CN104034338A - Dynamic navigation method and device - Google Patents
Dynamic navigation method and device Download PDFInfo
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- CN104034338A CN104034338A CN201410270029.1A CN201410270029A CN104034338A CN 104034338 A CN104034338 A CN 104034338A CN 201410270029 A CN201410270029 A CN 201410270029A CN 104034338 A CN104034338 A CN 104034338A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a dynamic navigation method and a dynamic navigation device. The method comprises the following steps: confirming at least one present candidate matching point of a navigation terminal on a navigation route according to a present moment position of the navigation terminal, confirming an additional matching weight between each present candidate matching point and a history matching point of the navigation terminal on the navigation route, and confirming a present matching point from the present candidate matching point according to the additional matching weight. By adopting the dynamic navigation method and the dynamic navigation device disclosed by the invention, the accuracy in navigation is improved.
Description
Technical field
The embodiment of the present invention relates to online field of navigation technology, relates in particular to a kind of dynamic navigation method and device.
Background technology
Along with the development of the construction of the universal and road of the vehicles, the region of User Activity is also increasing, and because user is not familiar with road, the situation that can not find destination often occurs, thereby guider becomes the basic equipment of user's trip.
But after guider is determined navigation way, due to user to road be unfamiliar with, a variety of causes such as road temporary construction, tend to occur the problem of driftage.In order to ensure to be gone to by departure place the accuracy of destination route, guider is in the time navigating, need in real time user's current location to be mated with the road in navigation way, determine according to matching result whether user goes off course, and then select again optimum road.
At present, guider only utilizes GPS (Global Positioning System, GPS) data and the navigation way of current location to carry out location matches, in the time that gps data exists error, will directly cause navigation accuracy to decline.For example, generally can obtain guider position and direct of travel by GPS, but location point can exist error deviation, may there is because the speed of a motor vehicle is too low larger error in direct of travel.
Summary of the invention
The embodiment of the present invention provides a kind of dynamic navigation method and device, to realize raising navigation accuracy.
On the one hand, the embodiment of the present invention provides a kind of dynamic navigation method, comprising:
According to the current time position of navigation terminal, determine the current candidate matches point of at least one on navigation way of described navigation terminal;
Determine the additional weights that mate between each described current candidate matches point and the described navigation terminal historical match point on navigation way;
From described current candidate matches point, determine current matching point according to described additional coupling weights.
On the other hand, the embodiment of the present invention also provides a kind of dynamic navigation device, comprising:
Current candidate matches point determination module, for according to the current time position of navigation terminal, determines the current candidate matches point of at least one on navigation way of described navigation terminal;
Additional coupling weights determination module, for determining the additional weights that mate between each described current candidate matches point and the historical match point of described navigation terminal on navigation way;
Current matching point determination module, for determining current matching point according to described additional coupling weights from described current candidate matches point.
Known via above-mentioned technical scheme, compared with prior art, the embodiment of the invention discloses a kind of dynamic navigation method and device, calculate additional coupling weights according to the historical match point of navigation terminal, as the reference frame of determining current matching point, thereby improve the accuracy of navigation.
Brief description of the drawings
The schematic flow sheet of a kind of dynamic navigation method that Fig. 1 provides for the embodiment of the present invention one;
The schematic flow sheet of a kind of dynamic navigation method that Fig. 2 provides for the embodiment of the present invention two;
The schematic flow sheet of a kind of dynamic navigation method that Fig. 3 A provides for the embodiment of the present invention three;
A kind of road network structure that Fig. 3 B provides for the embodiment of the present invention three;
The structural representation of a kind of dynamic navigation device that Fig. 4 provides for the embodiment of the present invention four;
The structural representation of a kind of dynamic navigation device that Fig. 5 provides for the embodiment of the present invention five;
The schematic flow sheet of a kind of dynamic navigation method that Fig. 6 A provides for the embodiment of the present invention seven;
Fig. 6 B provides the one route schematic diagram that turns around for the embodiment of the present invention seven.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, in accompanying drawing, only show part related to the present invention but not entire infrastructure.
Embodiment mono-
The schematic flow sheet of a kind of dynamic navigation method that Fig. 1 provides for the embodiment of the present invention one, the method is used in the situation that navigation terminal navigates applicable to user, the method can be carried out by dynamic navigation device, this device can by hardware and/software realizes, this device can be configured in any navigation terminal.The method specifically comprises:
S101, according to the current time position of navigation terminal, determines the current candidate matches point of at least one on navigation way of navigation terminal.
In aforesaid operations, navigation terminal can be the device with location and navigation feature, can be the digital products such as navigating instrument, mobile phone and panel computer in actual applications.
Navigation way can be before setting out, and the follow address that guider is cooked up arrives the route of destination address; Also can be in the process of going to destination address, in the time there is driftage, guider be planned the route from current time position to destination address again.
Current time position can comprise coordinate position and the direct of travel at current time terminal place, can be the coordinate being sent by GPS receiving at current time navigation terminal, and this coordinate can be three-dimensional coordinate, comprises respectively longitude, latitude and height.Can be by current time position be mated with navigation way, on navigation way, obtain at least one current candidate matches point.Due to error and the other influences factor of location technology existence, thus between the current time position of navigation terminal and physical location, often there is a certain distance, or also may, because gait of march is slower, cause direct of travel to have mistake.Therefore, in the time that employing exists the current time position of certain error to mate with navigation way, tend to occur multiple match points, particularly such as turning, turn around, in the complicated navigation section such as viaduct.
S102, determines the additional weights that mate between each current candidate matches point and the navigation terminal historical match point on navigation way.
Historical match point is navigation terminal has completed coupling navigation way match point in the historical juncture, can be a upper historical juncture, or the match point of multiple historical junctures.The reference frame of can the relation between historical juncture match point and current candidate matches point mating as current route, forms additional coupling weights.Conventionally, in the situation that determining historical match point, owing to being subject to terminal gait of march, advancing oppositely and the restriction of circuit itself, can make the appearance possibility of some current candidate matches point lower, can whereby these current candidate matches points be got rid of.
In aforesaid operations, for example can identify by the change of distance in front and back moment the weights of current candidate matches point, this change of distance can be described as range-sensitivity.Preferably can realize in the following manner and determine additional coupling weights:
First calculate, respectively the difference distance between historical match point and at least one current candidate matches point;
This difference distance is along navigation way from historical match point to the length certain current candidate matches point, can calculate the difference distance with each current candidate matches point.
Then, determine the additional coupling weights of corresponding current candidate matches point according at least one difference distance.
In practical operation, there is possibility probability apart from what itself reflected current candidate matches point in difference, so can be directly as additional coupling weights.Or, can also adopt the setting function of difference distance as additional coupling weights.For example, calculate the percentage of each difference distance in mean difference distance, or determine additional coupling weights in conjunction with factors such as current gait of march, road conditions.
S103 determines current matching point according to additional coupling weights from current candidate matches point.
Additional coupling weights as select current candidate matches point according to one of, can select based on setting rule.For example, can be in conjunction with the interval and gait of march match time of match point, the additional coupling weights of reaction difference distance and the reasonable immediate current candidate matches point of travel distance are defined as to current matching point.
Or, enough little when interval match time of match point, for example, while being 1s, can directly select current candidate matches point corresponding to additional coupling weights that reflects minimal difference distance to be defined as current matching point.
By the disclosed a kind of dynamic navigation method of the embodiment of the present invention one, calculate additional coupling weights according to the historical match point of navigation terminal, as the reference frame of determining current matching point, in the time going off course coupling, consider the positional information of historical juncture; Only utilize current time position calculation coupling weights with respect to prior art, improved the precision of definite current matching point, thereby improved the accuracy of navigation.
Embodiment bis-
Fig. 2 is the schematic flow sheet of the disclosed a kind of dynamic navigation method of the embodiment of the present invention.The present embodiment, taking above-described embodiment as basis, has further been optimized the process of dynamic navigation.The process of determining current matching point from current candidate matches point can comprise:
S201, according to the current time position of navigation terminal, determines the current candidate matches point of at least one on navigation way of navigation terminal.
S202, determines the additional weights that mate between each current candidate matches point and the navigation terminal historical match point on navigation way.
In the embodiment of the present invention two, in the implementation of S201 and S202 and the embodiment of the present invention one, the implementation of disclosed S101 and S102 is consistent, does not repeat them here.
S203, determines that weights are mated on the basis of current candidate matches point.
In aforesaid operations, can calculate the matching distance between at least one current candidate matches point and navigation way and mate angle, as basis coupling weights.
Wherein, matching distance is generally the distance between current time position and match point, and coupling angle is the angle between direct of travel and the match point place navigation way of current time position.
S204 determines current matching point according to basis coupling weights and additional coupling weights from current candidate matches point.
In aforesaid operations, each current candidate matches can be put to each corresponding basis coupling weights and additional coupling weights and carry out combination, for example, be added, choose the current candidate matches point of addition result optimum as current matching point.Basis coupling weights have reacted the coupling possibility of current candidate matches point self, and additional coupling weights have reacted the coupling possibility of match point from the relation between candidate matches point and historical match point.Both combine, and can determine the match point of maximum possible.Basis coupling weights are not limit with the additional calculating sequencing that mates weights.Preferably also can first calculate basis coupling weights, several match points that weights are higher are mated in basis, or weights are mated to higher than the match point of setting threshold value, as current candidate matches point in basis.
At the disclosed a kind of dynamic navigation method of the embodiment of the present invention two, on the basis of the embodiment of the present invention one, by calculating the matching distance between at least one current candidate matches point and navigation way and mating angle, as basis coupling weights, and from current candidate matches point, determine current matching point according to basis coupling weights and additional coupling weights, further improve the accuracy of definite current matching point.
Embodiment tri-
The schematic flow sheet of a kind of dynamic navigation method that Fig. 3 A provides for the embodiment of the present invention three, the method, taking previous embodiment as basis, has further increased the situation applicable to definite operation failure of current candidate matches point or current matching point.
, mate weights according to basis and add coupling weights and from current candidate matches point, determine current matching point or after definite current matching point, preferably also comprise from current candidate matches point according to adding coupling weights:
S301, if definite operation failure of described current candidate matches point or current matching point, according to the new navigation way of described current time location positioning.
Definite operation failure of match point, generally means that terminal goes off course, so can further find match point in road network branched line.
In aforesaid operations, according to the optimal way of the new navigation way of current time location positioning can be:
First, determine and estimate driving range according to the translational speed of current time position and navigation terminal.
Then,, in expectation driving range, according to current time position and line connectivity, select road network branched line to be matched as new navigation way.
Need to describe and be, when current time position is positioned at a side of circuit, and and this circuit between there is no other circuit or barrier, as enclosure wall, roadblock etc., this current time position and circuit just have connectedness.
Wherein, estimate that driving range can be a circular scope, for example, according to determining that current time position is the center of circle, determine according to the translational speed of navigation terminal and position sampling cycle the radius that travels, determine and estimate driving range with the radius that travels according to the center of circle.
S302, using new road network branched line as navigation way, returns and carries out the operation of determining current candidate matches point.
In aforesaid operations, road network comprises two and two above road network branched lines, selects a road network branched line as navigation circuit from road network.
Taking the road network structure shown in Fig. 3 B as example, wherein, point A is current time position, L1, L2, L3 and L4 are the route of estimating in driving range, and the route identical with guider travel direction is L1, L2, and some A is positioned at the left side of route L1, and there is not barrier between some A and route L1, therefore there is connectedness with route L1, do not there is connectedness with route L2, using route L1 as road network branched line to be matched.
By the disclosed a kind of dynamic navigation method of the embodiment of the present invention three, can be in the case of definite operation failure of current candidate matches point or current matching point, according to current time location positioning road network branched line to be matched, using road network branched line as navigation way, improve the accuracy of navigation.
Embodiment tetra-
The structural representation of a kind of dynamic navigation device that Fig. 4 provides for the embodiment of the present invention four, this device specifically comprises: current candidate matches point determination module 41, additional coupling weights determination module 42 and current matching point determination module 43.
Wherein, current candidate matches point determination module 41, for according to the current time position of navigation terminal, determines the current candidate matches point of at least one on navigation way of navigation terminal; Additional coupling weights determination module 42, for determining the additional weights that mate between each current candidate matches point and the historical match point of navigation terminal on navigation way; Current matching point determination module 43, for determining current matching point according to additional coupling weights from current candidate matches point.
In such scheme, preferably, additional coupling weights determination module 42 comprises: difference metrics calculation unit 421 and additional coupling weights determining unit 422.
Wherein, difference metrics calculation unit 421, for calculating respectively the difference distance between historical match point and at least one current candidate matches point.Additional coupling weights determining unit 422, for determining the additional coupling weights of corresponding current candidate matches point according at least one difference distance.
By the disclosed a kind of dynamic navigation device of the embodiment of the present invention four, the current time position that can obtain navigation terminal, determines at least one current candidate matches point, and determines the additional weights that mate between historical match point and current candidate matches point; Only utilize current time position calculation coupling weights with respect to prior art, improved the precision of definite current matching point, thereby improved the accuracy of navigation.
Embodiment five
Fig. 5 is the structural representation of the disclosed a kind of dynamic navigation device of the embodiment of the present invention five.
The embodiment of the present invention five discloses a kind of dynamic navigation device, on the basis of the disclosed dynamic navigation device of the embodiment of the present invention one, comprise: current candidate matches point determination module 51, additional coupling weights determination module 52 and current matching point determination module 54, also comprise: basis coupling weights determination module 53.
Basis coupling weights determination module 53, for determining the basis coupling weights of current candidate matches point.
Need to describe, basis coupling weights determination module 53, specifically for calculating the matching distance between at least one current candidate matches point and navigation way and mating angle, as basis coupling weights.
Current matching point determination module 54 is specifically for, definite current matching point from current candidate matches point according to basis coupling weights and additional coupling weights.
By the disclosed a kind of dynamic navigation device of the embodiment of the present invention five, calculate the matching distance between at least one current candidate matches point and navigation way and mate angle, as basis coupling weights, and from current candidate matches point, determine current matching point according to basis coupling weights and additional coupling weights, further improve the accuracy of definite current matching point.
Embodiment six
The embodiment of the present invention six discloses a kind of dynamic navigation device, on the basis of the disclosed dynamic navigation device of above-described embodiment, also comprise: new navigation way determination module, if for definite operation failure of described current candidate matches point or current matching point, according to the new navigation way of described current time location positioning.Further, new navigation way determination module is specifically for determining and estimate driving range according to the translational speed of described current time position and described navigation terminal; In described expectation driving range, according to described current time position and line connectivity, select road network branched line to be matched as new navigation circuit.
Wherein, estimate that driving range can be circular scope, concrete definite current time position is the center of circle, determines according to the translational speed of navigation terminal and position sampling cycle the radius that travels, according to the center of circle and the definite expectation driving range of radius that travels.
By the device of the embodiment of the present invention six disclosed a kind of dynamic navigation, can be in the case of definite operation failure of current candidate matches point or current matching point, according to current time location positioning road network branched line to be matched, using road network branched line as navigation way, improve the accuracy of navigation.
Embodiment seven
The process flow diagram of a kind of dynamic navigation method that Fig. 6 A provides for the embodiment of the present invention seven, the present embodiment has provided a typical application example.The method comprises:
601,, according to the current time position of navigation terminal, determine the current candidate matches point of at least one on navigation way of described navigation terminal.
In the present embodiment, current residing navigation circuit is the section of turning around, as shown in Figure 6B.Current time position is A point, and the current candidate matches point of coupling has three, is B1 point, B2 point and B3 point.
602, calculate respectively historical match point and the difference distance between current candidate matches point described at least one.
Historical match point was the match point in a upper moment, i.e. C point in Fig. 6 B.Match time, interval was preferably 1s.The difference distance of calculating between C point and B1 point, B2 point and B3 point is L1, L2 and L3.
603, determine the additional coupling weights of corresponding current candidate matches point according to difference distance described at least one.
604, determine the basis coupling weights of described current candidate matches point.
Determine respectively matching distance and coupling angle that B1 point, B2 point and B3 are ordered, as basis coupling weights.
605, from described current candidate matches point, determine current matching point according to described basis coupling weights and additional coupling weights.
Difference distance is combined with basis coupling weights, finally selects optimum B1 point as current matching point.
In the present embodiment, although B2 point may be all identical with B1 point matching distance with B3 point, its difference distance is larger, so the possibility of coupling is less.
Note, above are only preferred embodiment of the present invention and institute's application technology principle.Skilled person in the art will appreciate that the specific embodiment the invention is not restricted to here, can carry out for a person skilled in the art various obvious variations, readjust and substitute and can not depart from protection scope of the present invention.Therefore, although the present invention is described in further detail by above embodiment, the present invention is not limited only to above embodiment, in the situation that not departing from the present invention's design, can also comprise more other equivalent embodiment, and scope of the present invention is determined by appended claim scope.
Claims (12)
1. a dynamic navigation method, is characterized in that, comprising:
According to the current time position of navigation terminal, determine the current candidate matches point of at least one on navigation way of described navigation terminal;
Determine the additional weights that mate between each described current candidate matches point and the described navigation terminal historical match point on navigation way;
From described current candidate matches point, determine current matching point according to described additional coupling weights.
2. method according to claim 1, is characterized in that, the additional weights that mate between described definite each described current candidate matches point and the historical match point of described navigation terminal on navigation way comprise:
Calculate respectively described historical match point and the difference distance between current candidate matches point described at least one;
Determine the additional coupling weights of corresponding current candidate matches point according to difference distance described at least one.
3. method according to claim 1 and 2, is characterized in that, also comprises:
Determine the basis coupling weights of described current candidate matches point;
From described current candidate matches point, determine according to described additional coupling weights that current matching point comprises:
From described current candidate matches point, determine current matching point according to described basis coupling weights and additional coupling weights.
4. method according to claim 3, is characterized in that, the described basis coupling weights of determining described current matching point comprise:
Calculate described at least one the matching distance between current candidate matches point and navigation way and mate angle, mating weights as described basis.
5. method according to claim 1 and 2, is characterized in that, also comprises:
If definite operation failure of described current candidate matches point or current matching point, according to the new navigation way of described current time location positioning.
6. method according to claim 5, is characterized in that, describedly comprises according to the new navigation way of described current time location positioning:
Determine and estimate driving range according to the translational speed of described current time position and described navigation terminal;
In described expectation driving range, according to described current time position and line connectivity, select road network branched line to be matched as new navigation circuit.
7. a dynamic navigation device, is characterized in that, comprising:
Current candidate matches point determination module, for according to the current time position of navigation terminal, determines the current candidate matches point of at least one on navigation way of described navigation terminal;
Additional coupling weights determination module, for determining the additional weights that mate between each described current candidate matches point and the historical match point of described navigation terminal on navigation way;
Current matching point determination module, for determining current matching point according to described additional coupling weights from described current candidate matches point.
8. device according to claim 7, is characterized in that, described additional coupling weights determination module, comprising:
Difference metrics calculation unit, for calculating respectively described historical match point and the difference distance between current candidate matches point described at least one;
Additional coupling weights determining unit, for determining the additional coupling weights of corresponding current candidate matches point according to difference distance described at least one.
9. according to the device described in claim 7 or 8, it is characterized in that, also comprise:
Basis coupling weights determination module, for determining the basis coupling weights of described current candidate matches point;
Current matching point determination module is used for, and determines current matching point according to described basis coupling weights and additional coupling weights from described current candidate matches point.
10. device according to claim 9, is characterized in that, described basis coupling weights determination module, specifically for calculating described at least one the matching distance between current candidate matches point and navigation way and mate angle, as the described basic weights that mate.
11. according to the device described in claim 7 or 8, it is characterized in that, also comprises:
New navigation way determination module, if for definite operation failure of described current candidate matches point or current matching point, according to the new navigation way of described current time location positioning.
12. devices according to claim 11, it is characterized in that, described new navigation way determination module, specifically for determining and estimate driving range according to the translational speed of described current time position and described navigation terminal, in described expectation driving range, according to described current time position and line connectivity, select road network branched line to be matched as new navigation circuit.
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| CN108204808B (en) * | 2016-12-16 | 2021-11-02 | 卡西欧计算机株式会社 | Map matching device, map matching method, and computer program product |
| WO2020243937A1 (en) * | 2019-06-04 | 2020-12-10 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for map-matching |
| CN117234380A (en) * | 2023-11-14 | 2023-12-15 | 浙江口碑网络技术有限公司 | Information interaction method and device |
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