CN107270920A - Vehicle positioning and navigation method and automatic navigator - Google Patents
Vehicle positioning and navigation method and automatic navigator Download PDFInfo
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- CN107270920A CN107270920A CN201610217332.4A CN201610217332A CN107270920A CN 107270920 A CN107270920 A CN 107270920A CN 201610217332 A CN201610217332 A CN 201610217332A CN 107270920 A CN107270920 A CN 107270920A
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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
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of vehicle positioning and navigation method and automatic navigator.Wherein vehicle positioning and navigation method comprises the following steps：S1, obtain with the first predeterminated frequency the positional information of car-mounted terminal successively, the positional information includes first position, the second place and the 3rd position；S2, generate first path between the first position and the second place, generate the second path between the second place and the 3rd position；S3, calculate path angle between the first path and second path；S4, according to the path angle generate course information；S5, step S with the second predeterminated frequency exported according to the course information1The positional information of middle acquisition is simultaneously shown.The present invention substantially increases the accuracy of vehicle positioning and navigation on the premise of communication traffic and communication fee is not increased.
Description
Technical field
The present invention relates to a kind of vehicle positioning and navigation method and automatic navigator.
Background technology
At present, automatic navigator obtains vehicle-mounted by GPS (global positioning system) systems or dipper system
The relevant information of terminal present position, in order to save communication traffic and communication fee, car-mounted terminal is generally adopted
The mode of timing or spacing reporting position information is taken, and, is often turned due to vehicle in the process of moving
Curved action, thus automatic navigator of the prior art play vehicle driving trace when can often go out
Now put situation of the line of position not on road.
The content of the invention
The technical problem to be solved in the present invention is to overcome the automatic navigator of prior art to be turned in vehicle
When curved, defect of the line of a position not on road often occurs in the vehicle driving trace of broadcasting, and there is provided one
Plant automatic navigator.
The present invention is to solve above-mentioned technical problem by following technical proposals：
A kind of vehicle positioning and navigation method, its feature is that the vehicle positioning and navigation method includes following
Step：
S1, the positional information for obtaining with the first predeterminated frequency car-mounted terminal successively, the positional information include
First position, the second place and the 3rd position；
First path between S2, the generation first position and the second place, generation described second
The second path between position and the 3rd position；
Path angle between S3, the calculating first path and second path；
S4, according to the path angle generate course information；
S5, the position according to the course information to be obtained in the second predeterminated frequency output step S1
Information is simultaneously shown.
Vehicle positioning and navigation with a fixed frequency export car-mounted terminal location point, and by location point line with
Generate the path of vehicle traveling.If frequency is larger, the path that shows is not often when turning round traveling for vehicle
Accurately, if frequency is smaller, communication traffic and communication fee can be increased.In this programme, by judging car
Transport condition, with the location point of different rate-adaptive pacemaker car-mounted terminals, do not increase communication traffic and
On the premise of communication fee, the accuracy of vehicle positioning and navigation is substantially increased.
It is preferred that step S1 also includes：
Judge whether the distance between the 3rd position and described second place are more than a pre-determined distance, if
It is then to perform step S2；If it is not, then performing step S1.This programme improves judging efficiency.
It is preferred that step S4 includes：
Judge whether the path angle is more than a predetermined angle；
If so, the course information then generated is travelled including vehicle turning；
If it is not, the course information then generated is travelled including its straight line.
It is preferred that in step s 4, when the course information of generation, which includes vehicle turning, to travel,
In step s 5, second predeterminated frequency is equal to first predeterminated frequency；
When the course information of generation, which includes its straight line, to travel, in step s 5, described second
Predeterminated frequency is less than first predeterminated frequency.
It is preferred that the first position, the second place and the 3rd position include longitude, latitude
Degree and speed.
Present invention additionally comprises another vehicle positioning and navigation method, its feature is that the vehicle location is led
Boat method comprises the following steps：
S1, the positional information for obtaining with the first predeterminated frequency car-mounted terminal successively, the positional information include
Five positions, every three adjacent position composition set of locations, each position group includes first position, second
Position and the 3rd position；
S2, in the group of each position, generate the first via between the first position and the second place
The second path between footpath, and the second place and the 3rd position；
S3, in the group of each position, calculate the path folder between the first path and second path
Angle；
S4, course information generated according to the path angle, and judge the path angle in three groups of set of locations
Whether at least two groups be more than a predetermined angle；
If so, the course information then generated is travelled including vehicle turning；
If it is not, the course information then generated is travelled including its straight line；
S5, the positional information is exported with the second predeterminated frequency according to the course information and shown.
In this programme, 5 location points are taken, 3 judgements is carried out, is generated and navigated according to the result of 3 judgements
To information, it is to avoid judged by accident caused by vehicle drift, so as to further increase the accurate of automobile navigation
Degree.
It is preferred that step S1 also includes：
Judge whether the distance between two neighboring position is more than a pre-determined distance, if so, then performing step
S2；If it is not, then performing step S1.
It is preferred that in step s 4, when the course information of generation, which includes vehicle turning, to travel,
Second predeterminated frequency is equal to first predeterminated frequency；
When the course information of generation, which includes its straight line, to travel, second predeterminated frequency is less than institute
State the first predeterminated frequency.
It is preferred that the first position, the second place and the 3rd position include longitude, latitude
Degree and speed.
The present invention also provides a kind of automatic navigator, and its feature is, the automatic navigator is using as above
Described vehicle positioning and navigation method carries out vehicle positioning and navigation.
The positive effect of the present invention is：Vehicle positioning and navigation method in the present invention is according to vehicle
Path angle judges that vehicle is straight-line travelling or turns round traveling, defeated with different frequencies according to judged result
Go out the positional information of car-mounted terminal, on the premise of communication traffic and communication fee is not increased, greatly improve
The accuracy of vehicle positioning and navigation.Even if vehicle turning is travelled, automatic navigator of the invention is using this
The point position line of vehicle driving trace shown by the air navigation aid of invention is also all the time on travel, essence
Exactness is high, and the automatic navigator operating efficiency of the present invention is high.
Brief description of the drawings
Fig. 1 is the flow chart of the vehicle positioning and navigation method of the embodiment of the present invention 1.
Fig. 2 is the structural representation of the automatic navigator of the embodiment of the present invention 1.
Fig. 3 is the flow chart of the vehicle positioning and navigation method of the embodiment of the present invention 2.
Embodiment
The present invention is further illustrated below by the mode of embodiment, but is not therefore limited the present invention to
Among described scope of embodiments.
Embodiment 1
Fig. 1 shows a kind of vehicle positioning and navigation method, comprises the following steps：
Step 101, the positional information for obtaining with the first predeterminated frequency car-mounted terminal successively, wherein position are believed
Breath includes first position, the second place and the 3rd position.For example, with frequency acquisition position each 1s
Information, then 1s obtain for first position, 2s obtain for the second place, what 3s was obtained
For the 3rd position, it is necessary to illustrate, if what is obtained is the 3rd position this moment, then the 3rd position is then
Position where vehicle current time, the second place is then the position where last moment vehicle.In order to carry
High efficiency, is carried out before turn judgement, can first judge whether vehicle is in halted state, is stopped if vehicle is in
Only state, then need not carry out following judgement.If specifically, current vehicle position be the 3rd position,
Judge whether the distance between the 3rd position and the second place (current location of 1s vehicles in front) are more than default
Distance, that is, judge within 1s clocks, whether vehicle is moved through distance.If, it is meant that vehicle exists
During traveling, then step 102 is performed；If not, it is meant that vehicle is in halted state, then performs step
Rapid 101, until vehicle is in transport condition, then perform step 102.Wherein first position, second
Position and the 3rd position include longitude, latitude and speed.
First path between step 102, passage path method of formation generation first position and the second place,
Generate the second path between the second place and the 3rd position.By first position, the second place, the 3rd
Put and represented in dots in figure, then first path is the line between first position and the second place,
Second path is the line between the second place and the 3rd position.
Step 103, calculate path angle between first path and the second path, namely first position with
Between the second place between line and the second place and the 3rd position line angle.
Step 104, according to path angle generate course information, wherein course information include its straight line row
Sail and turn round traveling.Specifically, including judging that whether path angle is more than predetermined angle, namely judge car
Whether course offsets.If so, the course information then generated includes vehicle turning traveling, then step 105
In, the second predeterminated frequency is equal to the first predeterminated frequency, that is to say, that if vehicle is in when turning round traveling,
Then export and show the positional information that all vehicles are obtained in corner.If it is not, the course information then generated
Including its straight line traveling, then in step 105, the second predeterminated frequency is less than the first predeterminated frequency,
If that is its straight line is travelled, exporting what is obtained in its straight line traveling at a certain time interval
Positional information, i.e., only export and show the positional information that a part of vehicle is obtained in straight-line travelling.
Step 105, the position letter according to course information to be obtained in the second predeterminated frequency output step 101
Cease and show.According to the course information generated in step 104, if vehicle is in straight travel state,
So the driving trace of vehicle substantially straight line, shows that excessive vehicle position information is not much
Meaning, can also cause the increase of communication traffic and communication fee, therefore, now only need display location to believe
Some positions in breath.If vehicle is in turn transport condition, if the location point interval of the vehicle of display
Larger, the driving trace of display is not often on road, and the accuracy of vehicle location is very poor, therefore, is
The accuracy of vehicle location is improved, the location point interval of vehicle need to be reduced, that is to say, that during vehicle turning
The vehicle location point of all acquisitions need to be shown to improve vehicle location accuracy.
The present embodiment also includes a kind of automatic navigator, as shown in Fig. 2 including GPS module 1, processing
Device 2, comparator 3, image processor 4, memory 5 and display 6, the automatic navigator is using this
The vehicle positioning and navigation method of embodiment carries out vehicle positioning and navigation.The vehicle positioning and navigation dress of the present embodiment
The operation principle put is as follows：GPS module 1 obtains the position of car-mounted terminal with the frequency of 1 time per second successively
Information, obtains first position for such as the 1st second, obtains within the 2nd second the second place, obtain the 3rd within the 3rd second
Put.It should be noted that frequency values can voluntarily be set according to the actual requirements.Then, processor 2 is received
Positional information is simultaneously stored it in memory 5, and simultaneous processor 2 is parsed to positional information, and
By the 3rd position (position namely where Current vehicle) and the second place (namely 1s vehicles in front institute
Position) send to comparator 3, comparator 3 compare the distance between 2 positions whether be more than 1
M (the distance value not limited to this can voluntarily be set according to actual conditions).If no more than 1m, illustrates car
Halted state is in, then GPS module 1 is continued waiting for after the 1s that gps system or dipper system are sent
The 4th position (now the position be vehicle in front where position)；If more than 1m, processor 2
The first path between first position and the second place is generated, and between the second place and the 3rd position
Second path, simultaneous processor 2 calculates the path angle Bing Jianggai roads between first path and the second path
Footpath angle is sent to comparator 3.Comparator 3 compares path angle, and whether more than 15 °, (angle is not limited
In this, can voluntarily be set according to actual conditions) and generate course information.If specifically, path angle is not
More than 15 °, then the course information generated is travelled including its straight line, now with each (frequencies of 10s
Not limited to this, can voluntarily be set according to actual conditions, need to only be more than GPS module and obtain positional information
Frequency, can be that 5s is each, 20s is per inferior) rate-adaptive pacemaker positional information to image processor
4；If path angle is more than 15 °, the course information generated is travelled including vehicle turning, now with 1s
The rate-adaptive pacemaker position of (frequency that this frequency and GPS module obtain vehicle position information is consistent) every time
Information is to image processor 4.In the present embodiment, if judging, vehicle turning is travelled, and reduces carry-out bit
Confidence breath time interval, and if vehicle straight-line travelling, increase output position information time interval,
So as to which the automatic navigator is not on the premise of communication traffic and communication fee is increased, location navigation is improved
Accuracy.Finally, image processor 4 can draw vehicle road according to the positional information of the vehicle received
Footpath figure, and vehicle route figure is sent to display 6 to show, then user can be real by display 6
When observe vehicle driving trace.Display 6 can also be at voice broadcast form, real-time broadcasting vehicle
In straight-line travelling or turn traveling.
Embodiment 2
Fig. 2 shows another vehicle positioning and navigation method, comprises the following steps：
Step 201, the positional information for obtaining with the first predeterminated frequency car-mounted terminal successively, wherein position are wrapped
Include five positions, every three adjacent positions composition set of locations, each position group includes first position, the
Two positions and the 3rd position.For example, with five positions of frequency acquisition each 1s, then 1s is obtained
For location A, 2s obtain for B location, 3s obtain for location of C, what 4s was obtained
For D positions, 5s obtain for E positions.So location A, B location, location of C are first
Group is put, B location, location of C, D positions are second place group, and location of C, D positions, E positions are returned
For the 3rd set of locations.Location A is first position in the group of first position this moment, and B location is the second place,
Location of C is the 3rd position.Location of C is first position in same 3rd set of locations, and D positions are second
Put, E positions are the 3rd position.
In order to improve judging efficiency, it can first judge whether vehicle is in transport condition, if vehicle is in traveling
State then continues following step, if vehicle is in halted state, continues waiting for the car after next 1s
Position.If specifically, the 5th position is the current location of vehicle, then the 4th position is then for before 1s
The position of vehicle, now judge the distance between the 5th position and the 4th position whether be more than it is default away from
From (pre-determined distance can voluntarily be set according to actual conditions), that is, judge within 1s clocks, whether vehicle
It is moved through distance.If, it is meant that vehicle in the process of moving, then performs step 202；If it is not, meaning
Taste vehicle and is in halted state, then performs step 201, until vehicle is in transport condition, then holds
Row step 202.Wherein, first position, the second place and the 3rd position include longitude, latitude and speed
Degree.
Step 202, in the group of each position, the passage path method of formation generation first position and second place
Between first path, and the second path between the second place and the 3rd position.Concrete methods of realizing
Identical with embodiment 1, here is omitted.
Step 203, in the group of each position, calculate the path angle between first path and the second path.
Then a total of 3 groups of path angles.
Step 204, according to path angle generate course information, and judge the path in three groups of set of locations folder
Angle whether at least two groups be more than predetermined angle.If so, the course information then generated includes vehicle turning row
Sail；If it is not, the course information then generated is travelled including its straight line.Also even first position group, second
The minimum path angle for having 2 groups is more than predetermined angle in set of locations and the 3rd set of locations, then can determine whether as car
Turn round traveling, this avoid caused by vehicle drift judge by accident, can further improve automobile navigation
Accuracy.
Step 205, the positional information is exported with the second predeterminated frequency according to course information and shown.Together
Sample, the specific implementation of output and the display of positional information is substantially the same manner as Example 1, herein no longer
Repeat.
The structure of the automatic navigator of the present embodiment is same as Example 1, and difference is, this implementation
The automatic navigator of example carries out vehicle positioning and navigation using the vehicle positioning and navigation method of the present embodiment.Then originally
The processor of embodiment produces 3 groups of set of locations, and calculate 3 groups of positions respectively according to the position of 5 points
Path angle in group, judges whether the path angle in 3 groups has two groups to be more than predetermined angle, and according to sentencing
Disconnected result generation course information.
Although the foregoing describing the embodiment of the present invention, those skilled in the art should manage
Solution, this is merely illustrative of, and protection scope of the present invention is defined by the appended claims.Ability
The technical staff in domain, can be to these embodiments on the premise of the principle and essence without departing substantially from the present invention
Various changes or modifications are made, but these changes and modification each fall within protection scope of the present invention.
Claims (10)
1. a kind of vehicle positioning and navigation method, it is characterised in that the vehicle positioning and navigation method includes
Following steps：
S1, obtain with the first predeterminated frequency the positional information of car-mounted terminal successively, the positional information includes
First position, the second place and the 3rd position；
S2, generate first path between the first position and the second place, generation described second
The second path between position and the 3rd position；
S3, calculate path angle between the first path and second path；
S4, according to the path angle generate course information；
S5, step S with the second predeterminated frequency exported according to the course information1The position letter of middle acquisition
Cease and show.
2. vehicle positioning and navigation method as claimed in claim 1, it is characterised in that step S1Also wrap
Include：
Judge whether the distance between the 3rd position and described second place are more than a pre-determined distance, if
It is then to perform step S2；If it is not, then performing step S1。
3. vehicle positioning and navigation method as claimed in claim 1, it is characterised in that step S4Including：
Judge whether the path angle is more than a predetermined angle；
If so, the course information then generated is travelled including vehicle turning；
If it is not, the course information then generated is travelled including its straight line.
4. vehicle positioning and navigation method as claimed in claim 3, it is characterised in that in step S4In,
When the course information of generation, which includes vehicle turning, to travel, in step S5In, the described second default frequency
Rate is equal to first predeterminated frequency；
When the course information of generation, which includes its straight line, to travel, in step S5In, described second is pre-
If frequency is less than first predeterminated frequency.
5. vehicle positioning and navigation method as claimed in claim 1, it is characterised in that described first
Put, the second place and the 3rd position include longitude, latitude and speed.
6. a kind of vehicle positioning and navigation method, it is characterised in that the vehicle positioning and navigation method includes
Following steps：
S1, obtain with the first predeterminated frequency the positional information of car-mounted terminal successively, the positional information includes
Five positions, every three adjacent position composition set of locations, each position group includes first position, second
Position and the 3rd position；
S2, in the group of each position, generate the first via between the first position and the second place
The second path between footpath, and the second place and the 3rd position；
S3, in the group of each position, calculate the path folder between the first path and second path
Angle；
S4, course information generated according to the path angle, and judge the path angle in three groups of set of locations
Whether at least two groups be more than a predetermined angle；
If so, the course information then generated is travelled including vehicle turning；
If it is not, the course information then generated is travelled including its straight line；
S5, the positional information is exported with the second predeterminated frequency according to the course information and shown.
7. vehicle positioning and navigation method as claimed in claim 6, it is characterised in that step S1Also wrap
Include：
Judge whether the distance between two neighboring position is more than a pre-determined distance, if so, then performing step
S2；If it is not, then performing step S1。
8. vehicle positioning and navigation method as claimed in claim 6, it is characterised in that in step S4In,
When the course information of generation, which includes vehicle turning, to travel, second predeterminated frequency is equal to described the
One predeterminated frequency；
When the course information of generation, which includes its straight line, to travel, second predeterminated frequency is less than institute
State the first predeterminated frequency.
9. vehicle positioning and navigation method as claimed in claim 6, it is characterised in that described first
Put, the second place and the 3rd position include longitude, latitude and speed.
10. a kind of automatic navigator, it is characterised in that the automatic navigator uses such as claim 1-9
Vehicle positioning and navigation method described in middle any one carries out vehicle positioning and navigation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610217332.4A CN107270920A (en) | 2016-04-08 | 2016-04-08 | Vehicle positioning and navigation method and automatic navigator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610217332.4A CN107270920A (en) | 2016-04-08 | 2016-04-08 | Vehicle positioning and navigation method and automatic navigator |
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| CN107270920A true CN107270920A (en) | 2017-10-20 |
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ID=60052423
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| CN201610217332.4A Pending CN107270920A (en) | 2016-04-08 | 2016-04-08 | Vehicle positioning and navigation method and automatic navigator |
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Application publication date: 20171020 |