CN106332273B - A kind of self-organizing positioning service system and method - Google Patents
A kind of self-organizing positioning service system and method Download PDFInfo
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- CN106332273B CN106332273B CN201610702393.XA CN201610702393A CN106332273B CN 106332273 B CN106332273 B CN 106332273B CN 201610702393 A CN201610702393 A CN 201610702393A CN 106332273 B CN106332273 B CN 106332273B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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Abstract
The present invention relates to a kind of self-organizing positioning service system and methods, are related to site of activity field of location services.Purpose is to solve the problems, such as current exhibition positioning service at high cost, low efficiency and can not obtain location information in time.The system includes ad-hoc communication network environment construction module, for constructing the positioning of live independent communication network environment and current location, provides communication support for intelligent terminal and background server；Multi-mode mixes high accuracy positioning module, for carrying out initial position fix according to the live independent communication network environment of building, carries out positioning result optimization further according to map match, finally obtains positioning result.The present invention can be in the large-scale convenient and quick deployment positioning service in exhibition scene, precise positioning service is provided for all kinds of personnel, positioning result can both be shown in intelligent terminal, can also be shown in background server, reach full museum and position seamless all standing, it is horizontal to promote exhibition and fair service.
Description
Technical field
The present invention relates to site of activity field of location services.
Background technique
Complication inside large-scale winged girder, so that demand of the people to location navigation in museum is also increasing.Such as
In what effective monitoring pipe density of stream of people situation and convenient and fast, accurate location navigation is provided for different types of personnel, vehicle
Effective monitoring and management to the various resources such as personnel, facility, equipment in museum are realized in service, are the weights for realizing wisdom exhibition
Want approach.Exhibition scene is in terms of the positioning service to personnel or facilities and equipment at present, mainly use manually show the way, road sign and
The positioning methods such as information kiosk.The sponsor of exhibition needs to issue the related news of exhibition before exhibition, passes through Web Publishing museum
Exhibition position is distributed picture, or exhibition position distribution map is printed onto exhibition handbook, and road sign, information kiosk are set in museum.Exhibition carries out
When, arrange special attendant to show the way in museum for exhibitor staff, exhibitor staff needs to inquire on-site service personnel, Yan Lu
Table finds target location.During exhibition, as exhibition flow of the people increases, exhibitor staff's quantity that attendant can service simultaneously
Limited, the efficiency of above-mentioned positioning service sharply declines.It can be seen that this positioning service mode is at high cost, inefficiency, and join
Exhibition personnel can not obtain location information in time.
In addition, for winged girder internal structure complexity feature and exhibition position during capacity limitation, this biography
The positioning service mode of system can not accomplish seamless positioning service in museum, and all location services informations disperse and can not count
Wordization storage lacks the channel of further progress personnel or the scheduling of facilities and equipment wisdom.
Summary of the invention
Technical problem to be solved by the invention is to provide one kind to realize self-organizing positioning service system at exhibition scene
System and method, it is therefore intended that solve current exhibition positioning service at high cost, low efficiency and location information can not be obtained in time
Problem.
The technical scheme to solve the above technical problems is that a kind of self-organizing positioning service system, the system packet
Ad-hoc communication network environment construction module and multi-mode mixing high accuracy positioning module are included,
Ad-hoc communication network environment construction module, for constructing live independent communication network environment and current location
Positioning provides communication support for intelligent terminal and background server；
Multi-mode mixes high accuracy positioning module, for carrying out initial bit according to the live independent communication network environment of building
Positioning is set, positioning result optimization is carried out further according to map match, finally obtains positioning result.
The beneficial effects of the present invention are: system of the present invention can be fixed in the large-scale convenient and quick deployment in exhibition scene
Position service can provide precise positioning clothes by the system for all kinds of personnel such as exhibition venue side, sponsor, exhibiter and spectators
Business, all personnel all can carry out Location Request by intelligent terminal simultaneously, and positioning result both can be in intelligent terminal
It shows, can also be shown in background server in equipment, reach full museum and position seamless all standing, promote exhibition and fair service
It is horizontal.System of the present invention can also be applied in the industry for also needing positioning service, such as tourist industry, hospital
Institute, school place and factories and miness etc..
Based on the above technical solution, the present invention can also be improved as follows.
Further, the ad-hoc communication network environment construction module is realized using locator, and the locator is for adopting
It with the signal of bluetooth module or WIFI module acquisition intelligent terminal and realizes positioning, while locator is made using communication module
Data communication is realized between intelligent terminal and background server and any two intelligent terminal.
Further, the multi-mode mixing high accuracy positioning module includes intelligent terminal positioning service module and server end
Positioning service module,
Intelligent terminal positioning service module application is in intelligent terminal, for according to offline on intelligent terminal
Spatial data and the coordinate information of ad-hoc communication network environment construction module positioning carry out precise positioning to current location, and
It is navigated according to current positioning coordinate and destination coordinate；
Server end positioning service module application is in background server, for obtaining intelligent terminal positioning service module
Off-line space data form map vector, and real-time update user location forms motion profile in the map vector.
Further, the intelligent terminal positioning service module includes:
Engine map module is gone forward side by side for reading the off-line space data on intelligent terminal and forming map vector
The rendering of row three-dimensional visualization；
Locating module, the location information for being sent according to ad-hoc communication network environment construction module, at fingerprint
Reason method obtains home position coordinate, is carried out to home position coordinate preliminary further according to Geomagnetic signal using method for amalgamation processing
Amendment；Finally preliminary revised position coordinates are carried out empty according to the map vector of generation using map matching processing method
Between geometrical constraint correct, obtain accurate current position coordinates；
Destination setting module, for setting the destination gone to；
Navigation module, for planning travelling route according to current position coordinates and destination coordinate, and in map vector
It shows the route, when deviateing planning travelling route during traveling, calculates new route automatically.
Further, the server end positioning service module includes:
Map generation module is gone forward side by side for obtaining the off-line space data on intelligent terminal and forming map vector
The rendering of row three-dimensional visualization；
Footprint enquiry module, for the motion profile of the real-time update user current location Coordinate generation user, detection is special
Determine motion profile of the user in given time period, and with special symbol label on map vector；
Thermal map display module, for carrying out space clustering to location data, and according to user's concentration to vector
Region on map is shown.
A kind of self-organizing positioning service method, this method through the following steps that realize:
S1, the positioning for constructing live independent communication network environment and current location are that intelligent terminal and backstage take
Business device provides communication support；
S2, initial position fix is carried out according to the live independent communication network environment of building, is carried out further according to map match
Positioning result optimization, finally obtains positioning result.
Further, the specific implementation process of the S1 are as follows: intelligent terminal is acquired using bluetooth module or WIFI module
Signal and realize positioning, while locator and intelligent terminal and background server and any two are made using communication module
Data communication is realized between a intelligent terminal.
Further, the specific implementation process of the S2 includes:
S21, according on intelligent terminal off-line space data and S1 in the coordinate information that positions to current location
Precise positioning is carried out, and is navigated according to current positioning coordinate and destination coordinate；
S22, the off-line space data obtained on intelligent terminal form map vector, and real in the map vector
Shi Gengxin user location forms motion profile.
Further, the specific implementation process of the S21 includes:
S211, the off-line space data on intelligent terminal are read and form map vector, and carry out three-dimensional visualization
Rendering；
S212, according to the location information navigated in S1, home position coordinate is obtained using finger prints processing method, further according to
Geomagnetic signal tentatively corrects home position coordinate using method for amalgamation processing；Finally according to the map vector of generation,
Using map matching processing method, space geometry about beam alignment is carried out to preliminary revised position coordinates, acquisition is accurately worked as
Front position coordinate；
The destination that S213, setting are gone to；
S214, travelling route is planned according to current position coordinates and destination coordinate, and the road is shown in map vector
Line calculates new route when deviateing planning travelling route during traveling automatically.
Further, the specific implementation process of the S22 includes:
S221, the off-line space data on intelligent terminal are obtained and form map vector, and carry out three-dimensional visualization
Rendering；
S222, the real-time update user current location Coordinate generation user motion profile, detection specific user is given
Motion profile in period, and with special symbol label on map vector；
S223, space clustering is carried out to location data, and according to user's concentration to the region on map vector
It is shown.
Detailed description of the invention
Fig. 1 is the schematic illustration of self-organizing positioning service system described in the embodiment of the present invention；
Fig. 2 is the schematic illustration that multi-mode described in the embodiment of the present invention mixes high accuracy positioning module 2；
Fig. 3 is the schematic illustration of intelligent terminal positioning service module 3 described in the embodiment of the present invention；
Fig. 4 is the schematic illustration of server end positioning service module 4 described in the embodiment of the present invention；
Fig. 5 is the flow chart of self-organizing positioning service method described in the embodiment of the present invention；
Fig. 6 is the flow chart of the specific implementation of step S2 described in the embodiment of the present invention；
Fig. 7 is the flow chart of the specific implementation of step S21 described in the embodiment of the present invention；
Fig. 8 is the flow chart of the specific implementation of step S22 described in the embodiment of the present invention.
In attached drawing, parts list represented by the reference numerals are as follows:
1, ad-hoc communication network environment construction module, 2, multi-mode mix high accuracy positioning module, 3, intelligent terminal it is fixed
Position service module, 4, server end positioning service module, 5, engine map module, 6, locating module, 7, destination setting module,
8, navigation module, 9, map generation module, 10, footprint enquiry module, 11, thermal map display module.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Embodiment 1
As shown in Figure 1, the present embodiment proposes a kind of self-organizing positioning service system, which includes Self-organizing Communication Networks
Network environment construction module 1 and multi-mode mix high accuracy positioning module 2,
Ad-hoc communication network environment construction module 1 uses WIFI and bluetooth module double combinations mode, existing for constructing
The positioning of field independent communication network environment and current location provides communication support for intelligent terminal and background server；
It is true using WIFI, bluetooth, a variety of mixed modes progress initial positions of earth magnetism that multi-mode mixes high accuracy positioning module 2
It is fixed, positioning result optimization is carried out further according to map match, finally obtains positioning result, and by final positioning result with service side
Formula is supplied to personnel in shop.
System described in the present embodiment can pass through the system in the large-scale convenient and quick deployment positioning service in exhibition scene
Precise positioning service can be provided for all kinds of personnel such as exhibition venue side, sponsor, exhibiter and spectators, all personnel can be complete
Portion carries out Location Request by intelligent terminal simultaneously, and positioning result can both show in intelligent terminal, can also be with
It is shown in background server, reaches full museum and position seamless all standing, it is horizontal to promote exhibition and fair service.It is of the present invention
System can also be applied in the industry for also needing positioning service, such as tourist industry, hospital, school place and factories and miness
Deng.
Preferably, the ad-hoc communication network environment construction module 1 is realized using locator, and the locator is for adopting
It with the signal of bluetooth module or WIFI module acquisition intelligent terminal and realizes positioning, while locator is made using communication module
Data communication is realized between intelligent terminal and background server and any two intelligent terminal.
There is locator described in this preferred embodiment bluetooth and WIFI signal transmitting and intelligent terminal signal to adopt
The function of collection, the locator use the network architecture of dynamic scalable, and arbitrary two intelligent terminals can be kept
WIFI is wireless interconnected；If the device fails of some network node, one other equipment of reselection can be led to automatically
Letter guarantees that data channel is unimpeded.It is positioned simultaneously using WIFI and bluetooth combination signal；Can self-organizing be local high speed
Communication network provides position data collecting, transmission, and can connect internet, realizes data sharing and distribution.
Preferably, as shown in Fig. 2, multi-mode mixing high accuracy positioning module 2 includes intelligent terminal positioning service mould
Block 3 and server end positioning service module 4,
Intelligent terminal positioning service module 3 is applied in intelligent terminal, for according on intelligent terminal from
It is precisely fixed that the coordinate information that space of lines data and ad-hoc communication network environment construction module 1 position carries out current location
Position, and navigated according to current positioning coordinate and destination coordinate；
Server end positioning service module 4 is applied in background server, for obtaining intelligent terminal positioning service module 3
Off-line space data formed map vector, and in the map vector real-time update user location formed motion profile.
It is provided with intelligent terminal positioning service module 3 in this preferred embodiment, in intelligent terminal, which can be with
There are in intelligent terminal when entering exhibition scene, installation application software APP can be downloaded in advance, to certainly in the form of APP
Hoc communication network environment construction module 1 sends Location Request, by measuring the locator information on intelligent terminal periphery, obtains
Current precise location information is taken, and the locator on periphery then records the specific location of intelligent terminal simultaneously, and is saved in
In background server end.
Preferably, as shown in figure 3, the intelligent terminal positioning service module 3 includes:
Engine map module 5 is gone forward side by side for reading the off-line space data on intelligent terminal and forming map vector
The rendering of row three-dimensional visualization；
Locating module 6, the location information for being sent according to ad-hoc communication network environment construction module 1, using fingerprint
Processing method obtains home position coordinate, is carried out just using method for amalgamation processing to home position coordinate further according to Geomagnetic signal
Step amendment；Finally preliminary revised position coordinates are carried out using map matching processing method according to the map vector of generation
Space geometry about beam alignment, obtains accurate current position coordinates；
Destination setting module 7, for setting the destination gone to；
Navigation module 8, for planning travelling route according to current position coordinates and destination coordinate, and in map vector
It shows the route, when deviateing planning travelling route during traveling, calculates new route automatically.
Preferably, as shown in figure 4, the server end positioning service module 4 includes:
Map generation module 9 is gone forward side by side for obtaining the off-line space data on intelligent terminal and forming map vector
The rendering of row three-dimensional visualization；
Footprint enquiry module 10, for the motion profile of the real-time update user current location Coordinate generation user, detection
Motion profile of the specific user in given time period, and with special symbol label on map vector；
Thermal map display module 11, for carrying out space clustering to location data, and according to user's concentration to arrow
Region on quantity map is shown.
In this preferred embodiment, shop side, sponsor can track the action footprint of specific objective by background server interaction,
Real-time density of stream of people distribution situation in shop is controlled, and emergency scheduling can be carried out according to demand.
It can be changed using color to express the personnel amount of different zones in thermal map display module 11, such as can adopted
With blue to red gradual manner.
The positioning service system that the present embodiment proposes has the advantages that wireless self-networking, can fast implement wireless positioning network
Environment construction, positioning overlay area can adjust in real time on demand, can support the electrodeless scaling of positioning service terminal device quantity, realize room
Interior venue high accuracy positioning navigation Service, intelligent terminal can position parallel, and efficiency of service is greatly improved.
Embodiment 2
As shown in figure 5, the present embodiment proposes a kind of self-organizing positioning service method, this method is through the following steps that reality
Existing:
S1, the positioning for constructing live independent communication network environment and current location are that intelligent terminal and backstage take
Business device provides communication support；
S2, initial position fix is carried out according to the live independent communication network environment of building, is carried out further according to map match
Positioning result optimization, finally obtains positioning result.
Method described in the present embodiment can pass through this method in the large-scale convenient and quick deployment positioning service in exhibition scene
Precise positioning service can be provided for all kinds of personnel such as exhibition venue side, sponsor, exhibiter and spectators, all personnel can be complete
Portion carries out Location Request by intelligent terminal simultaneously, and positioning result can both show in intelligent terminal, can also be with
It is shown in background server, reaches full museum and position seamless all standing, it is horizontal to promote exhibition and fair service.It is of the present invention
Positioning service method can also be applied in the industry for also needing positioning service, such as tourist industry, hospital, school place
And factories and miness etc..
Preferably, the specific implementation process of S1 are as follows: using bluetooth module or the letter of WIFI module acquisition intelligent terminal
Number and realize positioning, while locator and intelligent terminal and background server and any two intelligence are made using communication module
Data communication can be realized between terminal device.
The specific implementation process of S1 described in this preferred embodiment acquires intelligent terminal by bluetooth and WIFI signal
Signal WIFI can be kept wirelessly mutual between arbitrary two intelligent terminals using the network architecture of dynamic scalable
Connection one other equipment of reselection can be communicated automatically if the device fails of some network node, guarantee data
Channel is unimpeded.Meanwhile being positioned using WIFI and bluetooth combination signal, both communication network can be told to mention by local of self-organizing
It for position data collecting, transmission, and can connect internet, realize data sharing and distribution.
Preferably, as shown in fig. 6, the specific implementation process of the S2 includes:
S21, according on intelligent terminal off-line space data and S1 in the coordinate information that positions to current location
Precise positioning is carried out, and is navigated according to current positioning coordinate and destination coordinate；
S22, the off-line space data obtained on intelligent terminal form map vector, and real in the map vector
Shi Gengxin user location forms motion profile.
Wherein, as shown in fig. 7, the specific implementation process of the S21 includes:
S211, the off-line space data on intelligent terminal are read and form map vector, and carry out three-dimensional visualization
Rendering；
S212, according to the location information navigated in S1, home position coordinate is obtained using finger prints processing method, further according to
Geomagnetic signal tentatively corrects home position coordinate using method for amalgamation processing；Finally according to the map vector of generation,
Using map matching processing method, space geometry about beam alignment is carried out to preliminary revised position coordinates, acquisition is accurately worked as
Front position coordinate；
The destination that S213, setting are gone to；
S214, travelling route is planned according to current position coordinates and destination coordinate, and the road is shown in map vector
Line calculates new route when deviateing planning travelling route during traveling automatically.
As shown in figure 8, the specific implementation process of the S22 includes:
S221, the off-line space data on intelligent terminal are obtained and form map vector, and carry out three-dimensional visualization
Rendering；
S222, the real-time update user current location Coordinate generation user motion profile, detection specific user is given
Motion profile in period, and with special symbol label on map vector；
S223, space clustering is carried out to location data, and according to user's concentration to the region on map vector
It is shown.
In this preferred embodiment, shop side and sponsor can be by background monitoring servers, the row of interaction tracking specific objective
Action spot mark controls real-time density of stream of people distribution situation in shop, and can carry out emergency scheduling according to demand.
In method described in the present embodiment, the intelligent terminal that all kinds of personnel use in museum includes an operation circle
Face, the interior operation interface includes museum exhibition position map interface, locating interface, destination setting interface and navigation interface, by each
Realize real-time and precise positioning in a interface.In addition, equally including an operation interface at background server end, which includes
Museum's exhibition position map interface, specific footprint query display interface and museum's thermal map interface；Realize that the stream of people is real-time by each interface
Monitoring.The background server of shop side and sponsor receives the intelligent terminal and location information of all kinds of personnel in shop, and
Into shop, the intelligent mobile terminal equipment of all kinds of personnel sends location services information.
The positioning service method that the present embodiment proposes has the advantages that wireless self-networking, can fast implement wireless positioning network
Environment construction, positioning overlay area can adjust in real time on demand, can support the electrodeless scaling of positioning service terminal device quantity, realize room
Interior venue high accuracy positioning navigation Service, intelligent terminal can position parallel, and efficiency of service is greatly improved.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of self-organizing positioning service system, which is characterized in that it include ad-hoc communication network environment construction module (1) and
Multi-mode mixes high accuracy positioning module (2),
Ad-hoc communication network environment construction module (1), for constructing live independent communication network environment and current location
Positioning provides communication support for intelligent terminal and background server；
Multi-mode mixes high accuracy positioning module (2), for carrying out initial bit according to the live independent communication network environment of building
Positioning is set, positioning result optimization is carried out further according to map match, finally obtains positioning result；
Multi-mode mixing high accuracy positioning module (2) includes intelligent terminal positioning service module (3) and server end positioning
Service module (4), the server end positioning service module (4) include:
Map generation module (9) for obtaining the off-line space data on intelligent terminal and forming map vector, and carries out
Three-dimensional visualization rendering；
Footprint enquiry module (10), for the motion profile of the real-time update user current location Coordinate generation user, detection is special
Determine motion profile of the user in given time period, and with special symbol label on map vector；
Thermal map display module (11), for carrying out space clustering to location data, and according to user's concentration to vector
Region on map is shown.
2. a kind of self-organizing positioning service system according to claim 1, which is characterized in that the ad-hoc communication network
Environment construction module (1) realizes that the locator is used for intelligent eventually using bluetooth module or WIFI module acquisition using locator
The signal of end equipment simultaneously realizes positioning, while being made between locator and intelligent terminal and background server using communication module
Realize data communication.
3. a kind of self-organizing positioning service system according to claim 2, which is characterized in that the intelligent terminal positioning clothes
Business module (3) is applied in intelligent terminal, for according to the off-line space data and self-organizing on intelligent terminal
The coordinate information that communication network environment constructs module (1) positioning carries out precise positioning to current location, and sits according to when prelocalization
Mark navigates with destination coordinate；
The server end positioning service module (4) is applied in background server, for obtaining intelligent terminal positioning service mould
The off-line space data of block (3) form map vector, and real-time update user location forms movement rail in the map vector
Mark.
4. a kind of self-organizing positioning service system according to claim 3, which is characterized in that the intelligent terminal positioning clothes
Business module (3) include:
Engine map module (5) for reading the off-line space data on intelligent terminal and forming map vector, and carries out
Three-dimensional visualization rendering；
Locating module (6), the location information for being sent according to ad-hoc communication network environment construction module (1), using fingerprint
Processing method obtains home position coordinate, is carried out just using method for amalgamation processing to home position coordinate further according to Geomagnetic signal
Step amendment；Finally preliminary revised position coordinates are carried out using map matching processing method according to the map vector of generation
Space geometry about beam alignment, obtains accurate current position coordinates；
Destination setting module (7), for setting the destination gone to；
Navigation module (8) for planning travelling route according to current position coordinates and destination coordinate, and is shown in map vector
Show the route, when deviateing planning travelling route during traveling, calculates new route automatically.
5. a kind of self-organizing positioning service method, which is characterized in that it through the following steps that realize:
S1, the positioning for constructing live independent communication network environment and current location are intelligent terminal and background server
Communication support is provided；
S2, initial position fix is carried out according to the live independent communication network environment of building, is positioned further according to map match
Result optimizing finally obtains positioning result；
The specific implementation process of the S2 includes:
S21, according on intelligent terminal off-line space data and S1 in the coordinate information that positions current location is carried out
Precise positioning, and navigated according to current positioning coordinate and destination coordinate；
S22, obtain intelligent terminal on off-line space data formed map vector, and in the map vector in real time more
New user location forms motion profile；
The specific implementation process of the S22 includes:
S221, the off-line space data on intelligent terminal are obtained and form map vector, and carry out three-dimensional visualization rendering；
S222, the real-time update user current location Coordinate generation user motion profile, detect specific user in given time
Motion profile in section, and with special symbol label on map vector；
S223, space clustering is carried out to location data, and the region on map vector is carried out according to user's concentration
Display.
6. a kind of self-organizing positioning service method according to claim 5, which is characterized in that the specific implementation of the S1
Journey are as follows: using the signal of bluetooth module or WIFI module acquisition intelligent terminal and realize positioning, while using communication module
Make to realize data communication between locator and intelligent terminal and background server.
7. a kind of self-organizing positioning service method according to claim 6, which is characterized in that the specific implementation of the S21
Process includes:
S211, the off-line space data on intelligent terminal are read and form map vector, and carry out three-dimensional visualization rendering；
S212, according to the location information navigated in S1, home position coordinate is obtained using finger prints processing method, further according to earth magnetism
Signal tentatively corrects home position coordinate using method for amalgamation processing；Finally according to the map vector of generation, use
Map matching processing method carries out space geometry about beam alignment to preliminary revised position coordinates, obtains accurate present bit
Set coordinate；
The destination that S213, setting are gone to；
S214, travelling route is planned according to current position coordinates and destination coordinate, and the route is shown in map vector,
When deviateing planning travelling route in traveling process, new route is calculated automatically.
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