CN104848865B - A kind of air navigation aid and electronic equipment - Google Patents

A kind of air navigation aid and electronic equipment Download PDF

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Publication number
CN104848865B
CN104848865B CN201410055314.1A CN201410055314A CN104848865B CN 104848865 B CN104848865 B CN 104848865B CN 201410055314 A CN201410055314 A CN 201410055314A CN 104848865 B CN104848865 B CN 104848865B
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electronic equipment
information
5th
described
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CN201410055314.1A
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CN104848865A (en
Inventor
马彬强
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联想(北京)有限公司
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/20Instruments for performing navigational calculations
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/3407Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents

Abstract

The embodiment of the invention discloses a kind of air navigation aid and electronic equipment, the air navigation aid includes:First message and second message are received, the connection with second electronic equipment is established according to the first message;The connection with the third electronic equipment is established according to the second message;Obtain the location information of second electronic equipment and the third electronic equipment respectively according to the first message and second message, the first shortest path between second electronic equipment and the third electronic equipment is determined according to the positional information, first shortest path is sent to second electronic equipment and the third electronic equipment, so that second electronic device carrier and/or the third electronic device carrier are moved by first shortest path.

Description

A kind of air navigation aid and electronic equipment

Technical field

The present invention relates to data processing techniques, and in particular to a kind of air navigation aid and electronic equipment.

Background technology

Currently, navigation system carries out path computing both for fixed destination, this path calculation method is to pass through The position and the position of itself for determining destination generate guidance path.With the development of network technology, for leading for mobile target Boat system occurs not yet, at present also without the solution for the navigation system for occurring being suitable for mobile target.

Invention content

It, can to solve existing technical problem, a kind of air navigation aid of offer of the embodiment of the present invention and electronic equipment It realizes for the navigation of mobile target, promotes the experience of user.

In order to achieve the above objectives, the technical solution of the embodiment of the present invention is realized in:

An embodiment of the present invention provides a kind of air navigation aids, are applied in the first electronic equipment, first electronic equipment It can be communicated with the second electronic equipment;First electronic equipment can be communicated with third electronic equipment;The side Method includes:

First message and second message are received, the connection with second electronic equipment is established according to the first message; The connection with the third electronic equipment is established according to the second message;

Second electronic equipment and the third electronic equipment are obtained according to the first message and second message respectively Location information, determine according to the positional information between second electronic equipment and the third electronic equipment first most First shortest path is sent to second electronic equipment and/or the third electronic equipment, so that described by short path Second electronic device carrier and/or the third electronic device carrier are moved by first shortest path.

Technical solution provided in an embodiment of the present invention receives first message and second message, is built according to the first message The vertical connection with second electronic equipment;The connection with the third electronic equipment is established according to the second message;According to The first message and second message obtain the location information of second electronic equipment and the third electronic equipment, root respectively The first shortest path between second electronic equipment and the third electronic equipment is determined according to the location information, it will be described First shortest path is sent to second electronic equipment and the third electronic equipment, so that second electronic device carrier And/or the third electronic device carrier is moved by first shortest path, in this way, realizing leading for mobile target Boat, promotes the experience of user.

Description of the drawings

Fig. 1 is the flow diagram of the air navigation aid of the embodiment of the present invention one;

Fig. 2 is the flow diagram of the air navigation aid of the embodiment of the present invention two;

Fig. 3 is the flow diagram of the air navigation aid of the embodiment of the present invention three;

Fig. 4 is the flow diagram of the air navigation aid of the embodiment of the present invention four;

Fig. 5 is the flow diagram of the air navigation aid of the embodiment of the present invention five;

Fig. 6 is the flow diagram of the air navigation aid of the embodiment of the present invention six;

Fig. 7 is the flow diagram of the air navigation aid of the embodiment of the present invention seven;

Fig. 8 is the flow diagram of the air navigation aid of the embodiment of the present invention eight;

Fig. 9 is the flow diagram of the air navigation aid of the embodiment of the present invention nine

Figure 10 is the composed structure schematic diagram of the first electronic equipment one of the embodiment of the present invention;

Figure 11 is the composed structure schematic diagram of the first electronic equipment two of the embodiment of the present invention;

Figure 12 is the composed structure schematic diagram of the 4th electronic equipment one of the embodiment of the present invention;

Figure 13 is the composed structure schematic diagram of the 4th electronic equipment two of the embodiment of the present invention.

Specific implementation mode

Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in further detail.

Fig. 1 is the flow diagram of the air navigation aid of the embodiment of the present invention one;The embodiment of the present invention is applied to the first electronics In equipment, first electronic equipment can be communicated with the second electronic equipment;First electronic equipment can be with third Electronic equipment is communicated;First electronic equipment can be server;Second electronic equipment can be navigator, or Person has the intelligent terminals such as the mobile phone of navigation feature;As shown in Figure 1, the air navigation aid includes:

Step 101:First message and second message are received, is established and second electronic equipment according to the first message Connection;The connection with the third electronic equipment is established according to the second message.

Since the method that the present embodiment is recorded is applied in the first electronic equipment, then step 101 can also be described as:First Electronic equipment receives first message and second message, and the connection with second electronic equipment is established according to the first message; The connection with the third electronic equipment is established according to the second message;Wherein, the first message is by second electronics Equipment is sent, and the second message is sent by the third electronic equipment.

Step 102:Second electronic equipment and the third are obtained according to the first message and second message respectively The location information of electronic equipment.

In the present embodiment, the mark of second electronic equipment is carried in the first message, in the second message Carry the mark of the third electronic equipment;First electronic equipment obtains institute according to the mark of second electronic equipment State the location information of the second electronic equipment;The position of the third electronic equipment is obtained according to the mark of the third electronic equipment Information.

Here, first electronic equipment can be according to global positioning system(GPS, Global Position System)It defends Star obtains second electronic equipment and third electronic equipment location information;Specifically, second electronic equipment and institute The signal that third electronic equipment can be sent out according to three or more satellites are received is stated to be obtained according to the time difference of the signal received The location information is sent to first electronic equipment by the location information derived from body;First electronic equipment can also The relevant parameter that second electronic equipment and the third electronic equipment are respectively received is obtained, the relevant parameter is to receive The time difference that signal is sent out to three or more satellites determines second electronic equipment and the third according to the relevant parameter The location information of electronic equipment;The acquisition methods of the location information are same as the prior art, do not repeating herein;Wherein, institute Stating location information can be indicated by longitude and latitude.

Step 103:It determines between second electronic equipment and the third electronic equipment according to the positional information First shortest path.

Here, first electronic equipment determines the location information of second electronic equipment and the third electronic equipment Afterwards, according to preset cartographic information, the path between second electronic equipment and the third electronic equipment is calculated, it is chosen In shortest path as the first shortest path.

Step 104:First shortest path is sent to second electronic equipment and/or the third electronics is set It is standby, so that second electronic device carrier and/or the third electronic device carrier are moved by first shortest path.

In the present embodiment, first shortest path is sent to second electronic equipment by first electronic equipment And/or the third electronic equipment, specifically it is sent to which electronic equipment can be determined according to outdoor scene scene;For example, when described the The connection that two electronic equipments, the third electronic equipment are established with first electronic equipment respectively is to converge the connection of pattern When, then first shortest path is sent to second electronic equipment by first electronic equipment and the third electronics is set It is standby, so that second electronic device carrier and the third electronic device carrier are moved by first shortest path;Work as institute State the company that the connection that the second electronic equipment, the third electronic equipment are established with first electronic equipment respectively is follow the mode It connects, and when second electronic equipment follows the third electronic equipment, then first electronic equipment is most short by described first Path is sent to second electronic equipment, so that second electronic device carrier is moved by first shortest path;Instead It, if the third electronic equipment follows second electronic equipment, first electronic equipment is most short by described first Path is sent to the third electronic equipment, so that the third electronic device carrier is moved by first shortest path.

Fig. 2 is the flow diagram of the air navigation aid of the embodiment of the present invention two;The embodiment of the present invention is applied to the first electronics In equipment, first electronic equipment can be communicated with the second electronic equipment;First electronic equipment can be with third Electronic equipment is communicated;First electronic equipment can be server;Second electronic equipment can be navigator, or Person has the intelligent terminals such as the mobile phone of navigation feature;As shown in Fig. 2, the air navigation aid includes:

Step 201:First message and second message are received, is established and second electronic equipment according to the first message Connection;The connection with the third electronic equipment is established according to the second message.

Since the method that the present embodiment is recorded is applied in the first electronic equipment, then step 201 can also be described as:First Electronic equipment receives first message and second message, and the connection with second electronic equipment is established according to the first message; The connection with the third electronic equipment is established according to the second message;Wherein, the first message is by second electronics Equipment is sent, and the second message is sent by the third electronic equipment.

Step 202:The first position information and the first parameter of second electronic equipment are obtained according to the first message Information;The current location of second electronic equipment described in the first position information representation;Described in the first parameter information characterization The moving parameter information of second electronic equipment.

In the present embodiment, the mark of second electronic equipment is carried in the first message, first electronics is set The standby first position information that second electronic equipment is obtained according to the mark of second electronic equipment, i.e., according to described second The mark of electronic equipment obtains the current location of second electronic equipment;Specifically, acquisition and the step of the current location The acquisition modes of location information are identical in 102, do not repeating herein.

Here, first parameter information(That is moving parameter information)Including:Current velocity vector, the curved speed that was averaged, Preceding primary excessively curved velocity vector, the crossing speed that was averaged, the preceding primary information such as a mouthful velocity vector, acceleration of passing by one's way.

Step 203:The second position information and the second parameter of the third electronic equipment are obtained according to the second message Information;The current location of third electronic equipment described in the second position information representation;Described in the second parameter information characterization The moving parameter information of third electronic equipment.

In the present embodiment, the mark of the third electronic equipment is carried in the second message, first electronics is set The standby second position information that the third electronic equipment is obtained according to the mark of the third electronic equipment, i.e., according to described second The mark of electronic equipment obtains the current location of the third electronic equipment;Specifically, acquisition and the step of the current location The acquisition modes of location information are identical in 102, do not repeating herein.

Here, second parameter information(That is moving parameter information)Including:Current velocity vector, the curved speed that was averaged, Preceding primary excessively curved velocity vector, the crossing speed that was averaged, the preceding primary information such as a mouthful velocity vector, acceleration of passing by one's way.

Step 204:Second electronic equipment is determined according to the first position information and first parameter information First predicted position;The second of the third electronic equipment is determined according to the second position information and second parameter information Predicted position.

The present embodiment is applied in following scene:When the first electronic equipment obtains the second electronic equipment and third electronic equipment After location information, calculate the shortest path between second electronic equipment and the third electronic equipment, then will described in it is most short Path is sent to second electronic equipment and the third electronic equipment;It is taken since calculating needs are certain, and it is different The time that the transmission shortest path caused by network signal needs is also different, be in addition also possible to need when load path when Between, often when the shortest path is sent to second electronic equipment and third electronic equipment, second electronic equipment And/or the third electronic equipment has had deviated from the shortest path, at this moment just needs to redefine second electronics and sets The location information of the standby and described third electronic equipment, recalculates path.Therefore, technical solution provided in an embodiment of the present invention is being just It is the first predicted position that second electronic equipment is determined according to first position information and the first parameter information, according to second Confidence ceases and the second parameter information determines the second predicted position of the third electronic equipment, to avoid in above-mentioned scene, due to Time delays to deviate from the first electronic equipment transmission shortest path the problem of.

Specifically, when the moving parameter information includes at least one of following information:Current velocity vector, be averaged it is curved Speed, preceding primary excessively curved velocity vector, the crossing speed that be averaged, it is preceding once pass by one's way mouthful velocity vector when, it is described according to described the One location information and first parameter information determine the first predicted position of second electronic equipment, including:

The motion state that second electronic device carrier is determined according to the first parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the first of second electronic equipment is determined according to the moving parameter information of selection Predicted position is:The current location of the second electronic equipment+moving parameter information ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance;

Correspondingly, described determine the third electronic equipment according to the second position information and second parameter information The second predicted position, including:

The motion state that the third electronic device carrier is determined according to the second parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the second of the third electronic equipment is determined according to the moving parameter information of selection Predicted position is:The current location of the third electronic equipment+moving parameter information ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance.

Specifically, the fortune for determining second electronic device carrier according to the first parameter information medium velocity vector Dynamic state.By taking the second electronic equipment as an example, the velocity vector of second electronic equipment is obtained, according to the velocity vector and root The motion state of second electronic equipment is determined according to the current location of second electronic equipment.Crossing on each road is usual It can be provided with anchor point, anchor point is triggered when second electronic device carrier moves to crossing, make the second electronic equipment weight Newly obtain itself current location and the first kinematic parameter;When the speed of second electronic equipment is not zero, and the side of speed To it is identical as default Roads in Maps direction when, determine that the motion state of second electronic device carrier was crossing state, Moving parameter information then can be chosen as crossing speed or the preceding primary mouthful velocity vector of passing by one's way of being averaged according to the crossing state of crossing; When the speed of second electronic equipment is not zero, and the direction of speed is differed with default Roads in Maps direction, determine The motion state of second electronic device carrier is turn condition, then can choose moving parameter information according to the turn condition For the curved speed or preceding primary excessively curved velocity vector etc. of being averaged;Corresponding parameter can be arranged according to different motion states to believe Breath.

When the moving parameter information includes:It is described according to the first position information when current velocity vector, acceleration And first parameter information determines the first predicted position of second electronic equipment, including:

First predicted position is determined as:Current location+current velocity vector of second electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance;

Correspondingly, described determine the third electronic equipment according to the second position information and second parameter information The second predicted position, including:

Second predicted position is determined as:Current location+current velocity vector of the third electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance.

Specifically, by taking the second electronic equipment as an example, it, will be described when second electronic device carrier triggers crossing anchor point Uniformly accelrated rectilinear motion or uniformly accelrated rectilinear motion are regarded in the movement of second electronic device carrier as, according to described got Current location, current velocity vector and the acceleration of two electronic equipments determine the first predicted position of second electronic equipment.

Step 205:According to first predicted position and second predicted position determine second electronic equipment and The first shortest path between the third electronic equipment.

Here, after first electronic equipment determines first predicted position and second predicted position, according to pre- If cartographic information, calculate the path between first predicted position and second predicted position, choose therein most short Path is as the first shortest path.

Step 206:First shortest path is sent to second electronic equipment and/or the third electronics is set It is standby, so that second electronic device carrier and/or the third electronic device carrier are moved by first shortest path.

In the present embodiment, first shortest path is sent to second electronic equipment by first electronic equipment And/or the third electronic equipment, specifically it is sent to which electronic equipment can be determined according to outdoor scene scene;For example, when described the The connection that two electronic equipments, the third electronic equipment are established with first electronic equipment respectively is to converge the connection of pattern When, then first shortest path is sent to second electronic equipment by first electronic equipment and the third electronics is set It is standby, so that second electronic device carrier and the third electronic device carrier are moved by first shortest path;Work as institute State the company that the connection that the second electronic equipment, the third electronic equipment are established with first electronic equipment respectively is follow the mode It connects, and when second electronic equipment follows the third electronic equipment, then first electronic equipment is most short by described first Path is sent to second electronic equipment, so that second electronic device carrier is moved by first shortest path;Instead It, if the third electronic equipment follows second electronic equipment, first electronic equipment is most short by described first Path is sent to the third electronic equipment, so that the third electronic device carrier is moved by first shortest path.

In the present embodiment, the navigation for mobile target is not only realized, but also by the calculating to predicted position, is kept away When exempting from new path and pushing to electronic equipment, the electronic equipment has had deviated from the new path, anti-so as to cause path It is multiple to calculate the endless loop failed repeatedly again, realize the intelligence of path computing.

Fig. 3 is the flow diagram of the air navigation aid of the embodiment of the present invention three;The embodiment of the present invention is applied to the first electronics In equipment, first electronic equipment can be communicated with the second electronic equipment;First electronic equipment can be with third Electronic equipment is communicated;First electronic equipment can be server;Second electronic equipment can be navigator, or Person has the intelligent terminals such as the mobile phone of navigation feature;As shown in figure 3, the air navigation aid includes:

Step 301:First message and second message are received, is established and second electronic equipment according to the first message The connection for converging navigation pattern;The company for converging navigation pattern with the third electronic equipment is established according to the second message It connects.

Here, since the method that the present embodiment is recorded is applied in the first electronic equipment, then step 101 can also describe For:First electronic equipment receives first message and second message, is established and second electronic equipment according to the first message The connection for converging navigation pattern;The company for converging navigation pattern with the third electronic equipment is established according to the second message It connects;Wherein, the first message is sent by second electronic equipment, and the second message is sent out by the third electronic equipment It send.

Step 302:Second electronic equipment and the third are obtained according to the first message and second message respectively The location information of electronic equipment.

In the present embodiment, the mark of second electronic equipment is carried in the first message, in the second message Carry the mark of the third electronic equipment;First electronic equipment obtains institute according to the mark of second electronic equipment State the location information of the second electronic equipment;The position of the third electronic equipment is obtained according to the mark of the third electronic equipment Information;Specifically, the acquisition of the current location is identical as the acquisition modes of location information in step 102, do not repeating herein.

Here, the location information can be predicted position information;It is described to obtain second electronic equipment and institute respectively The location information of third electronic equipment is stated, including:

Obtain the first position information and the first parameter information of second electronic equipment;The first position information representation The current location of second electronic equipment;First parameter information characterizes the kinematic parameter letter of second electronic equipment Breath;

Obtain the second position information and the second parameter information of the third electronic equipment;The second position information representation The current location of the third electronic equipment;Second parameter information characterizes the kinematic parameter letter of the third electronic equipment Breath;

The first prediction of second electronic equipment is determined according to the first position information and first parameter information Position;The second prediction bits of the third electronic equipment are determined according to the second position information and second parameter information It sets.

Wherein, the moving parameter information includes at least one of following information:Current velocity vector, be averaged curved speed Degree, preceding primary excessively curved velocity vector, the crossing speed that was averaged, a preceding primary mouthful velocity vector of passing by one's way;

It is described to determine the first of second electronic equipment according to the first position information and first parameter information Predicted position, including:

The motion state that second electronic device carrier is determined according to the first parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the first of second electronic equipment is determined according to the moving parameter information of selection Predicted position is:The current location of the second electronic equipment+moving parameter information ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance;

Correspondingly, described determine the third electronic equipment according to the second position information and second parameter information The second predicted position, including:

The motion state that the third electronic device carrier is determined according to the second parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the second of the third electronic equipment is determined according to the moving parameter information of selection Predicted position is:The current location of the third electronic equipment+moving parameter information ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance.

Wherein, the moving parameter information includes:Current velocity vector, acceleration;

It is described to determine the first of second electronic equipment according to the first position information and first parameter information Predicted position, including:

First predicted position is determined as:Current location+current velocity vector of second electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance;

Correspondingly, described determine the third electronic equipment according to the second position information and second parameter information The second predicted position, including:

Second predicted position is determined as:Current location+current velocity vector of the third electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance.

Step 303:It determines between second electronic equipment and the third electronic equipment according to the positional information First shortest path.

Here, first predicted position and the third electronics of first electronic equipment according to second electronic equipment Second predicted position of equipment determines the path between second electronic equipment and the third electronic equipment, selects therein Shortest path is as the first shortest path.

Step 304:First shortest path is sent to second electronic equipment and the third electronic equipment, with Second electronic device carrier and the third electronic device carrier is set to be moved by first shortest path.

Step 305:Determine that second electronic equipment and/or the third electronic equipment deviate first shortest path When, reacquire the location information of second electronic equipment and the third electronic equipment.

In the present embodiment, second electronic equipment and the third electronic equipment establish the connection for converging navigation pattern, It is again right when second electronic equipment and the third electronic equipment at least one of which deviate first shortest path Path is calculated;Wherein it is determined that second electronic equipment and/or the third electronic equipment deviate first shortest path Diameter can be used such as under type:It would generally be provided with anchor point at the crossing on each road, when second electronic device carrier and/or institute It states when third electronic device carrier moves to crossing and triggers anchor point, second electronic equipment and/or the third electronics is made to set It is standby to reacquire the current location of itself, and by the current location of second electronic equipment and/or the third electronic equipment It is sent to the first electronic equipment;First electronic equipment determines second electronic equipment and/or the third electronic equipment When the current location of transmission is preset not in first shortest path in the regional extent of anchor point, determine that second electronics is set The standby and/or described third electronic equipment deviates first shortest path.

Here, the location information be can be predicted position information;The acquisition methods and step of the predicted position information Rapid 302 is identical, is not repeating herein.

Step 306:Redefine according to the positional information second electronic equipment and the third electronic equipment it Between the second shortest path.

Here, the determination method of the first shortest path described in the determination method Yu step 303 of second shortest path Identical, details are not described herein again.

Step 307:Second shortest path is re-transmitted to second electronic equipment and the third electronics is set It is standby, so that second electronic device carrier and the third electronic device carrier are moved by second shortest path.

In the present embodiment, the navigation for mobile target is not only realized, but also by the calculating to predicted position, is kept away When exempting from new path and pushing to electronic equipment, the electronic equipment has had deviated from the new path, anti-so as to cause path It is multiple to calculate the endless loop failed repeatedly again, realize the intelligence of path computing;In addition it increases and converges navigation pattern, make navigation Application scenarios it is more various.

Fig. 4 is the flow diagram of the air navigation aid of the embodiment of the present invention four;The embodiment of the present invention is applied to the first electronics In equipment, first electronic equipment can be communicated with the second electronic equipment;First electronic equipment can be with third Electronic equipment is communicated;First electronic equipment can be server;Second electronic equipment can be navigator, or Person has the intelligent terminals such as the mobile phone of navigation feature;It is led when second electronic equipment and the third electronic equipment have to follow Model plane formula, and when second electronic equipment follows the third electronic equipment, as shown in figure 4, the air navigation aid includes:

Step 401:First message and second message are received, is established and second electronic equipment according to the first message The connection for following navigation pattern;The company for following navigation pattern with the third electronic equipment is established according to the second message It connects.

Here, since the method that the present embodiment is recorded is applied in the first electronic equipment, then step 101 can also describe For:First electronic equipment receives first message and second message, is established and second electronic equipment according to the first message The connection for following navigation pattern;The company for following navigation pattern with the third electronic equipment is established according to the second message It connects;Wherein, the first message is sent by second electronic equipment, and the second message is sent out by the third electronic equipment It send.

Step 402:Second electronic equipment and the third are obtained according to the first message and second message respectively The location information of electronic equipment.

In the present embodiment, the mark of second electronic equipment is carried in the first message, in the second message Carry the mark of the third electronic equipment;First electronic equipment obtains institute according to the mark of second electronic equipment State the location information of the second electronic equipment;The position of the third electronic equipment is obtained according to the mark of the third electronic equipment Information;Specifically, the acquisition of the current location is identical as the acquisition modes of location information in step 102, do not repeating herein.

Here, the location information can be predicted position information;It is described to obtain second electronic equipment and institute respectively The location information of third electronic equipment is stated, including:

Obtain the first position information and the first parameter information of second electronic equipment;The first position information representation The current location of second electronic equipment;First parameter information characterizes the kinematic parameter letter of second electronic equipment Breath;

Obtain the second position information and the second parameter information of the third electronic equipment;The second position information representation The current location of the third electronic equipment;Second parameter information characterizes the kinematic parameter letter of the third electronic equipment Breath;

The first prediction of second electronic equipment is determined according to the first position information and first parameter information Position;The second prediction bits of the third electronic equipment are determined according to the second position information and second parameter information It sets.

Wherein, the moving parameter information includes at least one of following information:Current velocity vector, be averaged curved speed Degree, preceding primary excessively curved velocity vector, the crossing speed that was averaged, a preceding primary mouthful velocity vector of passing by one's way;

It is described to determine the first of second electronic equipment according to the first position information and first parameter information Predicted position, including:

The motion state that second electronic device carrier is determined according to the first parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the first of second electronic equipment is determined according to the moving parameter information of selection Predicted position is:The current location of the second electronic equipment+moving parameter information ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance;

Correspondingly, described determine the third electronic equipment according to the second position information and second parameter information The second predicted position, including:

The motion state that the third electronic device carrier is determined according to the second parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the second of the third electronic equipment is determined according to the moving parameter information of selection Predicted position is:The current location of the third electronic equipment+moving parameter information ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance.

Wherein, the moving parameter information includes:Current velocity vector, acceleration;

It is described to determine the first of second electronic equipment according to the first position information and first parameter information Predicted position, including:

First predicted position is determined as:Current location+current velocity vector of second electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance;

Correspondingly, described determine the third electronic equipment according to the second position information and second parameter information The second predicted position, including:

Second predicted position is determined as:Current location+current velocity vector of the third electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance.

Step 403:It determines between second electronic equipment and the third electronic equipment according to the positional information First shortest path.

Here, first predicted position and the third electronics of first electronic equipment according to second electronic equipment Second predicted position of equipment determines the path between second electronic equipment and the third electronic equipment, selects therein Shortest path is as the first shortest path.

Step 404:First shortest path is sent to second electronic equipment, so that second electronic equipment Carrier is moved by first shortest path.

In the present embodiment, due to being that second electronic equipment follows the third electronic equipment, then only needing will be described First shortest path is sent to second electronic equipment, and second electronic equipment is made to be moved i.e. by first shortest path It can.

Step 405:The location information for obtaining the third electronic equipment in real time, when the position of the third electronic equipment is believed When breath is in arbitrary default anchor point regional extent, the position of second electronic equipment and the third electronic equipment is reacquired Information.

Step 406:Redefine according to the positional information second electronic equipment and the third electronic equipment it Between third shortest path.

Here, the determination method of the first shortest path described in the determination method Yu step 403 of the third shortest path Identical, details are not described herein again.

Step 407:The third shortest path is sent to second electronic equipment, so that second electronic equipment Carrier is moved by the third path.

In the present embodiment, the navigation for mobile target is not only realized, but also by the calculating to predicted position, is kept away When exempting from new path and pushing to electronic equipment, the electronic equipment has had deviated from the new path, anti-so as to cause path It is multiple to calculate the endless loop failed repeatedly again, realize the intelligence of path computing;In addition it increases and follows navigation pattern, make navigation Application scenarios it is more various.

Fig. 5 is the flow diagram of the air navigation aid of the embodiment of the present invention five;The embodiment of the present invention is applied to the 4th electronics In equipment, the 4th electronic equipment can be communicated with the 5th electronic equipment;As shown in figure 5, the air navigation aid includes:

Step 501:First message is sent, the first message is for establishing and the connection of the 5th electronic equipment.

Here, since the method that the present embodiment is recorded is applied in the 4th electronic equipment, then step 501 can also describe For:4th electronic equipment sends first message, and the first message is for establishing and the connection of the 5th electronic equipment.

Step 502:After the response message for receiving the 5th electronic equipment, obtain respectively the 4th electronic equipment and The location information of 5th electronic equipment.

In the present embodiment, the mark of the 5th electronic equipment is carried in the response message, the 4th electronics is set The standby location information that the 5th electronic equipment is obtained according to the mark of the 5th electronic equipment.

Here, the 4th electronic equipment can be according to global positioning system(GPS, Global Position System)It defends Star obtains the location information of the location information and the 5th electronic equipment of itself;Specifically, the 4th electronic equipment and described The signal that five electronic equipments can be sent out according to three or more satellites are received, according to the time difference of the signal received, obtained from The location information is sent to the 4th electronic equipment by the location information of body, the 5th electronic equipment again;Described 4th Electronic equipment can also obtain the relevant parameter that the 5th electronic equipment receives, the relevant parameter be receive three with Upper satellite sends out the time difference of signal, and the location information of the 5th electronic equipment is determined according to the relevant parameter;Institute's rheme The acquisition methods of confidence breath are same as the prior art, do not repeating herein;Wherein, the location information can pass through longitude and latitude table Show.

Step 503:It determines between the 4th electronic equipment and the 5th electronic equipment according to the positional information First shortest path.

Here, the 4th electronic equipment determines the position letter of the location information and the 5th electronic equipment of itself After breath, according to preset cartographic information, itself path between the 5th electronic equipment is calculated, shortest path therein is chosen Diameter is as the first shortest path.

Step 504:First shortest path is sent to the 5th electronic equipment, so that the 4th electronic equipment Carrier and/or the 5th electronic device carrier are moved by first shortest path.

In the present embodiment, first shortest path is sent to the 5th electronic equipment by the 4th electronic equipment, Which specific electronic equipment can be determined by first shortest path movement according to outdoor scene scene;For example, when the 5th electricity When the connection that sub- equipment is established with the 4th electronic equipment is the connection for converging pattern, then the 4th electronic equipment will be described First shortest path is sent to the 5th electronic equipment, so that the 5th electronic device carrier and the 4th electronic equipment Carrier is moved by first shortest path;When the connection that the 5th electronic equipment and the 4th electronic equipment are established be with With the connection of pattern, and when the 5th electronic equipment follows four electronic equipment, then the 4th electronic equipment is by institute It states the first shortest path and is sent to the 5th electronic equipment, so that the 5th electronic device carrier presses first shortest path Diameter moves;If conversely, when the 4th electronic equipment follows five electronic equipment, the 4th electronic equipment will be described First shortest path is sent to the 5th electronic equipment, but the 4th electronic device carrier presses first shortest path Diameter moves.

Fig. 6 is the flow diagram of the air navigation aid of the embodiment of the present invention six;The embodiment of the present invention is applied to the 4th electronics In equipment, the 4th electronic equipment can be communicated with the 5th electronic equipment;As shown in fig. 6, the air navigation aid includes:

Step 601:First message is sent, the first message is for establishing and the connection of the 5th electronic equipment.

Since the method that the present embodiment is recorded is applied in the 4th electronic equipment, then step 501 can also be described as:4th Electronic equipment sends first message, and the first message is for establishing and the connection of the 5th electronic equipment.

Step 602:After the response message for receiving the 5th electronic equipment, the first of the 4th electronic equipment is obtained Location information and the first parameter information;The current location of 4th electronic equipment described in the first position information representation;Described One parameter information characterizes the moving parameter information of the 4th electronic equipment.

In the present embodiment, the acquisition of the acquisition and location information in step 502 of the current location of the 4th electronic equipment Mode is identical, is not repeating herein.

Here, first parameter information(That is moving parameter information)Including:Current velocity vector, the curved speed that was averaged, Preceding primary excessively curved velocity vector, the crossing speed that was averaged, the preceding primary information such as a mouthful velocity vector, acceleration of passing by one's way.

Step 603:Obtain the second position information and the second parameter information of the 5th electronic equipment;The second position The current location of 5th electronic equipment described in information representation;Second parameter information characterizes the movement of the 5th electronic equipment Parameter information.

In the present embodiment, the mark of the 5th electronic equipment is carried in the response message, the 4th electronics is set The standby current location that the 5th electronic equipment is obtained according to the mark of the 5th electronic equipment;Specifically, the present bit The acquisition set is identical as the acquisition modes of location information in step 502, is not repeating herein.

Here, first parameter information(That is moving parameter information)Including:Current velocity vector, the curved speed that was averaged, Preceding primary excessively curved velocity vector, the crossing speed that was averaged, the preceding primary information such as a mouthful velocity vector, acceleration of passing by one's way.

Step 604:The 4th electronic equipment is determined according to the first position information and first parameter information First predicted position;The second of the 5th electronic equipment is determined according to the second position information and second parameter information Predicted position.

The present embodiment is applied in following scene:When the 4th electronic equipment obtains own location information and the 5th electronic equipment After location information, itself shortest path between the 5th electronic equipment is calculated, then the shortest path is sent To the 5th electronic equipment;It is taken since calculating needs are certain, and described in the transmission caused by different network signals most The time that short path needs is also different, is in addition also possible to the time needed when load path, often when the shortest path is sent When to five electronic equipment, the 5th electronic equipment has had deviated from the shortest path, at this moment just needs again true The location information for determining own location information and the 5th electronic equipment, recalculates path.Therefore, the embodiment of the present invention provides Technical solution be exactly that the first prediction bits of the 4th electronic equipment are determined according to first position information and the first parameter information It sets, the second predicted position of the 5th electronic equipment is determined according to second position information and the second parameter information, to avoid upper State in scene, due to time delays to deviate from the 4th electronic equipment transmission shortest path the problem of.

Specifically, when the moving parameter information includes at least one of following information:Current velocity vector, be averaged it is curved Speed, preceding primary excessively curved velocity vector, the crossing speed that be averaged, it is preceding once pass by one's way mouthful velocity vector when, it is described according to described the One location information and first parameter information determine the first predicted position of the 4th electronic equipment, including:

The motion state that the 4th electronic device carrier is determined according to the first parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the first of the 4th electronic equipment is determined according to the moving parameter information of selection Predicted position is:Current location+moving parameter information of 4th electronic equipment ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance;

Correspondingly, described determine the 5th electronic equipment according to the second position information and second parameter information The second predicted position, including:

The motion state that the 5th electronic device carrier is determined according to the second parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the second of the 5th electronic equipment is determined according to the moving parameter information of selection Predicted position is:Current location+moving parameter information of 5th electronic equipment ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance.

Specifically, the fortune for determining the 4th electronic device carrier according to the first parameter information medium velocity vector Dynamic state.By taking the 4th electronic equipment as an example, the velocity vector of the 4th electronic equipment is obtained, according to the velocity vector and root The motion state of the 4th electronic equipment is determined according to the current location of the 4th electronic equipment.Crossing on each road is usual It can be provided with anchor point, anchor point is triggered when the 4th electronic device carrier moves to crossing, make the 4th electronic equipment weight Newly obtain itself current location and the first kinematic parameter;When the speed of the 4th electronic equipment is not zero, and the side of speed To it is identical as default Roads in Maps direction when, determine that the motion state of the 4th electronic device carrier was crossing state, Moving parameter information then can be chosen as crossing speed or the preceding primary mouthful velocity vector of passing by one's way of being averaged according to the crossing state of crossing; When the speed of the 4th electronic equipment is not zero, and the direction of speed is differed with default Roads in Maps direction, determine The motion state of 4th electronic device carrier is turn condition, then can choose moving parameter information according to the turn condition For the curved speed or preceding primary excessively curved velocity vector etc. of being averaged;Corresponding parameter can be arranged according to different motion states to believe Breath.

It is described to determine the first of the 4th electronic equipment according to the first position information and first parameter information Predicted position, including:

First predicted position is determined as:Current location+current velocity vector of 4th electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance;

Correspondingly, described determine the 5th electronic equipment according to the second position information and second parameter information The second predicted position, including:

Second predicted position is determined as:Current location+current velocity vector of 5th electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance.

Specifically, by taking the 4th electronic equipment as an example, it, will be described when the 4th electronic device carrier triggers crossing anchor point Uniformly accelrated rectilinear motion or uniformly accelrated rectilinear motion are regarded in the movement of 4th electronic device carrier as, according to described got Current location, current velocity vector and the acceleration of four electronic equipments determine the first predicted position of the 4th electronic equipment.

Step 605:According to first predicted position and second predicted position determine the 4th electronic equipment and The first shortest path between 5th electronic equipment.

Here, after the 4th electronic equipment determines first predicted position and second predicted position, according to pre- If cartographic information, calculate the path between first predicted position and second predicted position, choose therein most short Path is as the first shortest path.

Step 606:First shortest path is sent to the 5th electronic equipment, so that the 4th electronic equipment Carrier and/or the 5th electronic device carrier are moved by first shortest path.

In the present embodiment, first shortest path is sent to the 5th electronic equipment by the 4th electronic equipment, Which specific electronic equipment can be determined by first shortest path movement according to outdoor scene scene;For example, when the 5th electricity When the connection that sub- equipment is established with the 4th electronic equipment is the connection for converging pattern, then the 4th electronic equipment will be described First shortest path is sent to the 5th electronic equipment, so that the 5th electronic device carrier and the 4th electronic equipment Carrier is moved by first shortest path;When the connection that the 5th electronic equipment and the 4th electronic equipment are established be with With the connection of pattern, and when the 5th electronic equipment follows four electronic equipment, then the 4th electronic equipment is by institute It states the first shortest path and is sent to the 5th electronic equipment, so that the 5th electronic device carrier presses first shortest path Diameter moves;If conversely, when the 4th electronic equipment follows five electronic equipment, the 4th electronic equipment will be described First shortest path is sent to the 5th electronic equipment, but the 4th electronic device carrier presses first shortest path Diameter moves.

In the present embodiment, the navigation for mobile target is not only realized, but also by the calculating to predicted position, is kept away When exempting from new path and pushing to electronic equipment, the electronic equipment has had deviated from the new path, anti-so as to cause path It is multiple to calculate the endless loop failed repeatedly again, realize the intelligence of path computing.

Fig. 7 is the flow diagram of the air navigation aid of the embodiment of the present invention seven;The embodiment of the present invention is applied to the 4th electronics In equipment, the 4th electronic equipment can be communicated with the 5th electronic equipment;As shown in fig. 7, the air navigation aid includes:

Step 701:First message is sent, the first message is used to establish and the 5th electronic equipment converges navigation The connection of pattern.

Here, since the method that the present embodiment is recorded is applied in the 4th electronic equipment, then step 501 can also describe For:4th electronic equipment sends first message, and the first message is used to establish and the 5th electronic equipment converges navigation The connection of pattern.

Step 702:After the response message for receiving the 5th electronic equipment, obtain respectively the 4th electronic equipment and The location information of 5th electronic equipment.

In the present embodiment, the mark of the 5th electronic equipment is carried in the response message, the 4th electronics is set The standby location information that the 5th electronic equipment is obtained according to the mark of the 5th electronic equipment;Specifically, the present bit The acquisition set is identical as the acquisition modes of location information in step 502, is not repeating herein.

Here, the location information can be predicted position information;It is described to obtain the 4th electronic equipment and institute respectively The location information of the 5th electronic equipment is stated, including:

Obtain the first position information and the first parameter information of the 4th electronic equipment;The first position information representation The current location of 4th electronic equipment;First parameter information characterizes the kinematic parameter letter of the 4th electronic equipment Breath;

Obtain the second position information and the second parameter information of the 5th electronic equipment;The second position information representation The current location of 5th electronic equipment;Second parameter information characterizes the kinematic parameter letter of the 5th electronic equipment Breath;

The first prediction of the 4th electronic equipment is determined according to the first position information and first parameter information Position;The second prediction bits of the 5th electronic equipment are determined according to the second position information and second parameter information It sets.

Wherein, the moving parameter information includes at least one of following information:Current velocity vector, be averaged curved speed Degree, preceding primary excessively curved velocity vector, the crossing speed that was averaged, a preceding primary mouthful velocity vector of passing by one's way;

It is described to determine the first of the 4th electronic equipment according to the first position information and first parameter information Predicted position, including:

The motion state that the 4th electronic device carrier is determined according to the first parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the first of the 4th electronic equipment is determined according to the moving parameter information of selection Predicted position is:Current location+moving parameter information of 4th electronic equipment ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance;

Correspondingly, described determine the 5th electronic equipment according to the second position information and second parameter information The second predicted position, including:

The motion state that the 5th electronic device carrier is determined according to the second parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the second of the 5th electronic equipment is determined according to the moving parameter information of selection Predicted position is:Current location+moving parameter information of 5th electronic equipment ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance.

Wherein, the moving parameter information includes:Current velocity vector, acceleration;

It is described to determine the first of the 4th electronic equipment according to the first position information and first parameter information Predicted position, including:

First predicted position is determined as:Current location+current velocity vector of 4th electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance;

Correspondingly, described determine the 5th electronic equipment according to the second position information and second parameter information The second predicted position, including:

Second predicted position is determined as:Current location+current velocity vector of 5th electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance.

Step 703:It determines between the 4th electronic equipment and the 5th electronic equipment according to the positional information First shortest path.

Here, the 4th electronic equipment determines described according to first predicted position and second predicted position Path between four electronic equipments and the 5th electronic equipment, selects shortest path therein as the first shortest path.

Step 704:First shortest path is sent to the 5th electronic equipment, so that the 4th electronic equipment Carrier and the 5th electronic device carrier are moved by first shortest path.

Step 705:Determine that the 4th electronic equipment and/or the 5th electronic equipment deviate first shortest path When, reacquire the location information of the 4th electronic equipment and the 5th electronic equipment.

In the present embodiment, the 4th electronic equipment and the 5th electronic equipment establish the connection for converging navigation pattern, It is again right when the 4th electronic equipment and the 5th electronic equipment at least one of which deviate first shortest path Path is calculated;Wherein it is determined that the 4th electronic equipment and/or the 5th electronic equipment deviate first shortest path Diameter can be used such as under type:It would generally be provided with anchor point at the crossing on each road, when the 4th electronic device carrier and/or institute It states when the 5th electronic device carrier moves to crossing and triggers anchor point, the 4th electronic equipment and/or the 5th electronics is made to set Standby to reacquire the current location of itself, the current location of itself is sent to the 4th electronics and set by the 5th electronic equipment It is standby;4th electronic equipment determines that the current location that the current location of itself and/or the 5th electronic equipment are sent does not exist When being preset in first shortest path in the regional extent of anchor point, the 4th electronic equipment and/or the 5th electricity are determined Sub- equipment deviates first shortest path.

Here, the location information be can be predicted position information;The acquisition methods and step of the predicted position information Rapid 702 is identical, is not repeating herein.

Step 706:Redefine according to the positional information the 4th electronic equipment and the 5th electronic equipment it Between the second shortest path.

Here, the determination method of the first shortest path described in the determination method Yu step 703 of second shortest path Identical, details are not described herein again.

Step 707:Second shortest path is sent to the 5th electronic equipment, so that the 4th electronic equipment Carrier and the 5th electronic device carrier are moved by second shortest path.

In the present embodiment, the navigation for mobile target is not only realized, but also by the calculating to predicted position, is kept away When exempting from new path and pushing to electronic equipment, the electronic equipment has had deviated from the new path, anti-so as to cause path It is multiple to calculate the endless loop failed repeatedly again, realize the intelligence of path computing;In addition it increases and converges navigation pattern, make navigation Application scenarios it is more various.

Fig. 8 is the flow diagram of the air navigation aid of the embodiment of the present invention eight;The embodiment of the present invention is applied to the 4th electronics In equipment, the 4th electronic equipment can be communicated with the 5th electronic equipment;In the present embodiment, the 4th electronic equipment It is in the 5th electronic equipment and follows navigation pattern, and the 4th electronic device carrier follows the 5th electronic equipment Carrier;As shown in figure 8, the air navigation aid includes:

Step 801:First message is sent, the first message is used to establish and the 5th electronic equipment follows navigation The connection of pattern.

Here, since the method that the present embodiment is recorded is applied in the 4th electronic equipment, then step 501 can also describe For:4th electronic equipment sends first message, and the first message is used to establish and the 5th electronic equipment follows navigation The connection of pattern.

Step 802:After the response message for receiving the 5th electronic equipment, obtain respectively the 4th electronic equipment and The location information of 5th electronic equipment.

In the present embodiment, the mark of the 5th electronic equipment is carried in the response message, the 4th electronics is set The standby location information that the 5th electronic equipment is obtained according to the mark of the 5th electronic equipment;Specifically, the present bit The acquisition set is identical as the acquisition modes of location information in step 502, is not repeating herein.

Here, the location information can be predicted position information;It is described to obtain the 4th electronic equipment and institute respectively The location information of the 5th electronic equipment is stated, including:

Obtain the first position information and the first parameter information of the 4th electronic equipment;The first position information representation The current location of 4th electronic equipment;First parameter information characterizes the kinematic parameter letter of the 4th electronic equipment Breath;

Obtain the second position information and the second parameter information of the 5th electronic equipment;The second position information representation The current location of 5th electronic equipment;Second parameter information characterizes the kinematic parameter letter of the 5th electronic equipment Breath;

The first prediction of the 4th electronic equipment is determined according to the first position information and first parameter information Position;The second prediction bits of the 5th electronic equipment are determined according to the second position information and second parameter information It sets.

Wherein, the moving parameter information includes at least one of following information:Current velocity vector, be averaged curved speed Degree, preceding primary excessively curved velocity vector, the crossing speed that was averaged, a preceding primary mouthful velocity vector of passing by one's way;

It is described to determine the first of the 4th electronic equipment according to the first position information and first parameter information Predicted position, including:

The motion state that the 4th electronic device carrier is determined according to the first parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the first of the 4th electronic equipment is determined according to the moving parameter information of selection Predicted position is:Current location+moving parameter information of 4th electronic equipment ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance;

Correspondingly, described determine the 5th electronic equipment according to the second position information and second parameter information The second predicted position, including:

The motion state that the 5th electronic device carrier is determined according to the second parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the second of the 5th electronic equipment is determined according to the moving parameter information of selection Predicted position is:Current location+moving parameter information of 5th electronic equipment ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance.

Wherein, the moving parameter information includes:Current velocity vector, acceleration;

It is described to determine the first of the 4th electronic equipment according to the first position information and first parameter information Predicted position, including:

First predicted position is determined as:Current location+current velocity vector of 4th electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance;

Correspondingly, described determine the 5th electronic equipment according to the second position information and second parameter information The second predicted position, including:

Second predicted position is determined as:Current location+current velocity vector of 5th electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance.

Step 803:It determines between the 4th electronic equipment and the 5th electronic equipment according to the positional information First shortest path, so that the 4th electronic device carrier is moved by first shortest path.

Here, the 4th electronic equipment determines described according to first predicted position and second predicted position Path between four electronic equipments and the 5th electronic equipment, selects shortest path therein as the first shortest path.

In the present embodiment, due to being that the 4th electronic equipment follows the 5th electronic equipment, the 4th electricity After sub- equipment determines first shortest path, it may not be necessary to which first shortest path is sent to the 5th electronic equipment.

Step 804:The location information for obtaining the 5th electronic equipment in real time, when the position of the 5th electronic equipment is believed When breath is in arbitrary default anchor point regional extent, the position of the 4th electronic equipment and the 5th electronic equipment is reacquired Information.

Step 805:Redefine according to the positional information the 4th electronic equipment and the 5th electronic equipment it Between third shortest path so that the 4th electronic device carrier by the third shortest path move.

Here, the determination method of the first shortest path described in the determination method Yu step 803 of the third shortest path Identical, details are not described herein again.

In the present embodiment, the navigation for mobile target is not only realized, but also by the calculating to predicted position, is kept away When exempting from new path and pushing to electronic equipment, the electronic equipment has had deviated from the new path, anti-so as to cause path It is multiple to calculate the endless loop failed repeatedly again, realize the intelligence of path computing;In addition it increases and converges navigation pattern, make navigation Application scenarios it is more various.

Fig. 9 is the flow diagram of the air navigation aid of the embodiment of the present invention nine;The embodiment of the present invention is applied to the 4th electronics In equipment, the 4th electronic equipment can be communicated with the 5th electronic equipment;In the present embodiment, the 4th electronic equipment It is in the 5th electronic equipment and follows navigation pattern, and the 5th electronic device carrier follows the 4th electronic equipment Carrier;As shown in figure 9, the air navigation aid includes:

Step 901:First message is sent, the first message is used to establish and the 5th electronic equipment follows navigation The connection of pattern.

Here, since the method that the present embodiment is recorded is applied in the 4th electronic equipment, then step 501 can also describe For:4th electronic equipment sends first message, and the first message is used to establish and the 5th electronic equipment follows navigation The connection of pattern.

Step 902:After the response message for receiving the 5th electronic equipment, obtain respectively the 4th electronic equipment and The location information of 5th electronic equipment.

In the present embodiment, the mark of the 5th electronic equipment is carried in the response message, the 4th electronics is set The standby location information that the 5th electronic equipment is obtained according to the mark of the 5th electronic equipment;Specifically, the present bit The acquisition set is identical as the acquisition modes of location information in step 502, is not repeating herein.

Here, the location information can be predicted position information;It is described to obtain the 4th electronic equipment and institute respectively The location information of the 5th electronic equipment is stated, including:

Obtain the first position information and the first parameter information of the 4th electronic equipment;The first position information representation The current location of 4th electronic equipment;First parameter information characterizes the kinematic parameter letter of the 4th electronic equipment Breath;

Obtain the second position information and the second parameter information of the 5th electronic equipment;The second position information representation The current location of 5th electronic equipment;Second parameter information characterizes the kinematic parameter letter of the 5th electronic equipment Breath;

The first prediction of the 4th electronic equipment is determined according to the first position information and first parameter information Position;The second prediction bits of the 5th electronic equipment are determined according to the second position information and second parameter information It sets.

Wherein, the moving parameter information includes at least one of following information:Current velocity vector, be averaged curved speed Degree, preceding primary excessively curved velocity vector, the crossing speed that was averaged, a preceding primary mouthful velocity vector of passing by one's way;

It is described to determine the first of the 4th electronic equipment according to the first position information and first parameter information Predicted position, including:

The motion state that the 4th electronic device carrier is determined according to the first parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the first of the 4th electronic equipment is determined according to the moving parameter information of selection Predicted position is:Current location+moving parameter information of 4th electronic equipment ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance;

Correspondingly, described determine the 5th electronic equipment according to the second position information and second parameter information The second predicted position, including:

The motion state that the 5th electronic device carrier is determined according to the second parameter information medium velocity vector, according to The motion state chooses moving parameter information, and the second of the 5th electronic equipment is determined according to the moving parameter information of selection Predicted position is:Current location+moving parameter information of 5th electronic equipment ×(Network delay+calculating takes+adds It carries and takes);Wherein, the network delay, calculate take and load take to detect and configuring in advance.

Wherein, the moving parameter information includes:Current velocity vector, acceleration;

It is described to determine the first of the 4th electronic equipment according to the first position information and first parameter information Predicted position, including:

First predicted position is determined as:Current location+current velocity vector of 4th electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance;

Correspondingly, described determine the 5th electronic equipment according to the second position information and second parameter information The second predicted position, including:

Second predicted position is determined as:Current location+current velocity vector of 5th electronic equipment ×(Network Delay+calculating takes+loads and takes)+ 0.5 × acceleration ×(Network delay+calculating takes+loads and takes)2;Wherein, described Network delay, calculating take and load takes to detect and configuring in advance.

Step 903:It determines between the 4th electronic equipment and the 5th electronic equipment according to the positional information First shortest path.

Here, the 4th electronic equipment determines described according to first predicted position and second predicted position Path between four electronic equipments and the 5th electronic equipment, selects shortest path therein as the first shortest path.

Step 904:First shortest path is sent to the 5th electronic equipment, so that the 5th electronic equipment Carrier is moved by first shortest path.

Step 905:The location information for obtaining the 4th electronic equipment in real time, when the position of the 4th electronic equipment is believed When breath is in arbitrary default anchor point regional extent, the position of the 4th electronic equipment and the 5th electronic equipment is reacquired Information.

Step 906:Redefine according to the positional information the 4th electronic equipment and the 5th electronic equipment it Between the 4th shortest path.

Here, the determination method of the first shortest path described in the determination method Yu step 903 of the 4th shortest path Identical, details are not described herein again.

Step 907:4th shortest path is sent to the 5th electronic equipment, so that the 4th electronic equipment Carrier is moved by the 4th shortest path.

In the present embodiment, the navigation for mobile target is not only realized, but also by the calculating to predicted position, is kept away When exempting from new path and pushing to electronic equipment, the electronic equipment has had deviated from the new path, anti-so as to cause path It is multiple to calculate the endless loop failed repeatedly again, realize the intelligence of path computing;In addition it increases and converges navigation pattern, make navigation Application scenarios it is more various.

The embodiment of the present invention describes a kind of first electronic equipment, and first electronic equipment can be server;It is described First electronic equipment can be communicated with the second electronic equipment;First electronic equipment can be carried out with third electronic equipment Communication;Figure 10 is the composed structure schematic diagram of the first electronic equipment one of the embodiment of the present invention;As shown in Figure 10, first electricity Sub- equipment includes:Connection establishment unit 1001, information acquisition unit 1002, coordinates measurement unit 1003 and transmission unit 1004; Wherein,

The connection establishment unit 1001 is established for receiving first message and second message according to the first message With the connection of second electronic equipment;The connection with the third electronic equipment is established according to the second message;

Described information acquiring unit 1002, for respectively according to the connection establishment unit 1001 receive first message and Second message obtains the location information of second electronic equipment and the third electronic equipment, and the location information is sent to Coordinates measurement unit 1003;

The coordinates measurement unit 1003, the location information for being sent according to described information acquiring unit 1002 determine institute State the first shortest path between the second electronic equipment and the third electronic equipment;

The transmission unit 1004, the first shortest path for determining the coordinates measurement unit 1003 are sent to institute The second electronic equipment and the third electronic equipment are stated, so that second electronic device carrier and/or the third electronics are set Standby carrier is moved by first shortest path.

It will be appreciated by those skilled in the art that in the electronic equipment of the embodiment of the present invention each processing unit function, can join Understand, each processing unit in the electronic equipment of the embodiment of the present invention according to the associated description of aforementioned buddy method, realization can be passed through The analog circuit of function described in the embodiment of the present invention and realize, the function of executing described in the embodiment of the present invention can also be passed through Operation of the software on intelligent terminal and realize.

The embodiment of the present invention also describes a kind of first electronic equipment, and first electronic equipment can be server;Institute Stating the first electronic equipment can be communicated with the second electronic equipment;First electronic equipment can with third electronic equipment into Row communication;As shown in Figure 10, first electronic equipment includes:Connection establishment unit 1001, information acquisition unit 1002, path Generation unit 1003 and transmission unit 1004;Wherein,

The connection establishment unit 1001 is established for receiving first message and second message according to the first message With the connection of second electronic equipment;The connection with the third electronic equipment is established according to the second message;

Described information acquiring unit 1002, the first message for being received according to the connection establishment unit 1001 obtain institute State the first position information and the first parameter information of the second electronic equipment;The second electronics is set described in the first position information representation Standby current location;First parameter information characterizes the moving parameter information of second electronic equipment;According to the connection The second message for establishing the reception of unit 1001 obtains the second position information and the second parameter information of the third electronic equipment;Institute State the current location of third electronic equipment described in the information representation of the second position;Second parameter information characterizes the third electronics The moving parameter information of equipment;It is additionally operable to determine second electricity according to the first position information and first parameter information First predicted position of sub- equipment;Determine that the third electronics is set according to the second position information and second parameter information The second standby predicted position;First predicted position and second predicted position are sent to coordinates measurement unit;

The coordinates measurement unit 1003, the first predicted position for being sent according to described information acquiring unit 1002 with Second predicted position determines the first shortest path between second electronic equipment and the third electronic equipment;

The transmission unit 1004, the first shortest path for determining the coordinates measurement unit 1003 are sent to institute The second electronic equipment and the third electronic equipment are stated, so that second electronic device carrier and/or the third electronics are set Standby carrier is moved by first shortest path.

It will be appreciated by those skilled in the art that in the electronic equipment of the embodiment of the present invention each processing unit function, can join Understand, each processing unit in the electronic equipment of the embodiment of the present invention according to the associated description of aforementioned buddy method, realization can be passed through The analog circuit of function described in the embodiment of the present invention and realize, the function of executing described in the embodiment of the present invention can also be passed through Operation of the software on intelligent terminal and realize.

The embodiment of the present invention also describes a kind of first electronic equipment, and first electronic equipment can be server;Institute Stating the first electronic equipment can be communicated with the second electronic equipment;First electronic equipment can with third electronic equipment into Row communication;Figure 11 is the composed structure schematic diagram of the first electronic equipment two of the embodiment of the present invention;As shown in figure 11, described first Electronic equipment includes:Connection establishment unit 1001, information acquisition unit 1002, coordinates measurement unit 1003, transmission unit 1004 With determination unit 1005;Wherein,

The connection establishment unit 1001 is established for receiving first message and second message according to the first message With the connection for converging navigation pattern of second electronic equipment;It is established and the third electronic equipment according to the second message The connection for converging navigation pattern;

Described information acquiring unit 1002, for respectively according to the connection establishment unit 1001 receive first message and Second message obtains the first position information of second electronic equipment and the third electronic equipment, and the first position is believed Breath is sent to coordinates measurement unit 1003;When being additionally operable to receive the acquisition of information instruction of the transmission of the determination unit 1005, weight The second position information for newly obtaining second electronic equipment and the third electronic equipment sends the second position information To the coordinates measurement unit 1003;

The coordinates measurement unit 1003, the first position information for being sent according to described information acquiring unit 1002 are true Fixed the first shortest path between second electronic equipment and the third electronic equipment;It is additionally operable to be obtained according to described information The second position information that unit 1002 is sent redefines the between second electronic equipment and the third electronic equipment Two shortest paths;

The transmission unit 1004, the first shortest path for determining the coordinates measurement unit 1003 are sent to institute The second electronic equipment and the third electronic equipment are stated, so that second electronic device carrier and/or the third electronics are set Standby carrier is moved by first shortest path;It is additionally operable to the second shortest path for determining the coordinates measurement unit 1003 hair It send to second electronic equipment and the third electronic equipment, so that second electronic device carrier and the third electronics Apparatus carriers are moved by second shortest path;

The determination unit 1005, for determining that second electronic equipment and/or the third electronic equipment deviate institute When stating the first shortest path, acquisition of information instruction is sent to described information acquiring unit 1002.

It will be appreciated by those skilled in the art that in the electronic equipment of the embodiment of the present invention each processing unit function, can join Understand, each processing unit in the electronic equipment of the embodiment of the present invention according to the associated description of aforementioned buddy method, realization can be passed through The analog circuit of function described in the embodiment of the present invention and realize, the function of executing described in the embodiment of the present invention can also be passed through Operation of the software on intelligent terminal and realize.

The embodiment of the present invention also describes a kind of first electronic equipment, and first electronic equipment can be server;Institute Stating the first electronic equipment can be communicated with the second electronic equipment;First electronic equipment can with third electronic equipment into Row communication;As shown in figure 11, first electronic equipment includes:Connection establishment unit 1001, information acquisition unit 1002, path Generation unit 1003, transmission unit 1004 and determination unit 1005;Wherein,

The connection establishment unit 1001 is established for receiving first message and second message according to the first message With the connection for following navigation pattern of second electronic equipment;It is established and the third electronic equipment according to the second message The connection for following navigation pattern;

Described information acquiring unit 1002, for respectively according to the connection establishment unit 1001 receive first message and Second message obtains the first position information of second electronic equipment and the third electronic equipment, and the first position is believed Breath is sent to coordinates measurement unit 1003;It is additionally operable to obtain the location information of the third electronic equipment in real time, by the third The location information of electronic equipment is sent to the determination unit 1005;It is additionally operable to receive the letter of the transmission of the determination unit 1005 When ceasing acquisition instruction, the second position information of second electronic equipment and the third electronic equipment is reacquired, it will be described Second position information is sent to the coordinates measurement unit 1003;

The coordinates measurement unit 1003, the first position information for being sent according to described information acquiring unit 1002 are true Fixed the first shortest path between second electronic equipment and the third electronic equipment;It is additionally operable to be obtained according to described information The second position information that unit 1002 is sent redefines the between second electronic equipment and the third electronic equipment Three shortest paths;

The transmission unit 1004, the first shortest path for determining the coordinates measurement unit 1003 are sent to institute The second electronic equipment is stated, so that second electronic device carrier is moved by first shortest path;It is additionally operable to the road The third shortest path that diameter generation unit 1003 determines is sent to second electronic equipment, so that second electronic equipment carries Body is moved by the third shortest path;

The determination unit 1005, the third electronic equipment sent for determining described information acquiring unit 1002 When location information is in arbitrary default anchor point regional extent, acquisition of information instruction is sent to described information acquiring unit.

It will be appreciated by those skilled in the art that in the electronic equipment of the embodiment of the present invention each processing unit function, can join Understand, each processing unit in the electronic equipment of the embodiment of the present invention according to the associated description of aforementioned buddy method, realization can be passed through The analog circuit of function described in the embodiment of the present invention and realize, the function of executing described in the embodiment of the present invention can also be passed through Operation of the software on intelligent terminal and realize.

Wherein, the coordinates measurement unit 1003 and determination unit 1005 in practical applications, can be by electronic equipments Central processing unit(CPU, Central Processing Unit), digital signal processor(DSP, Digital Signal Processor)Or programmable logic array(FPGA, Field-Programmable Gate Array)It realizes;The connection Establish unit 1001, information acquisition unit 1002 and transmission unit 1004 in practical applications, it can be by transceiver or dual-mode antenna It realizes.

The embodiment of the present invention also describes a kind of 4th electronic equipment, and the 4th electronic equipment can be mobile phone, tablet Computer etc. carries the intelligent terminal of navigation system;4th electronic equipment can be communicated with the 5th electronic equipment;Figure 12 For the composed structure schematic diagram of the 4th electronic equipment one of the embodiment of the present invention;As shown in figure 12, the 4th electronic equipment packet It includes:Connection establishment unit 1201, information acquisition unit 1202, coordinates measurement unit 1203 and transmission unit 1204;Wherein,

The connection establishment unit 1201, for sending first message, the first message is for establishing and the described 5th The connection of electronic equipment;After receiving the response message of the 5th electronic equipment, confirm that connection is established;

Described information acquiring unit 1202 obtains respectively after confirming that connection is established for the connection establishment unit 1201 The location information is sent to coordinates measurement unit by the location information of the 4th electronic equipment and the 5th electronic equipment 1203;

The coordinates measurement unit 1203, the location information for being sent according to described information acquiring unit 1202 determine institute State the first shortest path between the 4th electronic equipment and the 5th electronic equipment;

The transmission unit 1204, the first shortest path for determining the coordinates measurement unit are sent to described Five electronic equipments, so that the 4th electronic device carrier and/or the 5th electronic device carrier press first shortest path Diameter moves.

It will be appreciated by those skilled in the art that in the electronic equipment of the embodiment of the present invention each processing unit function, can join Understand, each processing unit in the electronic equipment of the embodiment of the present invention according to the associated description of aforementioned buddy method, realization can be passed through The analog circuit of function described in the embodiment of the present invention and realize, the function of executing described in the embodiment of the present invention can also be passed through Operation of the software on intelligent terminal and realize.

The embodiment of the present invention also describes a kind of 4th electronic equipment, and the 4th electronic equipment can be mobile phone, tablet Computer etc. carries the intelligent terminal of navigation system;4th electronic equipment can be communicated with the 5th electronic equipment;Such as figure Shown in 12, the 4th electronic equipment includes:Connection establishment unit 1201, information acquisition unit 1202, coordinates measurement unit 1203 and transmission unit 1204;Wherein,

The connection establishment unit 1201, for sending first message, the first message is for establishing and the described 5th The connection of electronic equipment;After receiving the response message of the 5th electronic equipment, confirm that connection is established;

Described information acquiring unit 1202, after confirming that connection is established for the connection establishment unit 1201, described in acquisition The first position information and the first parameter information of 4th electronic equipment;4th electronic equipment described in the first position information representation Current location;First parameter information characterizes the moving parameter information of the 4th electronic equipment;Obtain the 5th electricity The second position information and the second parameter information of sub- equipment;The 5th electronic equipment is current described in the second position information representation Position;Second parameter information characterizes the moving parameter information of the 5th electronic equipment;According to the first position information And first parameter information determines the first predicted position of the 4th electronic equipment;According to the second position information and institute State the second predicted position that the second parameter information determines the 5th electronic equipment;First predicted position and second are predicted Position is sent to coordinates measurement unit 1203;

The coordinates measurement unit 1203, the first predicted position for being sent according to described information acquiring unit 1202 with Second predicted position determines the first shortest path between the 4th electronic equipment and the 5th electronic equipment;

The transmission unit 1204, the first shortest path for determining the coordinates measurement unit 1203 are sent to institute The 5th electronic equipment is stated, so that the 4th electronic device carrier and/or the 5th electronic device carrier press described first most Short path moves.

It will be appreciated by those skilled in the art that in the electronic equipment of the embodiment of the present invention each processing unit function, can join Understand, each processing unit in the electronic equipment of the embodiment of the present invention according to the associated description of aforementioned buddy method, realization can be passed through The analog circuit of function described in the embodiment of the present invention and realize, the function of executing described in the embodiment of the present invention can also be passed through Operation of the software on intelligent terminal and realize.

The embodiment of the present invention also describes a kind of 4th electronic equipment, and the 4th electronic equipment can be mobile phone, tablet Computer etc. carries the intelligent terminal of navigation system;4th electronic equipment can be communicated with the 5th electronic equipment;Figure 13 For the composed structure schematic diagram of the 4th electronic equipment two of the embodiment of the present invention;As shown in figure 13, the 4th electronic equipment packet It includes:Connection establishment unit 1201, information acquisition unit 1202, coordinates measurement unit 1203, transmission unit 1204 and determination unit 1205;Wherein,

The connection establishment unit 1201, for sending first message, the first message is for establishing and the described 5th The connection for converging navigation pattern of electronic equipment;After receiving the response message of the 5th electronic equipment, confirm that connection is built It is vertical;

Described information acquiring unit 1202 obtains respectively after confirming that connection is established for the connection establishment unit 1201 The first position information is sent to path by the first position information of the 4th electronic equipment and the 5th electronic equipment Generation unit 1203;When being additionally operable to receive the acquisition of information instruction of the transmission of the determination unit 1205, described the is reacquired The second position information is sent to the path and given birth to by the second position information of four electronic equipments and the 5th electronic equipment At unit 1203;

The coordinates measurement unit 1203, the first position information for being sent according to described information acquiring unit 1202 are true Fixed the first shortest path between 4th electronic equipment and the 5th electronic equipment;It is additionally operable to be obtained according to described information The second position information that unit 1202 is sent redefines the between the 4th electronic equipment and the 5th electronic equipment Two shortest paths;

The transmission unit 1204, the first shortest path for determining the coordinates measurement unit 1203 are sent to institute The 5th electronic equipment is stated, so that the 4th electronic device carrier and/or the 5th electronic device carrier press described first most Short path moves;It is additionally operable to the second shortest path that the coordinates measurement unit 1203 determines being sent to the 5th electronics and set It is standby, so that the 4th electronic device carrier and the 5th electronic device carrier are moved by second shortest path;

The determination unit 1205, for determining that the 4th electronic equipment and/or the 5th electronic equipment deviate described the When one shortest path, acquisition of information instruction is sent to described information acquiring unit.

It will be appreciated by those skilled in the art that in the electronic equipment of the embodiment of the present invention each processing unit function, can join Understand, each processing unit in the electronic equipment of the embodiment of the present invention according to the associated description of aforementioned buddy method, realization can be passed through The analog circuit of function described in the embodiment of the present invention and realize, the function of executing described in the embodiment of the present invention can also be passed through Operation of the software on intelligent terminal and realize.

The embodiment of the present invention also describes a kind of 4th electronic equipment, and the 4th electronic equipment can be mobile phone, tablet Computer etc. carries the intelligent terminal of navigation system;4th electronic equipment can be communicated with the 5th electronic equipment;It is described 4th electronic equipment and the 5th electronic equipment are in the navigation pattern that follows, and the 4th electronic device carrier follow it is described 5th electronic device carrier;As shown in figure 13, the 4th electronic equipment includes:Connection establishment unit 1201, acquisition of information list Member 1202, coordinates measurement unit 1203, transmission unit 1204 and determination unit 1205;Wherein,

The connection establishment unit 1201, for sending first message, the first message is for establishing and the described 5th The connection for following navigation pattern of electronic equipment;After receiving the response message of the 5th electronic equipment, confirm that connection is built It is vertical;

Described information acquiring unit 1202 obtains respectively after confirming that connection is established for the connection establishment unit 1201 The first position information is sent to path by the first position information of the 4th electronic equipment and the 5th electronic equipment Generation unit 1203;It is additionally operable to obtain the location information of the 5th electronic equipment in real time, by the position of the 5th electronic equipment Confidence breath is sent to the determination unit 1205;It is additionally operable to receive the acquisition of information instruction of the transmission of the determination unit 1205 When, the second position information of the 4th electronic equipment and the 5th electronic equipment is reacquired, by the second confidence Breath is sent to the coordinates measurement unit 1203;

The coordinates measurement unit 1203, the first position information for being sent according to described information acquiring unit 1202 are true Fixed the first shortest path between 4th electronic equipment and the 5th electronic equipment, so that the 4th electronic equipment carries Body is moved by first shortest path;It is additionally operable to the second position information sent according to described information acquiring unit 1202 again The third shortest path between the 4th electronic equipment and the 5th electronic equipment is determined, so that the 4th electronic equipment Carrier is moved by the third shortest path;

The determination unit 1205, the position of the 5th electronic equipment for determining the transmission of described information acquiring unit 1202 When information is in arbitrary default anchor point regional extent, acquisition of information instruction is sent to described information acquiring unit 1202.

It will be appreciated by those skilled in the art that in the electronic equipment of the embodiment of the present invention each processing unit function, can join Understand, each processing unit in the electronic equipment of the embodiment of the present invention according to the associated description of aforementioned buddy method, realization can be passed through The analog circuit of function described in the embodiment of the present invention and realize, the function of executing described in the embodiment of the present invention can also be passed through Operation of the software on intelligent terminal and realize.

The embodiment of the present invention also describes a kind of 4th electronic equipment, and the 4th electronic equipment can be mobile phone, tablet Computer etc. carries the intelligent terminal of navigation system;4th electronic equipment can be communicated with the 5th electronic equipment;It is described 4th electronic equipment and the 5th electronic equipment are in the navigation pattern that follows, and the 5th electronic device carrier follow it is described 4th electronic device carrier;As shown in figure 13, the 4th electronic equipment includes:Connection establishment unit 1201, acquisition of information list Member 1202, coordinates measurement unit 1203, transmission unit 1204 and determination unit 1205;Wherein,

The connection establishment unit 1201, for sending first message, the first message is for establishing and the described 5th The connection for following navigation pattern of electronic equipment;After receiving the response message of the 5th electronic equipment, confirm that connection is built It is vertical;

Described information acquiring unit 1202 obtains respectively after confirming that connection is established for the connection establishment unit 1201 The first position information is sent to path by the first position information of the 4th electronic equipment and the 5th electronic equipment Generation unit 1203;It is additionally operable to obtain the location information of the 4th electronic equipment in real time, by the position of the 4th electronic equipment Confidence breath is sent to the determination unit 1205;It is additionally operable to receive the acquisition of information instruction of the transmission of the determination unit 1205 When, the second position information of the 4th electronic equipment and the 5th electronic equipment is reacquired, by the second confidence Breath is sent to the coordinates measurement unit 1203;

The coordinates measurement unit 1203, the first position information for being sent according to described information acquiring unit 1202 are true Fixed the first shortest path between 4th electronic equipment and the 5th electronic equipment;It is additionally operable to be obtained according to described information The second position information that unit 1202 is sent redefines the between the 4th electronic equipment and the 5th electronic equipment Four shortest paths;

The transmission unit 1204, the first shortest path for determining the coordinates measurement unit 1203 are sent to institute The 5th electronic equipment is stated, so that the 5th electronic device carrier is moved by first shortest path;It is additionally operable to the road The 4th shortest path that diameter generation unit 1203 determines is sent to the 5th electronic equipment, so that the 5th electronic equipment carries Body is moved by the 4th shortest path;

The determination unit 1205, the position of the 4th electronic equipment for determining the transmission of described information acquiring unit 1202 When information is in arbitrary default anchor point regional extent, acquisition of information instruction is sent to described information acquiring unit 1202.

It will be appreciated by those skilled in the art that in the electronic equipment of the embodiment of the present invention each processing unit function, can join Understand, each processing unit in the electronic equipment of the embodiment of the present invention according to the associated description of aforementioned buddy method, realization can be passed through The analog circuit of function described in the embodiment of the present invention and realize, the function of executing described in the embodiment of the present invention can also be passed through Operation of the software on intelligent terminal and realize.

Wherein, the coordinates measurement unit 1203 and determination unit 1205 in practical applications, can be by electronic equipments Central processing unit(CPU, Central Processing Unit), digital signal processor(DSP, Digital Signal Processor)Or programmable logic array(FPGA, Field-Programmable Gate Array)It realizes;The connection Establish unit 1201, information acquisition unit 1202 and transmission unit 1204 in practical applications, it can be by transceiver or dual-mode antenna It realizes.

In several embodiments provided by the present invention, it should be understood that disclosed method and electronic equipment, Ke Yitong Other modes are crossed to realize.Apparatus embodiments described above are merely indicative, for example, the division of the unit, only Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as:Multiple units or component can be tied It closes, or is desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed each group At the mutual coupling in part or direct-coupling or communication connection can be by some interfaces, equipment or unit it is indirect Coupling or communication connection, can be electrical, mechanical or other forms.

The above-mentioned unit illustrated as separating component can be or may not be and be physically separated, aobvious as unit The component shown can be or may not be physical unit, you can be located at a place, may be distributed over multiple network lists In member;Some or all of wherein unit can be selected according to the actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in various embodiments of the present invention can be fully integrated into a processing unit, also may be used It, can also be during two or more units be integrated in one unit to be each unit individually as a unit;It is above-mentioned The form that hardware had both may be used in integrated unit is realized, can also be realized in the form of hardware adds SFU software functional unit.

One of ordinary skill in the art will appreciate that:Realize that all or part of step of above method embodiment can pass through The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer read/write memory medium, the program When being executed, step including the steps of the foregoing method embodiments is executed;And storage medium above-mentioned includes:It is movable storage device, read-only Memory(ROM, Read-Only Memory), random access memory(RAM, Random Access Memory), magnetic disc or The various media that can store program code such as person's CD.

If alternatively, the above-mentioned integrated unit of the embodiment of the present invention is realized in the form of software function module and as independence Product sale or in use, can also be stored in a computer read/write memory medium.Based on this understanding, this hair Substantially the part that contributes to existing technology can body in the form of software products in other words for the technical solution of bright embodiment Reveal and, which is stored in a storage medium, including some instructions are with so that a computer is set It is standby(Can be personal computer, server or network equipment etc.)Execute the whole of each embodiment the method for the present invention Or part.And storage medium above-mentioned includes:Movable storage device, read-only memory(ROM, Read-Only Memory), with Machine accesses memory(RAM, Random Access Memory), various Jie that can store program code such as magnetic disc or CD Matter.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.

Claims (37)

1. a kind of air navigation aid, be applied in the first electronic equipment, first electronic equipment can with the second electronic equipment into Row communication;First electronic equipment can be communicated with third electronic equipment;It is characterized in that, the method includes:
First message and second message are received, the connection with second electronic equipment is established according to the first message;According to The second message establishes the connection with the third electronic equipment;
The position of second electronic equipment and the third electronic equipment is obtained according to the first message and second message respectively Confidence ceases, and determines the first shortest path between second electronic equipment and the third electronic equipment according to the positional information First shortest path is sent to second electronic equipment and/or the third electronic equipment, so that the second electronics by diameter Apparatus carriers and/or third electronic device carrier are moved by first shortest path;
Wherein, the location information is predicted position information;It is described to obtain second electronic equipment and third electricity respectively The location information of sub- equipment, including:
Obtain the first position information and the first parameter information of second electronic equipment;Described in the first position information representation The current location of second electronic equipment;First parameter information characterizes the moving parameter information of second electronic equipment;
Obtain the second position information and the second parameter information of the third electronic equipment;Described in the second position information representation The current location of third electronic equipment;Second parameter information characterizes the moving parameter information of the third electronic equipment;
The first predicted position of second electronic equipment is determined according to the first position information and first parameter information; The second predicted position of the third electronic equipment is determined according to the second position information and second parameter information;
Wherein, the moving parameter information includes at least one of following information:It is current velocity vector, the curved speed that was averaged, preceding Primary excessively curved velocity vector, the crossing speed that was averaged, a preceding primary mouthful velocity vector of passing by one's way;The predicted position is determined as:According to The velocity vector determines the motion state of electronic device carrier, kinematic parameter is chosen according to the motion state, according to described Kinematic parameter combination network delay calculates the time-consuming determining predicted position of time-consuming and load;The network delay calculates time-consuming and adds Load takes to detect and configure in advance.
2. according to the method described in claim 1, it is characterized in that, it is described according to the first position information and it is described first ginseng Number information determines the first predicted position of second electronic equipment, including:
The motion state that second electronic device carrier is determined according to the first parameter information medium velocity vector, according to described Motion state chooses moving parameter information, and the first prediction of second electronic equipment is determined according to the moving parameter information of selection Position is:The current location of the second electronic equipment+moving parameter information × (network delay+calculating takes+load consumption When);Wherein, the network delay, calculate take and load take to detect and configuring in advance;
Correspondingly, described determine the of the third electronic equipment according to the second position information and second parameter information Two predicted positions, including:
The motion state that the third electronic device carrier is determined according to the second parameter information medium velocity vector, according to described Motion state chooses moving parameter information, and the second prediction of the third electronic equipment is determined according to the moving parameter information of selection Position is:The current location of the third electronic equipment+moving parameter information × (network delay+calculating takes+load consumption When);Wherein, the network delay, calculate take and load take to detect and configuring in advance.
3. according to the method described in claim 1, it is characterized in that, described determine second electronics according to the positional information The first shortest path between equipment and the third electronic equipment, including:
Institute is determined according to the second predicted position of the first predicted position of second electronic equipment and the third electronic equipment State the first shortest path between the second electronic equipment and the third electronic equipment.
4. according to the method described in claim 1, it is characterized in that, described establish and second electricity according to the first message The connection of sub- equipment is to converge the connection of navigation pattern;It is described to be established and the third electronic equipment according to the second message When being connected as converging the connection of navigation pattern, the method further includes:
When determining that second electronic equipment and/or the third electronic equipment deviate first shortest path, reacquire The location information of second electronic equipment and the third electronic equipment, redefines described second according to the positional information Second shortest path is re-transmitted to described by the second shortest path between electronic equipment and the third electronic equipment Second electronic equipment and the third electronic equipment.
5. according to the method described in claim 1, it is characterized in that, described establish and second electricity according to the first message The connection of sub- equipment is to follow the connection of navigation pattern;It is described to be established and the third electronic equipment according to the second message It is connected as following the connection of navigation pattern, and when second electronic equipment follows the third electronic equipment, the method is also Including:
The location information for obtaining the third electronic equipment in real time, when the location information of the third electronic equipment is arbitrarily default When in anchor point regional extent, the location information of second electronic equipment and the third electronic equipment is reacquired, according to institute It states location information and redefines third shortest path between second electronic equipment and the third electronic equipment, it will be described Third shortest path is sent to second electronic equipment.
6. a kind of air navigation aid, be applied in the first electronic equipment, first electronic equipment can with the second electronic equipment into Row communication;First electronic equipment can be communicated with third electronic equipment;It is characterized in that, the method includes:
First message and second message are received, the connection with second electronic equipment is established according to the first message;According to The second message establishes the connection with the third electronic equipment;
The position of second electronic equipment and the third electronic equipment is obtained according to the first message and second message respectively Confidence ceases, and determines the first shortest path between second electronic equipment and the third electronic equipment according to the positional information First shortest path is sent to second electronic equipment and/or the third electronic equipment, so that the second electronics by diameter Apparatus carriers and/or third electronic device carrier are moved by first shortest path;
Wherein, the location information is predicted position information;It is described to obtain second electronic equipment and third electricity respectively The location information of sub- equipment, including:
Obtain the first position information and the first parameter information of second electronic equipment;Described in the first position information representation The current location of second electronic equipment;First parameter information characterizes the moving parameter information of second electronic equipment;
Obtain the second position information and the second parameter information of the third electronic equipment;Described in the second position information representation The current location of third electronic equipment;Second parameter information characterizes the moving parameter information of the third electronic equipment;
The first predicted position of second electronic equipment is determined according to the first position information and first parameter information; The second predicted position of the third electronic equipment is determined according to the second position information and second parameter information;
Wherein, the moving parameter information includes:Current velocity vector, acceleration;
The predicted position is determined as:Current location+current velocity vector × (network delay+calculating takes+load and take)+ 0.5 × acceleration × (network delay+calculating takes+load and take) 2;Wherein, the network delay, calculating take and load consumption When to detect and configure in advance.
7. according to the method described in claim 6, it is characterized in that,
First prediction that second electronic equipment is determined according to the first position information and first parameter information Position, including:
First predicted position is determined as:Current location+current velocity vector × (network delay of second electronic equipment + calculating takes+load takes)+0.5 × acceleration × (network delay+calculating takes+load and take)2;Wherein, the network Delay, calculating take and load takes to detect and configuring in advance;
Correspondingly, described determine the of the third electronic equipment according to the second position information and second parameter information Two predicted positions, including:
Second predicted position is determined as:Current location+current velocity vector × (network delay of the third electronic equipment + calculating takes+load takes)+0.5 × acceleration × (network delay+calculating takes+load and take)2;Wherein, the network Delay, calculating take and load takes to detect and configuring in advance.
8. according to the method described in claim 6, it is characterized in that, described determine second electronics according to the positional information The first shortest path between equipment and the third electronic equipment, including:
Institute is determined according to the second predicted position of the first predicted position of second electronic equipment and the third electronic equipment State the first shortest path between the second electronic equipment and the third electronic equipment.
9. according to the method described in claim 6, it is characterized in that, described establish and second electricity according to the first message The connection of sub- equipment is to converge the connection of navigation pattern;It is described to be established and the third electronic equipment according to the second message When being connected as converging the connection of navigation pattern, the method further includes:
When determining that second electronic equipment and/or the third electronic equipment deviate first shortest path, reacquire The location information of second electronic equipment and the third electronic equipment, redefines described second according to the positional information Second shortest path is re-transmitted to described by the second shortest path between electronic equipment and the third electronic equipment Second electronic equipment and the third electronic equipment.
10. according to the method described in claim 6, it is characterized in that, described establish and described second according to the first message The connection of electronic equipment is to follow the connection of navigation pattern;It is described to be established and the third electronic equipment according to the second message Connection be to follow the connection of navigation pattern, and when second electronic equipment follows the third electronic equipment, the method Further include:
The location information for obtaining the third electronic equipment in real time, when the location information of the third electronic equipment is arbitrarily default When in anchor point regional extent, the location information of second electronic equipment and the third electronic equipment is reacquired, according to institute It states location information and redefines third shortest path between second electronic equipment and the third electronic equipment, it will be described Third shortest path is sent to second electronic equipment.
11. a kind of air navigation aid, using in the 4th electronic equipment, the 4th electronic equipment can with the 5th electronic equipment into Row communication;It is characterized in that, the method includes:
First message is sent, the first message is for establishing and the connection of the 5th electronic equipment;
After the response message for receiving the 5th electronic equipment, the 4th electronic equipment and the 5th electronics are obtained respectively The location information of equipment determines the between the 4th electronic equipment and the 5th electronic equipment according to the positional information First shortest path is sent to the 5th electronic equipment by one shortest path so that the 4th electronic device carrier and/or 5th electronic device carrier is moved by first shortest path;
Wherein, the response message includes the identification information of the 5th electronic equipment, and the 4th electronic equipment is based on institute The identification information for stating the 5th electronic equipment obtains the location information of the 5th electronic equipment;
Wherein, the location information is predicted position information;It is described to obtain the 4th electronic equipment and the 5th electricity respectively The location information of sub- equipment, including:
Obtain the first position information and the first parameter information of the 4th electronic equipment;Described in the first position information representation The current location of 4th electronic equipment;First parameter information characterizes the moving parameter information of the 4th electronic equipment;
Obtain the second position information and the second parameter information of the 5th electronic equipment;Described in the second position information representation The current location of 5th electronic equipment;Second parameter information characterizes the moving parameter information of the 5th electronic equipment;
The first predicted position of the 4th electronic equipment is determined according to the first position information and first parameter information; The second predicted position of the 5th electronic equipment is determined according to the second position information and second parameter information;
Wherein, the moving parameter information includes at least one of following information:It is current velocity vector, the curved speed that was averaged, preceding Primary excessively curved velocity vector, the crossing speed that was averaged, a preceding primary mouthful velocity vector of passing by one's way;The predicted position is determined as:According to The velocity vector determines the motion state of electronic device carrier, kinematic parameter is chosen according to the motion state, according to described Kinematic parameter combination network delay calculates the time-consuming determining predicted position of time-consuming and load;The network delay calculates time-consuming and adds Load takes to detect and configure in advance.
12. according to the method for claim 11, which is characterized in that described according to the first position information and described first Parameter information determines the first predicted position of the 4th electronic equipment, including:
The motion state that the 4th electronic device carrier is determined according to the first parameter information medium velocity vector, according to described Motion state chooses moving parameter information, and the first prediction of the 4th electronic equipment is determined according to the moving parameter information of selection Position is:Current location+moving parameter information of 4th electronic equipment × (network delay+calculating takes+load consumption When);Wherein, the network delay, calculate take and load take to detect and configuring in advance;
Correspondingly, described determine the of the 5th electronic equipment according to the second position information and second parameter information Two predicted positions, including:
The motion state that the 5th electronic device carrier is determined according to the second parameter information medium velocity vector, according to described Motion state chooses moving parameter information, and the second prediction of the 5th electronic equipment is determined according to the moving parameter information of selection Position is:Current location+moving parameter information of 5th electronic equipment × (network delay+calculating takes+load consumption When);Wherein, the network delay, calculate take and load take to detect and configuring in advance.
13. according to the method for claim 11, which is characterized in that described to determine the 4th electricity according to the positional information The first shortest path between sub- equipment and the 5th electronic equipment, including:
Institute is determined according to the second predicted position of the first predicted position of the 4th electronic equipment and the 5th electronic equipment State the first shortest path between the 4th electronic equipment and the 5th electronic equipment.
14. according to the method for claim 11, which is characterized in that the first message is for establishing and the 5th electronics When the connection for converging navigation pattern of equipment, the method further includes:
When determining that the 4th electronic equipment and/or the 5th electronic equipment deviate first shortest path, reacquire The location information of 4th electronic equipment and the 5th electronic equipment, redefines the described 4th according to the positional information Second shortest path is sent to the described 5th by the second shortest path between electronic equipment and the 5th electronic equipment Electronic equipment.
15. according to the method for claim 11, which is characterized in that the first message is for establishing and the 5th electronics The connection for following navigation pattern of equipment, and when the 4th electronic equipment follows five electronic equipment, the method is also Including:
The location information for obtaining the 5th electronic equipment in real time, when the location information of the 5th electronic equipment is arbitrarily default When in anchor point regional extent, the location information of the 4th electronic equipment and the 5th electronic equipment is reacquired, according to institute It states location information and redefines third shortest path between the 4th electronic equipment and the 5th electronic equipment.
16. according to the method for claim 11, which is characterized in that the first message is for establishing and the 5th electronics The connection for following navigation pattern of equipment, and when the 5th electronic equipment follows four electronic equipment, the method is also Including:
The location information for obtaining the 4th electronic equipment in real time, when the location information of the 4th electronic equipment is arbitrarily default When in anchor point regional extent, the location information of the 4th electronic equipment and the 5th electronic equipment is reacquired, according to institute It states location information and redefines the 4th shortest path between the 4th electronic equipment and the 5th electronic equipment, it will be described 4th shortest path is sent to the 5th electronic equipment, so that the 5th electronic device carrier presses the 4th shortest path Movement.
17. a kind of air navigation aid, using in the 4th electronic equipment, the 4th electronic equipment can with the 5th electronic equipment into Row communication;It is characterized in that, the method includes:
First message is sent, the first message is for establishing and the connection of the 5th electronic equipment;
After the response message for receiving the 5th electronic equipment, the 4th electronic equipment and the 5th electronics are obtained respectively The location information of equipment determines the between the 4th electronic equipment and the 5th electronic equipment according to the positional information First shortest path is sent to the 5th electronic equipment by one shortest path so that the 4th electronic device carrier and/or 5th electronic device carrier is moved by first shortest path;
Wherein, the response message includes the identification information of the 5th electronic equipment, and the 4th electronic equipment is based on institute The identification information for stating the 5th electronic equipment obtains the location information of the 5th electronic equipment;
Wherein, the location information is predicted position information;It is described to obtain the 4th electronic equipment and the 5th electricity respectively The location information of sub- equipment, including:
Obtain the first position information and the first parameter information of the 4th electronic equipment;Described in the first position information representation The current location of 4th electronic equipment;First parameter information characterizes the moving parameter information of the 4th electronic equipment;
Obtain the second position information and the second parameter information of the 5th electronic equipment;Described in the second position information representation The current location of 5th electronic equipment;Second parameter information characterizes the moving parameter information of the 5th electronic equipment;
The first predicted position of the 4th electronic equipment is determined according to the first position information and first parameter information; The second predicted position of the 5th electronic equipment is determined according to the second position information and second parameter information;
Wherein, the moving parameter information includes:Current velocity vector, acceleration;
The predicted position is determined as:Current location+current velocity vector × (network delay+calculating takes+load and take)+ 0.5 × acceleration × (network delay+calculating takes+load and take) 2;Wherein, the network delay, calculating take and load consumption When to detect and configure in advance.
18. according to the method for claim 17, which is characterized in that described according to the first position information and described first Parameter information determines the first predicted position of the 4th electronic equipment, including:
First predicted position is determined as:Current location+current velocity vector × (network delay of 4th electronic equipment + calculating takes+load takes)+0.5 × acceleration × (network delay+calculating takes+load and take)2;Wherein, the network Delay, calculating take and load takes to detect and configuring in advance;
Correspondingly, described determine the of the 5th electronic equipment according to the second position information and second parameter information Two predicted positions, including:
Second predicted position is determined as:Current location+current velocity vector × (network delay of 5th electronic equipment + calculating takes+load takes)+0.5 × acceleration × (network delay+calculating takes+load and take)2;Wherein, the network Delay, calculating take and load takes to detect and configuring in advance.
19. according to the method for claim 17, which is characterized in that described to determine the 4th electricity according to the positional information The first shortest path between sub- equipment and the 5th electronic equipment, including:
Institute is determined according to the second predicted position of the first predicted position of the 4th electronic equipment and the 5th electronic equipment State the first shortest path between the 4th electronic equipment and the 5th electronic equipment.
20. according to the method for claim 17, which is characterized in that the first message is for establishing and the 5th electronics When the connection for converging navigation pattern of equipment, the method further includes:
When determining that the 4th electronic equipment and/or the 5th electronic equipment deviate first shortest path, reacquire The location information of 4th electronic equipment and the 5th electronic equipment, redefines the described 4th according to the positional information Second shortest path is sent to the described 5th by the second shortest path between electronic equipment and the 5th electronic equipment Electronic equipment.
21. according to the method for claim 17, which is characterized in that the first message is for establishing and the 5th electronics The connection for following navigation pattern of equipment, and when the 4th electronic equipment follows five electronic equipment, the method is also Including:
The location information for obtaining the 5th electronic equipment in real time, when the location information of the 5th electronic equipment is arbitrarily default When in anchor point regional extent, the location information of the 4th electronic equipment and the 5th electronic equipment is reacquired, according to institute It states location information and redefines third shortest path between the 4th electronic equipment and the 5th electronic equipment.
22. according to the method for claim 17, which is characterized in that the first message is for establishing and the 5th electronics The connection for following navigation pattern of equipment, and when the 5th electronic equipment follows four electronic equipment, the method is also Including:
The location information for obtaining the 4th electronic equipment in real time, when the location information of the 4th electronic equipment is arbitrarily default When in anchor point regional extent, the location information of the 4th electronic equipment and the 5th electronic equipment is reacquired, according to institute It states location information and redefines the 4th shortest path between the 4th electronic equipment and the 5th electronic equipment, it will be described 4th shortest path is sent to the 5th electronic equipment, so that the 5th electronic device carrier presses the 4th shortest path Movement.
23. a kind of first electronic equipment, first electronic equipment can be communicated with the second electronic equipment;First electricity Sub- equipment can be communicated with third electronic equipment;It is characterized in that, first electronic equipment includes:Connection is established single Member, information acquisition unit, coordinates measurement unit and transmission unit;Wherein,
The connection establishment unit is established and described for receiving first message and second message according to the first message The connection of two electronic equipments;The connection with the third electronic equipment is established according to the second message;
Described information acquiring unit, first message and second message for being received respectively according to the connection establishment unit obtain The location information is sent to coordinates measurement list by the location information of second electronic equipment and the third electronic equipment Member;
The coordinates measurement unit, the location information for being sent according to described information acquiring unit determine that second electronics is set The first shortest path between the standby and described third electronic equipment;
The transmission unit, the first shortest path for determining the coordinates measurement unit are sent to second electronics and set The standby and described third electronic equipment, so that the second electronic device carrier and/or third electronic device carrier are most short by described first Path moves;
Wherein, the location information is predicted position information;
Described information acquiring unit, the first position information for obtaining second electronic equipment and the first parameter information;Institute State the current location of the second electronic equipment described in the information representation of first position;First parameter information characterizes second electronics The moving parameter information of equipment;Obtain the second position information and the second parameter information of the third electronic equipment;Described second Location information characterizes the current location of the third electronic equipment;Second parameter information characterizes the third electronic equipment Moving parameter information;It is additionally operable to determine second electronic equipment according to the first position information and first parameter information The first predicted position;The of the third electronic equipment is determined according to the second position information and second parameter information Two predicted positions;
Wherein, the moving parameter information includes at least one of following information:It is current velocity vector, the curved speed that was averaged, preceding Primary excessively curved velocity vector, the crossing speed that was averaged, a preceding primary mouthful velocity vector of passing by one's way;
Described information acquiring unit, the motion state for determining electronic device carrier according to the velocity vector, according to described Motion state chooses kinematic parameter, is taken according to the kinematic parameter combination network delay, calculating and time-consuming determine of load is predicted Position;The network delay, calculating take and load takes to detect and configuring in advance.
24. the first electronic equipment according to claim 23, which is characterized in that described information acquiring unit is used for basis The first parameter information medium velocity vector determines the motion state of second electronic device carrier, according to the motion state Moving parameter information is chosen, determines that the first predicted position of second electronic equipment is according to the moving parameter information of selection: The current location of the second electronic equipment+moving parameter information × (network delay+calculating takes+load and take);Its In, the network delay, calculating take and load takes to detect and configuring in advance;It is additionally operable to according to second parameter information Medium velocity vector determines the motion state of the third electronic device carrier, and kinematic parameter letter is chosen according to the motion state Breath, determines that the second predicted position of the third electronic equipment is according to the moving parameter information of selection:The third electronics is set Standby current location+the moving parameter information × (network delay+calculating takes+load and take);Wherein, the network prolongs When, calculate take and load take to detect and configuring in advance.
25. the first electronic equipment according to claim 23, which is characterized in that the coordinates measurement unit is used for basis First predicted position of second electronic equipment and the second predicted position of the third electronic equipment determine second electricity The first shortest path between sub- equipment and the third electronic equipment.
26. the first electronic equipment according to claim 23, which is characterized in that the first message for establish with it is described The connection for converging navigation pattern of second electronic equipment;The second message is used to establish to be converged with the third electronic equipment The connection of navigation pattern;First electronic equipment further includes determination unit;
The determination unit, for determining that second electronic equipment and/or the third electronic equipment deviate described first most When short path, acquisition of information instruction is sent to described information acquiring unit;
Described information acquiring unit reacquires institute when being additionally operable to receive the acquisition of information instruction that the determination unit is sent The second position information is sent to the road by the second position information for stating the second electronic equipment and the third electronic equipment Diameter generation unit;
The coordinates measurement unit is additionally operable to be redefined according to the second position information that described information acquiring unit is sent described The second shortest path between second electronic equipment and the third electronic equipment;
The transmission unit is additionally operable to the second shortest path that the coordinates measurement unit determines being sent to second electronics Equipment and the third electronic equipment, so that second electronic device carrier and the third electronic device carrier are by described the Two shortest paths move.
27. the first electronic equipment according to claim 23, which is characterized in that the first message for establish with it is described The connection for following navigation pattern of second electronic equipment;The second message is used to establish and be followed with the third electronic equipment The connection of navigation pattern;First electronic equipment further includes determination unit;
Described information acquiring unit is additionally operable to obtain the location information of the third electronic equipment in real time, by the third electronics The location information of equipment is sent to the determination unit;It is additionally operable to receive the acquisition of information instruction that the determination unit is sent When, the second position information of second electronic equipment and the third electronic equipment is reacquired, by the second confidence Breath is sent to the coordinates measurement unit;
The determination unit, for determining that the second position information that described information acquiring unit is sent presets anchor point region arbitrary When in range, acquisition of information instruction is sent to described information acquiring unit;
The coordinates measurement unit is additionally operable to redefine described second according to the location information that described information acquiring unit is sent Third shortest path between electronic equipment and the third electronic equipment;
The transmission unit is additionally operable to the third shortest path that the coordinates measurement unit determines being sent to second electronics Equipment, so that second electronic device carrier is moved by the third shortest path.
28. a kind of first electronic equipment, first electronic equipment can be communicated with the second electronic equipment;First electricity Sub- equipment can be communicated with third electronic equipment;It is characterized in that, first electronic equipment includes:Connection is established single Member, information acquisition unit, coordinates measurement unit and transmission unit;Wherein,
The connection establishment unit is established and described for receiving first message and second message according to the first message The connection of two electronic equipments;The connection with the third electronic equipment is established according to the second message;
Described information acquiring unit, first message and second message for being received respectively according to the connection establishment unit obtain The location information is sent to coordinates measurement list by the location information of second electronic equipment and the third electronic equipment Member;
The coordinates measurement unit, the location information for being sent according to described information acquiring unit determine that second electronics is set The first shortest path between the standby and described third electronic equipment;
The transmission unit, the first shortest path for determining the coordinates measurement unit are sent to second electronics and set The standby and described third electronic equipment, so that the second electronic device carrier and/or third electronic device carrier are most short by described first Path moves;
Wherein, the location information is predicted position information;
Described information acquiring unit, the first position information for obtaining second electronic equipment and the first parameter information;Institute State the current location of the second electronic equipment described in the information representation of first position;First parameter information characterizes second electronics The moving parameter information of equipment;Obtain the second position information and the second parameter information of the third electronic equipment;Described second Location information characterizes the current location of the third electronic equipment;Second parameter information characterizes the third electronic equipment Moving parameter information;It is additionally operable to determine second electronic equipment according to the first position information and first parameter information The first predicted position;The of the third electronic equipment is determined according to the second position information and second parameter information Two predicted positions;
Wherein, the moving parameter information includes:Current velocity vector, acceleration;
Described information acquiring unit, for determining that predicted position is current location+current velocity vector × (network delay+calculating Take+load and take)+0.5 × acceleration × (network delay+calculating takes+and load takes) 2;Wherein, the network delay, Time-consuming and load is calculated to take to detect and configuring in advance.
29. the first electronic equipment according to claim 28, which is characterized in that
Described information acquiring unit, for determining that the first predicted position is:The current location of second electronic equipment+current speed Degree vector × (network delay+calculating takes+and load takes)+0.5 × acceleration × (network delay+calculating takes+load consumption When)2;Wherein, the network delay, calculate take and load take to detect and configuring in advance;It is additionally operable to determine the second prediction Position is:Current location+current velocity vector of the third electronic equipment × (network delay+calculating takes+load and take)+ 0.5 × acceleration × (network delay+calculating takes+load and take)2;Wherein, the network delay, calculating take and load consumption When to detect and configure in advance.
30. a kind of 4th electronic equipment, the 4th electronic equipment can be communicated with the 5th electronic equipment;Its feature exists In the 4th electronic equipment includes:Connection establishment unit, information acquisition unit, coordinates measurement unit and transmission unit;Its In,
The connection establishment unit, for sending first message, the first message is for establishing and the 5th electronic equipment Connection;After receiving the response message of the 5th electronic equipment, confirm that connection is established;
Described information acquiring unit obtains the 4th electronics respectively after confirming that connection is established for the connection establishment unit The location information is sent to coordinates measurement unit by the location information of equipment and the 5th electronic equipment;
The coordinates measurement unit, the location information for being sent according to described information acquiring unit determine that the 4th electronics is set The first shortest path between standby and described 5th electronic equipment;
The transmission unit, the first shortest path for determining the coordinates measurement unit are sent to the 5th electronics and set It is standby, so that the 4th electronic device carrier and/or the 5th electronic device carrier are moved by first shortest path;
The response message includes the identification information of the 5th electronic equipment;Described information acquiring unit, for being based on institute The identification information for stating the 5th electronic equipment obtains the location information of the 5th electronic equipment;
Wherein, the location information is predicted position information;
Described information acquiring unit, first position information and the first parameter information for obtaining the 4th electronic equipment;Institute State the current location of the 4th electronic equipment described in the information representation of first position;First parameter information characterizes the 4th electronics The moving parameter information of equipment;Obtain the second position information and the second parameter information of the 5th electronic equipment;Described second Location information characterizes the current location of the 5th electronic equipment;Second parameter information characterizes the 5th electronic equipment Moving parameter information;The first of the 4th electronic equipment is determined according to the first position information and first parameter information Predicted position;The second prediction of the 5th electronic equipment is determined according to the second position information and second parameter information Position;
Wherein, the moving parameter information includes at least one of following information:It is current velocity vector, the curved speed that was averaged, preceding Primary excessively curved velocity vector, the crossing speed that was averaged, a preceding primary mouthful velocity vector of passing by one's way;
Described information acquiring unit, the motion state for determining electronic device carrier according to the velocity vector, according to described Motion state chooses kinematic parameter, is taken according to the kinematic parameter combination network delay, calculating and time-consuming determine of load is predicted Position;The network delay, calculating take and load takes to detect and configuring in advance.
31. the 4th electronic equipment according to claim 30, which is characterized in that
Described information acquiring unit is additionally operable to determine the 4th electronic equipment according to the first parameter information medium velocity vector The motion state of carrier chooses moving parameter information according to the motion state, institute is determined according to the moving parameter information of selection The first predicted position for stating the 4th electronic equipment is:Current location+moving parameter information of 4th electronic equipment × (network delay+calculating takes+loads and takes);Wherein, the network delay, calculate take and load take to detect in advance simultaneously Configuration;It is additionally operable to determine the motion state of the 5th electronic device carrier according to the second parameter information medium velocity vector, Moving parameter information is chosen according to the motion state, the 5th electronic equipment is determined according to the moving parameter information of selection Second predicted position is:Current location+moving parameter information of 5th electronic equipment × (network delay+calculating consumption When+load take);Wherein, the network delay, calculate take and load take to detect and configuring in advance.
32. the 4th electronic equipment according to claim 30, which is characterized in that the coordinates measurement unit is additionally operable to root The described 4th is determined according to the first predicted position of the 4th electronic equipment and the second predicted position of the 5th electronic equipment The first shortest path between electronic equipment and the 5th electronic equipment.
33. the 4th electronic equipment according to claim 30, which is characterized in that the first message for establish with it is described The connection for converging navigation pattern of 5th electronic equipment;4th electronic equipment further includes determination unit;
The determination unit, for determining that the 4th electronic equipment and/or the 5th electronic equipment deviate first shortest path When diameter, acquisition of information instruction is sent to described information acquiring unit;
Described information acquiring unit reacquires institute when being additionally operable to receive the acquisition of information instruction that the determination unit is sent The second position information is sent to the road by the second position information for stating the 4th electronic equipment and the 5th electronic equipment Diameter generation unit;
The coordinates measurement unit is additionally operable to be redefined according to the second position information that described information acquiring unit is sent described The second shortest path between 4th electronic equipment and the 5th electronic equipment;
The transmission unit is additionally operable to the second shortest path that the coordinates measurement unit determines being sent to the 5th electronics Equipment, so that the 4th electronic device carrier and the 5th electronic device carrier are moved by second shortest path.
34. the 4th electronic equipment according to claim 30, which is characterized in that the first message for establish with it is described The connection for following navigation pattern of 5th electronic equipment;And the 4th electronic equipment follows the 5th electronic equipment;It is described 4th electronic equipment further includes determination unit;
Described information acquiring unit is additionally operable to obtain the location information of the 5th electronic equipment in real time, by the 5th electronics The location information of equipment is sent to the determination unit;It is additionally operable to receive the acquisition of information instruction that the determination unit is sent When, the second position information of the 4th electronic equipment and the 5th electronic equipment is reacquired, by the second confidence Breath is sent to the coordinates measurement unit;
The determination unit, for determining the location information of the 5th electronic equipment that described information acquiring unit is sent arbitrary pre- If when in anchor point regional extent, acquisition of information instruction is sent to described information acquiring unit;
The coordinates measurement unit is additionally operable to redefine the described 4th according to the location information that described information acquiring unit is sent Third shortest path between electronic equipment and the 5th electronic equipment;Make the 4th electronic device carrier by the third Shortest path moves.
35. the 4th electronic equipment according to claim 30, which is characterized in that the first message for establish with it is described The connection for following navigation pattern of 5th electronic equipment;And the 5th electronic equipment follows the 4th electronic equipment;It is described 4th electronic equipment further includes determination unit;
Described information acquiring unit is additionally operable to obtain the location information of the 4th electronic equipment in real time, by the 4th electronics The location information of equipment is sent to the determination unit;It is additionally operable to receive the acquisition of information instruction that the determination unit is sent When, the location information of the 4th electronic equipment and the 5th electronic equipment is reacquired, the location information is sent to The coordinates measurement unit;
The determination unit, the location information for determining the 4th electronic equipment of described information acquiring unit transmission are in office When meaning is preset in anchor point regional extent, acquisition of information instruction is sent to described information acquiring unit;
The coordinates measurement unit is additionally operable to redefine the described 4th according to the location information that described information acquiring unit is sent The 4th shortest path between electronic equipment and the 5th electronic equipment;
The transmission unit is additionally operable to the 4th shortest path that the coordinates measurement unit determines being sent to the 5th electronics Equipment, so that the 5th electronic device carrier is moved by the 4th shortest path.
36. a kind of 4th electronic equipment, the 4th electronic equipment can be communicated with the 5th electronic equipment;Its feature exists In the 4th electronic equipment includes:Connection establishment unit, information acquisition unit, coordinates measurement unit and transmission unit;Its In,
The connection establishment unit, for sending first message, the first message is for establishing and the 5th electronic equipment Connection;After receiving the response message of the 5th electronic equipment, confirm that connection is established;
Described information acquiring unit obtains the 4th electronics respectively after confirming that connection is established for the connection establishment unit The location information is sent to coordinates measurement unit by the location information of equipment and the 5th electronic equipment;
The coordinates measurement unit, the location information for being sent according to described information acquiring unit determine that the 4th electronics is set The first shortest path between standby and described 5th electronic equipment;
The transmission unit, the first shortest path for determining the coordinates measurement unit are sent to the 5th electronics and set It is standby, so that the 4th electronic device carrier and/or the 5th electronic device carrier are moved by first shortest path;
The response message includes the identification information of the 5th electronic equipment;Described information acquiring unit, for being based on institute The identification information for stating the 5th electronic equipment obtains the location information of the 5th electronic equipment;
Wherein, the location information is predicted position information;
Described information acquiring unit, first position information and the first parameter information for obtaining the 4th electronic equipment;Institute State the current location of the 4th electronic equipment described in the information representation of first position;First parameter information characterizes the 4th electronics The moving parameter information of equipment;Obtain the second position information and the second parameter information of the 5th electronic equipment;Described second Location information characterizes the current location of the 5th electronic equipment;Second parameter information characterizes the 5th electronic equipment Moving parameter information;The first of the 4th electronic equipment is determined according to the first position information and first parameter information Predicted position;The second prediction of the 5th electronic equipment is determined according to the second position information and second parameter information Position;
Wherein, the moving parameter information includes:Current velocity vector, acceleration;
Described information acquiring unit, for determining that predicted position is:Current location+current velocity vector × (network delay+calculating Take+load and take)+0.5 × acceleration × (network delay+calculating takes+and load takes) 2;Wherein, the network delay, Time-consuming and load is calculated to take to detect and configuring in advance.
37. the 4th electronic equipment according to claim 36, which is characterized in that described information acquiring unit is additionally operable to really Determining the first predicted position is:Current location+current velocity vector of 4th electronic equipment × (network delay+calculating take+ Load takes)+0.5 × acceleration × (network delay+calculating takes+load and take)2;Wherein, the network delay, calculating consumption When and load take to detect and configuring in advance;It is additionally operable to determine that the second predicted position is:5th electronic equipment it is current Position+current velocity vector × (network delay+calculating takes+load and take)+0.5 × acceleration × (network delay+calculating consumption When+load take)2;Wherein, the network delay, calculate take and load take to detect and configuring in advance.
CN201410055314.1A 2014-02-18 2014-02-18 A kind of air navigation aid and electronic equipment CN104848865B (en)

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CN103458066A (en) * 2013-09-17 2013-12-18 百度在线网络技术(北京)有限公司 Method, system and server for addressing through terminals

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