spatial value and the direction value that calculation process obtains guider for the initial position point in conjunction with default and direction value.
6. guider as claimed in claim 5, is characterized in that, described motion sensing data also comprise the barometric information of target.
7. guider as claimed in claim 5, is characterized in that, described guider also comprises:
Navigation map acquiring unit, for obtaining described navigation map.
8. guider as claimed in claim 7, is characterized in that, described navigation map acquiring unit comprises:
Map download unit, for obtaining described navigation map by wired or wireless mode from central navigation server;
Map generation unit, generates described navigation map for the Grid Track at the collection navigation area edge that gets according to described receiving element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010121389.7A CN102192742B (en) | 2010-03-09 | 2010-03-09 | Navigation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010121389.7A CN102192742B (en) | 2010-03-09 | 2010-03-09 | Navigation method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102192742A CN102192742A (en) | 2011-09-21 |
| CN102192742B true CN102192742B (en) | 2014-02-05 |
Family
ID=44601298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010121389.7A Expired - Fee Related CN102192742B (en) | 2010-03-09 | 2010-03-09 | Navigation method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102192742B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103206952A (en) * | 2012-01-16 | 2013-07-17 | 联想(北京)有限公司 | Positioning method and positioning apparatus |
| CN103900557B (en) * | 2012-12-28 | 2017-11-03 | 联想(北京)有限公司 | Location information acquisition method, device and electronic equipment |
| TWI574573B (en) * | 2013-04-09 | 2017-03-11 | 羅嫦娥 | Portable device with passing trace module and method of the same |
| CN103438883A (en) * | 2013-07-19 | 2013-12-11 | 重庆安标科技有限公司 | Positioning, navigating and locus plotting apparatus |
| US20160223341A1 (en) * | 2013-09-11 | 2016-08-04 | Philips Lighting Holding B.V. | Graph-based navigation using lighting effects |
| CN103557861A (en) * | 2013-11-20 | 2014-02-05 | 胡达广 | High-precision self-locating system |
| CN103674028A (en) * | 2013-12-27 | 2014-03-26 | 上海大唐移动通信设备有限公司 | Positioning test method and positioning test device of indoor advancing track |
| CN104596508A (en) * | 2015-02-15 | 2015-05-06 | 杭州酷班科技有限公司 | Indoor navigation method based on combination of region location, inertial navigation and map path |
| CN104764461B (en) * | 2015-04-22 | 2017-09-01 | 广东欧珀移动通信有限公司 | A kind of air navigation aid and device for hospital outpatient |
| CN104913779B (en) * | 2015-05-07 | 2018-02-16 | 广东欧珀移动通信有限公司 | The air navigation aid and device of a kind of emergency escape |
| CN106323281B (en) * | 2015-06-23 | 2019-02-01 | 北京冰果科技有限公司 | Indoor space locating method |
| CN106323284A (en) * | 2015-06-30 | 2017-01-11 | 上海慧流云计算科技有限公司 | Indoor positioning system and method based on path set and coordinate system |
| CN105180945A (en) * | 2015-09-24 | 2015-12-23 | 北京工商大学 | Indoor motion trail reconstructing method and system based on mobile intelligent terminal |
| CN105651283A (en) * | 2016-03-14 | 2016-06-08 | 安徽斯玛特物联网科技有限公司 | Precision indoor positioning method based on acceleration, magnetometer, gyroscope and pressure sensor |
| CN106441360B (en) * | 2016-09-21 | 2019-08-13 | 广州视源电子科技股份有限公司 | Bearing calibration method and device |
| CN108234671B (en) * | 2018-01-31 | 2019-08-27 | Oppo广东移动通信有限公司 | A kind of data download method, data download apparatus and mobile terminal |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1982846A (en) * | 2005-12-14 | 2007-06-20 | 阿尔派株式会社 | Navigation apparatus and map displaying method |
| CN101149272A (en) * | 2007-10-22 | 2008-03-26 | 倚天资讯股份有限公司 | Navigation system and navigation method |
| CN101173860A (en) * | 2006-11-03 | 2008-05-07 | 行毅科技股份有限公司 | Accurate positioning system and method for vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU739611B2 (en) * | 1997-06-03 | 2001-10-18 | Stephen Bide | Portable information-providing apparatus |
-
2010
- 2010-03-09 CN CN201010121389.7A patent/CN102192742B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1982846A (en) * | 2005-12-14 | 2007-06-20 | 阿尔派株式会社 | Navigation apparatus and map displaying method |
| CN101173860A (en) * | 2006-11-03 | 2008-05-07 | 行毅科技股份有限公司 | Accurate positioning system and method for vehicle |
| CN101149272A (en) * | 2007-10-22 | 2008-03-26 | 倚天资讯股份有限公司 | Navigation system and navigation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102192742A (en) | 2011-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102192742B (en) | Navigation method and device | |
| JP4439896B2 (en) | Mobile device and navigation method | |
| EP2737338B1 (en) | Method for ensuring continuity of service of a personal navigation device and device thereof | |
| EP2817659B1 (en) | System and method for mapping an indoor environment | |
| CN105547288A (en) | Self-localization method and system for mobile device in underground coal mine | |
| CN103052151A (en) | Terminal positioning method and device as well as mobile terminal | |
| CN201828670U (en) | Indoor and outdoor fine navigation handheld terminal equipment | |
| CN1979094A (en) | Electronic device, display processing method and program | |
| JP2009533692A (en) | Navigation device that automatically improves GPS accuracy | |
| CN103308045A (en) | Real-time positioning system and method of moving object in three-dimensional space | |
| CN103206952A (en) | Positioning method and positioning apparatus | |
| CN113295174B (en) | Lane-level positioning method, related device, equipment and storage medium | |
| KR20140098653A (en) | Apparatus and method for compass intelligent lighting for user interfaces | |
| CN110617795B (en) | Method for realizing outdoor elevation measurement by using sensor of intelligent terminal | |
| CN102192738A (en) | Exhibition hall navigator and navigation system | |
| WO2019120195A1 (en) | Indoor navigation system using inertial sensors and short-wavelength low energy device | |
| CN102630076A (en) | Display method and system of target position direction pointing information based on electronic compass | |
| JP5063871B2 (en) | Map display system for portable devices | |
| CN105334525A (en) | Geographic information display method based on augmented reality technology | |
| CN102192739A (en) | Navigating instrument and system for mine | |
| JP2015127674A (en) | GPS smart system | |
| CN111060941A (en) | High-precision positioning method and device in shielding environment | |
| JP2006300602A (en) | Acquiring method, acquiring device, and acquiring system for positioning data | |
| CN102506837A (en) | Terminal positioning method and terminal with electronic compass | |
| JP2019045212A (en) | Information processing device, map switching method, and map switching program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| ASS | Succession or assignment of patent right |
Owner name: SHENZHEN U-COMM INTERACTIVE TECHNOLOGY DEVELOPMENT Free format text: FORMER OWNER: CHEN XINWEI Effective date: 20130821 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Xinwei Inventor after: Luo Fuqiang Inventor before: Chen Xinwei |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: CHEN XINWEI TO: CHEN XINWEI LUO FUQIANG |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20130821 Address after: 518000 Guangdong, Futian District Meilin Road, No. three, blue sky, green homes are attached to the third floor of the building Applicant after: SHENZHEN YUHENG INTERACTIVE TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: 518000, Guangdong, Shenzhen, Futian District, Merlin, blue sky, green homes, third floors attached to the building Applicant before: Chen Xinwei |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20110921 Assignee: Guangzhou g Information Technology Co. Assignor: SHENZHEN YUHENG INTERACTIVE TECHNOLOGY DEVELOPMENT Co.,Ltd. Contract record no.: 2016440000104 Denomination of invention: Navigation method and device Granted publication date: 20140205 License type: Exclusive License Record date: 20160617 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140205 |