CN107228675A - A kind of determination method of road residing for terminal, apparatus and system - Google Patents
A kind of determination method of road residing for terminal, apparatus and system Download PDFInfo
- Publication number
- CN107228675A CN107228675A CN201610173537.7A CN201610173537A CN107228675A CN 107228675 A CN107228675 A CN 107228675A CN 201610173537 A CN201610173537 A CN 201610173537A CN 107228675 A CN107228675 A CN 107228675A
- Authority
- CN
- China
- Prior art keywords
- deflection
- road
- terminal
- angle
- current position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of determination method of road residing for terminal, apparatus and system, in this programme, in technical scheme described in the embodiment of the present invention, current position location is obtained because terminal carries out positioning, and obtain the deflection of itself；The current position location and deflection are sent to server, so that the server performs following operate：The candidate roads of default number of branches are obtained based on the current position location；Determine that the terminal is presently in road according to the current position location, deflection and candidate roads.So, realize and determine that terminal is presently in road jointly according to current position location and deflection the two parameters, then it is determined that road be closer to the distance, the more consistent road in direction.So, it can improve the accuracy that terminal is presently in road relative to prior art.
Description
Technical field
The present invention relates to field of navigation technology, more particularly to road residing for a kind of terminal determination method, device
And system.
Background technology
Positioning is carried out by terminal to obtain behind current location, display terminal can be presently in electronic map
Road is presently in position to understand using family, or further to be presently in road as navigation start channel
Navigated for user on road.
In the prior art based on the current position location obtained after positioning, determine that terminal is presently in the side of road
Method is usually：A road nearest apart from current position location is inquired about as terminal and is presently in road.Example
Such as, as shown in figure 1, A points represent current position location, L1 represents a road, and L2 passes through A points
And be L1 vertical line, B points are intersection point, then the vertical range between A, B is that road L1 determines with current
The distance between position position A., will if L1 is a road nearest apart from current position location A
L1 is presently in road as terminal.
However, the current position location that terminal is obtained has a certain error, and different terminals error size not
Together, the error of some terminals by the center of circle of physical location, 10 meters is in the circle of radius, have at 30 meters
In the circle of radius.For example as shown in Figure 2 by taking 10 meters of radiuses as an example, C points are the physical location of terminal, and
The current position location obtained after terminal multiple bearing in the circle of 10 meters of radiuses at random occur (such as C1,
C2, C3 point are the location point obtained after same position positioning).
So, because the anchor point that obtains has randomness after positioning, and have certain inclined with actual position
Difference, causes the distance in the prior art according only to road and current position location, when determining road residing for terminal
Accuracy it is not high enough.
For example, as shown in figure 3, for separate lanes (including the track L1 that current direction is A, with
And the track L2 that current direction is B), user is actual on the L1 of track, but obtained after positioning it is current fixed
Position position is but nearer apart from track L2, then terminal is presently in into road according to prior art and is defined as track
On L2, it is determined that road it is inaccurate, the navigation way based on the road so determined is also necessarily inaccurate
, the navigation way of meeting generation error causes Consumer's Experience excessively poor.
The content of the invention
The embodiments of the invention provide a kind of determination method of road residing for terminal, apparatus and system, to solve
Certainly presently, there are due to the distance according only to road and current location, determine the accuracy of road residing for terminal
Low the problem of.
The present invention provides a kind of determination method of road residing for terminal, including：
Terminal carries out positioning and obtains current position location, and obtains the deflection of itself；
The current position location and deflection are sent to server so that the server perform with
Lower operation：The candidate roads of default number of branches are obtained based on the current position location；Work as prelocalization according to described
Position, deflection and candidate roads determine that the terminal is presently in road.
Further, the present invention also provides a kind of determining device of road residing for terminal, including：
Data obtaining module, obtains current position location, and obtain the direction of itself for carrying out positioning
Angle；
Sending module, for the current position location and deflection to be sent into server, so that institute
State server and perform following operate：The candidate roads of default number of branches are obtained based on the current position location；Root
Determine that the terminal is presently in road according to the current position location, deflection and candidate roads.
Further, the present invention also provides a kind of determination system of road residing for terminal, including：
Terminal, obtains current position location, and obtain the deflection of itself for carrying out positioning；Will be described
Current position location and deflection are sent to server；
Server, for receiving the current position location of the terminal and the deflection of the terminal；Base
The candidate roads of default number of branches are obtained in the current position location；According to the current position location, direction
Angle and candidate roads determine that the terminal is presently in road.
The present invention has the beneficial effect that：In technical scheme described in the embodiment of the present invention, in the embodiment of the present invention
In the technical scheme, current position location is obtained because terminal carries out positioning, and obtain the direction of itself
Angle；And current position location and deflection are sent to server so that server can be worked as based on described
The candidate roads of prelocalization position acquisition default number of branches；According to the current position location, deflection and time
Road of seeking determines that the terminal is presently in road.So, realize according to distance and deflection the two
Parameter determines that terminal is presently in road jointly.It is to determine due to the current direction of road, so this hair
The road finally determined in bright is closer to the distance, and the consistent road in direction, it is to avoid occurred in the prior art
Using the road on physical location opposite as the situation of final road, terminal can be improved relative to prior art
It is presently in the accuracy of road.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, institute in being described below to embodiment
The accompanying drawing needed to use is briefly introduced, it should be apparent that, drawings in the following description are only the present invention's
Some embodiments, for one of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 show road and current location apart from schematic diagram；
Fig. 2 show the position view that the current location of terminal positioning acquisition occurs at random；
Fig. 3 show the signal for the road that road residing for terminal is defined as to physical location opposite in the prior art
Figure；
Fig. 4 show the flow signal of the determination method of road residing for terminal described in the embodiment of the present invention one
Figure；
Fig. 5 show the schematic diagram of the deflection of road and preset direction described in the embodiment of the present invention one；
Fig. 6 show the schematic diagram in the direction of one group of anchor point in the embodiment of the present invention one；
Fig. 7 show the flow signal of the determination method of road residing for terminal described in the embodiment of the present invention two
Figure；
Fig. 8 show the flow signal of the determination method of road residing for terminal described in the embodiment of the present invention three
Figure；
Fig. 9 show the schematic diagram of the navigation way of the offer of prior art described in the embodiment of the present invention three；
Figure 10 show the signal of navigation way provided in an embodiment of the present invention described in the embodiment of the present invention three
Figure；
Figure 11 show the structural representation of the determining device of road residing for terminal described in the embodiment of the present invention four
One of figure；
Figure 12 show the structural representation of the determining device of road residing for terminal described in the embodiment of the present invention four
The two of figure；
Figure 13 show the structural representation of the determining device of road residing for terminal described in the embodiment of the present invention five
One of figure；
Figure 14 show the structural representation of the determining device of road residing for terminal described in the embodiment of the present invention five
One of figure；
Figure 15 show the structural representation of the determination system of road residing for terminal described in the embodiment of the present invention six
Figure.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing to this hair
It is bright to be described in further detail, it is clear that described embodiment is only a part of embodiment of the invention,
Rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out all other embodiment obtained under the premise of creative work, belong to the scope of protection of the invention.
The embodiments of the invention provide a kind of determination method of road residing for terminal, apparatus and system, at this
In technical scheme described in inventive embodiments, current position location is obtained because terminal carries out positioning, and obtain
The deflection of itself；And current position location and deflection are sent to server so that server can be with
The candidate roads of default number of branches are obtained based on the current position location；According to the current position location, side
Determine that the terminal is presently in road to angle and candidate roads.
So, the embodiment of the present invention is realized determines terminal jointly according to distance and deflection the two parameters
It is presently in road.It is to determine due to the current direction of road, so the road finally determined in the present invention
Road is closer to the distance, and the consistent road in direction, it is to avoid occurred in the prior art by physical location opposite
Road can improve the standard that terminal is presently in road as the situation of final road relative to prior art
True property.
For ease of further understanding the technical scheme that the present invention is provided, it is specifically described below.
Embodiment one：
As shown in figure 4, it is the flow of the determination method of road residing for terminal described in the embodiment of the present invention one
Schematic diagram, this method may include following steps：
For ease of understanding, direction, deflection, the current side such as referred to without the specified otherwise embodiment of the present invention
To current deflection, angle etc. refer both to the parameter in the plane of east, south, west, north.
Step 401：Terminal carries out positioning and obtains current position location, and obtains the deflection of itself.
Wherein, individual in one embodiment, preset direction is, for example, any in east, south, west, north etc.
Individual, constantly, any one direction can serve as default side in the plane of east, south, west, north for specific implementation
To can set according to actual needs, the embodiment of the present invention is not limited this.
Step 402：The current position location and deflection are sent to server, so that the service
Device performs following operate：The candidate roads of default number of branches are obtained based on the current position location；According to described
Current position location, deflection and candidate roads determine that the terminal is presently in road.
Wherein, server determine that the terminal is presently in the method for road will be in embodiment two specifically
It is bright, it wouldn't repeat here.
For ease of further understanding, below embodiments of the present invention is further illustrated, it is including following interior
Hold：
Wherein, in one embodiment, the deflection of itself can be obtained according to following methods：
Step A1：Judge whether itself remains static, if so, step A2 is then performed, if it is not, then
Perform step A3.
Wherein, in one embodiment, it can judge whether itself remains static according to following methods；
Method one：Movement velocity is obtained, judges whether movement velocity is more than pre-set velocity critical value, if
It is, it is determined that itself is kept in motion, if not, it is determined that itself remains static.
Method two：The distance in preset duration is obtained, judges whether the distance is more than default distance critical
Value, if, it is determined that itself is kept in motion, if not, it is determined that itself remains static.
When it is implemented, judging whether itself remains static can determine according to prior art, this hair
This is no longer described in detail bright embodiment.
Wherein, in one embodiment, terminal typically carries gyroscope, and gyroscope can be with measuring terminals
Towards the angle between the reference direction of gyroscope.By the direction of terminal and terminal institute under normal circumstances
The current direction for locating road is basically identical, such as when vehicle is on road, direction and the vehicle place of vehicle
The current direction of road is basically identical.So, in the embodiment of the present invention, when terminal remains static
When, deflection can be obtained according to step A2.
Step A2：Read the angle that built-in gyroscope is measured, the angle-determining side measured according to gyroscope
To angle.
Wherein, in one embodiment, it is the reference direction for the current deflection for ensureing deflection and road
Identical, to improve the accuracy for determining residing road, direction angle refers to terminal and is presently in road with presetting
Angle between direction, the preset direction is the reference direction of the current deflection of road.
For example, for ease of describing and determining deflection, if it is identical with preset direction to be presently in road direction
It is then 0 °；Then increase successively according to dextrorotation gyration, then maximum is 360 ° with reference to angle.Example
Such as, as shown in figure 5, the direction of arrow 501 is preset direction, arrow 502 is to be presently in road
Direction, then deflection is ∠ A.
It should be noted that when it is implemented, deflection how value, can be true according to actual needs
Fixed, the embodiment of the present invention is not limited this, for example, increase angle according to counter clockwise direction, or, angle
Value is spent between [- 180 °, 180 °].
Wherein, in one embodiment, when the deflection determined by terminal is needed on the basis of preset direction
During direction, step A2 may particularly include following steps：
Step A21：Judge whether the reference direction of gyroscope is identical with the preset direction；The preset direction
For the reference direction of the current deflection of road；
Step A22：If identical, the angle-determining that the gyroscope is measured is deflection；
Step A23：If differing, the angle that is measured according to the gyroscope, the reference direction with
And the preset direction calculates the deflection.
If for example, reference direction is different with preset direction, it is believed that be that coordinate system is different, can pass through
The angle that coordinate system conversion computing gyroscope is measured, corresponding angle is made during direction on the basis of preset direction
For deflection.
Or, such as figure determines that preset direction (is considered as first jiao relative to the angle of reference direction first
Degree), then calculate the angle that measures of spiral shell instrument and first angle can obtain deflection.For example in Fig. 5,
If reference direction is 502, preset direction is that 501, ∠ A are first angle, and ∠ B are the angle measured
(the 503 corresponding direction of angle to measure), then deflection is (∠ A+ ∠ B).
Certainly, it is necessary to explanation, the angle that can be measured according to prior art according to the gyroscope,
The reference direction and the preset direction calculate the deflection, suitable for the embodiment of the present invention,
The present invention is not limited this.
Wherein, in one embodiment, when obtaining deflection by gyroscope, terminal will can read interior
The angle that the gyroscope put is measured is sent to server as deflection, and performing step A21- by server walks
Rapid A23 obtains final deflection, and the embodiment of the present invention is not limited this.
Wherein, in one embodiment, because the direction of terminal and the current direction of road sometimes have
Different, for example, not necessarily the moment is consistent with the direct of travel of user for the direction of mobile phone terminal.Therefore
This, in the embodiment of the present invention, in order to improve the accuracy obtained with reference to angle, reads interior in step A2
Before the angle that the gyroscope put is measured, can also point out user by terminal towards place road current side
To.
Wherein, in one embodiment, if terminal is not at inactive state, terminal is necessarily in fortune
Dynamic state, at this moment,, can be according to step when terminal is not at inactive state in the embodiment of the present invention
A3 obtains deflection.
Step A3：The movement locus being made up of at least one history anchor point of itself is obtained, according to described
Movement locus and the preset direction determine the deflection.
So, deflection is determined according to movement locus, being capable of road residing for accurate reactive terminal
Current direction, so, can further improve the accuracy of the angular separation of acquisition.
Wherein, in one embodiment, following steps be may particularly include in step A3：
Step A31：Obtain the positioning time of each anchor point of the movement locus.
Step A32：By positioning time by evening to early order, the anchor point of predetermined number is obtained.
Step A33：According to the anchor point of the predetermined number and the preset direction, the side is calculated
To angle.
Wherein, in one embodiment, step A33 at least includes following two embodiments：
Mode one：
Step B1：Adjacent two anchor point constitutes one group in the anchor point of predetermined number, determines every group of direction
The direction of anchor point for the early anchor point of positioning time in the group to evening positioning time.
For example, as shown in fig. 6,2 points of E, F are two anchor points in one group, E positioning time earlier than
F positioning time (i.e. in chronological sequence order first obtains and F points are obtained after E points), then the direction of the group is
E to F direction.
Step B2：For every group, the direction of the group and the angle of preset direction are calculated, and according to each group
Angle determines deflection.
Wherein, for example, the average value of each group angle can be defined as into deflection.Can also be in each group
In angle, maximum and minimum value are removed, remaining group of the average value of angle is then calculated as direction
Angle.
Or, the positioning time for the anchor point that can be included according to each group sets the corresponding weighted value of each group,
Then the mode averaged again according to weighted sum obtains deflection.For example, it is assumed that predetermined number is 3,
(3-1) totally two groups of anchor points can then be obtained.Assuming that first group of angle is ∠ B, corresponding weighted value is
ω1；Second group of angle is ∠ C, and corresponding weighted value is ω 2.The result that weighted sum is averaged again
ForIt regard the result as deflection.
Mode two：
Step C1：According to the anchor point of the predetermined number, straight line is fitted.
Step C2：Positioning time is defined as the direction of the straight line by evening to early direction.
Step C3：The direction of the straight line and the angle of preset direction are calculated as deflection.
It should be noted that can be according to method of the prior art, according to the positioning of the predetermined number
Point and the preset direction, calculate the deflection, suitable for the embodiment of the present invention, and the present invention is right
This is not limited.
Wherein, in one embodiment, the movement velocity positive correlation of the positioning precision of anchor point and terminal,
I.e. movement velocity is higher, and the positioning precision of anchor point is higher.It is some it is special in the case of, can be because fixed
The positioning precision in site is not high enough, and make it that the final deflection for calculating acquisition is not accurate enough.
So, in the embodiment of the present invention, in order to further improve the accuracy with reference to angle, in step
, can be with before A33：Judge whether the anchor point of the predetermined number meets prerequisite；It is described pre-
The condition of putting includes：The distance between anchor point is respectively less than pre-determined distance two-by-two, and/or,
Angle when adjacent two anchor point constitutes one group between the direction of adjacent sets is respectively less than default angle,
Wherein, every group of direction refers to the side of anchor point of the early anchor point of positioning time in the group to evening positioning time
To, if meeting prerequisite, execution step A33.
For example, it is assumed that having 3 anchor points, A, B, C.Then the distance between anchor point has C two-by-two3 2
It is individual, including the distance between the distance between the distance between AB, AC, BC；In addition, shared
(3-1) organizes anchor point, including, AB, BC.If prerequisite is small for the distance between anchor point two-by-two
When angle between pre-determined distance, and the direction of adjacent sets is respectively less than default angle, then need between AB
Distance, the distance between AC, the distance between BC be respectively less than pre-determined distance, and AB prescriptions to
Angle of the BC prescriptions between is less than default angle, can meet prerequisite.
So, if the anchor point of predetermined number meets prerequisite, illustrate that the anchor point obtained is basic one
On bar road, illustrate that anchor point is more credible, then the precision for the reference angle that the later stage calculates also can be compared with
It is high.At this time, angle, step A33 are referred in order to simplify computation complexity, obtain in a straightforward manner
The positioning to positioning time the latest for the earliest anchor point of positioning time in the anchor point by acquisition can be performed
The direction of point is considered as inceptive direction, calculates the angle between the inceptive direction and preset direction as direction
Angle.
Wherein, in one embodiment, under extreme case, if the anchor point of the predetermined number is unsatisfactory for
Prerequisite, can now perform following steps：
Step D1：Obtain itself current movement velocity.
Step D2：Judge whether the movement velocity is less than pre-set velocity.
Step D3：Step A2 is performed if so, returning.
If it is not, then end operation, or, only occur current position location to server.
Here, judging the reason for whether itself current movement velocity is less than pre-set velocity is：
Actual measurement proves that the deflection of the angle-determining measured according to gyroscope can improve determination on the whole
Terminal is presently in the accuracy of road, but not time-tested (i.e. for single, this time determines eventually
The probability that the accurate performance that end is presently in road is improved can be a lot.But in extreme circumstances, also can be accurate
Property do not improve, on the contrary reduce).And if user is when driving on the expressway, this single error can band
Carry out serious consequence, so this error is definitely intolerable.
So, in the case where the anchor point of acquisition is unsatisfactory for prerequisite, before execution step D3, most
Step D1 and step D2 is performed well.
No matter can only be passed through according to step A2 it should be noted that whether terminal remains static
Gyroscope obtains deflection；Deflection can also be obtained according only to movement locus according to step A3.Specifically
During implementation, the method that can determine to obtain deflection according to actual needs, the present invention is not limited this.
Wherein, in one embodiment, compared with gyroscope, the deflection of the acquisition based on movement locus
Confidence level it is higher, so, can also will represent that the deflection be derived from top in the embodiment of the present invention
The source-information of spiral shell instrument or movement locus is sent to the server, in order to which server is believed according to source
Breath determines that terminal is presently in road, determines that terminal is presently in the accurate of road so as to further improve
Property.Specific method, referring to embodiment two, wouldn't be repeated here.
To sum up, in the embodiment of the present invention, current position location is obtained because terminal carries out positioning, and obtain
The deflection of itself；And current position location and deflection are sent to server so that server can be with
The candidate roads of default number of branches are obtained based on the current position location；According to the current position location, side
Determine that the terminal is presently in road to angle and candidate roads.So, the embodiment of the present invention is realized
Determine that terminal is presently in road jointly according to distance and deflection the two parameters.Due to passing through for road
What direction was to determine, so the road finally determined in the present invention is closer to the distance, and the consistent road in direction
Road, it is to avoid occur in the prior art using the road on physical location opposite as final road situation, relatively
The accuracy that terminal is presently in road can be improved in prior art.
Embodiment two
The embodiment of the present invention also provides a kind of determination method of road residing for terminal, as shown in fig. 7, being the party
The schematic flow sheet of method, this method comprises the following steps：
Step 701：Server receives the current position location of the terminal and the deflection of the terminal.
Step 702：The candidate roads of default number of branches are obtained based on the current position location.
Wherein, in one embodiment, according to the order apart from the current position location from small to large,
Obtain the candidate roads of default number of branches.
Wherein, in one embodiment, the distance of road and current location can be European shown in Fig. 1
Distance or current location are reached on the actual range or current location and road of road
Point between minimum manhatton distance.
Assuming that having 10 roads, default number of branches for 8, then distance is obtained from 10 roads current fixed
8 nearest roads of position position.
Step 703：Determine that the terminal is worked as according to the current position location, deflection and candidate roads
Preceding residing road.
Wherein, in one embodiment, can be that terminal reads gyroscope when deflection derives from gyroscope
The angle measured, this point will be described, and wouldn't repeat herein.Here first illustrate, be
Be easy to determine that terminal is presently in road, the deflection refer to terminal be presently in road and preset direction it
Between angle；The preset direction is the reference direction of the current deflection of road；Step 703 may particularly include
Following steps：
Step E1：The angle between the current deflection and the deflection of every candidate roads is calculated respectively
Difference.
Step E2：According to the differential seat angle and the current position location and every candidate roads away from
From determining that the terminal is presently in road.
Wherein, in one embodiment, step E2 may particularly include following steps：
Step E21：According to the differential seat angle, expand the candidate roads and the current position location away from
From.
Wherein, in one embodiment, step E1：According to default differential seat angle and the direct ratio of distance increment
Relational expression, according to the differential seat angle of this road, by the distance increase pair of this road and the current location
The distance increment answered.
Step E22：The candidate roads in the distance after expanding corresponding to minimum range are chosen as described
Terminal is presently in road.
Wherein, step E21 can include implementation below：
(1), wherein, in one embodiment, for every road, it can be expanded according to formula (1)
Big this road and the distance of the current location：
Wherein, L' represents the distance after the expansion；L represent this road and the current location away from
From；α represents the differential seat angle；τ represents pre-set factory, such as 1.5 or 2.5.
(2), wherein, in one embodiment, as described in embodiment one, compared with gyroscope, it is based on
The confidence level of the deflection of the acquisition of movement locus is higher, so, in the embodiment of the present invention, it can also connect
The source-information for the expression deflection that the terminal is sent is received, the source-information represents the deflection
It is derived from gyroscope or movement locus.At this point it is possible to further be determined according to deflection source-information
Terminal is presently in road, specifically, step E21 can perform and be：
Step E211：According to the corresponding relation between deflection source-information and the confidence level of deflection, really
Determine the confidence level of the corresponding deflection of deflection source-information.
Wherein, during the gyroscope of deflection source, confidence level is relatively low, deflection source movement locus, credible
Degree is higher.
Step E212：Confidence level based on the deflection and deflection expand the candidate roads with it is described
The distance of current position location.
The distance of this road and the current location can be expanded according to below equation (2) or formula (3)：
Wherein, it is identical with the implication of identical parameters in formula (1) in formula (2), repeat no more here.
Only illustrate the implication of different parameters herein：λmRepresent the confidence level of the deflection.
Wherein, it is identical with the implication of identical parameters in formula (2) in formula (3), repeat no more here.
Only illustrate the implication of different parameters herein：λmRepresent the confidence level of the deflection；α ' represents pre- angle setting
Degree, such as 180 °.
(3), wherein, in one embodiment, corresponding weighted value can be set for differential seat angle in advance,
For example it is as shown in table 1：If differential seat angle is within 0-5 (not including 5), it is 1.1 to correspond to weighted value, its
It is by that analogy.It should be noted that table 1 is only used for illustrating the embodiment of the present invention, it is not used to limit this
Inventive embodiments.
Table 1
| Differential seat angle scope | Weighted value |
| [0,5) | 1.1 |
| (5,10] | 1.3 |
| [10,15) | 1.5 |
Furthermore, it is necessary to which explanation, only meets the direct ratio of the bigger principle of the bigger distance increment of differential seat angle
Relational expression, the distance for expanding road and current location, suitable for the embodiment of the present invention, the present invention
This can not be enumerated, do not limited one by one.
If have source-information, server can determine whether deflection comes from gyro according to the source-information
Instrument, now, embodiment one kind as described in, deflection can terminal read built-in gyroscope measure
Angle.To improve the accuracy for obtaining deflection, it is assumed that preset and final direction is determined by server
During angle, in the embodiment of the present invention, server can be with：Judge that the reference direction of gyroscope is preset with described
Whether direction is identical；If identical, the angle-determining that the gyroscope is measured is deflection；If differing,
Angle, the reference direction and the preset direction then measured according to the gyroscope calculates the side
To angle.
If for example, reference direction is different with preset direction, it is believed that be that coordinate system is different, can pass through
The angle that coordinate system conversion computing gyroscope is measured, corresponding angle is made during direction on the basis of preset direction
For deflection.Or, such as figure determines that preset direction (is considered as first relative to the angle of reference direction first
Angle), then calculate the angle that measures of spiral shell instrument and first angle can obtain deflection.Such as Fig. 5
In, if reference direction is 502, preset direction is that 501, ∠ A are first angle, and ∠ B are the angle measured
Degree, then deflection is (∠ A+ ∠ B).
Certainly, it is necessary to explanation, the angle that can be measured according to prior art according to the gyroscope,
The reference direction and the preset direction calculate the deflection, suitable for the embodiment of the present invention,
The present invention is not limited this.
In addition, in the embodiment of the present invention step E2 can also carry out for：Will be nearer apart from current point position,
While the less road of differential seat angle is defined as terminal and is presently in road.When it is implemented, can include with
Lower step：
Step F1：Corresponding first weight coefficient of differential seat angle is obtained, and is obtained apart from corresponding second weight
Coefficient.
Step F2：For every road, according to the corresponding differential seat angle of this road, this road with it is described
The distance of current location, the first weight coefficient and the second weight coefficient.The meter by way of weighted sum
Calculate the weighted sum value of this road.
Step F3：The minimum road of weighted sum value is defined as the terminal and is presently in road.
It should be noted that not only every road can also be directed to by way of weighted sum,
The distance product of the corresponding differential seat angle of this road and this road distance current location is sought, and by product most
Small road is defined as the terminal and is presently in road.As long as sum it up, meeting apart from current point
Position is nearer, while the less road of differential seat angle is defined as the method that terminal is presently in road principle,
Suitable for the embodiment of the present invention, the present invention is not limited this.
To sum up, in the embodiment of the present invention, it is to determine due to the current direction of road, determines that terminal is current
During residing road, not only according to road and the distance of current location, determined always according to the direction of road,
So as to improve the accuracy for determining that terminal is presently in road.So the road finally determined in the present invention
Road is closer to the distance, and the consistent road in direction, it is to avoid occurred in the prior art by physical location opposite
Road can improve the standard that terminal is presently in road as the situation of final road relative to prior art
True property.
Embodiment three
Below using predetermined number as 3, i.e., exemplified by 3 anchor points of acquisition, to end provided in an embodiment of the present invention
The determination method of the residing road in end is described in detail, as shown in figure 8, be the schematic flow sheet of this method,
Comprise the following steps：
Step 801：Terminal carries out positioning and obtains current position location.
Step 802：Terminal judges whether itself remains static, if so, step 803 is performed, if
It is no, perform step 804.
Wherein, the execution sequence of step 801 and step 802 is unrestricted.
Step 803：Terminal notifying user towards the current direction of place road, reads terminal interior afterwards
The angle that the gyroscope put is measured, and if the reference direction of the gyroscope is identical with the preset direction
When, it regard the angle as deflection；If the reference direction is differed with the preset direction, root
According to the angle, the reference direction and the preset direction calculated direction angle, step is performed afterwards
810。
Step 804：Terminal is by positioning time by evening to early order, 3 anchor points of acquisition.
Step 805：Terminal judges whether 3 anchor points obtained meet prerequisite, if so, performing step
Rapid 806；If it is not, performing step 807.
Wherein, prerequisite illustrates in embodiment one, will not be repeated here.
Step 806：Terminal is by the earliest anchor point of positioning time in 3 anchor points of acquisition to positioning time
The direction of anchor point the latest is considered as inceptive direction, and the angle calculated between inceptive direction and preset direction is made
For deflection, step 810 is performed afterwards.
Step 807：Terminal obtains itself current movement velocity.
Step 808：Terminal judges whether the movement velocity is less than pre-set velocity, if so, performing step
803, if it is not, performing step 809.
Step 809：The current position location is sent to server by terminal.
When terminal performs step 809, server can determine that terminal is presently according to prior art
Road.
Step 810：The current position location and the deflection are sent to server by terminal, and will
Source-information is sent to the server.
Step 811：The current position location for the terminal that server receiving terminal is sent and the terminal
Deflection.
Step 812：Server obtains default number of branches according to the order apart from the current location from small to large
Candidate roads.
Step 813：Server is calculated between the current deflection and the deflection of every candidate roads respectively
Differential seat angle.
Step 814：Server according to the corresponding relation between source-information and the confidence level of deflection, it is determined that
The confidence level of the corresponding deflection of source-information.And with expanding this road and described current according to formula (2)
The distance of position.
Step 815：Server is chosen the minimum road of the distance after expanding and is presently in as the terminal
Road.
For example, as shown in figure 9, being the current sprocket bit that server is sent according only to terminal in the prior art
Put, determine that terminal is presently in after road, the schematic diagram of the navigation way provided.In Fig. 9, A points are represented
The physical location of terminal.Figure 10 is working as according to deflection and terminal by server in the embodiment of the present invention
Prelocalization position determines that terminal is presently in after road, the schematic diagram of the navigation way provided, and A points are represented
The physical location of terminal.As seen in Figure 9, prior art due to determination be presently in road forbidden
Really, cause to determine the position of terminal to have arrived the opposite of road, cause the navigation way provided inaccurate.
And the embodiment of the present invention is determined that to be presently in road more accurate, rational navigation way is given.
In the embodiment of the present invention, current position location is obtained because terminal carries out positioning, and obtain itself
Deflection；And current position location and deflection are sent to server so that server can be based on institute
State the candidate roads that current position location obtains default number of branches；According to the current position location, deflection with
And candidate roads determine that the terminal is presently in road.So, the embodiment of the present invention realize according to away from
Determine that terminal is presently in road jointly from the two parameters with deflection.Because the current direction of road is
Determine, so the road finally determined in the present invention is closer to the distance, and the consistent road in direction, keep away
Exempt to occur in the prior art using the road on physical location opposite as final road situation, relative to existing
Technology can improve the accuracy that terminal is presently in road.
Example IV
Based on identical inventive concept, the embodiment of the present invention also provides a kind of determination dress of road residing for terminal
Put, as shown in figure 11, for the structural representation of the device, including：
Data obtaining module 1101, obtains current position location, and obtain the side of itself for carrying out positioning
To angle；
Sending module 1102, for the current position location and deflection to be sent into server, with
The server is set to perform following operate：The candidate road of default number of branches is obtained based on the current position location
Road；Determine that the terminal is presently in road according to the current position location, deflection and candidate roads.
Wherein, in one embodiment, as shown in figure 12, data obtaining module 1101, are specifically included：
Judging unit 11011, for judging whether itself remains static；
Reading unit 11012, if the judged result for judging unit is yes, reads built-in gyroscope
The angle measured, the angle-determining deflection measured according to gyroscope；
Trajectory processing unit 11013, if the judged result for judging unit is no, obtain itself by
The movement locus that at least one history anchor point is constituted, according to the movement locus and the preset direction
Determine the deflection.
Wherein, in one embodiment, the reading unit 11012, specifically for：
Judge whether the reference direction of gyroscope is identical with the preset direction；The preset direction is the logical of road
The reference direction at line direction angle；
If identical, the angle-determining that the gyroscope is measured is deflection；
If differing, angle, the reference direction and the default side measured according to the gyroscope
To the calculating deflection.
Wherein, in one embodiment, the trajectory processing unit 11013, specifically for：
Obtain the positioning time of each anchor point of the movement locus；
By positioning time by evening to early order, the anchor point of predetermined number is obtained；
Judge whether the anchor point of the predetermined number meets prerequisite；
If so, then according to the anchor point of the predetermined number and the preset direction, calculating the direction
Angle.
Wherein, in one embodiment, as shown in figure 12, described device also includes：
Speed acquiring module 1103, if determining the positioning of the predetermined number for the trajectory processing unit
Point is unsatisfactory for prerequisite, obtains itself current movement velocity；
Velocity estimated module 1104, for judging whether the movement velocity is less than pre-set velocity；
Trigger module 1105, if the judged result for the velocity estimated module is yes, triggering is read single
The step of member performs the angle that the gyroscope built in the reading is measured.
Wherein, in one embodiment, as shown in figure 12, described device also includes：
Source-information sending module 1106, for the source-information of the deflection to be sent into the service
Device, the source-information represents that the deflection is derived from gyroscope or movement locus.
In the embodiment of the present invention, current position location is obtained due to carrying out positioning, and obtain the direction of itself
Angle；And current position location and deflection are sent to server so that server can be worked as based on described
The candidate roads of prelocalization position acquisition default number of branches；According to the current position location, deflection and time
Road of seeking determines that the terminal is presently in road.So, the embodiment of the present invention realize according to distance and
The two parameters of deflection determine that terminal is presently in road jointly.Because the current direction of road is to determine
, so the road finally determined in the present invention is closer to the distance, and the consistent road in direction, it is to avoid go out
Now in the prior art using the road on physical location opposite as final road situation, relative to prior art
The accuracy that terminal is presently in road can be improved.
Embodiment five
Based on identical inventive concept, the embodiment of the present invention also provides a kind of determination dress of road residing for terminal
Put, as shown in figure 13, for the structural representation of the device, including：
Information receiving module 1301, for the current position location for receiving the terminal and the terminal
Deflection；Direction angle refers to the angle that terminal is presently between road and preset direction；
Candidate roads acquisition module 1302, the time for obtaining default number of branches based on the current position location
Seek road；
Residing road determining module 1303, for according to the current position location, deflection and candidate road
Road determines that the terminal is presently in road.
Wherein, in one embodiment, as shown in figure 14, the deflection refers to terminal and is presently in road
Angle between preset direction；The preset direction is the reference direction of the current deflection of road；The institute
Locate road determining module 1303, specifically include：
Differential seat angle computing unit 13031, for calculate respectively the current deflections of every candidate roads with it is described
Differential seat angle between deflection；
Residing road determining unit 13032, for according to the differential seat angle and the current position location with
The distance of every candidate roads, determines that the terminal is presently in road.
Wherein, in one embodiment, the residing road determining unit 13032, specifically for：
According to the differential seat angle, expand the candidate roads and the distance of the current position location；
The candidate roads chosen in the distance after expanding corresponding to minimum range are current as the terminal
Residing road.
Wherein, in one embodiment, as shown in figure 14, described device also includes：
Source-information receiving module 1304, the source letter for receiving the deflection that the terminal is sent
Breath；The source-information represents that the deflection is derived from gyroscope or movement locus；
The residing road determining unit 13032, specifically for：
According to the corresponding relation between the source-information of deflection and the confidence level of deflection, the side is determined
To the confidence level at angle；
Confidence level based on the deflection and deflection expands the candidate roads and the current sprocket bit
The distance put.
Wherein, in one embodiment, the residing road determining unit 13032, specifically for：
Expand the distance of this road and the current location according to below equation：
Wherein, L' represents the distance after the expansion；L represent this road and the current location away from
From；α represents the differential seat angle；τ represents pre-set factory；λmRepresent the confidence level of the deflection.
Device provided in an embodiment of the present invention, when determining that terminal is presently in road, not only according to road with
The distance of current location, is determined always according to the direction of road, and the current institute of terminal is determined so as to improve
Locate the accuracy of road.
On the device in the various embodiments described above, wherein modules perform the concrete mode operated and had
It is described in detail in the embodiment for closing this method, explanation will be not set forth in detail herein.
Embodiment six
Based on identical inventive concept, the embodiment of the present invention also provides a kind of determination system of road residing for terminal
System, as shown in figure 15, for the structural representation of the system, including：
Terminal 1501, obtains current position location, and obtain the deflection of itself for carrying out positioning；Will
The current position location and deflection are sent to server；
Server 1502, for receiving the current position location of the terminal and the direction of the terminal
Angle；The candidate roads of default number of branches are obtained based on the current position location；According to the current sprocket bit
Put, deflection and candidate roads determine that the terminal is presently in road.
Wherein, the module that terminal can be included is as described in example IV, and the module that server can be included is as implemented
Described in example five, it will not be repeated here.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, device, system,
Or computer program product.Therefore, the present invention can using complete hardware embodiment, complete software embodiment,
Or the form of the embodiment in terms of combination software and hardware.Moreover, the present invention can use it is one or more its
In include computer usable program code computer-usable storage medium (include but is not limited to disk storage
Device, CD-ROM, optical memory etc.) on the form of computer program product implemented.
The present invention is with reference to method according to embodiments of the present invention, device (device) and computer program product
Flow chart and/or block diagram describe.It should be understood that can by computer program instructions implementation process figure and/or
Each flow and/or square frame in block diagram and the flow in flow chart and/or block diagram and/or square frame
With reference to.These computer program instructions can be provided to all-purpose computer, special-purpose computer, Embedded Processor
Or the processor of other programmable data processing units is to produce a machine so that by computer or other
The instruction of the computing device of programmable data processing unit produce for realizing in one flow of flow chart or
The device for the function of being specified in one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable datas to handle dress
Put in the computer-readable memory worked in a specific way so that be stored in the computer-readable memory
Instruction produce include the manufacture of command device, the command device realization in one flow or multiple of flow chart
The function of being specified in one square frame of flow and/or block diagram or multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing units, made
Obtain and perform series of operation steps on the computer or other programmable apparatus to produce computer implemented place
Reason, so that the instruction performed on the computer or other programmable apparatus is provided for realizing in flow chart one
The step of function of being specified in flow or multiple flows and/or one square frame of block diagram or multiple square frames.
, but those skilled in the art once know base although preferred embodiments of the present invention have been described
This creative concept, then can make other change and modification to these embodiments.So, appended right will
Ask and be intended to be construed to include preferred embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without departing from this hair to the present invention
Bright spirit and scope.So, if the present invention these modifications and variations belong to the claims in the present invention and
Within the scope of its equivalent technologies, then the present invention is also intended to comprising including these changes and modification.
Claims (23)
1. a kind of determination method of road residing for terminal, it is characterised in that including：
Terminal carries out positioning and obtains current position location, and obtains the deflection of itself；
The current position location and deflection are sent to server so that the server perform with
Lower operation：The candidate roads of default number of branches are obtained based on the current position location；Work as prelocalization according to described
Position, deflection and candidate roads determine that the terminal is presently in road.
2. according to the method described in claim 1, it is characterised in that obtain the deflection of itself, specifically
Including：
Judge whether itself remains static；
If so, the angle that built-in gyroscope is measured then is read, the angle-determining side measured according to gyroscope
To angle；
If it is not, the movement locus being made up of at least one history anchor point of itself is then obtained, according to described
Movement locus and the preset direction determine the deflection.
3. method according to claim 2, it is characterised in that the angle measured according to gyroscope
Degree determines deflection, specifically includes：
Judge whether the reference direction of gyroscope is identical with the preset direction；The preset direction is the logical of road
The reference direction at line direction angle；
If identical, the angle-determining that the gyroscope is measured is deflection；
If differing, angle, the reference direction and the default side measured according to the gyroscope
To the calculating deflection.
4. method according to claim 2, it is characterised in that it is described according to the movement locus with
And the preset direction determines the deflection, specifically includes：
Obtain the positioning time of each anchor point of the movement locus；
By positioning time by evening to early order, the anchor point of predetermined number is obtained；
Judge whether the anchor point of the predetermined number meets prerequisite；
If so, then according to the anchor point of the predetermined number and the preset direction, calculating the direction
Angle.
5. method according to claim 4, it is characterised in that if the anchor point of the predetermined number
Prerequisite is unsatisfactory for, methods described also includes：
Obtain itself current movement velocity；
Judge whether the movement velocity is less than pre-set velocity；
If so, the step of returning to the angle that the gyroscope built in the execution reading is measured.
6. according to the method described in claim 1, it is characterised in that methods described also includes：
The source-information of the deflection is sent to the server, the source-information represents the direction
Angle is derived from gyroscope or movement locus.
7. the determination method of road residing for a kind of terminal, it is characterised in that methods described includes：
Server receives the current position location of the terminal and the deflection of the terminal；
The candidate roads of default number of branches are obtained based on the current position location；
Determine that the terminal is presently according to the current position location, deflection and candidate roads
Road.
8. method according to claim 7, it is characterised in that the deflection refers to the current institute of terminal
Locate the angle between road and preset direction；The preset direction is the reference direction of the current deflection of road；
It is described to determine that the terminal is presently according to the current position location, deflection and candidate roads
Road, is specifically included：
The differential seat angle between the current deflection and the deflection of every candidate roads is calculated respectively；
According to the differential seat angle and the current position location and the distance of every candidate roads, institute is determined
State terminal and be presently in road.
9. method according to claim 8, it is characterised in that it is described according to the differential seat angle and
The current position location and the distance of every candidate roads, determine that the terminal is presently in road, have
Body includes：
According to the differential seat angle, expand the candidate roads and the distance of the current position location；
The candidate roads chosen in the distance after expanding corresponding to minimum range are current as the terminal
Residing road.
10. method according to claim 9, it is characterised in that methods described also includes：
Receive the source-information for the deflection that the terminal is sent；The source-information represents the deflection
It is derived from gyroscope or movement locus；
It is described that the candidate roads and the distance of the current position location are expanded according to differential seat angle, it is specific to wrap
Include：
According to the corresponding relation between the source-information of deflection and the confidence level of deflection, the side is determined
To the confidence level at angle；
Confidence level based on the deflection and deflection expands the candidate roads and the current sprocket bit
The distance put.
11. method according to claim 10, it is characterised in that described to be based on deflection and direction
The confidence level at angle expands the candidate roads and the distance of the current position location, specifically includes：
Expand the distance of this road and the current location according to below equation：
<mrow>
<msup>
<mi>L</mi>
<mo>&prime;</mo>
</msup>
<mo>=</mo>
<mi>L</mi>
<mo>+</mo>
<msub>
<mi>&lambda;</mi>
<mi>m</mi>
</msub>
<mo>&times;</mo>
<mfrac>
<mi>&alpha;</mi>
<mi>&tau;</mi>
</mfrac>
</mrow>
Wherein, L' represents the distance after the expansion；L represent this road and the current location away from
From；α represents the differential seat angle；τ represents pre-set factory；λmRepresent the confidence level of the deflection.
12. the determining device of road residing for a kind of terminal, it is characterised in that including：
Data obtaining module, obtains current position location, and obtain the direction of itself for carrying out positioning
Angle；
Sending module, for the current position location and deflection to be sent into server, so that institute
State server and perform following operate：The candidate roads of default number of branches are obtained based on the current position location；Root
Determine that the terminal is presently in road according to the current position location, deflection and candidate roads.
13. device according to claim 12, it is characterised in that it is current that the deflection refers to terminal
Angle between residing road and preset direction；Data obtaining module, is specifically included：
Judging unit, for judging whether itself remains static；
Reading unit, if the judged result for judging unit is yes, reads built-in gyroscope and measures
Angle, the angle-determining deflection measured according to gyroscope；
Trajectory processing unit, if the judged result for judging unit is no, obtain itself by least
The movement locus that one history anchor point is constituted, is determined according to the movement locus and the preset direction
The deflection.
14. device according to claim 13, it is characterised in that the reading unit, specific to use
In：
Judge whether the reference direction of gyroscope is identical with the preset direction；The preset direction is the logical of road
The reference direction at line direction angle；
If identical, the angle-determining that the gyroscope is measured is deflection；
If differing, angle, the reference direction and the default side measured according to the gyroscope
To the calculating deflection.
15. device according to claim 13, it is characterised in that the trajectory processing unit, tool
Body is used for：
Obtain the positioning time of each anchor point of the movement locus；
By positioning time by evening to early order, the anchor point of predetermined number is obtained；
Judge whether the anchor point of the predetermined number meets prerequisite；
If so, then according to the anchor point of the predetermined number and the preset direction, calculating the direction
Angle.
16. device according to claim 15, it is characterised in that described device also includes：
Speed acquiring module, if determining the anchor point of the predetermined number not for the trajectory processing unit
Prerequisite is met, itself current movement velocity is obtained；
Velocity estimated module, for judging whether the movement velocity is less than pre-set velocity；
Trigger module, if the judged result for the velocity estimated module is yes, triggering reading unit is held
The step of angle that gyroscope built in the row reading is measured.
17. device according to claim 12, it is characterised in that described device also includes：
Source-information sending module, for the source-information of the deflection to be sent into the server,
The source-information represents that the deflection is derived from gyroscope or movement locus.
18. the determining device of road residing for a kind of terminal, it is characterised in that the deflection refers to terminal and worked as
Preceding residing angle between road and preset direction；The preset direction is the benchmark of the current deflection of road
Direction；Described device includes：
Information receiving module, for receiving the current position location of the terminal and the direction of the terminal
Angle；Direction angle refers to the angle that terminal is presently between road and preset direction；
Candidate roads acquisition module, the candidate road for obtaining default number of branches based on the current position location
Road；
Residing road determining module, for true according to the current position location, deflection and candidate roads
The fixed terminal is presently in road.
19. device according to claim 18, it is characterised in that it is current that the deflection refers to terminal
Angle between residing road and preset direction；The preset direction is the benchmark side of the current deflection of road
To；
The residing road determining module, is specifically included：
Differential seat angle computing unit, for the current deflection for calculating every candidate roads respectively and the direction
Differential seat angle between angle；
Residing road determining unit, for according to the differential seat angle and the current position location and every time
Seek the distance on road, determine that the terminal is presently in road.
20. device according to claim 19, it is characterised in that the residing road determines single
Member, specifically for：
According to the differential seat angle, expand the candidate roads and the distance of the current position location；
The candidate roads chosen in the distance after expanding corresponding to minimum range are current as the terminal
Residing road.
21. device according to claim 20, it is characterised in that described device also includes：
Source-information receiving module, the source-information for receiving the deflection that the terminal is sent；Should
Source-information represents that the deflection is derived from gyroscope or movement locus；
The residing road determining unit, specifically for：
According to the corresponding relation between the source-information of deflection and the confidence level of deflection, the side is determined
To the confidence level at angle；
Confidence level based on the deflection and deflection expands the candidate roads and the current sprocket bit
The distance put.
22. device according to claim 21, it is characterised in that the residing road determining unit,
Specifically for：
Expand the distance of this road and the current location according to below equation：
<mrow>
<msup>
<mi>L</mi>
<mo>&prime;</mo>
</msup>
<mo>=</mo>
<mi>L</mi>
<mo>+</mo>
<msub>
<mi>&lambda;</mi>
<mi>m</mi>
</msub>
<mo>&times;</mo>
<mfrac>
<mi>&alpha;</mi>
<mi>&tau;</mi>
</mfrac>
</mrow>
Wherein, L' represents the distance after the expansion；L represent this road and the current location away from
From；α represents the differential seat angle；τ represents pre-set factory；λmRepresent the confidence level of the deflection.
23. a kind of determination system of road residing for terminal, it is characterised in that including：
Terminal, obtains current position location, and obtain the deflection of itself for carrying out positioning；Will be described
Current position location and deflection are sent to server；
Server, for receiving the current position location of the terminal and the deflection of the terminal；Base
The candidate roads of default number of branches are obtained in the current position location；According to the current position location, direction
Angle and candidate roads determine that the terminal is presently in road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610173537.7A CN107228675B (en) | 2016-03-24 | 2016-03-24 | Method, device and system for determining road where terminal is located |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610173537.7A CN107228675B (en) | 2016-03-24 | 2016-03-24 | Method, device and system for determining road where terminal is located |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107228675A true CN107228675A (en) | 2017-10-03 |
| CN107228675B CN107228675B (en) | 2020-10-16 |
Family
ID=59931707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610173537.7A Active CN107228675B (en) | 2016-03-24 | 2016-03-24 | Method, device and system for determining road where terminal is located |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107228675B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109059923A (en) * | 2018-07-17 | 2018-12-21 | 奇酷互联网络科技（深圳）有限公司 | Mobile terminal and air navigation aid and device |
| CN110146101A (en) * | 2019-05-06 | 2019-08-20 | 北京三快在线科技有限公司 | A kind of location matching method and device |
| CN111158355A (en) * | 2018-11-07 | 2020-05-15 | 富华科精密工业（深圳）有限公司 | Automatic navigation cloud server and automatic navigation control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101029924A (en) * | 2006-02-28 | 2007-09-05 | 精工爱普生株式会社 | Positioning device, method of controlling positioning device, and computer-readable recording medium having program for controlling positioning device recorded thereon |
| CN101173860A (en) * | 2006-11-03 | 2008-05-07 | 行毅科技股份有限公司 | Accurate positioning system and method for vehicle |
| CN102147262A (en) * | 2011-01-11 | 2011-08-10 | 北京理工大学 | Method for correcting navigation deviation and navigation display adopting same |
| CN103308051A (en) * | 2012-03-13 | 2013-09-18 | 爱信艾达株式会社 | Moving body position detection system, moving body position detection apparatus, moving body position detection method, and computer-readable storage medium |
-
2016
- 2016-03-24 CN CN201610173537.7A patent/CN107228675B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101029924A (en) * | 2006-02-28 | 2007-09-05 | 精工爱普生株式会社 | Positioning device, method of controlling positioning device, and computer-readable recording medium having program for controlling positioning device recorded thereon |
| CN101173860A (en) * | 2006-11-03 | 2008-05-07 | 行毅科技股份有限公司 | Accurate positioning system and method for vehicle |
| CN102147262A (en) * | 2011-01-11 | 2011-08-10 | 北京理工大学 | Method for correcting navigation deviation and navigation display adopting same |
| CN103308051A (en) * | 2012-03-13 | 2013-09-18 | 爱信艾达株式会社 | Moving body position detection system, moving body position detection apparatus, moving body position detection method, and computer-readable storage medium |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109059923A (en) * | 2018-07-17 | 2018-12-21 | 奇酷互联网络科技（深圳）有限公司 | Mobile terminal and air navigation aid and device |
| CN111158355A (en) * | 2018-11-07 | 2020-05-15 | 富华科精密工业（深圳）有限公司 | Automatic navigation cloud server and automatic navigation control method |
| CN110146101A (en) * | 2019-05-06 | 2019-08-20 | 北京三快在线科技有限公司 | A kind of location matching method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107228675B (en) | 2020-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021203871A1 (en) | Cooperative positioning method and apparatus, device, and storage medium | |
| CN105758410B (en) | Fast path based on A-Star algorithm plans mixed method | |
| CN105334522B (en) | The detection method and device of GPS attacks | |
| CN105510632B (en) | Obtain the method and apparatus of pickup data | |
| CN103379619A (en) | Method and system for positioning | |
| CN111856521B (en) | Data processing method, device, electronic equipment and storage medium | |
| CN107289925A (en) | A kind of method and apparatus for drawing user trajectory | |
| EP3699642A1 (en) | Vehicle positioning method and apparatus | |
| CN107228675A (en) | A kind of determination method of road residing for terminal, apparatus and system | |
| KR20190038739A (en) | Method for detecting the changing point of road | |
| CN110658542B (en) | Method, device, equipment and storage medium for positioning and identifying automatic driving automobile | |
| CN104613966B (en) | A kind of cadastration off-line data processing method | |
| CN105334497A (en) | Three-dimensional positioning method and device | |
| CN103033822B (en) | Mobile information confirmation device and mobile information confirmation method and receiving set | |
| CN111983655A (en) | Method and device for determining urban canyon region, electronic device and storage medium | |
| CN103091508B (en) | Method and device of obtaining movement direction of navigation goal | |
| BR102016002138A2 (en) | METHOD AND DEVICE TO ENABLE AND DISABLE GEOLOCATION DEVICES IN MOVING VEHICLES | |
| CN108120450B (en) | Method and device for judging static state | |
| CN110793531B (en) | Road matching method and device and readable storage medium | |
| CN102707301A (en) | Positioning device and positioning method thereof | |
| CN104077940B (en) | Information of vehicles measuring system in a kind of examination of driving school and method | |
| CN106468776A (en) | Positioning recording device data transmission method, system and positioning recording device | |
| CN109827572A (en) | A kind of method and device of detection truck position prediction | |
| CN104504066A (en) | Trip mode judging method and device | |
| KR20190038740A (en) | Map matching method using reverse tracking map matching |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200422 Address after: 310012 room 508, floor 5, building 4, No. 699, Wangshang Road, Changhe street, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Alibaba (China) Co.,Ltd. Address before: 100102, Beijing, Chaoyang District, Wangjing, Tong Tung Street East Square International Center, block A, 16 Applicant before: AUTONAVI INFORMATION TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |