CN102620732A - Object positioning method, position calculation system, map system and positioning system - Google Patents
Object positioning method, position calculation system, map system and positioning system Download PDFInfo
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Abstract
The invention relates to an object positioning method, position calculation system, map system and positioning system, the object positioning method comprises the following steps: searching a set of direction matched road section according direction calculated by the object and road direction stored in a database; searching a set of position matched road section in the direction matched road section according position calculated by the object and road position in the direction matched road section; the set of position matched road section comprises at least a segment of position matched road; and the object positioned according to the set of position matched road. The object positioning method of the invention can be used for correcting the position and direction calculated by the object.
Description
Technical field
The present invention relates to electronic technology field, relate in particular to a kind of object localization method, position calculation system, map system and positioning system.
Background technology
Inertial navigation system of the prior art comprises dead reckoning (Dead Reckoning abbreviates DR as) system, and this DR system obtains motion track information through motion sensor, calculates the position and the direction of moving object according to this motion track information; If motion sensor is gyroscope and odometer, because gyroscope and odometer possibly produce error, thus the calculating gained position and the accuracy of calculating the gained direction that reduce moving object.
Summary of the invention
The technical matters that the present invention will solve is to provide a kind of object localization method, position calculation system, map system and positioning system, improves the calculating gained position and the accuracy of calculating the gained direction of object.
For solving the problems of the technologies described above, the present invention provides a kind of object localization method, comprising: calculating gained direction and the highway section direction that is stored in the database according to object are searched for first prescription to the coupling highway section in said database; In the coupling highway section, search for first group of location matches highway section at said first prescription according to the calculating gained position of said object and the position in said first prescription highway section in the coupling highway section, said first group of location matches highway section comprises at least one fragment position coupling highway section; And locate said object according to said first group of location matches highway section.
Object localization method of the present invention; Wherein, Said first prescription of in said database, searching for comprises to the coupling highway section: the calculating gained direction of said object and the difference of the highway section direction in the said database are compared with preset direction migration parameter, obtain said first prescription to the coupling highway section; Wherein, said preset direction migration parameter is greater than the calculating gained direction of said object and the difference of the highway section direction of said first prescription in the coupling highway section.
Object localization method of the present invention; Wherein, Saidly comprise in said first prescription first group of location matches highway section of search in the coupling highway section: with the distance parameter value with from the calculating gained position of said object to said first prescription to the coupling highway section the distance in each highway section compare, to obtain one section or the said location matches of multistage highway section; Wherein, the distance in each highway section is less than said distance parameter value from the calculating gained position of said object to said first group of location matches highway section.
Object localization method of the present invention; Wherein, Saidly also comprise in said first prescription first group of location matches highway section of search in the coupling highway section: if said first prescription in the coupling highway section to the search in said first group of location matches highway section failure, then increase said distance parameter value.
Object localization method of the present invention; Wherein, Said object localization method also comprises: if the highway section number in said first group of location matches highway section, is then searched for second prescription greater than two to the coupling highway section and in said second prescription second group of location matches highway section of search in the coupling highway section in said database.
Object localization method of the present invention; Wherein, saidly locate said object according to said first group of location matches highway section and comprise: the distance according to each highway section from the calculating gained position of said object to said first group of location matches highway section is selected one section match reference highway section in said first group of location matches highway section.
Object localization method of the present invention; Wherein, Saidly locate said object according to said first group of location matches highway section and also comprise: if the difference of the direction in the calculating gained direction of said object and said match reference highway section in the first direction deviation range and from the calculating gained position of said object to the distance in said match reference highway section in first distance range, then the calculating gained direction of said object is corrected the direction to said match reference highway section; And if the difference of the direction in the calculating gained direction of said object and said match reference highway section in the second direction deviation range and from the calculating gained position of said object to the distance in said match reference highway section in the second distance scope, then the position to said match reference highway section is corrected in the calculating gained position of said object.
Object localization method of the present invention, wherein, said object localization method also comprises: the changing pattern according to the calculating gained direction of said object is provided with said first direction deviation range and said second direction deviation range; And said first distance range and said second distance scope are set according to the changing pattern of the calculating gained position of said object.
The present invention also provides a kind of map system, comprising: storer is used for storage computation machine executable instruction; The cartographic information storage unit is used to store the positional information that comprises the highway section and the database of directional information; The processing unit that is connected with said cartographic information storage unit with said storer; Be used to carry out said computer executable instructions; Calculating gained direction according to object is searched for multistage direction coupling highway section with the directional information that is stored in the highway section in the said database in said database; And the positional information according to the calculating gained position and the said multistage direction of said object are mated highway section in the highway section is searched for one group of location matches highway section in order to locate said object in said multistage direction coupling highway section; Wherein, said one group of location matches highway section comprises at least one fragment position coupling highway section.
The present invention also provides a kind of position calculation system, comprising: interface is used to receive the information that expression has comprised first group of location matches highway section at least one fragment position coupling highway section; And the processor that is connected with said interface, be used for the information of representing said object space being provided according to said first group of location matches highway section; Wherein, said first group of location matches highway section is to get access to through in the coupling highway section, searching at said first prescription according to the position in the calculating gained position of said object and first prescription highway section in the coupling highway section; Said first prescription to the coupling highway section be through according to the calculating gained direction of said object be stored in highway section direction in the database and in said database, search for and get access to.
Position calculation of the present invention system, wherein, said first prescription is through the calculating gained direction of said object and the difference of the highway section direction in the said database are got access to the mode that preset direction migration parameter compares to the coupling highway section; Wherein, the difference of the calculating gained direction of said object and said first prescription each highway section direction in the coupling highway section is less than said direction migration parameter.
Position calculation of the present invention system; Wherein, said first group of location matches highway section is through preset distance parameter value and the mode that compares to the distance in said first prescription each highway section to the coupling highway section from the calculating gained position of said object are got access to; The distance in each highway section wherein, from the calculating gained position of said object to said first group of location matches highway section is less than said distance parameter value.
Position calculation of the present invention system; Wherein, If the highway section number in said first group of location matches highway section is greater than two, said processor request is searched for second prescription to the coupling highway section and in said second prescription second group of location matches highway section of search in the coupling highway section in said database.
Position calculation of the present invention system, wherein, said processor is selected one section match reference highway section according to the distance in each highway section from the calculating gained position of said object to said first group of location matches highway section in said first group of location matches highway section.
Position calculation of the present invention system; Wherein, If the difference of the direction in the calculating gained direction of said object and said match reference highway section in the first direction deviation range and from the calculating gained position of said object to the distance in said match reference highway section in first distance range, said processor is corrected the direction to said match reference highway section with the calculating gained direction of said object; If the difference of the direction in the calculating gained direction of said object and said match reference highway section in the second direction deviation range and from the calculating gained position of said object to the distance in said match reference highway section in the second distance scope, said processor is corrected the position to said match reference highway section with the calculating gained position of said object.
Position calculation of the present invention system, wherein, said processor is provided with said first direction deviation range and said second direction deviation range according to the changing pattern of the calculating gained direction of said object; And said first distance range and said second distance scope are set according to the changing pattern of the calculating gained position of said object.
The present invention also provides a kind of positioning system, comprising: described map system of technique scheme and the described position calculation of technique scheme system; Wherein, said position calculation system is used to calculate the position and the direction of moving object, and the road section information that will calculate the electronic chart in gained position and direction and the said map system is compared; Said map system is used for selecting the match reference highway section from the highway section of said electronic chart, and corrects said calculating gained position and direction based on said match reference highway section.
Positioning system of the present invention; Wherein, Said position calculation system comprises: said position calculation system comprises: said interface; Couple mutually with said map system, be used to receive the information that has comprised said first group of location matches highway section at least one fragment position coupling highway section from the expression of said map system.
Compared with prior art; The object localization method that the embodiment of the invention provides, position calculation system, map system and positioning system; Calculating gained direction according to object is searched for a prescription to the coupling highway section with calculating gained position in database; And get access to one group of location matches highway section to the coupling highway section according to the calculating gained position of object and a prescription that searches; Correct the calculating gained position and calculating gained direction of object according to this group of location matches highway section, thus the accuracy that has improved object localization.
Below in conjunction with accompanying drawing and specific embodiment technical scheme of the present invention is carried out detailed explanation, so that characteristic of the present invention and advantage are more obvious.
Description of drawings
The structural representation of the positioning system that Fig. 1 provides for one embodiment of the invention;
The part-structure synoptic diagram of the map that Fig. 2 provides for one embodiment of the invention;
The exemplary method flowchart that the position calculation system that Fig. 3 provides for one embodiment of the invention carries out;
The exemplary method flowchart that Fig. 4 carries out for the map system that one embodiment of the invention provides;
The exemplary method flowchart that the position calculation system that Fig. 5 provides for another embodiment of the present invention carries out;
The exemplary method flowchart that Fig. 6 carries out for the positioning system that one embodiment of the invention provides.
Embodiment
Below will provide detailed explanation to embodiments of the invention.Though the present invention will combine embodiment to set forth, should understand this is not to mean the present invention is defined in these embodiment.On the contrary, the invention is intended to contain defined various options in the spirit and scope of the invention that defines by claim, can revise and equivalents.
In addition, in following detailed description of the present invention,, illustrated a large amount of details in order to provide one to understanding completely of the present invention.Yet it will be understood by those skilled in the art that does not have these details, and the present invention can implement equally.In some other instances, describe in detail for scheme, flow process, element and the circuit of known, so that highlight purport of the present invention.
In one embodiment, the invention provides a kind of positioning system that is used for the setting movement object.This positioning system is calculated the position and the direction of moving object, and position that calculates and the direction that calculates are compared with the road section information on the electronic chart.This positioning system is also selected the match reference highway section in the highway section of this electronic chart, and should calculate the gained position and calculate the gained direction based on this match reference highway section correction.
The structural representation of the positioning system 100 that Fig. 1 provides for one embodiment of the invention; This positioning system 100 for example can be inertial navigation system/GPS (Inertial Navigation System/Global Positioning System abbreviates INS/GPS as).Positioning system 100 comprises map system 102 and position calculation system 112.The position of moving object (this moving object for example can be the vehicles) can be calculated by position calculation system 112.Position calculation system 112 can receive the current location of calculating moving object from the gps signal of satellite (not shown in the diagram) and according to gps signal.If gps signal is crossed weak and can not be received, the current location of this moving object can also be calculated according to the initial position of moving object and the movement locus of this moving object by position calculation system 112.In addition, position calculation system 112 can also be according to the calculating gained position of correcting this moving object from the reference information of map system 102.In one embodiment, map system 102 storage package contain the navigation map of road section information.Illustrate, navigation map comprises many roads, and every road is divided into multistage; Each section (for example: be called the highway section) on the road has direction and position.Map system 102 can be stored the directional information and the positional information in the highway section on this navigation map.Map system 102 can receive the calculating gained of moving object or the positional information of having corrected from position calculation system 112, and on this navigation map, shows the position of this moving object.Map system 102 can also be searched in this navigation map getting access to reference information, and for position calculation system 112 this reference information is provided.
More particularly, in one embodiment, map system 102 comprises cartographic information storage unit 104, processing unit 106 and storer 108.Cartographic information storage unit 104 has been stored the database that comprises navigation map information (for example: the positional information in highway section and directional information) (below be called map information database); Storer 108 storage computation machine executable instructions (for example: computer-readable instruction); But processing unit 106 (for example: computer-readable instruction), make the direction O of processing unit 106 according to this moving object of calculating gained is carried out these computing machine executive softwares
CALWith the highway section direction O that is stored in this map information database
RS, search multistage direction coupling highway section (Orientation-Matched Road section abbreviates OMR as) (can be called first group of OMR in the embodiment of the invention) in this map information database.Processing unit 106 is also carried out this computer executable instructions (this computer executable instructions for example can be computer-readable instruction), makes the calculating gained position P of processing unit 106 according to this moving object
CALPosition P with highway section among this multistage OMR
RSSearch one group of location matches highway section (Position-Matched Road section abbreviates PMR as) (specifically being called first group of PMR in the embodiment of the invention) in this multistage OMR; This group of PMR comprises one or more snippets PMR and is used to locate this moving object.
In one embodiment, processing unit 106 is through the calculating gained direction O with moving object
CALWith the direction O that is stored in each highway section in this map information database
RSDifference and direction migration parameter θ
REFThe mode that compares is searched for this multistage OMR.If calculate gained direction O
CALDirection O with certain bar highway section
RSPoor θ
DIFLess than direction migration parameter θ
REF, for example: θ
DIF=| O
CAL-O
RS|＜θ
REF, this highway section is one section OMR so.Processing unit 106 also passes through distance parameter value D
REFWith calculating gained position P from moving object
CALThe distance in each highway section compares in the said multistage OMR, obtains this one or more snippets PMR with search.If from calculating gained position P
CALTo the distance of one section OMR less than distance parameter value D
REF, this section OMR is one section PMR so.
In one embodiment, on the one hand, if be failure about the Search Results of one or more snippets PMR, for example: do not search PMR, processing unit 106 is with distance parameter value D so
REFBe increased to another value D '
REFProcessing unit 106 passes through distance parameter value D '
REFWith from calculating gained position P
CALThe mode that the distance in each highway section compares in the multistage OMR is searched for one or more snippets PMR again in this multistage OMR.Illustrate distance parameter value D
REFBe set to 10 meters in the time of initially, if processing unit 106 can not find any PMR in 10 meters, processing unit 106 is with distance parameter value D
REFIncrease to 30 meters, 50 meters or 70 meters or the like, and repeat this comparison step until finding one or more snippets PMR.In one embodiment, distance parameter value D
REFA boundary threshold value is arranged, for example: 70 meters.If processing unit 106 can not search any PMR in this boundary threshold value, processing unit 106 stops and should search for so; On the other hand, if search one or more snippets PMR, then map system 102 provides the information of this one or more snippets PMR for position calculation system 112.
In one embodiment, position calculation system 112 comprises GPS module 118 and processor 120, and wherein, processor 120 comprises navigation supplementary module 114 and dead reckoning (Dead Reckoning abbreviates DR as) module 116.If gps signal is enough strong, GPS module 118 can be calculated the position of moving object according to gps signal; If gps signal is strong inadequately, then DR module 116 can be according to the initial position of moving object and the position of this moving object of movement locus calculating; Navigation supplementary module 114 can be corrected the position that DR module 116 is calculated this moving object of gained.
Illustrate, GPS module 118 receives gps signal through antenna 124, and calculates the position of moving object according to gps signal.GPS module 118 provides the positional information of this moving object for map system 102, thereby on navigation map, shows the position of this moving object; GPS module 118 can also provide the positional information of this moving object for processor 120.DR module 116 in the processor 120 is calculated the position P of this moving object according to the initial position message of moving object (for example: the positional information that GPS module 118 provides or be stored in the positional information in the DR module 116 in advance) and according to the movement locus of this moving object
CALWherein, this movement locus comprises that the direction of moving object changes and the travel distance of moving object; Can get access to this movement locus through the induction of motion sensor 122 (for example: gyroscope and odometer etc.); DR module 116 can also be calculated the direction of motion O of moving object according to movement locus
CALThe interface 110 that is connected with processor 120 can periodically receive the reference information from map system 102, and this reference information is transferred to processor 120; Wherein, this reference information has represented to be presented at the residing reference direction O with reference to the highway section of this moving object on the navigation map
REFWith reference position P
REFFurther, processor 120 can be with calculating gained position P
CALWith reference position P
REFCompare, will calculate gained direction O
CALWith reference direction O
REFCompare; If calculate gained position P
CALWith reference position P
REF(for example: calculate gained position P do not match
CALWith reference position P
REFBetween distance greater than predetermined threshold value), perhaps, if calculate gained direction O
CALWith reference direction O
REF(for example: calculate gained direction O do not match
CALWith reference direction O
REFDifference greater than predetermined threshold value), then processor 120 is to these one or more snippets PMR of map system 102 request.
Advantageously, processor 120 receives the information of this one or more snippets PMR of expression through interface 110, and utilizes the information of representing this one or more snippets PMR to correct and calculate gained direction O
CALWith calculating gained position P
CAL
The part-structure synoptic diagram of ground Figure 200 that Fig. 2 provides for one embodiment of the invention.To combine Fig. 1 that Fig. 2 is described below.As shown in Figure 2, ground Figure 200 comprises many highway sections, and wherein, many highway sections comprise respectively: position P
1With direction O
1, position P
2With direction O
2, position P
3With direction O
3..., position P
11With direction O
11, wherein, the position representes with round dot that in Fig. 2 direction is represented with arrow in Fig. 2; Further, only with the property explanation as an example of 11 highway sections, the embodiment of the invention does not limit the concrete number in highway section Fig. 2; For the purpose of describing conveniently, with position P
KWith direction O
KThe highway section be called highway section (P
K, O
K) (K=1,2 ...).In addition, P
CALThe moving object position that expression DR module 116 is calculated gained, O
CALExpression DR module 116 is calculated the moving object direction of gained.
In one embodiment, processor 120 can produce the request in order to search map system 102, and this request package contains the direction O that DR module 116 is calculated gained
CALWith position P
CALProcessing unit 106 in the map system 102 will calculate gained direction O according to this request
CALWith each direction O
1, direction O
2..., direction O
11Difference and direction migration parameter θ
REF(for example: 60 °) compares, thereby search is to get access to first group of OMR in ground Figure 200.In embodiment illustrated in fig. 2, if calculate gained direction O
CALWith direction O
1, direction O
2, direction O
3, direction O
4, direction O
5, direction O
6, direction O
9And direction O
10Difference all less than 60 °, then first group of OMR comprises highway section (P
1, O
1), highway section (P
2, O
2), highway section (P
3, O
3), highway section (P
4, O
4), highway section (P
5, O
5), highway section (P
6, O
6), highway section (P
9, O
9) and highway section (P
10, O
10).
Processing unit 106 is also through will be from calculating gained position P
CALThe distance and distance parameter value D in every highway section in this first group of OMR
REFThe mode that compares is searched for one or more snippets PMR; Wherein, distance parameter value D
REFCan when initial, be provided with, for example: when initial, be made as 10 meters.
If calculate gained position P
CALWith all position P
1, position P
2... between distance all greater than distance parameter value D
REF, then search for less than any PMR current search failure to one or more snippets PMR; At this moment, processing unit 106 can increase distance parameter value D
REF, for example: with distance parameter value D
REFIncrease to 30 meters.One or more snippets PMR processing unit 106 is searched for 30 meters in this first group of OMR in.If search one or more snippets PMR, then map system 102 provides the information of this one or more snippets PMR for position calculation system 112; Otherwise processing unit 106 increases distance parameter value D once more
REF(for example: with this distance parameter value D
REFIncrease to 50 meters), processing unit 106 can increase distance parameter value D gradually
REFUntil searching one or more snippets PMR; Yet, distance parameter value D
REFOne boundary threshold value is arranged, and this boundary threshold value for example is 70 meters, if search is less than any PMR in this boundary threshold value, processing unit 106 stops search and can produce the output signal that is used to indicate the search failure.
In one embodiment, when searching one or more snippets PMR, map system 102 provides this section perhaps information of multistage PMR for position calculation system 112; Processor 120 is according to the calculating gained position P from moving object
CALAnd the distance among this one or more snippets PMR between each highway section and total according to the highway section of this one or more snippets PMR is selected a match reference highway section (Matched Reference Road secion abbreviates MRR as) from this one or more snippets PMR.
Illustrate, calculate gained position P
CALWith position P
3Between distance maybe be less than distance parameter value D
REF, and calculate gained position P
CALWith position P
1, position P
2, position P
4, position P
5, position P
6, position P
9And position P
10Between distance maybe be greater than distance parameter value D
REF, then correspondingly only search one section PMR, i.e. highway section (P
3, O
3); Navigation supplementary module 114 is with highway section (P
3, O
3) as one section MRR, and will calculate gained position P
CALWith calculating gained direction O
CALCorrect P respectively to the position
3With direction O
3In one embodiment, DR module 116 comprises a deposit unit, this deposit unit is used to store the information of the moving object of current calculating gained, and the information of the moving object of this current calculating gained for example can be positional information and directional information; Navigation supplementary module 114 can be wiped the information of the moving object of current calculating gained in the deposit unit, and will represent position P
3With direction O
3Information write in this deposit unit.
Illustrate again, calculate gained position P
CALWith position P
3With position P
5Between distance maybe be less than distance parameter value D
REF, and calculate gained position P
CALWith position P
1, position P
2, position P
4, position P
6, position P
9And position P
10Between distance then maybe be greater than distance parameter value D
REF, then correspondingly search two sections PMR, that is: highway section (P
3, O
3) and highway section (P
5, O
5); Processor 120 is with distance | P
3-P
CAL| with distance | P
5-P
CAL| compare, navigation supplementary module 114 is with distance calculation gained position P
CALNear highway section is as one section MRR, for example: highway section (P
3, O
3), and according to selected MRR correction calculating gained position P
CALWith calculating gained direction O
CAL
In another example, the number of the PMR that searches maybe be greater than two, for example: (the P in the highway section
3, O
3) above or below have a vehicular bridge (not shown in the diagram), and the direction of this vehicular bridge and direction O
3Approaching, processor 120 can abandon the current PMR information that receives; When the travel distance that surpasses predetermined interval or moving object when the time surpassed predeterminable range, processor 120 can produce new searching request, and this new searching request comprises the direction O ' that recomputates gained of moving object
CALWith the position P ' that recomputates gained
CALProcessing unit 106 receives this new searching request and recomputates the direction O ' of gained based on this
CALSearch is to get access to second group of OMR in the database of cartographic information storage unit 104, and wherein, database for example can be map 200; Processing unit 106 also recomputates the position P ' of gained based on this
CALSearch one or more snippets PMR (second group of PMR described in the embodiment of the invention) in this second group of OMR; Processing unit 106 is carried out this search step with above-mentioned similar mode.Advantageously, because positioning system 100 can avoid adopting wrong highway section that the calculating gained position of moving object is corrected with calculating gained direction, thus the calculating gained position and the accuracy of calculating the gained direction of having improved object.
The exemplary method flowchart 300 that the position calculation system 112 that Fig. 3 provides for one embodiment of the invention carries out.Below will combine Fig. 1 that Fig. 3 is described.In one embodiment; It can be the step in processor 120 flowchart 300 in the position calculation system 112; And send the request that is used to search for one or more snippets PMR to map system 102; For describing conveniently, the embodiment of the invention can be called searching request with this request that is used to search for one or more snippets PMR.
In step 302, processor 120 attempts obtaining the initial information of moving object; Wherein, this initial information comprises the initial position P of this moving object
INTWith with this initial position P
INTCorresponding initial time t
INTThe initial information of this moving object can be pre-stored in DR module 116 or the navigation supplementary module 114.In one embodiment; When GPS module 118 receives gps signal; GPS module 118 is that processor 120 produces the positional information of this moving object; Processor 120 can be with the GPS module 118 previous positional informations that produce as initial position message, and processor 120 also can be with the DR module 116 previous moving object positional informations of calculating gained as initial position message, and processor 120 can also be with navigation supplementary module 114 previous moving object positional informations of correcting as initial position message; When processor 120 obtain during the initial position message of this moving object, flow process forwards step 304 to; Failing processor 120 continues to attempt obtaining the initial information of moving object.
In step 304, processor 120 compares the travel distance and the predeterminable range parameter value of moving object, and this predeterminable range parameter value for example can be 10 meters; This travel distance is specially this initial position P
INTPosition P with current calculating gained
CALBetween distance; If the travel distance of this moving object | P
CAL-P
INT| greater than predeterminable range parameter value (for example: 10 meters), processor 120 execution in step 310; Otherwise flow process forwards step 306 to.
In step 306, processor 120 calculates the travel time of this moving object, and this travel time specifically is from this initial time t
INTTo current time t
CURTime.If the travel time of this moving object | t
CUR-t
INT| surpass Preset Time parameter (for example: 3 minutes), processor 120 execution in step 310; Otherwise flow process forwards step 308 to.
As stated, processor 120 can receive reference information, and this reference information representes to be presented at the residing reference direction O with reference to the highway section of this moving object on the navigation map
REFWith reference position P
REF
In step 308, processor 120 is with the position P of the current calculating gained of moving object
CALWith reference position P
REFCompare, and with the direction O of the current calculating gained of moving object
CALWith reference direction O
REFCompare; Illustrate, processor 120 is with the position P of current calculating gained
CALWith reference position P
REFBetween distance compare with the predeterminable range threshold value, this predeterminable range threshold value for example can be 10 meters, if distance | P
REF-P
CAL| greater than this predeterminable range threshold value, the position P of then current calculating gained
CALWith reference position P
REFDo not match; Processor 120 is also with the direction O of current calculating gained
CALWith reference direction O
REFBetween the direction difference compare with the preset direction threshold value, this preset direction threshold value can be 10 degree for example, if direction is poor | O
REF-O
CAL| greater than this preset direction threshold value, the direction O of then current calculating gained
CALWith reference direction O
REFDo not match.If the position P of current calculating gained
CALWith reference position P
REFThe perhaps direction O of current calculating gained does not match
CALWith reference direction O
REFDo not match processor 120 execution in step 310; Otherwise, processor 120 repeated execution of steps 304.
In step 310, send searching request to map system 102.
Can know that through above-mentioned steps processor 120 can send searching request to map system 102 according to the different preset distance threshold, processor 120 also can different time intervals bashfully drawing system 102 send searching request; When the current calculating gained information of moving object and reference information did not match, processor 120 also sent searching request to map system 102.
In one embodiment, map system 102 receives the searching request of from processors 120, and is that processor 120 provides one or more snippets PMR to correct the current calculating gained information of this moving object according to this searching request.
The exemplary method flowchart 400 that Fig. 4 carries out for the map system 102 that one embodiment of the invention provides; Below will combine Fig. 1 and Fig. 2 to describe to embodiment illustrated in fig. 4.In one embodiment, the step in map system 102 flowchart 400, thus for processor 120 one or more snippets PMR is provided.
In step 402, map system 102 detects the searching request of from processor 120; If map system 102 receives searching request, map system 102 execution in step 404; Otherwise, map system 102 repeated execution of steps 402.
In step 404, map system 102 is searched for multistage OMR in the database of cartographic information storage unit 104.
In step 406, map system 102 is searched for one or more snippets PMR in this multistage OMR; If search one or more snippets PMR, then execution in step 408.
In step 408, map system 102 provides directional information and the positional information of this one or more snippets PMR for position calculation system 112; Further; Map system 102 can be searched for this multistage OMR and this one or more snippets PMR of search according to being similar to the mode of describing among the embodiment illustrated in figures 1 and 2, thereby for position calculation system 112 directional information and the positional information of this one or more snippets PMR is provided.
The exemplary method flowchart 500 that the position calculation system 112 that Fig. 5 provides for another embodiment of the present invention carries out.Below will combine Fig. 1 and Fig. 2 that Fig. 5 is described.In one embodiment, the step in position calculation system 112 flowchart 500, thereby to the calculating gained position P of moving object
CALWith calculating gained direction O
CALCorrect.
In step 502, the information that processor 120 receives from one or more snippets PMR of map system 102, and whether the number in inspection coupling highway section is (for example: the highway section number among the PMR) greater than zero and less than three; If the number in this coupling highway section is greater than zero and less than three, flow process forwards step 504 to; Otherwise flow process finishes.
In step 504, processor 120 is selected one section MRR in this one or more snippets PMR; Processor 120 is carried out this selection step according to being similar to the middle mode of describing embodiment illustrated in fig. 2.
In step 506, processor 120 is according to the calculating gained direction O of moving object
CALChanging pattern direction offset threshold θ is set
TH, and according to the calculating gained position P of this moving object
CALChanging pattern distance threshold D is set
THMore particularly, if calculate gained direction O
CALInterior at interval at the fixed time variation increases, and processor 120 increases direction offset threshold θ
THIllustrate, if moving object has been changeed one at interval at the fixed time greater than 30 degree and curved less than 60 degree, direction offset threshold θ so
THCan be set as 15 degree, if curved greater than 60 degree, direction offset threshold θ have so been changeed in this moving object at the fixed time at interval
THCan be set as 20 degree.In addition, this moving object is straight line moving on the way, and for example: the interior at interval at the fixed time angle of turn of moving object is spent less than 20; When moving object on the way during straight line moving, if the straight line moving of this moving object apart from increase, processor 120 increases distance threshold D so
THIllustrate, if the straight line moving of moving object distance greater than 40 meters and less than 150 meters, distance threshold D so
THBe set to 50 meters, if the straight line moving of this moving object distance greater than 150 meters, distance threshold D so
THBe set to 70 meters.
In step 508, the calculating gained position P that processor 120 is confirmed from moving object
CALReference position P to MMR
REFDistance B
CRSWhether in first distance range, for example: less than distance threshold D
THIn addition, processor 120 is also confirmed the calculating gained direction O of this moving object
CALReference direction O with MMR
REFPoor θ
DIFWhether in the first direction deviation range, for example: spend direction offset threshold θ from 3
THIf distance B
CRSIn said first distance range and direction difference θ
DIFIn a said direction deviation range, processor 120 execution in step 510 so; Otherwise, processor 120 execution in step 516.
In step 510, navigation supplementary module 114 is corrected and is calculated gained direction O
CALTo reference direction O
REF, for example: with reference direction O
REFInformation write in the DR module 116 to cover and calculate gained direction O
CALInformation.
In step 512, processor 120 is confirmed distance B
CRSWhether in the second distance scope, for example: from 5 meters to distance threshold D
TH, and definite direction difference θ
DIFWhether in the second direction deviation range, for example: less than direction offset threshold θ
THIf distance B
CRSIn said second distance scope and direction difference θ
DIFIn said two direction deviation ranges, processor 120 execution in step 514 so; Otherwise, processor 120 execution in step 516.
In step 514, navigation supplementary module 114 is corrected and is calculated gained position P
CALThe P to the reference position
REF, for example: with reference position P
REFInformation write in the DR module 116 to cover and calculate gained position P
CALInformation.
In one embodiment, processor 120 can executed in parallel step 508-step 510 and step 512-step 514, and the embodiment of the invention is calculated gained direction O for processor 120 correcting certainly
CALWith calculating gained position P
CALThe sequencing that Shi Bingwu is strict.
In step 516, processor 120 confirms whether current position and the direction that is stored in the moving object in the DR module 116 be correct.Illustrate, if reference position P
REFAnd the distance B between the moving object position of current storage
CRSLess than predetermined threshold, for example: 10 meters, and reference direction O
REFPoor θ with the moving object direction of current storage
DIFLess than predetermined threshold, for example: 10 degree, the position of the moving object of so current storage and directional information are correct.If the information of the moving object of current storage is correct, flow process forwards step 518 to so; Otherwise flow process finishes.
In step 518, position calculation system 112 upgrades starting mark.More particularly, position calculation system 112 is according to the current position that is stored in moving object information order map system 102 update displayed this moving object on navigation map in the DR module 116.Position calculation system 112 can also use current canned data to replace the initial information of the previous moving object that obtains.
The exemplary method flowchart 600 that Fig. 6 carries out for the positioning system 100 that one embodiment of the invention provides.Below will combine Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 to describe to embodiment illustrated in fig. 6.
In step 602, positioning system 100 is according to the calculating gained direction O of moving object
CALWith the highway section direction O in the database that is stored in cartographic information storage unit 104
RSOne group of OMR of search in this database.
In step 604, positioning system 100 is according to the calculating gained position P of this moving object
CALPosition P with highway section among this group of OMR
RSSearch has comprised one group of PMR of one or more snippets PMR in this group of OMR.
In step 606, positioning system 100 is utilized this group of PMR this moving object of location.
Though before explanation and accompanying drawing have been described embodiments of the invention, be to be understood that under the prerequisite of the spirit of the principle of the invention that does not break away from appended claims and defined and invention scope, can have and variously augment, revise and replace.It should be appreciated by those skilled in the art that the present invention can change not deviating under the prerequisite of inventing criterion aspect form, structure, layout, ratio, material, element, assembly and other according to concrete environment and job requirement to some extent in practical application.Therefore, only be illustrative rather than definitive thereof at the embodiment of this disclosure, scope of the present invention is defined by claim and legal equivalents thereof, and the description before being not limited thereto.
Claims (18)
1. an object localization method is characterized in that, said object localization method comprises:
Calculating gained direction according to object is searched for first prescription to the coupling highway section with the highway section direction that is stored in the database in said database;
In the coupling highway section, search for first group of location matches highway section at said first prescription according to the calculating gained position of said object and the position in said first prescription highway section in the coupling highway section, said first group of location matches highway section comprises at least one fragment position coupling highway section; And
Locate said object according to said first group of location matches highway section.
2. object localization method according to claim 1 is characterized in that, said first prescription of in said database, searching for comprises to the coupling highway section:
The calculating gained direction of said object and the difference of the highway section direction in the said database are compared with preset direction migration parameter, obtain said first prescription to the coupling highway section; Wherein, said preset direction migration parameter is greater than the calculating gained direction of said object and the difference of the highway section direction of said first prescription in the coupling highway section.
3. object localization method according to claim 2 is characterized in that, said said first prescription to the coupling highway section in the search first group of location matches highway section comprise:
With the distance parameter value with from the calculating gained position of said object to said first prescription to the coupling highway section the distance in each highway section compare, to obtain one section or the said location matches of multistage highway section; Wherein, the distance in each highway section is less than said distance parameter value from the calculating gained position of said object to said first group of location matches highway section.
4. object localization method according to claim 3 is characterized in that, said said first prescription to the coupling highway section in the search first group of location matches highway section also comprise:
If, then increase said distance parameter value in the search failure to said first group of location matches highway section in the coupling highway section of said first prescription.
5. object localization method according to claim 1 is characterized in that, said object localization method also comprises:
If the highway section number in said first group of location matches highway section is greater than two, then search second prescription is searched for second group of location matches highway section to the coupling highway section and at said second prescription in the coupling highway section in said database.
6. object localization method according to claim 1 is characterized in that, saidly locatees said object according to said first group of location matches highway section and comprises:
Distance according to each highway section from the calculating gained position of said object to said first group of location matches highway section is selected one section match reference highway section in said first group of location matches highway section.
7. object localization method according to claim 6 is characterized in that, saidly locatees said object according to said first group of location matches highway section and also comprises:
If the difference of the direction in the calculating gained direction of said object and said match reference highway section in the first direction deviation range and from the calculating gained position of said object to the distance in said match reference highway section in first distance range, then the calculating gained direction of said object is corrected the direction to said match reference highway section; And
If the difference of the direction in the calculating gained direction of said object and said match reference highway section in the second direction deviation range and from the calculating gained position of said object to the distance in said match reference highway section in the second distance scope, then the position to said match reference highway section is corrected in the calculating gained position of said object.
8. object localization method according to claim 7 is characterized in that, said object localization method also comprises:
Changing pattern according to the calculating gained direction of said object is provided with said first direction deviation range and said second direction deviation range; And
Changing pattern according to the calculating gained position of said object is provided with said first distance range and said second distance scope.
9. a map system is characterized in that, said map system comprises:
Storer is used for storage computation machine executable instruction;
The cartographic information storage unit is used to store the positional information that comprises the highway section and the database of directional information;
The processing unit that is connected with said cartographic information storage unit with said storer; Be used to carry out said computer executable instructions; Calculating gained direction according to object is searched for multistage direction coupling highway section with the directional information that is stored in the highway section in the said database in said database; And the positional information according to the calculating gained position and the said multistage direction of said object are mated highway section in the highway section is searched for one group of location matches highway section in order to locate said object in said multistage direction coupling highway section; Wherein, said one group of location matches highway section comprises at least one fragment position coupling highway section.
10. a position calculation system is characterized in that, said position calculation system comprises:
Interface is used to receive the information that expression has comprised first group of location matches highway section at least one fragment position coupling highway section; And
With the processor that said interface is connected, be used for providing the information of the said object space of expression according to said first group of location matches highway section; Wherein,
Said first group of location matches highway section is to get access to through in the coupling highway section, searching at said first prescription according to the position in the calculating gained position of said object and first prescription highway section in the coupling highway section;
Said first prescription to the coupling highway section be through according to the calculating gained direction of said object be stored in highway section direction in the database and in said database, search for and get access to.
11. position calculation according to claim 10 system; It is characterized in that said first prescription is through the calculating gained direction of said object and the difference of the highway section direction in the said database are got access to the mode that preset direction migration parameter compares to the coupling highway section; Wherein, the difference of the calculating gained direction of said object and said first prescription each highway section direction in the coupling highway section is less than said direction migration parameter.
12. position calculation according to claim 11 system; It is characterized in that said first group of location matches highway section is through preset distance parameter value and the mode that compares to the distance in said first prescription each highway section to the coupling highway section from the calculating gained position of said object are got access to; The distance in each highway section wherein, from the calculating gained position of said object to said first group of location matches highway section is less than said distance parameter value.
13. position calculation according to claim 10 system; It is characterized in that; If the highway section number in said first group of location matches highway section is greater than two, said processor request is searched for second prescription to the coupling highway section and in said second prescription second group of location matches highway section of search in the coupling highway section in said database.
14. position calculation according to claim 10 system; It is characterized in that said processor is selected one section match reference highway section according to the distance in each highway section from the calculating gained position of said object to said first group of location matches highway section in said first group of location matches highway section.
15. position calculation according to claim 14 system is characterized in that,
If the difference of the direction in the calculating gained direction of said object and said match reference highway section in the first direction deviation range and from the calculating gained position of said object to the distance in said match reference highway section in first distance range, said processor is corrected the direction to said match reference highway section with the calculating gained direction of said object;
If the difference of the direction in the calculating gained direction of said object and said match reference highway section in the second direction deviation range and from the calculating gained position of said object to the distance in said match reference highway section in the second distance scope, said processor is corrected the position to said match reference highway section with the calculating gained position of said object.
16. position calculation according to claim 15 system is characterized in that said processor is provided with said first direction deviation range and said second direction deviation range according to the changing pattern of the calculating gained direction of said object; And said first distance range and said second distance scope are set according to the changing pattern of the calculating gained position of said object.
17. a positioning system is characterized in that, comprises the described position calculation of map system as claimed in claim 9 and claim 10 system; Wherein,
Said position calculation system is used to calculate the position and the direction of moving object, and the road section information that will calculate the electronic chart in gained position and direction and the said map system is compared;
Said map system is used for selecting the match reference highway section from the highway section of said electronic chart, and corrects said calculating gained position and direction based on said match reference highway section.
18. positioning system according to claim 17 is characterized in that, said position calculation system comprises:
Said interface couples with said map system mutually, is used to receive the information that has comprised said first group of location matches highway section at least one fragment position coupling highway section from the expression of said map system.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110034870.7A CN102620732B (en) | 2011-01-27 | 2011-01-27 | Object positioning method and device |
| US13/030,948 US9116005B2 (en) | 2009-06-30 | 2011-02-18 | Electronic systems for locating objects |
| TW101100565A TWI448665B (en) | 2011-01-27 | 2012-01-06 | Object positioning method, position calculation system, map system and positioning system |
| KR20120006720A KR20120087083A (en) | 2011-01-27 | 2012-01-20 | Electronic systems for locating objects |
| EP20120152092 EP2482035A3 (en) | 2011-01-27 | 2012-01-23 | Electronic systems for locating objects |
| JP2012013977A JP2012154930A (en) | 2011-01-27 | 2012-01-26 | Electronic systems for locating objects |
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|---|---|---|---|
| CN201110034870.7A CN102620732B (en) | 2011-01-27 | 2011-01-27 | Object positioning method and device |
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| CN102620732A true CN102620732A (en) | 2012-08-01 |
| CN102620732B CN102620732B (en) | 2014-03-12 |
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| CN201110034870.7A Active CN102620732B (en) | 2009-06-30 | 2011-01-27 | Object positioning method and device |
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| TW (1) | TWI448665B (en) |
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| CN107883974A (en) * | 2017-09-30 | 2018-04-06 | 百度在线网络技术（北京）有限公司 | Planing method, navigation server and the computer-readable medium of guidance path |
| CN109974718A (en) * | 2019-04-09 | 2019-07-05 | 百度在线网络技术（北京）有限公司 | Map-matching method, device, equipment and medium |
| CN111307165A (en) * | 2020-03-06 | 2020-06-19 | 新石器慧通（北京）科技有限公司 | Vehicle positioning method and system and unmanned vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| TW201231924A (en) | 2012-08-01 |
| TWI448665B (en) | 2014-08-11 |
| CN102620732B (en) | 2014-03-12 |
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