CN104596526B - A kind of anchor point matching process and device - Google Patents
A kind of anchor point matching process and device Download PDFInfo
- Publication number
- CN104596526B CN104596526B CN201410155813.8A CN201410155813A CN104596526B CN 104596526 B CN104596526 B CN 104596526B CN 201410155813 A CN201410155813 A CN 201410155813A CN 104596526 B CN104596526 B CN 104596526B
- Authority
- CN
- China
- Prior art keywords
- anchor point
- matching
- point
- section
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Abstract
The present invention relates to a kind of anchor point matching process and device, the described method comprises the following steps：According to specified starting point and the corresponding navigation way of terminal acquisition, the navigation way includes multiple sections being sequentially connected；The current location information of the electric terminal is obtained by alignment system, obtains the first anchor point；Obtained from the navigation way at least one section around first anchor point in preset range；First anchor point with least one section is subjected to matching primitives with obtain be located at least one section and with the second anchor point of the described first positioning Point matching.Present invention additionally comprises anchor point coalignment.The above method and device first pass through zonule route and matched, and reduce amount of calculation, improve the efficiency matched anchor point during positioning on road.
Description
Technical field
The present invention relates to electronic map positioning field, more particularly to a kind of anchor point matching process and device.
Background technology
The popularization of electronic equipment, facility, GPS (Global Positioning are provided for the various aspects in life
System, global positioning system) positioning and navigation user is found destination quickly in strange place.Needed during navigation in electricity
The route of planning and current position are shown in sub- map.It is appreciated that due to positioning precision, pass through location information
The anchor point being calculated may be on the route of planning, and this just needs to provide a kind of suitable mode by the positioning of acquisition
Point matching is on navigation way.
The content of the invention
In view of this, the present invention provides a kind of anchor point matching process and device, and it can be efficiently accurate by anchor point
Matching is on the navigation way planned.
A kind of anchor point matching process, in electric terminal, the described method comprises the following steps：
According to specified starting point and the corresponding navigation way of terminal acquisition, the navigation way includes multiple be sequentially connected
Section；
The current location information of the electric terminal is obtained by alignment system, obtains the first anchor point；
Obtained from the navigation way at least one section around first anchor point in preset range；
First anchor point is subjected to matching primitives to obtain positioned at described at least one with least one section
On section and with described first positioning Point matching the second anchor point.
A kind of anchor point coalignment, for electric terminal, described device includes：
First acquisition module, for according to the starting point and the corresponding navigation way of terminal acquisition, the navigation road specified
Line includes multiple sections being sequentially connected；
Locating module, the location information current for obtaining the electric terminal, obtains the first anchor point；
Second acquisition module, for being obtained from the navigation way around first anchor point in preset range
At least one section；
Region Matching module, for first anchor point and at least one section to be carried out into matching primitives to obtain
On at least one section and with described first positioning Point matching the second anchor point.
According to the method for embodiment, when with navigation of electronic map, anchor point is matched on route, passes through navigation first
The part way of route is matched, and is reduced amount of calculation during matching, is also improved matching efficiency.
For the above and other objects, features and advantages of the present invention can be become apparent, preferred embodiment cited below particularly,
And coordinate institute's accompanying drawings, it is described in detail below.
Brief description of the drawings
Fig. 1 shows the operation ring of the method and device of the matching of the anchor point in electric terminal provided in an embodiment of the present invention
Border schematic diagram.
Fig. 2 shows a kind of structured flowchart of electric terminal.
Fig. 3 is the structured flowchart of one embodiment of above-mentioned server.
Fig. 4 is a kind of flow chart for anchor point matching process that first embodiment provides.
Fig. 5 is a kind of flow chart for anchor point matching process that second embodiment provides.
Fig. 6 is a kind of flow chart for anchor point matching process that 3rd embodiment provides.
Fig. 7 is a kind of flow chart for anchor point matching process that fourth embodiment provides.
Fig. 8 is a kind of flow chart for anchor point matching process that the 5th embodiment provides.
Fig. 9 is a kind of flow chart for anchor point matching process that sixth embodiment provides.
Figure 10 is a kind of flow chart for anchor point matching process that the 7th embodiment provides.
Figure 11 is to match locus of points schematic diagram on the road that the 8th embodiment provides.
Figure 12 is a kind of selection matching degree highest subpoint method flow diagram that the 8th embodiment provides.
Figure 13 is a kind of flow chart for anchor point matching process that the 9th embodiment provides.
Figure 14 is a kind of structured flowchart for anchor point coalignment that the tenth embodiment provides.
Figure 15 is a kind of structured flowchart for anchor point coalignment that the 11st embodiment provides.
Figure 16 is a kind of structured flowchart for anchor point coalignment that the 12nd embodiment provides.
Figure 17 is a kind of structured flowchart for anchor point coalignment that the 13rd embodiment provides.
Figure 18 is a kind of structured flowchart for anchor point coalignment that the 14th embodiment provides.
Figure 19 is a kind of structured flowchart of the embodiment for the Region Matching module that the 15th embodiment provides.
Embodiment
Further to illustrate that the present invention is to realize technological means and effect that predetermined goal of the invention taken, below in conjunction with
Accompanying drawing and preferred embodiment, to embodiment, structure, feature and its effect according to the present invention, describe in detail as after.
Fig. 1 shows the operation ring of the method and device of the matching of the anchor point in electric terminal provided in an embodiment of the present invention
Border schematic diagram.As shown in figure 1, whole service environment may include electric terminal 100, server 200 and map data base 300.
Above-mentioned server refers to dispose computer in a network environment, for intercepting other computers or other intelligence on network
The service request that energy terminal (electric terminal 100 as shown in Figure 1) is submitted, and corresponding service is provided.Above-mentioned electric terminal
100 instantiation includes but is not limited to handheld computer, mobile phone, media player, mobile unit, individual digital
Assistant and the various combinations of aforementioned means.
Fig. 2 shows a kind of structured flowchart of one embodiment of electric terminal.As shown in Fig. 2 electric terminal 100 includes
Memory 102, storage control 104, one or more (one is only shown in figure) processors 106, Peripheral Interface 108, network
Module 110, GPS (Global Positioning System, global positioning system) module 112, display module 114 and electricity
Source module 116.It is appreciated that the structure shown in Fig. 2 is only to illustrate, it does not cause to limit to the structure of electric terminal 100.Example
Such as, electric terminal 100 may also include more either less components than shown in Fig. 2 or match somebody with somebody with different from shown in Fig. 2
Put.The instantiation of the electric terminal includes but is not limited to：Mobile phone, tablet personal computer, mobile unit, personal digital assistant
Etc..
Memory 102 can be used for storage software program and module, such as the anchor point matching process in the embodiment of the present invention
And programmed instruction/module corresponding to device, processor 104 are stored in software program and mould in memory 102 by operation
Block, so as to perform various function application and data processing, that is, realize above-mentioned method.
Memory 102 may include high speed random access memory, may also include nonvolatile memory, such as one or more magnetic
Property storage device, flash memory or other non-volatile solid state memories.In some instances, memory 102 can further comprise
Relative to the remotely located memory of processor 106, these remote memories can pass through network connection to electric terminal 100.
The example of above-mentioned network includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.Processor
106 and access of other possible components to memory 102 can be carried out under the control of storage control 104.
Various input/output devices are coupled to processor 106 by Peripheral Interface 108.The run memory 102 of processor 106
Interior various softwares, instruction are to perform the various functions of electric terminal 100 and carry out data processing.In certain embodiments,
Peripheral Interface 108, processor 106 and storage control 104 can be realized in one single chip.In some other example,
They can be realized by independent chip respectively.
Mixed-media network modules mixed-media 110 is used to receiving and sending network signal.Above-mentioned network signal may include wireless signal or have
Line signal.In an example, above-mentioned network signal is cable network signal.Now, mixed-media network modules mixed-media 110 may include processor,
The elements such as random access memory, converter, crystal oscillator.In an example, above-mentioned network signal is wireless network signal.This
When mixed-media network modules mixed-media 110 can be radio-frequency module (Radio Frequency, RF) module, for receiving and sending electromagnetic wave, realize
The mutual conversion of electromagnetic wave and electric signal, so as to be communicated with communication network or other equipment.Now mixed-media network modules mixed-media 110 can
Including it is various it is existing be used to perform the circuit elements of these functions, for example, antenna, RF transceiver, digital signal processor,
Encryption/deciphering chip, subscriber identity module (SIM) card, memory etc..Mixed-media network modules mixed-media 110 can with various networks such as internet,
Intranet, wireless network are communicated or communicated by wireless network and other equipment.Above-mentioned wireless network
It may include cellular telephone networks, WLAN or Metropolitan Area Network (MAN).Above-mentioned wireless network can use various communication standards, association
View and technology, including but not limited to global system for mobile communications (Global System for Mobile
Communication, GSM), enhanced mobile communication technology (Enhanced Data GSM Environment, EDGE), it is wide
Band CDMA (wideband code division multiple access, W-CDMA), CDMA
(Code division access, CDMA), TDMA (time division multiple access, TDMA),
Adopting wireless fidelity technology (Wireless, Fidelity, WiFi) (such as American Institute of Electrical and Electronics Engineers's standard IEEE
802.11a, IEEE 802.11b, IEEE802.11g and/or IEEE 802.11n), the networking telephone (Voice over
Internet protocal, VoIP), worldwide interoperability for microwave accesses (Worldwide Interoperability for
Microwave Access, Wi-Max), other be used for the agreement of mail, instant messaging and short message, and any other is suitable
Communications protocol, or even may include those agreements not being developed yet currently.
GPS module 112 is used for the positioning signal for receiving gps satellite report, and the position of itself is calculated according to positioning signal
Put.Above-mentioned position can for example be represented with longitude, latitude and height above sea level.It is appreciated that realize the mode and unlimited of positioning
In GPS system.For example, other available satellites systems also include big-dipper satellite alignment system (Compass
Navigation Satellite System, CNSS) or glonass system (Global Navigation Satellite
System, GLONASS).In addition, positioning is also not limited to use satellite positioning tech, for example, can also use wireless location skill
Art, such as the location technology based on wireless base station or the location technology of hotspot.Now, GPS module 112 can be replaced by
Corresponding module, or directly specific finder is performed via processor 106 to realize.
Display module 114 is used to show the information inputted by user, the information for being supplied to user and electric terminal 100
Various graphical user interface, these graphical user interface can be made up of figure, text, icon, video and its any combination.
In an example, display module 114 includes a display panel.Display panel for example can be a liquid crystal display panel
(Liquid Crystal Display, LCD), Organic Light Emitting Diode (Organic Light-Emitting Diode
Display, OLED) display panel, electrophoretic display panel (Electro-Phoretic Display, EPD) etc..Further,
Touch-control surface may be disposed on display panel so as to form an entirety with display panel.In further embodiments, mould is shown
Block 114 may also include other kinds of display device, such as including a projection display equipment.Compared in general display surface
Plate, projection display equipment also need to include some be used for project part such as lens group.
Power module 116 is used to provide supply of electric power to processor 102 and other each components.Specifically, power module
116 may include power-supply management system, one or more power supplys (such as battery or alternating current), charging circuit, power-fail detection
Circuit, inverter, indicator of the power supply status and other generations arbitrarily with electric power in electronic apparatus 100, management and point
The related component of cloth.
Above-mentioned software program and module includes：Operating system 118 and navigation module 120.Wherein operating system 118
Such as can be LINUX, UNIX, WINDOWS or Mobile operating system such as Android, IOS etc., it may include various for managing
Manage system task (such as memory management, storage device control, power management etc.) component software and/or driving, and can with it is each
Kind hardware or component software mutually communicate, so as to provide the running environment of other software component.Navigation module 120 operates in operation
On the basis of system 118, navigation feature is provided a user.Navigation module 120 can provide the functions such as navigation way, positioning.For example,
The starting point and terminal that navigation module 120 inputs according to user, navigation way is obtained, and shown in display module 114 described
Navigation way.
Fig. 3 is the structured flowchart of one embodiment of above-mentioned server 200.As shown in figure 3, server 200 includes：Deposit
Reservoir 202, processor 204 and mixed-media network modules mixed-media 206.It is appreciated that the structure shown in Fig. 3 is only to illustrate, it is not to service
The structure of device 200 causes to limit.For example, server 200 may also include than shown in Fig. 3 more either less components or
With the configuration different from shown in Fig. 3.Memory 202 can be used for storage software program and module, in the embodiment of the present invention
Anchor point matching process and device corresponding to programmed instruction/module, processor 204 by operation be stored in memory 202
Software program and module, so as to perform various function application and data processing, that is, realize above-mentioned anchor point match party
Method.Memory 202 may include high speed random access memory, may also include nonvolatile memory, as one or more magnetic is deposited
Storage device, flash memory or other non-volatile solid state memories.In some instances, memory 202 can further comprise relatively
In the remotely located memory of processor 204, these remote memories can pass through network connection to server 200.Above-mentioned net
The example of network includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
Mixed-media network modules mixed-media 206 is used to receiving and sending network signal.Above-mentioned network signal may include wireless signal or have
Line signal.In an example, above-mentioned network signal is cable network signal.Now, mixed-media network modules mixed-media 206 may include processor,
The elements such as random access memory, converter, crystal oscillator.
Above-mentioned software program and module includes：Operating system 222 and navigation service module 224.Wherein operation system
System 222 for example can be LINUX, UNIX, WINDOWS, and it may include various (such as memory management, to deposit for management system task
Store up equipment control, power management etc.) component software and/or driving, and can mutually be communicated with various hardware or component software, from
And provide the running environment of other software component.Navigation service module 224 is operated on the basis of operating system 222, and is passed through
The network service of operating system 222 monitors the request for carrying out automatic network, completes corresponding data processing according to request, and return to processing
As a result client is given.For example, navigation service module 224 is according to the starting point and terminal included in above-mentioned request, according to certain
Pathfinding algorithm calculates the navigation way between starting point and terminal, and the navigation way being calculated is returned into electric terminal
100。
Correspondingly, the navigation module 120 in electric terminal 100 receives the navigation way that electric terminal 100 returns, and will navigate
Route is shown in electronic map interface.
First embodiment
Fig. 4 is a kind of flow chart for anchor point matching process that first embodiment provides, and the electronics that it can be as shown in Figure 2 is whole
End 100 performs.As shown in figure 4, the above method comprises the following steps：
Step S101, include more according to the starting point and the corresponding navigation way of terminal acquisition specified, the navigation way
The individual section being sequentially connected.
Above-mentioned navigation way can be voluntarily be calculated by electric terminal 100 or by server (as above
The server 200 stated) it is calculated and is back to electric terminal 100.
In one embodiment, above-mentioned navigation way is directly calculated by electric terminal 100, it will be understood that this
When the internal memory of electric terminal 100 contain electronic map data such as routing information and interest point information.Its detailed process for example may include：
Show electronic map interface；Receive starting point and the terminal that user is inputted by modes such as keyboard, Touch Screen, voices；Respectively
Inquire about the point of interest matched with starting point with terminal；Calculate what is matched respectively with starting point with terminal using predetermined pathfinding algorithm
Navigation way between point of interest.It is appreciated that above-mentioned process is merely illustrative, and it is not used for limiting the present embodiment.For example, also
Can be the terminal for only receiving user's input, and directly using current location as starting point.In another example starting point and terminal are not
Need directly to be inputted by user, and after predetermined button, gesture operation is detected, directly obtain current location to the predetermined area
Between navigation way.
In a way of example, above-mentioned navigation way can be calculated by above-mentioned server.Its specific mistake
Journey is as follows：The show map interface of electric terminal 100；The map interface that user is shown by electric terminal 100 input starting point with
Terminal；Electric terminal 100 is asked with terminal generation route inquiry according to the starting point of input and is sent to route inquiry request
Server 200.Server 200 therefrom parses starting point and terminal after receiving route inquiry request；Inquiry and starting respectively
The point of interest that point matches with terminal；Between the point of interest matched respectively with starting point with terminal using predetermined pathfinding algorithm calculating
Navigation way；And the navigation way being calculated is returned into electric terminal 100.In this embodiment, starting point and end
Point is to be directly passed to server 200 with word, however, it is also possible to using the medium such as voice of other forms by the letter of terminal
Breath passes to server 200.Server 200 can obtain terminal by voice recognition mode.
The navigation way includes multiple sections being sequentially connected.For example, refer to Figure 11, leading between starting point and terminal
Air route line includes three sections：AB, BC and CD.
In addition, after navigation way is obtained, the navigation way can be also highlighted on the electronic map.For example, can be with
The multiple section being sequentially connected is marked with the colored line of overstriking.
Step S102, the current location information of the electric terminal is obtained by alignment system, obtains the first anchor point.
The alignment system can be GPS positioning system, and GPS module 112 receives the positioning signal that gps satellite is reported, and
The current location of itself is calculated according to positioning signal.Above-mentioned current location for example can with longitude, latitude and height above sea level come
Represent.In addition, in addition to positional information, according to current position and history location information, others can also be calculated
Location information such as direction, speed etc..
The first above-mentioned anchor point refers to that the electronic map interface centering of display corresponds to the point of above-mentioned current location.Can be with
Understand, electronic map is drawn according to some coordinate system in itself, and is usually using warp by the location information of alignment system output
Latitude is expressed, therefore is exactly that the point of longitude and latitude expression is mapped into electronic map to use on the process nature of the first anchor point of acquisition
Coordinate system in coordinate.
In addition, above-mentioned alignment system is not limited to above-mentioned GPS positioning system, other global position systems or remaining
Any type of location technology such as wireless base station positioning or WIFI positioning are all applied in the present embodiment.
Step S103, obtained from the navigation way at least one in preset range around first anchor point
Section.
Can be that system presets or is set by the user in the preset range.In one embodiment, it is above-mentioned
Preset range at least one section refer to it is all with using the first anchor point as the center of circle, currently employed alignment system is determined
Position precision has all sections of intersection for the border circular areas of radius.Above-mentioned intersection includes partial intersection and section is fallen completely within
Two kinds of situations of above-mentioned zone.
In another embodiment, at least one section in above-mentioned preset range refers to all with being positioned with first
Point is the center of circle, and preset distance has all sections of intersection for the border circular areas of radius.Above-mentioned preset distance is, for example, 100 meters.
In another embodiment, at least one section in above-mentioned preset range refers to the navigation way from institute
The first anchor point is stated to start to take the section of predetermined quantity respectively to both sides.The section of the predetermined quantity is, for example, 1 or 2.
Step S104, first anchor point is subjected to matching primitives to obtain positioned at described with least one section
On at least one section and with described first positioning Point matching the second anchor point.
In step S104, it can attempt the first anchor point being mapped on navigation way by predetermined mapping algorithm
Second anchor point, and specific mapping algorithm is not restricted by.
In one embodiment, sciagraphy can be used, that is, calculates by the first anchor point and is extended with some direction
Straight line and the intersection point in the section matched.Above-mentioned direction can for example be parallel to the seat that electronic map uses coordinate system
Parameter or perpendicular to the section matched.
Above-mentioned projection meter is directed to what each section at least one section was carried out respectively at last, therefore, finally can be possible
Obtain and multiple treat reconnaissance.These treat that reconnaissance can be stored in a queue.
After the projection in all sections in completing at least one section calculates, judge to treat the number of reconnaissance in above-mentioned queue
Amount, if only one is treated reconnaissance, treats reconnaissance as the second above-mentioned anchor point this.If treating, reconnaissance, can root more than one
Treat reconnaissance as the second above-mentioned anchor point according to what predetermined selection rule selection one best suited.For example, can select and institute
State distance between the first anchor point it is minimum treat reconnaissance as the second above-mentioned anchor point.
According to the anchor point matching process of the present embodiment, pass through the first positioning for first obtaining the positional information currently obtained
Point is matched with the route closed on, can effectively improve computational efficiency during positioning Point matching.
Second embodiment
A kind of anchor point matching process that the present embodiment provides, the electric terminal 100 that it can be as shown in Figure 2 perform.This reality
It is similar with first embodiment to apply example, its difference, refering to Fig. 5, also includes after step s 104：
Step S105, judge whether successfully to obtain second anchor point；Performed if the second anchor point is obtained not successfully
Step S106.
Step S106, first anchor point and the navigation way are subjected to matching primitives and are located at the navigation to obtain
On route and with described first positioning Point matching the 3rd anchor point.
Step S106 specific calculating process is similar to step S104, and its difference is, the section matched is not
Together, section all in navigation way in step S106 must carry out matching primitives with the first anchor point.
Furthermore, it is to be understood that the matching primitives due to having been completed part way in navigation way in step S104, because
Can be only with the matching primitives for completing remaining section in this step S106.
According to the anchor point matching process of the present embodiment, by judging whether Small-Region Matching succeeds, if no success
System-wide lines matching is further carried out, improves the success rate of positioning Point matching.
3rd embodiment
A kind of anchor point matching process that the present embodiment provides, the electric terminal 100 that it can be as shown in Figure 2 perform.This reality
The method for applying example is similar to the method for second embodiment, and its difference is, further comprising the steps of：
According on the navigation way whether there is with described first positioning Point matching the 3rd anchor point, or it is described extremely
It whether there is the second anchor point with the described first positioning Point matching, time of record location Point matching failure on a few section
Number；And
Triggering driftage handling process when if the anchor point number that it fails to match exceedes predetermined value.
Specifically, refering to Fig. 6, in step S105, or the second anchor point is successfully obtained, then performs step S107.
Step S107, the anchor point of the record number that it fails to match is reset.
In one embodiment, the above-mentioned anchor point number that it fails to match, which is reset, to use a counter to carry out
Record, therefore step S107 is exactly by the value clearing of this counter.
Step S108 is may also include after step s 106, judges whether successfully to obtain the 3rd anchor point；If then perform
Step S107；Otherwise step S109 is performed.
Step S109, the number of record location Point matching failure.
In one embodiment, if it is determined that obtaining the 3rd anchor point not successfully, then the value of counter is added one.
Step S110, judge whether the anchor point number that it fails to match exceedes predetermined threshold；
In a real embodiment, predetermined threshold is set as two, when the Data Matching frequency of failure is big in the counter
When two, then it is judged as exceeding predetermined threshold, performs S111.
Step S111, triggering driftage flow.
Above-mentioned driftage flow for example refers to obtain the navigation way between the first anchor point and terminal, and by newly obtaining
The process that navigation way is navigated.
According to the anchor point matching process of the present embodiment, by increasing the statistics to it fails to match number, make matching process
Become apparent from, can anchor point it fails to match number exceedes predetermined threshold when triggering driftage, lifting navigation practicality.
Fourth embodiment
A kind of anchor point matching process that the present embodiment provides, the electric terminal 100 that it can be as shown in Figure 2 perform.This reality
It is similar with first embodiment to apply example, its difference, refering to Fig. 7, also includes after step s 104：
Step S112, judge whether to have arrived at the terminal, if so, then flow of navigation terminates；If it is not, then re-execute
Step S101.
Judge whether to arrive at, can be by comparing the distance of current location and the terminal, when 2 points apart from small
When a certain predetermined threshold, then judge to arrive at.In an example, positioning accurate of the predetermined threshold as alignment system is set
Degree, if then current location and the distance of the terminal are less than positioning precision, judgement arrives at.Purpose is reached when determining
Ground, which then navigates, to be terminated, and exits navigation；If current location and the distance of the terminal are more than positioning precision, position is obtained again
Information, the first new anchor point is retrieved, is matched.
According to the anchor point matching process of the present embodiment, by judging whether to reach home, it is determined whether continue to lead
Boat.
5th embodiment
A kind of anchor point matching process that the present embodiment provides, the electric terminal 100 that it can be as shown in Figure 2 perform.This reality
It is similar with first embodiment to apply example, its difference, refering to Fig. 8, also includes before step S103：
Step S113, judge whether first anchor point is effective anchor point；If so, then perform step S103；It is no
Then, step S101 is re-executed.
With speed in the present embodiment, positioning precision and it is located towards as factor of judgment.According to the location information point
Do not judge whether to meet multiple default invalid positioning point features, the multiple default invalid positioning point feature includes：Speed
It is more than predetermined value for 0 or -1, positioning precision, orientation is negative value；
If the location information meet it is the multiple it is default it is invalid positioning point feature in it is at least one if judge described in
First anchor point is invalid anchor point.
According to the anchor point matching process of the present embodiment, by first judging the effective of first anchor point before matching
Property, then can first obtain effective anchor point is matched again, prevents from doing unnecessary matching step, is improved and is matched to anchor point
Efficiency on route.
Sixth embodiment
A kind of anchor point matching process that the present embodiment provides, the electric terminal 100 that it can be as shown in Figure 2 perform.Refer to
Fig. 9, it the described method comprises the following steps：
Step S201, initialize a counter and reset its value.
The counter is used for the number that record location Point matching fails to road of navigating.
Step S202, the current location information of the electric terminal is obtained by alignment system, obtains the first anchor point.
Above-mentioned location information for example may include current location information and other location informations.Above-mentioned current location information
Such as it can be represented with longitude, latitude and height above sea level.Above-mentioned other location informations for example may include direction, speed
Deng.
The first above-mentioned anchor point refers to that the electronic map interface centering of display corresponds to the point of above-mentioned current location.Can be with
Understand, electronic map is drawn according to some coordinate system in itself, and is usually using warp by the location information of alignment system output
Latitude is expressed, therefore is exactly that the point of longitude and latitude expression is mapped into electronic map to use on the process nature of the first anchor point of acquisition
Coordinate system in coordinate.
Step S203, judge whether first anchor point is effective；
Judged whether to meet multiple default invalid positioning point features respectively according to the location information, it is the multiple default
Invalid positioning point feature include：Speed is 0 or -1, positioning precision is more than predetermined value, orientation is negative value；If meet pre-
If at least one condition be then determined as invalid anchor point.
Step S204, first anchor point is subjected to matching primitives to obtain positioned at described with least one section
On at least one section and with described first positioning Point matching the second anchor point.
Step S204 specific calculation procedure is similar to step S104, i.e., by each section at least one section and the
One anchor point carries out matching primitives and treats reconnaissance to obtain, and then treats to select one and the first anchor point in reconnaissance in all of acquisition
What is most matched treats reconnaissance as the second above-mentioned anchor point.
Step S205, whether judgment step S204 matching succeeds, that is, judges whether successfully to obtain the second anchor point.If
It is then to perform step S206；If it is not, then perform step S207.
Step S206, the value of counter is reset.Step S207, first anchor point and the navigation way are carried out
Matching primitives with obtain be located at the navigation way on and with described first positioning Point matching the 3rd anchor point.
Step S207 specific mistake and similar to step S106 (Fig. 6), i.e., by each section and first in navigation way
Anchor point carries out matching primitives and treats reconnaissance to obtain, and then treats that selection one and the first anchor point are most in reconnaissance in all of acquisition
Matching treats reconnaissance as the second above-mentioned anchor point.
Step S208, whether judgment step S207 matching succeeds, that is, judges whether successfully to obtain the 3rd anchor point.If
It is then to perform step S206；If it is not, then perform step S209.
Step S209, the value of counter is added one.
Step S210, continuous failure is judged whether three times.
After step S209, by judge the counter whether more than 3.If so, then perform step S211.
Step S211, triggering driftage flow；
Above-mentioned driftage flow for example refers to obtain the navigation way between the first anchor point and terminal, and by newly obtaining
The process that navigation way is navigated.
The method of the present embodiment may also include step S212 after step S206, judge whether to arrive at.If so,
Then navigation terminates；If it is not, then re-executing step S202, and continue all flows after step S202.
Judge whether to arrive at, can be by comparing the distance of current location and the terminal, when 2 points apart from small
When a certain predetermined threshold, then judge to arrive at.In an example, positioning accurate of the predetermined threshold as alignment system is set
Degree, if then current location and the distance of the terminal are less than positioning precision, judgement arrives at.Purpose is reached when determining
Ground, which then navigates, to be terminated, and exits navigation；If current location and the distance of the terminal are more than positioning precision, position is obtained again
Information, first anchor point is retrieved, is matched.
According to the anchor point matching process of the present embodiment, by the progress of positioning Point matching advance row zonule section
Match somebody with somebody, and add counter in the matching process and be used for the statistical match frequency of failure, and reach predetermined value in number and then trigger partially
Boat etc., timely error correction in improving the success rate of matching and can matching again.
7th embodiment
The present embodiment provides a kind of anchor point matching process, and it is similar to Fig. 4 method, and refering to Figure 10, step S104 can
Comprise the following steps：
Step S301, current road segment is obtained from least one section.
As it was previously stated, multiple sections may be included in above-mentioned at least one section, and section and the first positioning are clicked through
Row matching primitives can only be that pavement branch sections are carried out.In step S301, obtain one from least one section every time and do not carry out
Section with calculating.Step S302, the projector distance between first anchor point and the current road segment is calculated.
In one embodiment, above-mentioned projection refers to upright projection.I.e. from the first anchor point to the current road segment
Vertical line section is done, the length of vertical line section is above-mentioned projector distance.
Step S303, judge whether projector distance is less than positioning precision；If performing step S304, step is performed if not
S305。
By taking GPS positioning system as an example, the positioning precision of civil signal is typically at 10 meters or so.Therefore, when using GPS location
During mode, it is judged as whether projector distance is less than 10 meters in step S303.Step S303 purpose is to remove those distances
The subpoint of one anchor point too far.Step S304, judge whether the direction of orientation and the current road segment matches.If
It is then to perform step S306；If it is not, then perform step S305.
Orientation refers to, the moving direction being calculated according to history location information, and the direction of current road segment is solid
Fixed, every road all has fixed direction.
And orientation refers to the identical or mutual angle in both directions with the direction matching of current road segment
Less than predetermined value.This predetermined value can be set by systemic presupposition or by user.In one embodiment, predetermined value example
It such as can be 30 degree.
In addition, in the example shown in Figure 10, step S304 is carried out after step S303, but step S304 also may be used
To be carried out before or while step S303.
Step S305, untreated section is judged whether；If performing step S301, step S307 is performed if not.
Step S306, subpoint of first anchor point on the current road segment is added in a candidate queue.
Step S307, judge whether the candidate queue is empty；If so, then perform step S308；If it is not, then perform step
S309。
Step S308, it fails to match for anchor point.
Step S309, matching degree highest subpoint is selected as second anchor point.
The matching degree highest subpoint, such as can be the most short subpoint of projector distance.
According to the present embodiment mode, by being matched to positioning Point matching advance row zonule section, wherein with projecting
The anchor point of candidate second is chosen in direction, finally chooses matching degree highest o'clock as the second anchor point, improves the accuracy of matching.
8th embodiment
The present embodiment provides a kind of anchor point matching process, and it is similar to the method shown in Figure 10.Refering to Figure 12, this implementation
In example, step S309 may include following steps：
Step S401, the history location information of the electric terminal is obtained, the history location information describes the electronics
Multiple history anchor points of terminal.
In navigation procedure, mobile with terminal can produce a series of anchor point.In an example, such as Figure 11 institutes
Show, navigation way AD, during traveling, a series of anchor point can be produced on navigation way AD peripheries, due to positioning accurate
The reason for spending, the position of these anchor points be able to can be fluctuated on navigation way AD both sides.
Step S402, the present bit of the Current electronic terminal is estimated using predetermined algorithm according to the history anchor point
Put.
Specifically, moving direction and nearest translational speed can be calculated according to history anchor point, in this way, then current location
It can be estimated on the basis of a upper anchor point.Certainly, in order to lift the degree of accuracy that current location is estimated, can also adopt
Current position is estimated with more accurate algorithm, such as Kalman filtering algorithm method of estimation.Its detailed process is as follows：Utilize
Location information that the anchor point of previous moment and current time obtain updates the estimation to current location, obtains current time
The current location of the electric terminal is estimated, algorithm is according to the system equation and observational equation of foundation to needing signal to be processed to do
Go out to meet the estimation of Minimum Mean Square Error, to obtain the current location information of estimation.As shown in figure 11, point P is according to positioning under battle conditions
The anchor point that information is calculated, and hollow dots Q represents the current location estimated.
Step S403, from the candidate queue, the nearest subpoint in current location described in chosen distance is as described second
Anchor point.
As shown in figure 11, according to sciagraphy, the first anchor point P is done into vertical line, intersection point point to candidate road section BC and BD respectively
It is not M and N, then obtains the candidate point M and N of two the second anchor points.Determine whether to obtain it of the first anchor point P to BC sides
Between distance PM it is nearer than the distance between the first anchor point P and BD sides PN.Therefore, according to the method described in previous embodiment,
Selected element M is answered as the second anchor point.
However, in the present embodiment, it is necessary to determine whether according to historical track estimate current location Q, compare two
Candidate point M and N is apart from the size of the estimation current location, and QM compares in the present embodiment, and QN is longer, then candidate point N is chosen to be
Second anchor point.
According to present embodiment, current location is estimated by adding history location information, then choose from estimation present bit
It is the second anchor point to put nearest candidate's anchor point, matches anchor point with reference to actual motion route, improves the accuracy of matching,
Especially, can avoid due to the corner anchor point matching error caused by positioning precision reason in section.
9th embodiment
The present embodiment provides a kind of anchor point matching process, and as shown in figure 13, the above method comprises the following steps：
Step S501, mobile terminal sends route to server and obtained between the starting point for asking to specify to obtain and terminal
Navigation way.
Above-mentioned mobile terminal for example refers to smart mobile phone or tablet personal computer.Electronic map is provided with mobile terminal should
With program, it can provide a user the interface of customizing navigation terminal, receive the terminal of user's input.On the other hand, mobile terminal
Current position is obtained by built-in alignment system.Then mobile terminal generates above-mentioned road according to current location and terminal
Line obtains request, and route is obtained into request is sent to server (above-mentioned server 200 in example) by wireless network.
Server 200 receives after route obtains request and therefrom parses starting point and terminal；Inquiry and starting point respectively
The point of interest matched with terminal；Between the point of interest matched respectively with starting point with terminal using predetermined pathfinding algorithm calculating
Navigation way；And the navigation way being calculated is returned into mobile terminal.Step S102, the electricity is obtained by alignment system
The current location information of sub- terminal, obtains the first anchor point；
Step S103, obtained from the navigation way at least one in preset range around first anchor point
Section；
Step S104, first anchor point is subjected to matching primitives to obtain positioned at described with least one section
On at least one section and with described first positioning Point matching the second anchor point.
According to the anchor point matching process of the present embodiment, pass through the first positioning for first obtaining the positional information currently obtained
Point is matched with the route closed on.Can so the situation of amount of calculation be being reduced, also improve the accuracy of positioning.
Tenth embodiment
A kind of anchor point coalignment that the present embodiment provides, refering to Figure 14, described device includes：First acquisition module
601st, locating module 602, the second acquisition module 603, Region Matching module 604.
First acquisition module 601, for according to the starting point and the corresponding navigation way of terminal acquisition, the navigation specified
Route includes multiple sections being sequentially connected；
Locating module 602, the location information current for obtaining the electric terminal, obtains the first anchor point；
Second acquisition module 603, for obtaining the preset range around first anchor point from the navigation way
Interior at least one section；
Region Matching module 604, for by first anchor point and at least one section carry out matching primitives with
Obtain at least one section and with the second anchor point of the described first positioning Point matching.
According to the anchor point coalignment of the present embodiment, pass through the first positioning for first obtaining the positional information currently obtained
Point is matched with the route closed on.Can so the situation of amount of calculation be being reduced, also improve the accuracy of positioning.
11st embodiment
A kind of anchor point coalignment that the present embodiment provides, the present embodiment is similar with the tenth embodiment, its difference
It is, refering to Figure 15, the device of the present embodiment also includes：
System-wide section matching module 701, if being not present at least one section and the described first positioning Point matching
The second anchor point, then first anchor point and the navigation way are subjected to matching primitives and are located at the navigation road to obtain
On line and with described first positioning Point matching the 3rd anchor point.
According to the anchor point coalignment of the present embodiment, by judging whether Small-Region Matching succeeds, if no success
System-wide lines matching is further carried out, improves the success rate of positioning Point matching.
12nd embodiment
A kind of anchor point coalignment that the present embodiment provides, the present embodiment is similar with the tenth embodiment, its difference
It is, refering to Figure 16, the device of the present embodiment also includes：
Counting module 801, for according on the navigation way whether there is with described first positioning Point matching the 3rd
It whether there is the second anchor point with the described first positioning Point matching on anchor point, or at least one section, record is fixed
The site number that it fails to match；
Driftage module 802, if triggering driftage handling process when exceeding predetermined value for the anchor point number that it fails to match.
According to the anchor point coalignment of the present embodiment, by increasing the statistics to it fails to match number, make matching process
Become apparent from, the success rate for judging matching can be understood, if the further frequency of failure exceedes predetermined threshold, triggering driftage, carry
High the match is successful rate.
13rd embodiment
A kind of anchor point coalignment that the present embodiment provides, the present embodiment is similar with the tenth embodiment, its difference
It is, refering to Figure 17, the device of the present embodiment also includes：
Endpoint module 901, for judging whether to have arrived at the terminal, if otherwise re-executing the positioning mould
Block.
According to the anchor point coalignment of the present embodiment, by judging whether to reach home, it is determined whether continue to lead
Boat.
14th embodiment
A kind of anchor point coalignment that the present embodiment provides, the present embodiment is similar with the tenth embodiment, its difference
It is, refering to Figure 18, the device of the present embodiment also includes：
Effective judge module 1001, for judging whether first anchor point is effective anchor point；If so, then perform
The Region Matching module, otherwise re-executes the locating module.
According to the anchor point coalignment of the present embodiment, by first judging the effective of first anchor point before matching
Property, then can first obtain effective anchor point is matched again, prevents from doing unnecessary matching step, is improved and is matched to anchor point
Efficiency on route.
15th embodiment
The present embodiment provides a kind of embodiment of Region Matching module, and refering to Figure 19, present embodiment is included to place an order
Member：
Route acquiring unit 6041, for obtaining current road segment from least one section；
Computing unit 6042, for calculating the projector distance between first anchor point and the current road segment；
Recording unit 6043, if for the projector distance be more than the orientation of positioning precision and the electric terminal with
The direction of the current road segment is identical then to add a candidate by subpoint of first anchor point on the current road segment
In queue；
Judging unit 6044, for judging whether untreated section also be present, if then re-calling route obtains list
Member；And
Selecting unit 6045, for selecting matching degree highest subpoint fixed as described second from the candidate queue
Site.
The selecting unit is used for：
The history location information of the electric terminal is obtained, the history location information describes the multiple of the electric terminal
History anchor point；
The current location of the Current electronic terminal is estimated using predetermined algorithm according to the history anchor point；And
The nearest subpoint in current location described in chosen distance is as second anchor point from the candidate queue.
According to present embodiment, by being matched to positioning Point matching advance row zonule section, wherein with projection side
To the anchor point of candidate second is chosen, matching degree highest o'clock is finally chosen as the second anchor point, improves the accuracy of matching.
Other details of the present embodiment refer to the 8th embodiment and the 9th embodiment, will not be repeated here.
In addition, the embodiment of the present invention also provides a kind of computer-readable recording medium, it is stored with computer and can perform
Instruction, above-mentioned computer-readable recording medium is, for example, nonvolatile memory such as CD, hard disk or flash memory.It is above-mentioned
Computer executable instructions be used to allow computer or similar arithmetic unit to complete in above-mentioned anchor point matching process
Various operations.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed as above with preferred embodiment, but is not limited to the present invention, any those skilled in the art, not
Depart from the range of technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to equivalent change
The equivalent embodiment of change, as long as being without departing from technical solution of the present invention content, the technical spirit according to the present invention is implemented to more than
Example any brief introduction modification, equivalent variations and the modification made, in the range of still falling within technical solution of the present invention.
Claims (14)
- A kind of 1. anchor point matching process, in electric terminal, it is characterised in that the described method comprises the following steps：According to specified starting point and the corresponding navigation way of terminal acquisition, the navigation way includes multiple roads being sequentially connected Section；The current location information of the electric terminal is obtained by alignment system, obtains the first anchor point；Obtained from the navigation way at least one section around first anchor point in preset range；First anchor point is subjected to matching primitives with least one section and is located at least one section to obtain It is upper and with the second anchor point of the described first positioning Point matching；It is described that first anchor point is subjected to matching primitives to obtain positioned at described at least one with least one section Include on section and with the second anchor point of the described first positioning Point matching：Current road segment is obtained from least one section；Calculate the projector distance between first anchor point and the current road segment；If the projector distance is more than positioning precision and the direction phase of the orientation of the electric terminal and the current road segment It is same then add subpoint of first anchor point on the current road segment in one candidate queue；If re-executed if untreated section being also present above step until at least one section in all sections it is equal Processing is completed；AndMatching degree highest subpoint is selected from the candidate queue as second anchor point；It is described to select matching degree highest subpoint to include as second anchor point from the candidate queue：The history location information of the electric terminal is obtained, the history location information describes multiple history of the electric terminal Anchor point；The current location of the Current electronic terminal is estimated using predetermined algorithm according to the history anchor point；AndThe nearest subpoint in current location described in chosen distance is as second anchor point from the candidate queue.
- 2. anchor point matching process as claimed in claim 1, it is characterised in that also include：If the second anchor point with the described first positioning Point matching is not present at least one section, described first is determined Site carries out matching primitives to obtain on the navigation way and position Point matching with described first with the navigation way The 3rd anchor point.
- 3. anchor point matching process as claimed in claim 2, it is characterised in that also include：According to the 3rd anchor point that whether there is on the navigation way with the described first positioning Point matching, or described at least one It whether there is the second anchor point with the described first positioning Point matching, the number of record location Point matching failure on individual section；With AndTriggering driftage handling process when if the anchor point number that it fails to match exceedes predetermined value.
- 4. anchor point matching process as claimed in claim 3, it is characterised in that the number of the record location Point matching failure Including：Make a time for being used for the failure of record location Point matching if in the absence of second anchor point or the 3rd anchor point The value of several counters adds one；Otherwise reset the value of the counter.
- 5. anchor point matching process as claimed in claim 1, it is characterised in that also include：Judge whether to have arrived at the terminal, work as if obtaining the electric terminal by alignment system described in otherwise re-executing The step of preceding positional information obtains the first anchor point.
- 6. anchor point matching process as claimed in claim 1, it is characterised in that also wrapped after first anchor point is obtained Include：Judge whether first anchor point is effective anchor point；If so, obtained described in then performing from the navigation way At least one section in preset range around first anchor point the step of；Otherwise re-execute described by positioning system System obtains the step of current positional information of the electric terminal obtains the first anchor point.
- 7. anchor point matching process as claimed in claim 6, it is characterised in that it is described judge first anchor point whether be Effective anchor point includes：Judged whether to meet multiple default invalid positioning point features, the multiple default nothing respectively according to the location information Effect positioning point feature includes：Speed is 0 or -1, positioning precision is more than predetermined value, orientation is negative value；If the location information meet it is the multiple it is default it is invalid positioning point feature in it is at least one if judge described first Anchor point is invalid anchor point.
- A kind of 8. anchor point coalignment, for electric terminal, it is characterised in that described device includes：First acquisition module, for according to the starting point and the corresponding navigation way of terminal acquisition, the navigation way bag specified Include multiple sections being sequentially connected；Locating module, the location information current for obtaining the electric terminal, obtains the first anchor point；Second acquisition module, for from the navigation way obtain around first anchor point in preset range at least One section；Region Matching module, it is located at for first anchor point to be carried out into matching primitives with least one section with obtaining On at least one section and with described first positioning Point matching the second anchor point；The Region Matching module includes：Route acquiring unit, for obtaining current road segment from least one section；Computing unit, for calculating the projector distance between first anchor point and the current road segment；Recording unit, if for the projector distance be more than the orientation of positioning precision and the electric terminal with it is described current The direction in section is identical then to add subpoint of first anchor point on the current road segment in one candidate queue；Judging unit, for judging whether untreated section also be present, if then re-calling route acquiring unit；AndSelecting unit, for selecting matching degree highest subpoint from the candidate queue as second anchor point；The selecting unit selects matching degree highest subpoint to include as second anchor point from the candidate queue：The history location information of the electric terminal is obtained, the history location information describes multiple history of the electric terminal Anchor point；The current location of the Current electronic terminal is estimated using predetermined algorithm according to the history anchor point；AndThe nearest subpoint in current location described in chosen distance is as second anchor point from the candidate queue.
- 9. anchor point coalignment as claimed in claim 8, it is characterised in that also include：System-wide section matching module, determine if being not present at least one section with the second of the described first positioning Point matching Site, then first anchor point and the navigation way are subjected to matching primitives with obtain be located on the navigation way and with 3rd anchor point of the first positioning Point matching.
- 10. anchor point coalignment as claimed in claim 9, it is characterised in that also include：Counting module, for according on the navigation way whether there is with described first positioning Point matching the 3rd anchor point, Or it whether there is at least one section and the described first the second anchor point for positioning Point matching, record location Point matching The number of failure；Driftage module, if triggering driftage handling process when exceeding predetermined value for the anchor point number that it fails to match.
- 11. anchor point coalignment as claimed in claim 10, it is characterised in that the counting module also includes：If in the presence of Second anchor point or the 3rd anchor point then make the counter of a number for being used for the failure of record location Point matching Value plus one；Otherwise reset the value of the counter.
- 12. anchor point coalignment as claimed in claim 8, it is characterised in that also include：Endpoint module, for judging whether to have arrived at the terminal, if otherwise re-executing the locating module.
- 13. anchor point coalignment as claimed in claim 8, it is characterised in that after locating module execution, also wrap Include：Judge module, for judging whether first anchor point is effective anchor point；If so, then perform the Region Matching Module, otherwise re-execute the locating module.
- 14. anchor point coalignment as claimed in claim 13, it is characterised in that the judge module is additionally operable to：Judged whether to meet multiple default invalid positioning point features, the multiple default nothing respectively according to the location information Effect positioning point feature includes：Speed is 0 or -1, positioning precision is more than predetermined value, orientation is negative value；If the location information meet it is the multiple it is default it is invalid positioning point feature in it is at least one if the judge module It is invalid anchor point to judge first anchor point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410155813.8A CN104596526B (en) | 2014-04-17 | 2014-04-17 | A kind of anchor point matching process and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410155813.8A CN104596526B (en) | 2014-04-17 | 2014-04-17 | A kind of anchor point matching process and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104596526A CN104596526A (en) | 2015-05-06 |
| CN104596526B true CN104596526B (en) | 2018-01-30 |
Family
ID=53122462
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410155813.8A Active CN104596526B (en) | 2014-04-17 | 2014-04-17 | A kind of anchor point matching process and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104596526B (en) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606087B (en) * | 2015-12-23 | 2020-01-14 | 北京百度网讯科技有限公司 | Navigation method and device |
| CN107228677B (en) * | 2016-03-23 | 2019-03-26 | 腾讯科技（深圳）有限公司 | Yaw recognition methods and device |
| CN105916108A (en) * | 2016-04-14 | 2016-08-31 | 上海河广信息科技有限公司 | MR-based determination system and method for mobile route of user |
| CN105786000B (en) * | 2016-04-22 | 2018-09-04 | 上海物景智能科技有限公司 | The localization method and positioning system of a kind of robot in planning path |
| CN106289282A (en) * | 2016-07-18 | 2017-01-04 | 北京方位捷讯科技有限公司 | A kind of indoor map pedestrian's track matching method |
| CN107796407A (en) * | 2016-09-06 | 2018-03-13 | 高德软件有限公司 | A kind of map-matching method and device |
| CN108225315A (en) * | 2016-12-21 | 2018-06-29 | 杭州海康威视数字技术股份有限公司 | A kind of road positioning method and device |
| CN107144280B (en) * | 2017-05-10 | 2020-02-04 | 深圳市沃特沃德股份有限公司 | Method and device for identifying positioning point |
| CN108955713B (en) * | 2017-05-27 | 2023-03-31 | 腾讯科技（北京）有限公司 | Method and device for displaying driving track |
| CN109307513B (en) * | 2017-07-26 | 2022-05-10 | 厦门雅迅网络股份有限公司 | Real-time road matching method and system based on driving record |
| CN107621650A (en) * | 2017-09-08 | 2018-01-23 | 福建铂语物联科技有限公司 | Antenna attitude geography information monitoring system based on motive objects network management |
| CN109990783B (en) * | 2017-12-29 | 2021-03-02 | 深圳市优必选科技有限公司 | Robot motion path planning method, robot and storage medium |
| CN109612474B (en) * | 2018-12-26 | 2022-02-15 | 腾讯科技（深圳）有限公司 | Map road matching method, map road matching device, map road matching server and storage medium |
| CN110006442B (en) * | 2019-04-17 | 2021-06-01 | 北京百度网讯科技有限公司 | Navigation method, apparatus, device and medium |
| CN110595491B (en) * | 2019-09-02 | 2021-12-07 | 北京航天发射技术研究所 | Map matching method and device based on Linux operating system |
| CN110793531B (en) * | 2019-09-12 | 2022-08-02 | 腾讯科技（深圳）有限公司 | Road matching method and device and readable storage medium |
| CN111323031B (en) * | 2019-11-25 | 2021-01-12 | 滴图(北京)科技有限公司 | Yaw identification method and device, electronic equipment and storage medium |
| WO2021104325A1 (en) * | 2019-11-25 | 2021-06-03 | 北京嘀嘀无限科技发展有限公司 | Method and system for yaw recognition |
| CN113254569B (en) * | 2021-07-06 | 2021-10-08 | 武汉依迅北斗时空技术股份有限公司 | Positioning deviation rectifying method and device |
| CN113959451A (en) * | 2021-09-22 | 2022-01-21 | 北京连山科技股份有限公司 | Response yaw method based on road network and positioning data trigger mechanism |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100523735C (en) * | 2006-08-17 | 2009-08-05 | 北京航空航天大学 | Fast map matching method based on small lattice road network organization and structure |
| CN101545788B (en) * | 2009-05-14 | 2011-07-27 | 四川长虹电器股份有限公司 | Vehicle positioning implementing method |
| CN102147260B (en) * | 2010-02-09 | 2014-12-24 | 日电（中国）有限公司 | Electronic map matching method and device |
-
2014
- 2014-04-17 CN CN201410155813.8A patent/CN104596526B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104596526A (en) | 2015-05-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104596526B (en) | A kind of anchor point matching process and device | |
| US20180321055A1 (en) | Navigation apparatus and navigation method | |
| WO2018081971A1 (en) | Path planning method and device, server, and robot | |
| US10288437B2 (en) | Routing with data version stitching | |
| CN104596530B (en) | A kind of vehicle positioning method and device | |
| CN104613972B (en) | The method, apparatus and server of identification yaw during a kind of navigation | |
| USRE47107E1 (en) | Method and system for navigation using bounded geographic regions | |
| CN101491126A (en) | Location-based, software control of mobile devices | |
| CN102196557A (en) | Selecting beacons for location inference | |
| WO2014063096A1 (en) | Mobile navigation to a moving destination | |
| CN105122913A (en) | Dynamic determination of device location reporting frequency | |
| WO2014169343A1 (en) | Reactive hybrid location determination method and apparatus | |
| US11082529B2 (en) | Prediction engine for a network-based service | |
| EP2936063A2 (en) | Apparatus and methods for routing | |
| CN108061875A (en) | Vehicle location based on WLAN node | |
| CN104236544A (en) | Map data downloading method and navigation device | |
| CN105143917A (en) | Mobile device positioning responsive to externally generated regional candidate position fix mode selection | |
| CN104280040B (en) | Vehicle mileage projection is estimated | |
| US9635691B2 (en) | Apparatus and method of providing connection source recommendations using a database of historic data on connectivity | |
| CN114254784A (en) | Information pushing method, information pushing device and storage medium | |
| CN106248089A (en) | A kind of method of transfer destination positional information and navigation system | |
| CN113970754A (en) | Positioning method and device of autonomous travelable equipment | |
| JP5654336B2 (en) | Method and apparatus for efficiently using a battery in a smartphone having a navigation system | |
| WO2024051437A1 (en) | Path planning method, and related apparatus and system | |
| CN117308966B (en) | Indoor positioning and navigation method, system and computer equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |