CN106991839A - Pedestrian navigation method and corresponding central computation unit and portable set - Google Patents
Pedestrian navigation method and corresponding central computation unit and portable set Download PDFInfo
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- CN106991839A CN106991839A CN201710044318.3A CN201710044318A CN106991839A CN 106991839 A CN106991839 A CN 106991839A CN 201710044318 A CN201710044318 A CN 201710044318A CN 106991839 A CN106991839 A CN 106991839A
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- pedestrian
- portable set
- computation unit
- route
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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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
-
- 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
- G01C21/20—Instruments for performing navigational calculations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
Illustrate a kind of method for the pedestrian navigation being used on the parking area 100 for vehicle, wherein, central computation unit 120 receives the information for the point 101 that the determination being directed on the parking area 100 is wanted on pedestrian 140.The central computation unit 120 calculates for pedestrian 140 from the current location of the pedestrian to the route 150 of the point 101 of the determination and sends the information on the route 150 to portable set 160.In addition, illustrate a kind of method for being navigated to the pedestrian 140 on the parking area 100 for vehicle, wherein, portable set 160 receives from central computation unit 120 and the information on route 150 is exported to the pedestrian 140.Central computation unit 120 and portable set 160 are provided for implementing methods described.
Description
Technical field
The present invention relates to a kind of method for being used for pedestrian navigation on the parking area for vehicle, it is a kind of be used for
Method, a kind of central computation unit and a kind of portable set navigated in the pedestrian on the parking area of vehicle.
Background technology
, it is known that providing the navigation application for pedestrian by means of tablet personal computer or smart mobile phone.Here, using intelligent hand
Machine or tablet personal computer gps receiver, to ask for the current location of pedestrian.However, this is only when the reception of gps signal
Just worked when interference-free.Within building, GPS receiver may be disturbed with such degree so that can not be realized and be borrowed
Help GPS positioning and therefore can not realize navigation.
The content of the invention
The task of the present invention is that there is provided a kind of improved side for the pedestrian navigation being used on the parking area for vehicle
Method.Another task of the present invention is to provide a kind of central computation unit and a kind of portable set for such method
For using.
The task is by the method for the pedestrian navigation on the parking area for vehicle according to the present invention, center
Computing unit, method and the portable set solution for being navigated to the pedestrian on the parking area for vehicle
Certainly.
For in the method for the pedestrian navigation for the parking area of vehicle, especially in parking building, center to be calculated
Unit receives the information for the point for wanting to be directed to the determination on parking area on pedestrian.Central computation unit is calculated for pedestrian
From the current location of the pedestrian to the route of the point of the determination.Then, sent to portable set on the route
Information.The information that pedestrian wants to be directed to the point of the determination on parking area can for example be sent by portable set.However, right
This is it is also contemplated that other possibilities, such as the operation terminal in the entrance area of parking area, and pedestrian is to the operation terminal
Its hope of navigating is provided.
By this method it is possible that asked in central computation unit for route of the pedestrian on parking area and
The information on route is transmitted to portable set, wherein, portable set is provided for showing the route to pedestrian.Pass through
Route is calculated in central computation unit, it is not necessary to be：Information on the parking area for vehicle is available for portable set
Use.Thus, portable set can be widely used on different parking areas, therefore, and the portable set can be
The smart mobile phone or tablet personal computer of user.
Application of the method according to the invention in parking building is particularly advantageous, and in the parking building, vehicle is automatic
Parking stall is moored into and moored out on ground, so as to surrender its vehicle automatically to moor into and moor out the vehicle driver on parking stall not
Which know on the position that its vehicle is located in parking building.The parking area for the vehicle outside parking building is equally applicable to,
The parking area is provided for automatically mooring into and mooring out parking stall.If present driver wants to return to its vehicle, such as
Because he have forgotten some things and has completed a part for its buying in their vehicles or because of him and continued it at him to adopt
Want the thing purchased being placed in vehicle before purchase, or if driver wants to return to its car due to other reasonses
, then the pedestrian navigation for driver can be provided by methods described, so that driver finds its vehicle again.Thus may
, vehicle need not moor out from parking building or parking area and be taken to driver again.It is provided for thus, it is possible to improve
Automatically moor into and moor out parking stall parking area operational process.
In one embodiment, current location of the pedestrian on parking area is determined by means of sensor.Thus, on row
People is available for central computation unit to use on parking area positioned at information where.These information, which can be used directly to calculating, to be used for
The route of pedestrian, or calculate corrected route when pedestrian leaves the route and will be being calculated or corrected
Route is exported to the portable set of pedestrian respectively.
In one embodiment, sensor is the sensor being imaged, and uses the sensing being imaged
The data of device determine the position of pedestrian by means of image procossing.The sensor being imaged --- such as video camera or infrared
Sensor is suitable for motion of the identification object on the parking area for vehicle.It can be determined currently according to the motion of these objects
Position.This especially works to pedestrian, and the pedestrian is its profile with other objects difference on parking area
(Silhouette).The heat radiation of pedestrian can be asked for by means of infrared sensor, the heat radiation, which is also differed significantly from, to stop
The heat radiation of other object in car area.The position of pedestrian can be determined by the record for comparing these sensors being imaged
Put.
In one embodiment, recognition of face is integrated into image procossing.Pedestrian is corrected by means of recognition of face
Position and identity.This can be used for, and the motion of the object for being recognized as pedestrian on parking area is corresponded into a determination
People, i.e. one determine pedestrian.This is favourable especially when multiple pedestrians on parking area are in the way.Pass through face
Identification can recognize moving and finally matching the route exported to pedestrian for each pedestrian exactly.
In one embodiment, the portable set is signed in in WLAN, and is existed by the central computation unit
The information that the portable set is logged in by which wlan access point is considered during the position for asking for the pedestrian.If in parking
There are multiple wlan access points in area, then the letter that portable set can be used to be logged in by which of these wlan access points
Breath, to ask for the position of pedestrian.Thus, it is possible to improve asking for for position of the pedestrian on parking area.
In one embodiment, the current location of the pedestrian is determined by means of radio module.The radio mould
Block is connected and received the signal sent by the portable set with the central computation unit.According to the signal, for example
According to determine portable set as the signal intensity striked by the radio module and therefore position of pedestrian.Can also
Set, portable set sets up the connection to radio module and the position of portable set is asked for according to the connection set up
Put.Position determined by considering when calculating the route for pedestrian.
In one embodiment, the current location of pedestrian is determined by means of radio module.The radio module with
Central computation unit is connected and propagation time of the evaluating radio signal between portable set and radio module.
Especially when there is multiple radio modules, this method can be implemented well.If portable set is simultaneously at least three
In the receiving area of radio module, then propagation time measurement of the signal between these three radio modules and portable set
Pedestrian can be provided clear and definite unique position on parking area.The party can further be improved by other radio module
Method.So, the communication between portable set and central computation unit can for example pass through WLAN, but it is also possible to by any
Other radio communication possibilities are realized.
In one embodiment, WLAN signal can be used between different wlan access points and portable set
Propagation time is used to determine position.Thus it is particularly possible to the information that is logged in simultaneously using equipment by which wlan access point and
The propagation time of WLAN signal.Additionally, the communication that WLAN can be used between portable set and central computation unit.
In one embodiment, central computation unit can follow the trail of and consider pedestrian in parking area when calculating route
On motion.This is especially when the correction that pedestrian offsets in the progress of route and then central computation unit carries out route
It is favourable during to be continued pedestrian with to the point determined in the way of full blast.
In one embodiment, the plan of parking area is sent to portable set.This can be realized：There is provided to pedestrian
The general view plan of parking area for using, wherein, pedestrian can determine direction according to the plan on parking area.This can
For example to be carried out by means of the screen on portable set.It is then possible to route is drawn on the plan, furthermore, it is possible to
Navigation hint is provided by means of arrow or text.
In one embodiment, the route is shown on the display device, and by watching the people of the display device
The information on the route is transmitted to the portable set.It can set, by the parking area for vehicle or in
Entreat the staff for the operator that there is the parking area for vehicle by computing unit.The staff can be in display device
The current route of upper display pedestrian or the route calculated of pedestrian.Then, on route information thus people to portable
Equipment is artificially transmitted.In with automatically mooring and mooring out the parking area of first version of parking bit function, it can set,
The staff's monitoring and/or control arranged by operator is moored into and moors out parking stall.The staff can also be used for
Pedestrian navigation.
In one embodiment, the information on route seen by being looked in central computation unit the people of display device by
Connect and transmitted to portable set in voice.Then the people and pedestrian of viewing display device connected by voice connection and can
To talk with each other.The people for watching display device transmits the route that shows there and therefore can be true to pedestrian by word of mouth
Protect pedestrian and reach the point determined.
In one embodiment, the information on route is transmitted to portable set in the form of text.This aspect can
By by central computation unit look on see display device people and on the other hand can by by text message from center in terms of
Unit is calculated to be transferred directly to portable set to carry out.
In one embodiment, central computation unit receives the information of the position on pedestrian from portable set.
In this case, portable set is provided for determining and the position of pedestrian itself is transmitted to central computation unit.Here, institute
The determination by portable set that rheme is put can be for example by gps receiver, by radio module --- and it is portable to set
It is standby to have been set up being connected with the radio module --- signal intensity analyzing and processing or by radio module
Propagation time measurement --- portable set perform the propagation time measurement --- to realize.For determining portable set
The other method of current location can also be realized by those skilled in the art.Then, the current location of received pedestrian
Central computation unit route for pedestrian can be calculated according to described information and by the route calculated to pedestrian or
Exported to portable set.Thus further improve and improvement route calculation, especially stopping in the sensing mechanism without itself
In the case of gps signal being used in car area.
In one embodiment, it is determined that point be the vehicle being parked on parking area, and when pedestrian is close to being parked
Vehicle when, central computation unit is to vehicle output signal.Vehicle is provided for the illumination according to the signal activation vehicle.This
It is possible that when pedestrian is parked in the vehicle on parking area close to it, the vehicle is recognized more quickly for pedestrian,
Because the vehicle of pedestrian is the vehicle that its illumination is activated.
Central computation unit is provided for implementing one of methods described.
For the method to being navigated in the parking area for vehicle, the pedestrian especially in parking building, wherein, just
Portable device receives from central computation unit and exports the information on route to the pedestrian.Portable set is provided for
Receive and to pedestrian's output route, can follow the route so as to pedestrian and therefore reach the determination on parking area
Point.
In one embodiment, portable set receives the plan of parking area and exports the plan.Thus change
Enter the navigation to the pedestrian on parking area, because the visual general view plan on parking area is available for pedestrian to use, stopping
Pedestrian in car area can determine direction according to the general view plan.
In one embodiment, portable set asks for the position of pedestrian and transmits institute's rheme to central computation unit
Put.
Portable set is provided for implementing one of methods described.
Brief description of the drawings
Now, the present invention is more accurately described referring to the drawings.Shown in schematical accompanying drawing：
General views of the Fig. 1 on parking area, can implement described method on the parking area；
Fig. 2 parking areas, the parking area is equipped with sensor；
Fig. 3 parking areas, the parking area is also equipped with sensor；
Fig. 4 parking areas, in the parking area, central computation unit has display device；
Fig. 5 central computation units；And
Fig. 6 portable sets.
Embodiment
Fig. 1 shows the parking area 100 for vehicle especially in parking building.The parking area 100 is assigned with hair
Send the central computation unit 120 of receiving unit 121.Hold portable set 160 simultaneously in the hand of pedestrian 140 on parking area 100
And want the point 101 of determination being directed on parking area 100.In this embodiment, vehicle 110 is parked in the point 101 of determination
On.But it is also possible that the point 101 of the determination is the outlet or another interested on parking area 100 of parking area 100
Point.Portable set 160 sends pedestrian 140 to central computation unit 120 and wants to be directed to the letter of the point 101 of the determination
Breath, the central computation unit receives described information by means of sending receiving unit 121.Now, central computation unit calculates road
Pedestrian 140 is directed to the point 101 of determination by line 150, the route from its current location.The route 150 is now by center meter
The transmission receiving unit 121 for calculating unit 120 is transmitted to portable set 160.Portable set 160 now can be to pedestrian 140
The information on route 150 is transmitted, its mode is to show described information on portable set 160.
Fig. 2 is shown with the parking area 100 with Fig. 1 identical objects.Additionally, video camera is set for parking area 100
102, the video camera is connected by data circuit 103 with central computation unit 120.Here, video camera 102 can be understood as passing
Sensor, wherein, the sensor can realize the determination of the position of pedestrian 140.In the embodiment of fig. 2, by means of video camera
102 realize the determination of the position of pedestrian 140, and its mode is that the record of video camera 102 is analyzed and processed by means of image procossing simultaneously
And the position of pedestrian 140 is asked for by the record.
Set in one embodiment, for determining that the image procossing of position of pedestrian 140 is known equipped with additional face
Not.It is possible thereby to recognize the face 141 of pedestrian 140, wherein, described information for by the position of the pedestrian on parking area 100 with
It is useful that information on route 150, which is combined,.It is possible especially when multiple pedestrians on parking area are in the way
It is that route is distributed into corresponding pedestrian by means of the recognition of face.
Fig. 3 shows another embodiment of parking area 100, wherein, parking area 100 includes the embodiment identical with Fig. 1
Object.Additionally, provided with three wlan access points 104, three wlan access points are counted by means of data circuit 103 with center
Unit 120 is calculated to connect.Portable set 160 is connected by means of WLAN with wlan access point 104.Here, central computation unit 120
Transmission receiving unit 121 can also be wlan access point but it is also possible to be in portable set 160 and central computation unit
Other communication possibilities between 120.Here, portable set 160 can be used to be visited in a wlan in three WLAN
Which the upper information logged in a little in 104 is asked to determine the position of pedestrian.Additionally, unshowned optical sensing in figure 3
Device is set with being similar to Fig. 2.
In one embodiment, wlan access point 104 can be replaced by radio module.Here, the radio mould
Block is used for the position for determining pedestrian.Therefore, radio module is connected and evaluating radio signal with central computation unit
Propagation time between portable set 160 and radio module.Here, the transmission receiving unit 121 of central computation unit
It can also be a wlan access point or an other communication interface.It can additionally set, the propagation of radio signal
Time measurement is carried out by the signal of wlan access point 104, so that radio module is integrated into wlan access point 104.Pass through
The use of radio module as at least three, can ask for pedestrian's 160 on parking area 100 by triangulation
Position.In one embodiment, the plan of parking area 100 is transmitted to portable set 160.
Fig. 4 shows another embodiment of the parking area 100 of the object with Fig. 1.Additionally, central computation unit is with showing
Show that equipment 105 is connected, the presentation of information on route 150 is on the display device.People 106 --- and this person is not pedestrian
140 --- it is sitting in before display device and can be transmitted to portable set 160 and therefore to pedestrian 140 in display
The information of the route shown in equipment 105.This aspect can for example be accomplished by the following way, i.e. people 106 and pedestrian 140 borrows
Help voice and connect through portable set 160 to be connected with each other and can mutually talk with.On the other hand it can set, people 106
Information of the input on route 150 in other mask (Maske), and described information is then by means of sending receiving unit
121 transmit to portable set 160 and show there.
In one embodiment, portable set 160 be provided for asking for its own position on parking area 100 and
Described information is transmitted to central computation unit 120.Then, described information is examined by central computation unit when calculating route 150
Consider.This for example can be realized by the gps receiver being integrated into portable set 160.
In one embodiment, the point 101 for being parked in the vehicle on parking area to determine.Central computation unit 120 is set
For when pedestrian 140 close to it is determined that point 101 on parked vehicle when, on the point 101 of the determination vehicle export
Signal.Then, vehicle is provided for the illumination according to the signal activation vehicle, so that pedestrian 140 more rapidly finds its car
.
Although the embodiment described by Fig. 1 to 4 is included in the parking area 100 in an aspect, the invention is not restricted to
Such parking area.It is also possible that using the method according to the invention in the parking building with many levels.Here, with
It can be especially oriented in the route of pedestrian 140 by stair, the different aspects of parking area 100 are connected with each other by the stair.
Fig. 5 shows the central computation unit 120 with transmission receiving unit 121, wherein, send receiving unit 121 and meter
Calculation machine 122 is connected.In addition, central computation unit 120 can equipped with data input pin 123 and data output end 124, wherein,
The data input pin and data output end are optional.Computer 122 undertakes all meters of the execution of central computation unit 120
Calculate, particularly for the calculating of route 150.Receiving unit 121 is sent to be provided for undertaking in central computation unit 120 and portable
Communication between equipment 160.Optional data input pin 123 is provided for receiving the data of sensor, wherein, center calculates single
Member 120 can determine position of the pedestrian on parking area by sensing data.Here, data input pin 123 can set use
In the image or the measurement data of other sensors that receive video camera.Optional data output end 124 is provided in display
The plan in outputting parking area or the information on the route for pedestrian in equipment.Here, display device can be another
Individual's viewing, this person transmits the information on route to portable set.
Fig. 6 is shown with display element 161, operating element 162, transmission receiving unit 163 and optional sensor 164
Portable set 160.Receiving unit 163 is sent to be provided for transmitting the information for wanting route guidance to central computation unit.This
For example or but it can also can automatically be triggered when setting foot on parking area by the way that button is realized on operating unit 162.
It is provided for receiving the information on route in addition, sending receiving unit 163, described information is then in display device or display
Exported on device 161.This can for example be carried out in the following manner：Display device 161 is screen, and display on the screen stops
The general view plan in car area, wherein, the route for pedestrian is drawn in the synoptic chart for being shown in display device 161.
It is also possible that display device 161 is the display device for text, output navigation in the form of text on said display means
Prompting.Another possibility for display device 161 is that the display device is loudspeaker, is exported by the loudspeaker
Voice message.Portable set 160 can allow to, ask for just equipped with optional sensor 164, the sensor
Position of the portable device 160 on parking area.Then, striked position can also be by means of sending receiving unit 163 in
Entreat computing unit transmission.
Although illustrating in detail the present invention by preferred embodiment, those skilled in the art can also be set
Other combinations for the feature being previously mentioned, and without departing from protection scope of the present invention.
Claims (18)
1. a kind of be used for the method in the parking area (100) for vehicle, the pedestrian navigation especially in parking building, wherein,
Central computation unit (120) receives the letter for the point that the determination being directed on the parking area (100) is wanted on pedestrian (140)
Breath, wherein, the central computation unit (120) calculate for the pedestrian (140) from the current location of the pedestrian (140) to
The route (150) of the point of the determination and send information on the route (150) to portable set (160).
2. according to the method described in claim 1, wherein, by means of sensor (102,104) determine the pedestrian (140) work as
Front position.
3. method according to claim 2, wherein, the sensor (102) is the sensor being imaged, and is used
The data of the sensor (102) determine the position of the pedestrian (140) by means of image procossing.
4. method according to claim 3, wherein, recognition of face is integrated into described image processing, and by means of
The recognition of face corrects position and the identity of pedestrian (140).
5. method according to claim 2, wherein, the portable set is signed in in WLAN, and by the center
Computing unit (120) considers that the portable set (160) is visited by which WLAN when asking for the position of the pedestrian (140)
Ask the information that point (104) is logged in.
6. method according to claim 2, wherein, the present bit of the pedestrian (140) is determined by means of radio module
Put, wherein, the radio module is connected with the central computation unit (120) and evaluating radio signal is described
Propagation time between portable set (160) and the radio module.
7. the method according to any one of claim 2 to 6, wherein, the central computation unit (120) follow the trail of and
Motion of the pedestrian (140) on the parking area (100) is considered when calculating the route (150).
8. the method according to any one of the preceding claims, wherein, to the portable set (160) send described in stop
The plan in car area (100).
9. the method according to any one of the preceding claims, wherein, show the route on display device (105)
(150), and from the people (106) for watching the display device (105) transmitted to the portable set (160) on the road
The information of line (150).
10. method according to claim 9, wherein, connected to transmit to the portable set (160) by means of voice and closed
Information in the route (150).
11. method according to any one of claim 1 to 9, wherein, in a text form to the portable set
(160) information of the transmission on the route (150).
12. the method according to any one of the preceding claims, wherein, the central computation unit (120) from it is described just
Portable device (160) receives the information of the position on the pedestrian (140).
13. the method according to any one of the preceding claims, wherein, the point of the determination is to be parked in the parking area
(100) vehicle on, and when the pedestrian (140) is close to institute's parked vehicle, the central computation unit (120) is to institute
Vehicle output signal is stated, wherein, the vehicle is provided for the illumination of the vehicle according to the signal activation.
14. a kind of central computation unit (120), the central computation unit is provided for implementing according to claim 1 to 13 institute
One of method stated.
15. a kind of be used for being navigated in the parking area (100) for vehicle, the pedestrian (140) especially in parking building
Method, wherein, portable set (160) from central computation unit receive and to the pedestrian (140) output on route
(150) information.
16. method according to claim 15, wherein, the portable set (160) receives and exports the parking
The plan in area (100).
17. the method according to any one of claim 15 or 16, wherein, the portable set (160) ask for and
The position of the pedestrian (140) is transmitted to the central computation unit (120).
18. a kind of portable set (160), the portable set is provided for implementing according to claim 15 to 17
One of method.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016200706.8 | 2016-01-20 | ||
| DE102016200706.8A DE102016200706A1 (en) | 2016-01-20 | 2016-01-20 | Pedestrian navigation in a parking garage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106991839A true CN106991839A (en) | 2017-07-28 |
Family
ID=59256179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710044318.3A Pending CN106991839A (en) | 2016-01-20 | 2017-01-19 | Pedestrian navigation method and corresponding central computation unit and portable set |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106991839A (en) |
| DE (1) | DE102016200706A1 (en) |
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| CN108801240A (en) * | 2018-03-30 | 2018-11-13 | 浙江大华技术股份有限公司 | A kind of air navigation aid, apparatus and system |
| CN109752001A (en) * | 2017-11-07 | 2019-05-14 | 北京京东尚科信息技术有限公司 | Navigation system, method and apparatus |
| CN110645999A (en) * | 2018-06-26 | 2020-01-03 | 杭州海康威视数字技术股份有限公司 | Navigation method, navigation device, server, terminal and storage medium |
| CN111554117A (en) * | 2020-04-21 | 2020-08-18 | 常州工程职业技术学院 | Target searching method based on map |
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| DE102019128010A1 (en) * | 2019-10-17 | 2021-04-22 | Audi Ag | Method for determining a position, method for controlling a position and computer program product |
| DE102019132621A1 (en) * | 2019-12-02 | 2021-06-02 | Audi Ag | METHOD OF DETERMINING A POSITION OF A USER OF A VEHICLE AFTER LEAVING THE VEHICLE USING A CAMERA IMAGE AND COMPUTER PROGRAM PRODUCT |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109752001A (en) * | 2017-11-07 | 2019-05-14 | 北京京东尚科信息技术有限公司 | Navigation system, method and apparatus |
| CN108801240A (en) * | 2018-03-30 | 2018-11-13 | 浙江大华技术股份有限公司 | A kind of air navigation aid, apparatus and system |
| CN110645999A (en) * | 2018-06-26 | 2020-01-03 | 杭州海康威视数字技术股份有限公司 | Navigation method, navigation device, server, terminal and storage medium |
| CN111554117A (en) * | 2020-04-21 | 2020-08-18 | 常州工程职业技术学院 | Target searching method based on map |
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