CN107228675B - Method, device and system for determining road where terminal is located - Google Patents
Method, device and system for determining road where terminal is located Download PDFInfo
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- CN107228675B CN107228675B CN201610173537.7A CN201610173537A CN107228675B CN 107228675 B CN107228675 B CN 107228675B CN 201610173537 A CN201610173537 A CN 201610173537A CN 107228675 B CN107228675 B CN 107228675B
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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
- G01C21/26—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
Abstract
The invention discloses a method, a device and a system for determining a road where a terminal is located, in the technical scheme, the terminal is positioned to obtain a current positioning position and obtain a direction angle of the terminal; sending the current positioning position and the direction angle to a server so as to enable the server to execute the following operations: acquiring a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road. Therefore, the road where the terminal is located is determined according to the current positioning position and the direction angle, and the determined road is the road which is closer in distance and more consistent in direction. Therefore, compared with the prior art, the accuracy of the current road of the terminal can be improved.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a method, a device and a system for determining a road where a terminal is located.
Background
After the current position is obtained through the positioning of the terminal, the current road of the terminal can be displayed in the electronic map so as to be convenient for a user to know the current position, or the current road is further taken as a navigation starting road for the user to navigate.
In the prior art, based on the current positioning position obtained after positioning, a method for determining a road where a terminal is currently located generally includes: and inquiring a road closest to the current positioning position as the road where the terminal is located currently. For example, as shown in fig. 1, point a represents the current location position, point L1 represents a road, point L2 passes through point a and is a perpendicular line of L1, and point B is a vertical foot, the vertical distance between points A, B is the distance between the road L1 and the current location position a. If L1 is the road closest to the current location position A, L1 is taken as the road on which the terminal is currently located.
However, the current positioning position obtained by the terminal has a certain error, and the error of different terminals is different in size, and some errors of the terminal are in a circle with the actual position as the center and the radius of 10 meters, and some errors of the terminal are in a circle with the radius of 30 meters. For example, as shown in fig. 2, taking a radius of 10 meters as an example, the point C is an actual position of the terminal, and a current positioning position obtained after the terminal has performed multiple positioning randomly appears within a circle with a radius of 10 meters (for example, the points C1, C2, and C3 are position points obtained after positioning at the same position).
Therefore, the positioning point obtained after positioning has randomness and has a certain deviation from the actual position, so that the accuracy of determining the road where the terminal is located is not high enough in the prior art only according to the distance between the road and the current positioning position.
For example, as shown in fig. 3, for the separate lanes (including lane L1 with a traffic direction a and lane L2 with a traffic direction B), the user is actually on lane L1, but the current location position obtained after location is closer to lane L2, the road where the terminal is currently located is determined as lane L2 according to the prior art, the determined road is not accurate, and the navigation route based on the road determined in this way is also not accurate, so that a wrong navigation route is generated, and the user experience is very poor.
Disclosure of Invention
The embodiment of the invention provides a method, a device and a system for determining a road where a terminal is located, which are used for solving the problem that the accuracy of determining the road where the terminal is located is low only according to the distance between the road and the current position.
The invention provides a method for determining a road where a terminal is located, which comprises the following steps:
the terminal carries out positioning to obtain a current positioning position and obtains a direction angle of the terminal;
sending the current positioning position and the direction angle to a server so as to enable the server to execute the following operations: acquiring a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road.
Further, the present invention also provides a device for determining a road on which a terminal is located, including:
the information acquisition module is used for positioning to acquire a current positioning position and acquiring a direction angle of the information acquisition module;
a sending module, configured to send the current positioning location and the direction angle to a server, so that the server performs the following operations: acquiring a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road.
Further, the present invention also provides a system for determining a road on which a terminal is located, including:
the terminal is used for positioning to obtain a current positioning position and obtaining a direction angle of the terminal; sending the current positioning position and the direction angle to a server;
the server is used for receiving the current positioning position of the terminal and the direction angle of the terminal; acquiring a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road.
The invention has the following beneficial effects: in the technical solution of the embodiment of the present invention, the terminal performs positioning to obtain the current positioning position and obtains the direction angle of the terminal; sending the current positioning position and the direction angle to a server, so that the server can obtain a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road. In this way, the road where the terminal is located is determined according to the distance and the direction angle. The road passing direction is determined, so that the road finally determined in the invention is a road with a short distance and a consistent direction, the condition that the road opposite to the actual position is taken as the final road in the prior art is avoided, and the accuracy of the road where the terminal is located at present can be improved compared with the prior art.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a distance between a road and a current location;
fig. 2 is a schematic diagram illustrating a position where a current position obtained by positioning a terminal randomly appears;
FIG. 3 is a schematic diagram illustrating a road on which a terminal is located as a road opposite to an actual location in the prior art;
fig. 4 is a schematic flow chart illustrating a method for determining a road on which the terminal is located according to a first embodiment of the present invention;
FIG. 5 is a schematic view of a direction angle between the road and a predetermined direction according to a first embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating directions of a set of anchor points according to an embodiment of the present invention;
fig. 7 is a schematic flow chart illustrating a method for determining a road on which the terminal is located according to a second embodiment of the present invention;
fig. 8 is a schematic flow chart illustrating a method for determining a road on which the terminal is located according to a third embodiment of the present invention;
FIG. 9 is a schematic diagram of a navigation route provided by the prior art according to a third embodiment of the present invention;
FIG. 10 is a schematic diagram of a navigation route provided by the third embodiment of the present invention;
fig. 11 is a schematic structural diagram of a device for determining a road on which a terminal is located according to a fourth embodiment of the present invention;
fig. 12 is a second schematic structural diagram of the apparatus for determining a road on which the terminal is located according to the fourth embodiment of the present invention;
fig. 13 is a schematic structural diagram of a device for determining a road on which the terminal is located according to a fifth embodiment of the present invention;
fig. 14 is a schematic structural diagram of a device for determining a road on which the terminal is located according to a fifth embodiment of the present invention;
fig. 15 is a schematic structural diagram of a system for determining a road on which the terminal is located according to a sixth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a method, a device and a system for determining a road where a terminal is located, wherein in the technical scheme of the embodiment of the invention, the terminal is used for positioning to obtain a current positioning position and obtaining a direction angle of the terminal; sending the current positioning position and the direction angle to a server, so that the server can obtain a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road.
Thus, the embodiment of the invention realizes that the road where the terminal is located is determined according to the two parameters of the distance and the direction angle. The road passing direction is determined, so that the road finally determined in the invention is a road with a short distance and a consistent direction, the condition that the road opposite to the actual position is taken as the final road in the prior art is avoided, and the accuracy of the road where the terminal is located at present can be improved compared with the prior art.
In order to further understand the technical solutions provided by the present invention, the following detailed descriptions are provided.
The first embodiment is as follows:
as shown in fig. 4, which is a flowchart illustrating a method for determining a road on which a terminal is located according to a first embodiment of the present invention, the method may include the following steps:
for the sake of understanding, directions, direction angles, passing directions, passing direction angles, angles and the like of the present invention are all parameters in east, south, west and north planes, unless otherwise specified.
Step 401: and the terminal carries out positioning to obtain the current positioning position and obtains the direction angle of the terminal.
In one embodiment, the preset direction is, for example, any one of east, south, west, north, and the like, and in practical implementation, any one of the directions on the east, south, west, and north planes may be used as the preset direction, and may be set according to actual needs, which is not limited in the embodiment of the present invention.
Step 402: sending the current positioning position and the direction angle to a server so as to enable the server to execute the following operations: acquiring a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road.
The method for determining the current road of the terminal by the server will be described in detail in embodiment two, and will not be described herein again.
To facilitate further understanding, the following further description of embodiments of the invention includes the following:
in one embodiment, the direction angle of the user can be obtained according to the following method:
step A1: and D, judging whether the mobile terminal is in a static state, if so, executing the step A2, and if not, executing the step A3.
In one embodiment, whether the mobile terminal is in a static state or not can be judged according to the following method;
the method comprises the following steps: obtaining the movement speed, judging whether the movement speed is larger than a preset speed critical value, if so, determining that the robot is in a movement state, and if not, determining that the robot is in a static state.
The second method comprises the following steps: and acquiring a distance within a preset time length, judging whether the distance is greater than a preset distance critical value, if so, determining that the vehicle is in a moving state, and if not, determining that the vehicle is in a static state.
In specific implementation, whether the mobile terminal is in a static state or not can be determined according to the prior art, and details of the embodiment of the present invention are not described herein.
In one embodiment, the terminal generally has a gyroscope, and the gyroscope can measure an included angle between the orientation of the terminal and a reference direction of the gyroscope. Since the terminal is usually oriented substantially in line with the direction of travel of the road on which the terminal is located, for example, when the vehicle is on the road, the vehicle is oriented substantially in line with the direction of travel of the road on which the vehicle is located. Therefore, in the embodiment of the present invention, when the terminal is in the stationary state, the direction angle may be obtained according to step a 2.
Step A2: and reading the angle measured by the built-in gyroscope, and determining the direction angle according to the angle measured by the gyroscope.
In one embodiment, in order to ensure that the direction angle is the same as the reference direction of the traffic direction angle of the road, so as to improve the accuracy of determining the road, the direction angle refers to an included angle between the road where the terminal is currently located and a preset direction, and the preset direction is the reference direction of the traffic direction angle of the road.
For example, for convenience of description and determination of a direction angle, if the direction of the current road is the same as the preset direction, the direction is 0 °; then the angles are sequentially increased clockwise, and the maximum reference included angle is 360 degrees. For example, as shown in fig. 5, the direction indicated by the arrow 501 is a preset direction, the arrow 502 is the direction of the current road, and then the direction angle is ^ A.
It should be noted that, in specific implementation, how the direction angle takes a value may be determined according to actual needs, and this is not limited in the embodiment of the present invention, for example, the angle is increased in a counterclockwise direction, or the angle takes a value between [ -180 °,180 ° ].
In one embodiment, when the direction angle determined by the terminal needs to use the preset direction as a reference direction, step a2 may specifically include the following steps:
step A21: judging whether the reference direction of the gyroscope is the same as the preset direction or not; the preset direction is the reference direction of the passing direction angle of the road;
step A22: if the angles are the same, determining the angle measured by the gyroscope as a direction angle;
step A23: and if the direction angles are not the same, calculating the direction angle according to the angle measured by the gyroscope, the reference direction and the preset direction.
For example, if the reference direction is different from the preset direction, it may be considered that the coordinate system is different, the angle measured by the gyroscope may be calculated through coordinate system conversion, and the corresponding angle when the preset direction is the reference direction is taken as the direction angle.
Or, as shown in the figure, the angle of the preset direction with respect to the reference direction is firstly determined (regarded as a first angle), and then the direction angle is obtained by calculating the angle measured by the gyroscope and the first angle. For example, in fig. 5, if the reference direction is 502, the preset direction is 501, the angle a is a first angle, and the angle B is the measured angle (503 is the direction corresponding to the measured angle), then the direction angle is ([ a ] + [ B ]).
Of course, it should be noted that the direction angle may be calculated according to the angle measured by the gyroscope, the reference direction, and the preset direction in the prior art, which are all applicable to the embodiment of the present invention, and the present invention is not limited thereto.
In an embodiment, when the direction angle is obtained through the gyroscope, the terminal may send the angle obtained by reading the built-in gyroscope to the server as the direction angle, and the server executes the steps a21 to a step a23 to obtain a final direction angle.
In one embodiment, the orientation of the terminal and the traffic direction of the road sometimes have a certain difference, for example, the orientation of the mobile phone terminal does not always coincide with the traveling direction of the user. Therefore, in the embodiment of the present invention, in order to improve the accuracy of obtaining the reference included angle, before the angle measured by the built-in gyroscope is read in step a2, the user may be further prompted to point the terminal toward the passing direction of the road where the terminal is located.
In one embodiment, if the terminal is not in the stationary state, the terminal is necessarily in the moving state, and in this case, in the embodiment of the present invention, when the terminal is not in the stationary state, the direction angle may be obtained according to step a 3.
Step A3: and obtaining a motion track formed by at least one historical positioning point of the self, and determining the direction angle according to the motion track and the preset direction.
Therefore, the direction angle is determined according to the motion track, and the passing direction of the road where the terminal is located can be accurately reflected, so that the accuracy of the obtained direction included angle can be further improved.
In an embodiment, the step a3 may specifically include the following steps:
step A31: and acquiring the positioning time of each positioning point of the motion trail.
Step A32: and acquiring a preset number of positioning points according to the sequence of positioning time from late to early.
Step A33: and calculating the direction angle according to the preset number of positioning points and the preset direction.
In one embodiment, step a33 includes at least the following two embodiments:
the first method is as follows:
step B1: two adjacent positioning points in the preset number of positioning points form a group, and the direction of each group is determined to be the direction from the positioning point with the early positioning time to the positioning point with the late positioning time in the group.
For example, as shown in fig. 6, E, F has two points as two positioning points in a group, where the positioning time of E is earlier than that of F (i.e. point E is obtained first and point F is obtained later in chronological order), and the direction of the group is the direction from E to F.
Step B2: and calculating the included angle between the direction of each group and the preset direction for each group, and determining the direction angle according to the included angle of each group.
Wherein for example the average of the sets of angles may be determined as the direction angle. It is also possible to remove the maximum value and the minimum value among the included angles of the respective groups and then calculate the average value of the included angles of the remaining groups as the direction angle.
For example, assuming that the preset number is 3, two groups of positioning points (3-1) can be obtained, assuming that the included angle of the first group is ∠ B and the corresponding weight value is ω 1, assuming that the included angle of the second group is ∠ C and the corresponding weight value is ω 2, the result of weighted summation and averaging is
The result is taken as the azimuth angle.
The second method comprises the following steps:
step C1: and fitting a straight line according to the preset number of positioning points.
Step C2: and determining the direction of the straight line from the late direction to the early direction of the positioning time.
Step C3: and calculating an included angle between the direction of the straight line and the preset direction as a direction angle.
It should be noted that, the method in the prior art may be used to calculate the direction angle according to the preset number of positioning points and the preset direction, which are all applicable to the embodiment of the present invention, and the present invention is not limited to this.
In one embodiment, the positioning accuracy of the positioning point is positively correlated with the movement speed of the terminal, that is, the higher the movement speed is, the higher the positioning accuracy of the positioning point is. In some special cases, the orientation angle obtained by final calculation is not accurate enough because the positioning accuracy of the positioning point is not high enough.
Therefore, in the embodiment of the present invention, in order to further improve the accuracy of the reference included angle, before step a33, the method may further include: judging whether the preset number of positioning points meet preset conditions or not; the preset conditions include: the distance between each two positioning points is smaller than the preset distance, and/or,
when two adjacent positioning points form a group, the included angle between the directions of the adjacent groups is smaller than a preset included angle, wherein the direction of each group refers to the direction from the positioning point with the earlier positioning time to the positioning point with the later positioning time in the group, and if a preset condition is met, the step a33 is executed.
For example, assume that there are 3 anchor points, A, B, C. The distance between every two positioning points is C3 2Distance between AB, distance between AC, distance between BC; in addition, there are (3-1) sets of anchor points, including AB, BC. If the preset condition is that the distance between every two positioning points is smaller than the preset distance and the included angle between the directions of adjacent groups is smaller than the preset included angle, the distance between the AB groups, the distance between the AC groups and the distance between the BC groups are required to be smaller than the preset distance, and the included angle between the directions of the AB groups and the direction of the BC groups is smaller than the preset included angle, the preset condition can be met.
Therefore, if the preset number of positioning points meet the preset condition, the obtained positioning points are basically on one road, and the positioning points are more credible, so that the accuracy of the reference included angle calculated in the later period is higher. At this time, in order to simplify the calculation complexity and obtain the reference angle in a simple manner, step a33 may be performed to regard the direction from the location point with the earliest positioning time to the location point with the latest positioning time among the obtained location points as an initial direction, and calculate an angle between the initial direction and a preset direction as a direction angle.
In an embodiment, in an extreme case, if the predetermined number of anchor points do not satisfy the preset condition, the following steps may be performed:
step D1: and acquiring the current movement speed of the user.
Step D2: and judging whether the movement speed is less than a preset speed or not.
Step D3: if yes, the method returns to the step A2.
If not, the operation is ended, or only the current positioning position is generated to the server.
Here, the reason for judging whether the current movement speed of the vehicle is less than the preset speed is:
the actual measurement proves that the direction angle determined according to the angle measured by the gyroscope can improve the accuracy of determining the current road of the terminal on the whole, but the determination is not easy to try again (namely, the probability that the accuracy of determining the current road of the terminal at this time is improved for a single time is more, but in extreme cases, the accuracy is not improved, but is reduced). Such a single mistake can have serious consequences if the user drives on the highway, and is therefore absolutely intolerable.
Therefore, in the case where the acquired anchor point does not satisfy the preset condition, it is preferable to perform step D1 and step D2 before performing step D3.
It should be noted that, whether the terminal is in a static state or not, according to step a2, the direction angle may be obtained only by the gyroscope; the direction angle may also be obtained from the motion trajectory alone, according to step a 3. In specific implementation, the method for obtaining the direction angle may be determined according to actual needs, which is not limited in the present invention.
In one embodiment, compared with a gyroscope, the reliability of the direction angle obtained based on the motion track is higher, so that in the embodiment of the present invention, the source information indicating whether the direction angle is from the gyroscope or the motion track may be further sent to the server, so that the server determines the current road where the terminal is located according to the source information, thereby further improving the accuracy of determining the current road where the terminal is located. For a specific method, refer to example two, which is not repeated here.
In summary, in the embodiment of the present invention, the terminal performs positioning to obtain the current positioning position and obtain the direction angle of the terminal; sending the current positioning position and the direction angle to a server, so that the server can obtain a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road. Thus, the embodiment of the invention realizes that the road where the terminal is located is determined according to the two parameters of the distance and the direction angle. The road passing direction is determined, so that the road finally determined in the invention is a road with a short distance and a consistent direction, the condition that the road opposite to the actual position is taken as the final road in the prior art is avoided, and the accuracy of the road where the terminal is located at present can be improved compared with the prior art.
Example two
An embodiment of the present invention further provides a method for determining a road where a terminal is located, as shown in fig. 7, which is a schematic flow diagram of the method, and the method includes the following steps:
step 701: and the server receives the current positioning position of the terminal and the direction angle of the terminal.
Step 702: and acquiring a preset number of candidate roads based on the current positioning position.
In one embodiment, a preset number of candidate roads are obtained in the order from small to large from the current location position.
In one embodiment, the distance between the road and the current position may be a euclidean distance shown in fig. 1, an actual distance from the current position to the road, or a minimum manhattan distance between the current position and a point on the road.
Assuming that there are 10 roads and the number of the preset roads is 8, the 8 roads closest to the current location position are obtained from the 10 roads.
Step 703: and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road.
In an embodiment, the direction angle may be an angle measured by the terminal reading the gyroscope when the direction angle is derived from the gyroscope, which will be described later and will not be described herein again. It is noted that, in order to determine the road where the terminal is currently located, the direction angle refers to an included angle between the road where the terminal is currently located and a preset direction; the preset direction is the reference direction of the passing direction angle of the road; step 703 may specifically include the following steps:
step E1: and respectively calculating the angle difference between the passing direction angle of each candidate road and the direction angle.
Step E2: and determining the road where the terminal is located currently according to the angle difference and the distance between the current positioning position and each candidate road.
In one embodiment, step E2 may specifically include the following steps:
step E21: and expanding the distance between the candidate road and the current positioning position according to the angle difference.
Wherein, in one embodiment, step E1: and increasing the distance between the road and the current position by the corresponding distance increment according to the angle difference of the road according to a preset proportional relation between the angle difference and the distance increment.
Step E22: and selecting the candidate road corresponding to the minimum distance in the expanded distances as the current road of the terminal.
Wherein, step E21 may include the following embodiments:
(1) wherein, in one embodiment, for each road, the distance between the road and the current position may be enlarged according to formula (1):
wherein L' represents the distance after the enlargement; l represents the distance between the road and the current position; α represents the angle difference; τ denotes a preset coefficient, e.g. 1.5 or 2.5.
(2) In an embodiment, as described in the first embodiment, the reliability of the direction angle obtained based on the motion trajectory is higher than that of the gyroscope, so in the embodiment of the present invention, source information indicating whether the direction angle is derived from the gyroscope or the motion trajectory and sent by the terminal may be further received. At this time, the current road on which the terminal is located may be further determined according to the direction angle source information, and specifically, step E21 may be performed as:
step E211: and determining the reliability of the direction angle corresponding to the direction angle source information according to the corresponding relation between the direction angle source information and the reliability of the direction angle.
When the direction angle comes from the gyroscope, the reliability is low, and the reliability is high due to the motion track of the direction angle.
Step E212: and expanding the distance between the candidate road and the current positioning position based on the direction angle and the reliability of the direction angle.
The distance of the road from the current position may be extended according to the following formula (2) or formula (3):
the same parameters in formula (2) and formula (1) have the same meanings, and are not described herein again. Only the meaning of the different parameters is explained here: lambda [ alpha ]mRepresenting the confidence level of the direction angle.
The same parameters in formula (3) and formula (2) have the same meanings, and are not described herein again. Only the meaning of the different parameters is explained here: lambda [ alpha ]mRepresenting the confidence of said orientation angle, α' representing a preset angle, e.g. 180.
(3) In one embodiment, a corresponding weighting value may be set for the angle difference in advance, for example, as shown in table 1: if the angle difference is within 0-5 (excluding 5), the corresponding weight is 1.1, and so on. Table 1 is only for illustrating the embodiments of the present invention, and is not intended to limit the embodiments of the present invention.
TABLE 1
| Range of angular difference | Weighted values |
| [0,5) | 1.1 |
| (5,10] | 1.3 |
| [10,15) | 1.5 |
In addition, it should be noted that only the proportional relation conforming to the principle that the distance increment is larger when the angle difference is larger is used for enlarging the distance between the road and the current position, which is applicable to the embodiment of the present invention, the above-mentioned relation is not listed one by one, and is not limited.
If there is source information, the server can determine whether the direction angle is from the gyroscope according to the source information, and in this case, as described in one embodiment, the direction angle may be an angle measured by a built-in gyroscope read by the terminal. In order to improve the accuracy of obtaining the direction angle, when it is assumed that the final direction angle is determined by the server in advance, in the embodiment of the present invention, the server may further: judging whether the reference direction of the gyroscope is the same as the preset direction or not; if the angles are the same, determining the angle measured by the gyroscope as a direction angle; and if the direction angles are not the same, calculating the direction angle according to the angle measured by the gyroscope, the reference direction and the preset direction.
For example, if the reference direction is different from the preset direction, it may be considered that the coordinate system is different, the angle measured by the gyroscope may be calculated through coordinate system conversion, and the corresponding angle when the preset direction is the reference direction is taken as the direction angle. Or, as shown in the figure, the angle of the preset direction with respect to the reference direction is firstly determined (regarded as a first angle), and then the direction angle is obtained by calculating the angle measured by the gyroscope and the first angle. For example, in fig. 5, if the reference direction is 502, the preset direction is 501, the angle a is the first angle, and the angle B is the measured angle, then the direction angle is (< a + < B >.
Of course, it should be noted that the direction angle may be calculated according to the angle measured by the gyroscope, the reference direction, and the preset direction in the prior art, which are all applicable to the embodiment of the present invention, and the present invention is not limited thereto.
In addition, step E2 in this embodiment of the present invention may be further implemented as: and determining the road which is closer to the current point and has smaller angle difference as the road where the terminal is located at present. In specific implementation, the method can comprise the following steps:
step F1: and acquiring a first weight coefficient corresponding to the angle difference and acquiring a second weight coefficient corresponding to the distance.
Step F2: and aiming at each road, according to the angle difference corresponding to the road, the distance between the road and the current position, the first weight coefficient and the second weight coefficient. And calculating a weighted summation value of the road in a weighted summation mode.
Step F3: and determining the road with the minimum weighted sum value as the road where the terminal is located currently.
It should be noted that, not only through a weighted summation manner, but also for each road, a product of an angle difference corresponding to the road and a distance from the road to the current position is obtained, and the road with the minimum product is determined as the road where the terminal is currently located. In summary, the method is applicable to the embodiment of the present invention as long as the method conforms to the principle that a road closer to the current point and having a smaller angle difference is determined as the current road of the terminal, and the present invention is not limited thereto.
In summary, in the embodiments of the present invention, since the passing direction of the road is determined, when the current road of the terminal is determined, the current road is determined according to not only the distance between the road and the current position, but also the direction of the road, so that the accuracy of determining the current road of the terminal can be improved. Therefore, the road finally determined in the invention is a road with a short distance and a consistent direction, the condition that the road opposite to the actual position is taken as the final road in the prior art is avoided, and the accuracy of the road where the terminal is located at present can be improved compared with the prior art.
EXAMPLE III
The following describes in detail the method for determining a road on which a terminal is located, taking the preset number of 3, that is, acquiring 3 positioning points as an example, as shown in fig. 8, which is a schematic flow diagram of the method, and includes the following steps:
step 801: and the terminal carries out positioning to obtain the current positioning position.
Step 802: the terminal judges whether the terminal is in a static state, if so, the step 803 is executed, and if not, the step 804 is executed.
The execution order of step 801 and step 802 is not limited.
Step 803: the terminal prompts a user to enable the terminal to face the passing direction of the road where the terminal is located, then an angle measured by a built-in gyroscope is read, and if the reference direction of the gyroscope is the same as the preset direction, the angle is used as a direction angle; if the reference direction is not the same as the preset direction, calculating a direction angle according to the angle, the reference direction and the preset direction, and then executing step 810.
Step 804: and the terminal acquires 3 positioning points according to the sequence of the positioning time from late to early.
Step 805: the terminal judges whether the acquired 3 positioning points meet preset conditions, if so, step 806 is executed; if not, go to step 807.
The preset conditions are already described in the first embodiment, and are not described herein again.
Step 806: the terminal regards the direction from the positioning point with the earliest positioning time to the positioning point with the latest positioning time in the acquired 3 positioning points as an initial direction, calculates an included angle between the initial direction and a preset direction as a direction angle, and then executes step 810.
Step 807: the terminal acquires the current movement speed of the terminal.
Step 808: the terminal judges whether the movement speed is less than a preset speed, if so, the step 803 is executed, and if not, the step 809 is executed.
Step 809: and the terminal sends the current positioning position to a server.
When the terminal performs step 809, the server may determine the road on which the terminal is currently located according to the prior art.
Step 810: and the terminal sends the current positioning position and the direction angle to a server and sends source information to the server.
Step 811: and the server receives the current positioning position of the terminal and the direction angle of the terminal, which are sent by the terminal.
Step 812: and the server acquires a preset number of candidate roads according to the sequence from small to large from the current position.
Step 813: the server respectively calculates the angle difference between the passing direction angle of each candidate road and the direction angle.
Step 814: and the server determines the reliability of the direction angle corresponding to the source information according to the corresponding relation between the source information and the reliability of the direction angle. And expanding the distance between the road and the current position according to the formula (2).
Step 815: and the server selects the road with the minimum expanded distance as the road where the terminal is located currently.
For example, as shown in fig. 9, a schematic diagram of a navigation route given after the server determines the road where the terminal is currently located according to the current location position sent by the terminal in the prior art is shown. In fig. 9, point a indicates the actual position of the terminal. Fig. 10 is a schematic diagram of a navigation route given by the server according to the direction angle and the current location position of the terminal after determining the road where the terminal is currently located in the embodiment of the present invention, where point a represents the actual position of the terminal. As can be seen from fig. 9, in the prior art, due to the fact that the determined current road is inaccurate, the position of the terminal is determined to be opposite to the road, and the given navigation route is inaccurate. The embodiment of the invention determines the current road accurately and provides a reasonable navigation route.
In the embodiment of the invention, the terminal carries out positioning to obtain the current positioning position and obtain the direction angle of the terminal; sending the current positioning position and the direction angle to a server, so that the server can obtain a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road. Thus, the embodiment of the invention realizes that the road where the terminal is located is determined according to the two parameters of the distance and the direction angle. The road passing direction is determined, so that the road finally determined in the invention is a road with a short distance and a consistent direction, the condition that the road opposite to the actual position is taken as the final road in the prior art is avoided, and the accuracy of the road where the terminal is located at present can be improved compared with the prior art.
Example four
Based on the same inventive concept, an embodiment of the present invention further provides a device for determining a road where a terminal is located, as shown in fig. 11, which is a schematic structural diagram of the device, and includes:
an information obtaining module 1101, configured to perform positioning to obtain a current positioning position, and obtain a direction angle of the information obtaining module;
a sending module 1102, configured to send the current positioning location and the direction angle to a server, so that the server performs the following operations: acquiring a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road.
In an embodiment, as shown in fig. 12, the information obtaining module 1101 specifically includes:
a judging unit 11011, configured to judge whether itself is in a static state;
a reading unit 11012, configured to read an angle measured by a built-in gyroscope if a determination result of the determining unit is yes, and determine a direction angle according to the angle measured by the gyroscope;
and the track processing unit 11013 is configured to, if the determination result of the determining unit is negative, obtain a motion track of the mobile terminal, where the motion track is formed by at least one historical positioning point, and determine the direction angle according to the motion track and the preset direction.
In an embodiment, the reading unit 11012 is specifically configured to:
judging whether the reference direction of the gyroscope is the same as the preset direction or not; the preset direction is the reference direction of the passing direction angle of the road;
if the angles are the same, determining the angle measured by the gyroscope as a direction angle;
and if the direction angles are not the same, calculating the direction angle according to the angle measured by the gyroscope, the reference direction and the preset direction.
In an embodiment, the trajectory processing unit 11013 is specifically configured to:
acquiring the positioning time of each positioning point of the motion trail;
acquiring a preset number of positioning points according to the sequence of positioning time from late to early;
judging whether the preset number of positioning points meet preset conditions or not;
if yes, calculating the direction angle according to the preset number of positioning points and the preset direction.
Wherein, in one embodiment, as shown in fig. 12, the apparatus further comprises:
a speed obtaining module 1103, configured to obtain a current motion speed of the trajectory processing unit if the trajectory processing unit determines that the preset number of positioning points do not satisfy a preset condition;
a speed determination module 1104, configured to determine whether the movement speed is less than a preset speed;
a triggering module 1105, configured to trigger the reading unit to execute the step of reading the angle measured by the built-in gyroscope if the determination result of the speed determining module is yes.
Wherein, in one embodiment, as shown in fig. 12, the apparatus further comprises:
a source information sending module 1106, configured to send source information of the direction angle to the server, where the source information indicates whether the direction angle is derived from a gyroscope or a motion trajectory.
In the embodiment of the invention, the current positioning position is obtained by positioning, and the direction angle of the positioning device is obtained; sending the current positioning position and the direction angle to a server, so that the server can obtain a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road. Thus, the embodiment of the invention realizes that the road where the terminal is located is determined according to the two parameters of the distance and the direction angle. The road passing direction is determined, so that the road finally determined in the invention is a road with a short distance and a consistent direction, the condition that the road opposite to the actual position is taken as the final road in the prior art is avoided, and the accuracy of the road where the terminal is located at present can be improved compared with the prior art.
EXAMPLE five
Based on the same inventive concept, an embodiment of the present invention further provides a device for determining a road where a terminal is located, as shown in fig. 13, which is a schematic structural diagram of the device, and includes:
an information receiving module 1301, configured to receive a current location position of the terminal and a direction angle of the terminal; the direction angle refers to an included angle between a road where the terminal is located at present and a preset direction;
a candidate road obtaining module 1302, configured to obtain a preset number of candidate roads based on the current location position;
and the located road determining module 1303 is configured to determine, according to the current location position, the direction angle, and the candidate road, a road where the terminal is currently located.
In one embodiment, as shown in fig. 14, the direction angle refers to an included angle between a road where the terminal is currently located and a preset direction; the preset direction is the reference direction of the passing direction angle of the road; the road determining module 1303 specifically includes:
an angle difference calculation unit 13031 for calculating the angle difference between the passing direction angle of each candidate road and the direction angle, respectively;
a located road determining unit 13032, configured to determine, according to the angle difference and the distance between the current location position and each candidate road, a road where the terminal is currently located.
In an embodiment, the located road determining unit 13032 is specifically configured to:
expanding the distance between the candidate road and the current positioning position according to the angle difference;
and selecting the candidate road corresponding to the minimum distance in the expanded distances as the current road of the terminal.
Wherein, in one embodiment, as shown in fig. 14, the apparatus further comprises:
a source information receiving module 1304, configured to receive source information of the direction angle sent by the terminal; the source information indicates whether the direction angle is from a gyroscope or a motion track;
the located road determining unit 13032 is specifically configured to:
determining the reliability of the direction angle according to the corresponding relation between the source information of the direction angle and the reliability of the direction angle;
and expanding the distance between the candidate road and the current positioning position based on the direction angle and the reliability of the direction angle.
In an embodiment, the located road determining unit 13032 is specifically configured to:
expanding the distance between the road and the current position according to the following formula:
wherein L' represents the distance after the expansion, L represents the distance between the road and the current position, α represents the angle difference, tau represents a preset coefficient, and lambda represents a preset coefficientmRepresenting the confidence level of the direction angle.
According to the device provided by the embodiment of the invention, when the current road of the terminal is determined, the current road is determined according to the distance between the road and the current position and the direction of the road, so that the accuracy of determining the current road of the terminal can be improved.
With regard to the apparatuses in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be described in detail here.
EXAMPLE six
Based on the same inventive concept, an embodiment of the present invention further provides a system for determining a road where a terminal is located, as shown in fig. 15, which is a schematic structural diagram of the system, and includes:
the terminal 1501 is configured to perform positioning to obtain a current positioning position and obtain a direction angle of the terminal; sending the current positioning position and the direction angle to a server;
a server 1502 for receiving a current location position of the terminal and a direction angle of the terminal; acquiring a preset number of candidate roads based on the current positioning position; and determining the road where the terminal is located currently according to the current positioning position, the direction angle and the candidate road.
The module that the terminal can include is as described in embodiment four, and the module that the server can include is as described in embodiment five, which are not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (21)
1. A method for determining a road where a terminal is located is characterized by comprising the following steps:
the terminal carries out positioning to obtain a current positioning position and obtains a direction angle of the terminal;
sending the current positioning position and the direction angle to a server so as to enable the server to execute the following operations: acquiring a preset number of candidate roads based on the current positioning position; determining the road where the terminal is located according to the current positioning position, the direction angle and the candidate road,
wherein, obtain the direction angle of oneself, specifically include:
judging whether the mobile phone is in a static state;
if yes, reading an angle measured by a built-in gyroscope, and determining a direction angle according to the angle measured by the gyroscope;
if not, obtaining a motion track formed by at least one historical positioning point of the vehicle, and determining the direction angle according to the motion track and a preset direction, wherein the preset direction is a reference direction of a passing direction angle of the road.
2. The method according to claim 1, wherein determining the orientation angle from the angle measured by the gyroscope comprises:
judging whether the reference direction of the gyroscope is the same as the preset direction or not;
if the angles are the same, determining the angle measured by the gyroscope as a direction angle;
and if the direction angles are not the same, calculating the direction angle according to the angle measured by the gyroscope, the reference direction and the preset direction.
3. The method according to claim 1, wherein the determining the direction angle according to the motion trajectory and a preset direction specifically includes:
acquiring the positioning time of each positioning point of the motion trail;
acquiring a preset number of positioning points according to the sequence of positioning time from late to early;
judging whether the preset number of positioning points meet preset conditions or not;
if yes, calculating the direction angle according to the preset number of positioning points and the preset direction.
4. The method of claim 3, wherein if the predetermined number of anchor points do not satisfy a predetermined condition, the method further comprises:
acquiring the current movement speed of the user;
judging whether the movement speed is less than a preset speed or not;
and if so, returning to the step of reading the angle measured by the built-in gyroscope.
5. The method of claim 1, further comprising:
and sending source information of the direction angle to the server, wherein the source information represents whether the direction angle is from a gyroscope or a motion trail.
6. A method for determining a road where a terminal is located is characterized by comprising the following steps:
the server receives the current positioning position of the terminal and the direction angle of the terminal;
acquiring a preset number of candidate roads based on the current positioning position;
determining the road where the terminal is located according to the current positioning position, the direction angle and the candidate road,
wherein the direction angle of the terminal is obtained by the terminal through the following steps:
judging whether the mobile phone is in a static state;
if yes, reading an angle measured by a built-in gyroscope, and determining a direction angle according to the angle measured by the gyroscope;
if not, obtaining a motion track formed by at least one historical positioning point of the vehicle, and determining the direction angle according to the motion track and a preset direction, wherein the preset direction is a reference direction of a passing direction angle of the road.
7. The method according to claim 6, wherein the direction angle of the terminal refers to an included angle between a road where the terminal is currently located and a preset direction;
the determining the current road of the terminal according to the current positioning position, the direction angle and the candidate road specifically includes:
respectively calculating the angle difference between the passing direction angle of each candidate road and the direction angle;
and determining the road where the terminal is located currently according to the angle difference and the distance between the current positioning position and each candidate road.
8. The method according to claim 7, wherein the determining the road on which the terminal is currently located according to the angle difference and the distance between the current positioning location and each candidate road specifically comprises:
expanding the distance between the candidate road and the current positioning position according to the angle difference;
and selecting the candidate road corresponding to the minimum distance in the expanded distances as the current road of the terminal.
9. The method of claim 8, further comprising:
receiving source information of the direction angle sent by the terminal; the source information indicates whether the direction angle is from a gyroscope or a motion track;
expanding the distance between the candidate road and the current positioning position according to the angle difference specifically comprises:
determining the reliability of the direction angle according to the corresponding relation between the source information of the direction angle and the reliability of the direction angle;
and expanding the distance between the candidate road and the current positioning position based on the direction angle and the reliability of the direction angle.
10. The method of claim 9, wherein the extending the distance between the candidate road and the current location based on the direction angle and the confidence level of the direction angle comprises:
expanding the distance between the road and the current position according to the following formula:
wherein L' represents the distance after the expansion, L represents the distance between the road and the current position, α represents the angle difference, tau represents a preset coefficient, and lambda represents a preset coefficientmRepresenting the confidence level of the direction angle.
11. An apparatus for determining a road on which a terminal is located, comprising:
the information acquisition module is used for positioning to acquire a current positioning position and acquiring a direction angle of the information acquisition module;
a sending module, configured to send the current positioning location and the direction angle to a server, so that the server performs the following operations: acquiring a preset number of candidate roads based on the current positioning position; determining the road where the terminal is located according to the current positioning position, the direction angle and the candidate road,
the direction angle refers to an included angle between a road where the terminal is located at present and a preset direction, and the preset direction is a reference direction of a passing direction angle of the road; the information acquisition module specifically comprises:
the judging unit is used for judging whether the mobile terminal is in a static state or not;
the reading unit is used for reading the angle measured by the built-in gyroscope and determining a direction angle according to the angle measured by the gyroscope if the judgment result of the judging unit is positive;
and the track processing unit is used for acquiring a motion track formed by at least one historical positioning point of the track processing unit if the judgment result of the judgment unit is negative, and determining the direction angle according to the motion track and the preset direction.
12. The apparatus according to claim 11, wherein the reading unit is specifically configured to:
judging whether the reference direction of the gyroscope is the same as the preset direction or not; if the angles are the same, determining the angle measured by the gyroscope as a direction angle;
and if the direction angles are not the same, calculating the direction angle according to the angle measured by the gyroscope, the reference direction and the preset direction.
13. The apparatus according to claim 11, wherein the trajectory processing unit is specifically configured to:
acquiring the positioning time of each positioning point of the motion trail;
acquiring a preset number of positioning points according to the sequence of positioning time from late to early;
judging whether the preset number of positioning points meet preset conditions or not;
if yes, calculating the direction angle according to the preset number of positioning points and the preset direction.
14. The apparatus of claim 13, further comprising:
the speed acquisition module is used for acquiring the current movement speed of the track processing unit if the track processing unit determines that the preset number of positioning points do not meet the preset condition;
the speed judging module is used for judging whether the movement speed is smaller than a preset speed or not;
and the triggering module is used for triggering the reading unit to execute the step of reading the angle measured by the built-in gyroscope if the judgment result of the speed judging module is positive.
15. The apparatus of claim 11, further comprising:
and the source information sending module is used for sending the source information of the direction angle to the server, and the source information represents whether the direction angle is from a gyroscope or a motion trail.
16. A device for determining a road where a terminal is located is characterized in that a direction angle of the terminal refers to an included angle between the road where the terminal is located and a preset direction; the preset direction is the reference direction of the passing direction angle of the road; the device comprises:
the information receiving module is used for receiving the current positioning position of the terminal and the direction angle of the terminal; the candidate road obtaining module is used for obtaining a preset number of candidate roads based on the current positioning position;
a road determining module for determining the road where the terminal is currently located according to the current positioning position, the direction angle and the candidate road,
wherein the direction angle of the terminal is obtained by the terminal through the following steps:
judging whether the mobile phone is in a static state;
if yes, reading an angle measured by a built-in gyroscope, and determining a direction angle according to the angle measured by the gyroscope;
if not, obtaining a motion track formed by at least one historical positioning point of the user, and determining the direction angle according to the motion track and the preset direction.
17. The apparatus according to claim 16, wherein the road determining module specifically includes:
an angle difference calculation unit for calculating an angle difference between a passing direction angle of each candidate road and the direction angle, respectively;
and the road determining unit is used for determining the road where the terminal is located currently according to the angle difference and the distance between the current positioning position and each candidate road.
18. The apparatus according to claim 17, wherein the located-road determining unit is specifically configured to:
expanding the distance between the candidate road and the current positioning position according to the angle difference;
and selecting the candidate road corresponding to the minimum distance in the expanded distances as the current road of the terminal.
19. The apparatus of claim 18, further comprising:
a source information receiving module, configured to receive source information of the direction angle sent by the terminal; the source information indicates whether the direction angle is from a gyroscope or a motion track;
the road determining unit is specifically configured to:
determining the reliability of the direction angle according to the corresponding relation between the source information of the direction angle and the reliability of the direction angle;
and expanding the distance between the candidate road and the current positioning position based on the direction angle and the reliability of the direction angle.
20. The apparatus according to claim 19, wherein the road determining unit is specifically configured to:
expanding the distance between the road and the current position according to the following formula:
wherein L' represents the distance after the expansion, L represents the distance between the road and the current position, α represents the angle difference, tau represents a preset coefficient, and lambda represents a preset coefficientmRepresenting the confidence level of the direction angle.
21. A system for determining a road on which a terminal is located, comprising:
the terminal is used for positioning to obtain a current positioning position and obtaining a direction angle of the terminal; sending the current positioning position and the direction angle to a server;
the server is used for receiving the current positioning position of the terminal and the direction angle of the terminal; acquiring a preset number of candidate roads based on the current positioning position; determining the road where the terminal is located according to the current positioning position, the direction angle and the candidate road,
wherein, the terminal obtains the direction angle of itself, includes:
judging whether the mobile phone is in a static state;
if yes, reading an angle measured by a built-in gyroscope, and determining a direction angle according to the angle measured by the gyroscope;
if not, obtaining a motion track formed by at least one historical positioning point of the vehicle, and determining the direction angle according to the motion track and a preset direction, wherein the preset direction is a reference direction of a passing direction angle of the road.
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| CN201610173537.7A CN107228675B (en) | 2016-03-24 | 2016-03-24 | Method, device and system for determining road where terminal is located |
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| CN201610173537.7A CN107228675B (en) | 2016-03-24 | 2016-03-24 | Method, device and system for determining road where terminal is located |
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| 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 |
| CN110146101B (en) * | 2019-05-06 | 2021-06-04 | 北京三快在线科技有限公司 | Position matching method and device |
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