CN106767761A - A kind of benefit of position coordinates calculates method and device - Google Patents
A kind of benefit of position coordinates calculates method and device Download PDFInfo
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- CN106767761A CN106767761A CN201710036615.3A CN201710036615A CN106767761A CN 106767761 A CN106767761 A CN 106767761A CN 201710036615 A CN201710036615 A CN 201710036615A CN 106767761 A CN106767761 A CN 106767761A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The invention belongs to navigation field, there is provided a kind of benefit of position coordinates calculates method and device, methods described comprises the following steps：Terminal obtains the location coordinate information of vehicle；The running data of the acquisition vehicle of terminal periodic, the running data includes；Directional information, velocity information and temporal information；Terminal is mended according to the coordinate information and running data and calculates default path.The present invention has the advantages that polishing default path.
Description
Technical field
A kind of benefit the present invention relates to navigation field, more particularly to position coordinates calculates method and device.
Background technology
With GPS GPS functions, you is allowed to know the definite position of oneself whenever and wherever possible in driving
Put.The functions such as automatic speech navigation, optional path searching that auto navigation has allow you all the way shortcut, advance freely, it is integrated
Office, amusement function allow you easily to travel, efficiently go on a journey.
Nowadays most of mobile phone and navigation equipment all carry GPS or position sensor as the Big Dipper.Have even simultaneously
Integrated GPS and the Big Dipper, equipment is started to searches star and determines that the speed of position is also increasingly faster, and precision is also more and more accurate.But
Some places are caused cannot normally to get exact position, such as underground garage in the presence of some reasons, tunnel partly there are higher buildings
The section blocked etc..Sometimes, our demand is again the position for needing accurately to speculate as far as possible unknown GPS, Huo Zhechong
The new position for mending the unknown point calculated in history stroke；Existing equipment cannot realize the position of unknown GPS.
The content of the invention
The benefit that an object of the present invention is to provide a kind of position coordinates calculates method, and it mainly solves existing equipment cannot
Realize the shortcoming of the position of unknown GPS.
First aspect, there is provided a kind of benefit of position coordinates calculates method, methods described comprises the following steps：
Terminal obtains the location coordinate information of vehicle；
The running data of the acquisition vehicle of terminal periodic, the running data includes；Directional information, velocity information and time
Information；
Terminal is mended according to the coordinate information and running data and calculates default path.
Optionally, the terminal is mended according to the coordinate information and running data and calculates default path specifically, including：
Terminal extracts location coordinate information G1 and correspondence that the nearest time obtains when that cannot know location coordinate information
Time t1, by G1 by the starting point of the default path, such as direction information changes, and extracts time t2 and time period of the change
The average speed v1 of t2-t1, the v1 and time period t 2-t1 products are unknown path 1, are G1 by the starting point in unknown path 1, with
The terminal G2 in unknown path 1 as unknown path 2 starting point, such as secondary change of direction information extracts the time t3 of the change
And the average speed v2 of time period t 3-t2, the v2 and time period t 3-t2 products are unknown path 2, by unknown path 2
Starting point be G2, until terminal gets vehicle coordinate information or vehicle stall again the step of compute repeatedly unknown path, will
All of unknown path in chronological sequence couples together and obtains default path.
Optionally, the terminal is mended according to the coordinate information and running data and calculates default path specifically, including：
Unknown path step is calculated, is specifically included：Terminal reads last time position coordinates G1 (L, B), reads current speed
Degree V1, azimuth：A1, Gauss rectangular co-ordinate G1 (x, y) is converted into by G1 (L, B) longitude and latitude, calculates the seat of next sampled point
Mark G2 (L, B), wherein
G2y=G1y+S*sin (A1)；G2x=G1x+S*cos (A1)；
Wherein, S=V1*T；
Wherein T is the time interval between two sampled points；G1y is the y values in G1 (x, y), and G2x is the x in G1 (x, y)
Value；
G2 (x, y) is converted into gps coordinate G2 (L, B), will be connected with smooth linear between G1 (L, B) and G2 (L, B)
To obtain unknown path 1；
The unknown path step of calculating is repeated up to terminal gets vehicle coordinate information or vehicle stall again, by institute
The unknown path having in chronological sequence couples together and obtains default path.
Optionally, the position coordinates is gps coordinate or Big Dipper coordinate.
Second aspect, there is provided a kind of benefit of position coordinates calculates device, described device：
Positioning unit, the location coordinate information for obtaining vehicle；
Acquiring unit, the running data for periodically obtaining vehicle, running data includes；Directional information, speed
Information and temporal information；
Computing unit, default path is calculated for being mended according to the coordinate information and running data.
Optionally, the computing unit is obtained specifically for when that cannot know location coordinate information, extracting the nearest time
Location coordinate information G1 and correspondence time t1, by G1 by the starting point of the default path, such as direction information changes, and extracting should
The average speed v1 of the time t2 and time period t 2-t1 of change, the v1 and time period t 2-t1 products are unknown path 1,
It is G1 by the starting point in unknown path 1, using the terminal G2 in unknown path 1 as the starting point in unknown path 2, such as direction information is secondary
Change, extract the average speed v2 of the time t3 and time period t 3-t2 of the change, the v2 and time period t 3-t2 products are
It is unknown path 2, is G2 by the starting point in unknown path 2, until terminal gets car again the step of computes repeatedly unknown path
Coordinate information or vehicle stall, all of unknown path are in chronological sequence coupled together and obtain default path.
Optionally, the computing unit is specifically included specifically for calculating unknown path step：Terminal reads last time
Position coordinates G1 (L, B), reads present speed V1, azimuth：A1, Gauss rectangular co-ordinate G1 is converted into by G1 (L, B) longitude and latitude
(x, y), calculates the coordinate G2 (L, B) of next sampled point, wherein
G2y=G1y+S*sin (A1)；G2x=G1x+S*cos (A1)；
Wherein, S=V1*T；
Wherein T is the time interval between two sampled points；G1y is the y values in G1 (x, y), and G2x is the x in G1 (x, y)
Value；
G2 (x, y) is converted into gps coordinate G2 (L, B), will be connected with smooth linear between G1 (L, B) and G2 (L, B)
To obtain unknown path 1；
The unknown path step of calculating is repeated up to terminal gets vehicle coordinate information or vehicle stall again, by institute
The unknown path having in chronological sequence couples together and obtains default path.
Optionally, the position coordinates is gps coordinate or Big Dipper coordinate.
Although those of ordinary skill in the art will be appreciated that following detailed description carries out referenced in schematic embodiment, accompanying drawing,
But the present invention is not limited in these embodiments.But, the scope of the present invention is extensive, and is intended to be bound only by appended right
It is required that limiting the scope of the present invention.
Brief description of the drawings
By the detailed description made to non-limiting example made with reference to the following drawings of reading, it is of the invention other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is the schematic flow sheet of the benefit calculation method of the position coordinates that is provided according to a preferred embodiment of the invention.
Fig. 2 is the schematic diagram of default path provided according to a preferred embodiment of the invention.
Fig. 3 calculates the structural representation of device for the benefit of the position coordinates provided according to another preferred embodiment of the present invention.
Specific embodiment
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The treatment described as flow chart or method.Although operations to be described as flow chart the treatment of order, therein to be permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.Additionally, the order of operations can be rearranged.When it
The treatment can be terminated when operation is completed, it is also possible to have the additional step being not included in accompanying drawing.The treatment
Can correspond to method, function, code, subroutine, subprogram etc..
Alleged within a context " computer equipment ", also referred to as " computer ", referring to can be by running preset program or referring to
Make performing the intelligent electronic device of the predetermined process process such as numerical computations and/or logical calculated, its can include processor with
Memory, the survival instruction prestored in memory by computing device performs predetermined process process, or by ASIC,
The hardware such as FPGA, DSP perform predetermined process process, or are combined by said two devices and to realize.Computer equipment includes but does not limit
In server, PC, notebook computer, panel computer, smart mobile phone etc..
Method (some of them are illustrated by flow) discussed hereafter can be by hardware, software, firmware, centre
Part, microcode, hardware description language or its any combination are implemented.Implement when with software, firmware, middleware or microcode
When, it is used to implement that the program code or code segment of necessary task can be stored in machine or computer-readable medium (is such as deposited
Storage media) in.(one or more) processor can implement necessary task.
Concrete structure disclosed herein and function detail are only representational, and are for describing of the invention showing
The purpose of example property embodiment.But the present invention can be implemented by many alternative forms, and be not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be appreciated that may have been used term " first ", " second " etc. herein to describe unit,
But these units should not be limited by these terms.It is used for the purpose of a unit and another unit using these terms
Make a distinction.For example, in the case of the scope without departing substantially from exemplary embodiment, it is single that first module can be referred to as second
Unit, and similarly second unit can be referred to as first module.Term "and/or" used herein above include one of them or
Any and all combination of more listed associated items.
Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless
Context clearly refers else, and singulative " one " otherwise used herein above, " one " also attempt to include plural number.Should also
When understanding, term used herein above " including " and/or "comprising" specify stated feature, integer, step, operation,
The presence of unit and/or component, and do not preclude the presence or addition of one or more other features, integer, step, operation, unit,
Component and/or its combination.
It should further be mentioned that in some replaces realization modes, the function/action being previously mentioned can be according to different from attached
The order indicated in figure occurs.For example, depending on involved function/action, the two width figures for showing in succession actually may be used
Substantially simultaneously to perform or can perform in a reverse order sometimes.
The present invention is described in further detail below in conjunction with the accompanying drawings.
The present invention provides a kind of benefit of position coordinates and calculates method, and the method is performed by terminal, and the terminal is specifically as follows：Hand
The equipment such as machine, intelligent vehicle-mounted system, the method are as shown in figure 1, comprise the following steps：
Step S101, terminal obtain the location coordinate information of vehicle；
The location coordinate information of above-mentioned steps is specifically as follows：GPS coordinate information, in certain practical application, or
Big Dipper information.
The running data of step S102, the acquisition vehicle of terminal periodic, the running data includes；Directional information, speed
Information and temporal information；
Above-mentioned directional information can be realized by direction sensor, naturally it is also possible to be realized by earth magnetism sensing.
Step S103, terminal are mended according to the coordinate information and running data and calculate default path.
Realize that the method for step S103 is specifically as follows：
Terminal extracts location coordinate information G1 and correspondence that the nearest time obtains when that cannot know location coordinate information
Time t1, by G1 by the starting point of the default path, such as direction information changes, and extracts time t2 and time period of the change
(t2-t1) average speed v1, the v1 and time period (t2-t1) product are unknown path 1, and the starting point by unknown path 1 is
G1, using the terminal G2 in unknown path 1 as the starting point in unknown path 2, such as secondary change of direction information, extract the change when
Between t3 and the time period (t3-t2) average speed v2, the v2 and time period (t3-t2) product be unknown path 2, will not
The starting point in path 2 is known for G2, until terminal gets vehicle coordinate information or vehicle again the step of compute repeatedly unknown path
It is flame-out, all of unknown path is in chronological sequence coupled together and obtains default path.This technical scheme only changes in direction
The calculating in path is carried out during change, its amount of calculation that can reduce path supplements quick advantage with default path.
Terminal extracts location coordinate information G1 and correspondence that the nearest time obtains when that cannot know location coordinate information
Time t1, the place that vehicle occurs is obtained according to the G1 coordinates according to directional information, obtains the cartographic information in the place, and G1 is sat
Mark mark is estimated N bar candidate default paths and (is specifically as follows with G1 coordinates in cartographic information as starting point：G1 coordinates are to all
The path of free parking space, one candidate default path of each free parking space correspondence), by G1 by the starting point of the default path,
As direction information changes, time t2 and the average speed v1 of the time period (t2-t1), the v1 and the time of the change are extracted
Section (t2-t1) product is unknown path 1, is G1 by the starting point in unknown path 1, using the terminal G2 in unknown path 1 as unknown
The starting point in path 2, such as secondary change of direction information, extract the change time t3 and the time period (t3-t2) it is average
Speed v2, the v2 and time period (t3-t2) product are unknown path 2, are G2 by the starting point in unknown path 2, compute repeatedly not
The step of knowing path gets vehicle coordinate information or vehicle stall again up to terminal, and all of unknown path is temporally first
After couple together and obtain preliminary default path, the preliminary default path is compared with N bar candidate default paths and finds similarity most
First candidate default path high is the default path in step S103, and stopping the terminal of the first candidate default path
Parking space information is back to terminal.This technical scheme and can be obtained for the realization of the default path (as shown in Figure 2) in parking lot
Take specific parking position information.
The method needs equipment to support GPS navigation in itself, ensures at least get the true of a part of position in stroke
Information.
Concept：
Vehicle-mounted head-up display terminal：Automobile HUD navigation equipments
GPS：GPS (for obtaining equipment current location)
OBD：Vehicle diagnosis interface (is mainly reading speed) here
Direction sensor：Geomagnetic sensor, for determining body of a motor car direction
Highway geometry：Route big data, for correcting calculation error.
Deflection:Refer to that north or direction line are called deflection such as norths by east with the formed angle less than 90 ° of target direction
60 °, 30 ° of south by east, 70 ° of north by west especially, if target direction line and the direction line angle at 45 ° for referring to north or guide, such as west
South is to
Azimuth:The north pointer direction line put from certain is called azimuth by the horizontal angle for moving clockwise to target direction.Value
Is angled is set to 000 ° with the positive north for 0 to 360 degree for scope, and the angle after turning around clockwise is 360 °.Therefore：
The positive north：000 ° or 360 °
Positive east：090°
Due South：180°
Positive west：270°
Star cannot be searched if when equipment starts, crossed a period of time after get position, then can reversely calculate before
Position.
We can be while the speed and the data of direction sensor that periodically record OBD reads in this section of traveling.Sampling frequency
Rate 1-5 seconds.Shorten sampling period if high precision
If hereafter getting gps signal, can be by GPS location at that time, referring concurrently to history OBD speed, side
Calculation history GPS position information is inversely mended to angle, route data.See that accompanying drawing algorithm is as follows：
Assuming that sample period time is T (such as 2 seconds)
When receiving GPS, position：The speed that G1 (L, B), OBD read：V1, azimuth：(270 ° represent headstock towards just to A1
West).
G1 (L, B) longitude and latitude needs to be converted into Gauss rectangular co-ordinate G1 (x, y)
A upper sampled point is calculated forward from G1 (x, y)：G2(x,y)；When the T short enough time, we can be approximately considered
This segment distance is a smooth straightway.
Can obtain：The distance of G1 and G2 is G1 where S=V1*T, G2 with rearward apart from the position of S.
Calculated according to trigonometric function：
G2y=G1y+S*sin (A1)；G2x=G1x+S*cos (A1)
G2 (x, y) is converted into gps coordinate G2 (L, B)
Similarly calculating G3 (L, B) ... .GN (L, B), then flat by all of G2 (L, B), G3 (L, B) ... .GN (L, B) composition
Sliding straight line obtains default path.
If equipment is early stage obtaining GPS location, midway starting position cannot obtain, now can be by last
GPS location, referring concurrently to follow-up OBD speed, orientation angle, the positional information of the route data forward direction next point of budget is pushed away successively
Calculate, be similar to 3 until receiving real GPS location specific algorithms.
If GPS position information () cannot be obtained always, calculation history bit confidence cannot be mended in traveled distance unlikely
Breath, cannot also calculate follow-up location information.Terminate stroke.
The present invention provides a kind of benefit of position coordinates and calculates device 30, as shown in figure 3, described device：
Positioning unit 301, the location coordinate information for obtaining vehicle；
Acquiring unit 302, the running data for periodically obtaining vehicle, running data includes；Directional information, speed
Degree information and temporal information；
Computing unit 303, default path is calculated for being mended according to the coordinate information and running data.
Optionally, the computing unit is obtained specifically for when that cannot know location coordinate information, extracting the nearest time
Location coordinate information G1 and correspondence time t1, by G1 by the starting point of the default path, such as direction information changes, and extracting should
The average speed v1 of the time t2 and time period t 2-t1 of change, the v1 and time period t 2-t1 products are unknown path 1,
It is G1 by the starting point in unknown path 1, using the terminal G2 in unknown path 1 as the starting point in unknown path 2, such as direction information is secondary
Change, extract the average speed v2 of the time t3 and time period t 3-t2 of the change, the v2 and time period t 3-t2 products are
It is unknown path 2, is G2 by the starting point in unknown path 2, until terminal gets car again the step of computes repeatedly unknown path
Coordinate information or vehicle stall, all of unknown path are in chronological sequence coupled together and obtain default path.
Optionally, the computing unit is specifically included specifically for calculating unknown path step：Terminal reads last time
Position coordinates G1 (L, B), reads present speed V1, azimuth：A1, Gauss rectangular co-ordinate G1 is converted into by G1 (L, B) longitude and latitude
(x, y), calculates the coordinate G2 (L, B) of next sampled point, wherein
G2y=G1y+S*sin (A1)；G2x=G1x+S*cos (A1)；
Wherein, S=V1*T；
Wherein T is the time interval between two sampled points；G1y is the y values in G1 (x, y), and G2x is the x in G1 (x, y)
Value；
G2 (x, y) is converted into gps coordinate G2 (L, B), will be connected with smooth linear between G1 (L, B) and G2 (L, B)
To obtain unknown path 1；
The unknown path step of calculating is repeated up to terminal gets vehicle coordinate information or vehicle stall again, by institute
The unknown path having in chronological sequence couples together and obtains default path.
Optionally, the position coordinates is gps coordinate or Big Dipper coordinate.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, can be with
Realize by another way.Device embodiment described above is only schematical, for example, the division of the unit,
It is only a kind of division of logic function, there can be other dividing mode when actually realizing, but for example, multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or beg for
The coupling each other of opinion or direct-coupling or communication connection can be by some communication interfaces, device or unit it is indirect
Coupling is communicated to connect, and can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.
If the function is to realize in the form of SFU software functional unit and as independent production marketing or when using, can be with
Storage is in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used to so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover in the middle of the scope of claim of the invention and specification.
Claims (8)
1. a kind of benefit of position coordinates calculates method, it is characterised in that methods described comprises the following steps：
Terminal obtains the location coordinate information of vehicle；
The running data of the acquisition vehicle of terminal periodic, the running data includes；Directional information, velocity information and time letter
Breath；
Terminal is mended according to the coordinate information and running data and calculates default path.
2. method according to claim 1, it is characterised in that the terminal is mended according to the coordinate information and running data and calculated
Go out default path specific, including：
Terminal extracts location coordinate information G1 and correspondence time that the nearest time obtains when that cannot know location coordinate information
T1, by G1 by the starting point of the default path, such as direction information changes, and extracts the time t2 and time period t 2- of the change
The average speed v1 of t1, the v1 and time period t 2-t1 products are unknown path 1, are G1 by the starting point in unknown path 1, with not
Know the terminal G2 in path 1 as the starting point in unknown path 2, such as secondary change of direction information, extract the time t3 of the change with
And the average speed v2 of time period t 3-t2, the v2 and time period t 3-t2 products are unknown path 2, by unknown path 2
Starting point is G2, until terminal gets vehicle coordinate information or vehicle stall again the step of compute repeatedly unknown path, by institute
The unknown path having in chronological sequence couples together and obtains default path.
3. method according to claim 1, it is characterised in that the terminal is mended according to the coordinate information and running data and calculated
Go out default path specific, including：
Unknown path step is calculated, is specifically included：Terminal reads last time position coordinates G1 (L, B), reads present speed V1,
Azimuth：A1, Gauss rectangular co-ordinate G1 (x, y) is converted into by G1 (L, B) longitude and latitude, calculates the coordinate G2 of next sampled point
(L, B), wherein
G2y=G1y+S*sin (A1)；G2x=G1x+S*cos (A1)；
Wherein, S=V1*T；
Wherein T is the time interval between two sampled points；G1y is the y values in G1 (x, y), and G2x is the x values in G1 (x, y)；
G2 (x, y) is converted into gps coordinate G2 (L, B), will be coupled together with smooth linear between G1 (L, B) and G2 (L, B)
To unknown path 1；
The unknown path step of calculating is repeated up to terminal gets vehicle coordinate information or vehicle stall again, will be all of
Unknown path in chronological sequence couples together and obtains default path.
4. the method according to claim 1-3 any one, it is characterised in that
The position coordinates is gps coordinate or Big Dipper coordinate.
5. a kind of benefit of position coordinates calculates device, it is characterised in that described device：
Positioning unit, the location coordinate information for obtaining vehicle；
Acquiring unit, the running data for periodically obtaining vehicle, running data includes；Directional information, velocity information
And temporal information；
Computing unit, default path is calculated for being mended according to the coordinate information and running data.
6. device according to claim 5, it is characterised in that the computing unit is specifically for that cannot know that position sits
During mark information, location coordinate information G1 and correspondence time t1 that the nearest time obtains are extracted, by G1 rising the default path
Point, such as direction information change, and extract the average speed v1 of the time t2 and time period t 2-t1 of the change, the v1 and when
Between section t2-t1 products be unknown path 1, be G1 by the starting point in unknown path 1, using the terminal G2 in unknown path 1 as unknown
The average speed of the time t3 and time period t 3-t2 of the change is extracted in the starting point in path 2, such as secondary change of direction information
Degree v2, the v2 and time period t 3-t2 products are unknown path 2, are G2 by the starting point in unknown path 2, compute repeatedly unknown road
The step of footpath, gets vehicle coordinate information or vehicle stall again up to terminal, and all of unknown path is in chronological sequence connected
Pick up to obtain default path.
7. device according to claim 5, it is characterised in that the computing unit is specifically for calculating unknown path step
Suddenly, specifically include：Terminal reads last time position coordinates G1 (L, B), reads present speed V1, azimuth：A1, by G1 (L,
B) longitude and latitude is converted into Gauss rectangular co-ordinate G1 (x, y), calculates the coordinate G2 (L, B) of next sampled point, wherein
G2y=G1y+S*sin (A1)；G2x=G1x+S*cos (A1)；
Wherein, S=V1*T；
Wherein T is the time interval between two sampled points；G1y is the y values in G1 (x, y), and G2x is the x values in G1 (x, y)；
G2 (x, y) is converted into gps coordinate G2 (L, B), will be coupled together with smooth linear between G1 (L, B) and G2 (L, B)
To unknown path 1；
The unknown path step of calculating is repeated up to terminal gets vehicle coordinate information or vehicle stall again, will be all of
Unknown path in chronological sequence couples together and obtains default path.
8. the device according to claim 5-7 any one, it is characterised in that
The position coordinates is gps coordinate or Big Dipper coordinate.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109523821A (en) * | 2018-11-30 | 2019-03-26 | 湖南智慧畅行交通科技有限公司 | It is a kind of that point calculating method leaving from station is arrived based on city bus GPS information |
| WO2019119550A1 (en) * | 2017-12-21 | 2019-06-27 | 深圳市沃特沃德股份有限公司 | Method and apparatus for assisting with automobile positioning |
| CN110530357A (en) * | 2019-09-16 | 2019-12-03 | 上海巨灵信息技术股份有限公司 | A kind of method and system of customized Orientation on map |
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