CN108254775A - Onboard navigation system and its implementation - Google Patents
Onboard navigation system and its implementation Download PDFInfo
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- CN108254775A CN108254775A CN201611240852.3A CN201611240852A CN108254775A CN 108254775 A CN108254775 A CN 108254775A CN 201611240852 A CN201611240852 A CN 201611240852A CN 108254775 A CN108254775 A CN 108254775A
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
The invention discloses a kind of onboard navigation system, including：Onboard sensor, in-vehicle navigation apparatus and portable intelligent terminal；The navigation basic data of acquisition is sent to the in-vehicle navigation apparatus by the onboard sensor and the portable intelligent terminal, the in-vehicle navigation apparatus is preset with data anastomosing algorithm, and the in-vehicle navigation apparatus obtains accurate navigation information after the navigation basic data is calculated according to data anastomosing algorithm.The present invention can not be influenced that accurate, continuous navigation can be provided by external environment (landform, road conditions, signal).
Description
Technical field
Automotive field of the present invention can realize accurate, continuous navigation onboard navigation system more particularly to a kind of.
The invention further relates to above-mentioned onboard navigation systems.The method of realization.
Background technology
Navigation is a certain equipment of guiding, from the method for a little moving to another point of advertised route.Navigation is divided to two classes：(1)
Self-aid navigation：It is navigated with the equipment on aircraft or ship, there is inertial navigation, Doppler navigation and celestial navigation etc.；(2) it is non-
Self-aid navigation：Navigation is matched with related ground or aerial device for transit equipments such as aircraft, ship, automobiles, is had
Radionavigation, satellite navigation.Satellite navigation include GPS GLONASS Beidou Galileo.
At present, what should be arrived in vehicle drive is vehicle mounted guidance and Mobile Telephone Gps；
Vehicle mounted guidance coordinates electronic map to carry out using vehicle-bone global positioning system, it can conveniently and accurately be accused
It tells that driver goes to the most short or the fastest path of destination, is the good assistant of driver.Vehicle location and navigation system mainly with
Lower function module：(1) electronic map that can be navigated；(2) search and processing of map datum；(3) positioning mould；Block (4) map
Proportioning；(5) walking path is provided；(6) Route guiding；(7) map real-time display module；(8) human-computer interaction interface；(9) it is wireless
Communication.
Existing onboard navigation system has the disadvantages that in vehicle drive：
1st, vehicle mounted guidance cannot distinguish between urban viaduct hierarchical structure, be also easy to produce the circumferential road of misleading.
2nd, vehicle mounted guidance cannot distinguish between indoor parking garage hierarchical structure, can generate reference map mistake, mislead
Situation.
3rd, the extreme terrains such as process of passing through tunnel, mountain area are also easy to produce error.
Mobile Telephone Gps on the market are also divided into three classes now, and the first kind is really to carry out GPS by the satellite in space
Navigation, precision is at 3-5 meters；Second class is that rough navigation is carried out by base station network, referred to as CELLID navigation, this navigation
Not really by the accurate of satellite GPS navigation, general position error is 100 meters, such as China Mobile's Mobile Telephone Gps indoors
What is used during positioning is exactly the technology；Third class is AGPS+CELLID+GPS positioning, and this navigation is the most accurate, writes from memory indoors
It is CELLID positioning to recognize, and searches out star chart first with AGPS in outdoor, reaches quick positioning, then automatically switches to GPS high-precisions
It positions and navigates.
Existing Mobile Telephone Gps have the disadvantages that in vehicle drive：
1st, Mobile Telephone Gps application APP is limited built-in aerial, additional car body shielding action, impact position intelligence receiver
Can, mislead navigation.
2nd, mobile phone signal de-stabilising effect navigation accuracy.
Invention content
The technical problem to be solved in the present invention offer is a kind of to be influenced energy by external environment (landform, road conditions, signal etc.)
Accurately, the continuous onboard navigation system that navigation is provided.
In order to solve the above technical problems, the present invention provides a kind of onboard navigation system, including：Onboard sensor vehicle-mounted is led
Equipment of navigating and portable intelligent terminal；
The navigation basic data of acquisition is sent to described vehicle-mounted lead by the onboard sensor and the portable intelligent terminal
It navigates equipment, the in-vehicle navigation apparatus is preset with data anastomosing algorithm, and the in-vehicle navigation apparatus is by the navigation basic data
Accurate navigation information is obtained after being calculated using data anastomosing algorithm.That is, the fusion treatment of navigation information is in in-vehicle navigation apparatus reality
It applies.
Data fusion never has a unified definition, it is considered that:Using computer technology, to obtaining in chronological order
The observation information of several sensors obtained, is automatically analyzed under certain criterion, is integrated, so as to complete required decision
The information process carried out with estimation task is known as data fusion.
Data fusion, for a kind of the new of the information processing being unfolded in a system using this problem of multiple sensors
Research direction, so data fusion be also referred to as sensor fusion.
Data fusion refers to be subject to automatic several observation informations chronologically obtained under certain criterion using computer
Analysis, comprehensive, the information processing technology carried out with completing required decision and assessment task.
Data fusion can differently classify:
Such as by technical principle point, hypothesis testing type data fusion, filter tracking type data fusion, cluster analysis type can be divided into
Data fusion, pattern-recognition type data fusion, artificial intelligent type data fusion etc.；
There are hard decision type and soft-decision type data fusion by judgement mode point；
There are same type of sensor data fusion and hybrid multisensor data fusion again by the type point of sensor；
By the processing mode point to data, and Pixel-level fusion, feature-based fusion and decision level fusion can be divided into.
Carry out divided data fusion by method, there is Bayes rationalistic methods, voting method, D-S rationalistic methods, neural network fusion method etc..
The data anastomosing algorithm uses complementary filter or Kalman Filtering Data Fusion.
The onboard sensor includes at least speed probe, baroceptor and steering angle sensor.
The in-vehicle navigation apparatus includes at least GPS, gravity sensor and gyroscope；
Wherein, the in-vehicle navigation apparatus includes GPS, gravity sensor and gyroscope；The portable intelligent terminal includes：
Smart mobile phone, baroceptor and Magnetic Sensor.The portable intelligent terminal be smart mobile phone its can include baroceptor
And Magnetic Sensor or the smart mobile phone can receive the data of external pressure sensor and Magnetic Sensor.
Or, the in-vehicle navigation apparatus includes GPS；The portable intelligent terminal includes：Smart mobile phone, baroceptor,
Magnetic Sensor, gravity sensor and gyroscope.Using intelligence if in-vehicle navigation apparatus does not have gravity sensor and gyroscope
The gravity sensor and gyroscope of energy mobile phone.
It is further improved, the in-vehicle navigation apparatus further includes baroceptor；
Wherein, it is communicated between the onboard sensor and the in-vehicle navigation apparatus using CAN, USB or ethernet；Institute
It states and wire communication or wireless communication is used between in-vehicle navigation apparatus and the portable intelligent terminal.
The wire communication includes at least：USB, USRT or SPI, the wireless communication including at least Bluetooth or
Wifi。
The present invention provides second of onboard navigation system, including：Onboard sensor, in-vehicle navigation apparatus and portable intelligent are whole
End；
The navigation basic data of acquisition is sent to the portable intelligence by the onboard sensor and the in-vehicle navigation apparatus
Can terminal, the portable intelligent terminal is preset with data anastomosing algorithm, and the portable intelligent terminal is by the navigation basic data
Accurate navigation information is obtained after being calculated using data anastomosing algorithm.That is, the fusion treatment of navigation information is in portable intelligent terminal reality
It applies.
The data anastomosing algorithm uses complementary filter or Kalman Filtering Data Fusion.
The onboard sensor includes speed probe, baroceptor and steering angle sensor.
The in-vehicle navigation apparatus includes GPS, and the portable intelligent terminal includes：Smart mobile phone, gravity sensor, gyro
Instrument, baroceptor and Magnetic Sensor.The portable intelligent terminal be smart mobile phone its can include gravity sensor, gyro
Instrument, baroceptor and Magnetic Sensor or the smart mobile phone can receive external force of gravity sensor, gyroscope, baroceptor and
The data of Magnetic Sensor.
It is further improved, the portable intelligent terminal further includes：GPS.
Wherein, it is communicated between the onboard sensor and the in-vehicle navigation apparatus using CAN, USB or ethernet；Institute
It states and wire communication or wireless communication is used between in-vehicle navigation apparatus and the portable intelligent terminal.
Wherein, the wire communication includes at least：USB, USRT or SPI, the wireless communication include at least Bluetooth
Or Wifi.
The present invention provides a kind of implementation method of onboard navigation system, including：
Vehicle tyre rotating speed arteries and veins is obtained by speed probe, is navigated using the tire pulse and tire circumference calculating
Number of passes evidence；
Atmospheric pressure is measured by baroceptor and calculates altitude information residing for acquisition vehicle；
Each axial acceleration information under vehicle space rectangular coordinate system is obtained by gravity sensor；
Each axial angular velocity data and angle data under vehicle space rectangular coordinate system are obtained by gyroscope；
Vehicle longitude and latitude degrees of data, time data, course data, altitude data are obtained by GPS；
Bearing data is obtained by Magnetic Sensor；
The rotational angle data of steering wheel and steering direction data are obtained by steering angle sensor；
Above-mentioned each data are obtained into accurate navigation information after data anastomosing algorithm calculates.
The present invention at least has following technique effect：
1st, due to using Multi-sensor Fusion, in urban viaduct or tunnel or without GPS signal region or the weak area of GPS signal
Domain, it is accessible to calculate traveling orientation, so navigation Service continuity can be promoted.
2nd, due to baroceptor and Magnetic Sensor, in urban viaduct or parking garage or tunnel or without GPS signal
Region or GPS signal weak-strong test, it is accessible to calculate traveling hypo height, promote navigation Service performance.
3rd, due to using Multi-sensor Fusion, auxiliary GSP improves positioning accuracy, promotes car networking, unmanned and intelligent
Cornering ability and safety
4th, in-vehicle navigation apparatus, portable intelligent terminal and automotive electronics sensor ＆ quantifiers are merged, automobile standard configuration is led at present
Navigate instrument, and driver generally has smart mobile phone, two kinds of combinations, reduces navigation equipment cost, enhances cost performance, carry
Rise competitiveness.
Description of the drawings
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
Fig. 1 is the system structure diagram of the first embodiment of the invention.
Fig. 2 is the system structure diagram of second of embodiment of the invention.
Fig. 3 is that data fusion of the present invention is calculated using complementary filter example schematic diagram.
Fig. 4 is that data fusion of the present invention is calculated using Kalman filtering example schematic diagram.
Specific embodiment
The present invention provides onboard navigation system the first embodiment, including：Onboard sensor, in-vehicle navigation apparatus and portable
Intelligent terminal；
The navigation basic data of acquisition is sent to described vehicle-mounted lead by the onboard sensor and the portable intelligent terminal
It navigates equipment, the in-vehicle navigation apparatus is preset with data anastomosing algorithm, and the in-vehicle navigation apparatus is by the navigation basic data
Accurate navigation information is obtained after being calculated according to data anastomosing algorithm.That is, the fusion treatment of navigation information is in in-vehicle navigation apparatus reality
It applies.
The data anastomosing algorithm uses complementary filter or Kalman Filtering Data Fusion.
The onboard sensor includes at least speed probe, baroceptor and steering angle sensor.
The in-vehicle navigation apparatus includes at least GPS, gravity sensor and gyroscope；
Wherein, the in-vehicle navigation apparatus includes GPS, gravity sensor and gyroscope；The portable intelligent terminal includes：
Smart mobile phone, baroceptor and Magnetic Sensor.The portable intelligent terminal be smart mobile phone its can include baroceptor
And Magnetic Sensor or the smart mobile phone can receive the data of external pressure sensor and Magnetic Sensor.
Or, the in-vehicle navigation apparatus includes GPS；The portable intelligent terminal includes：Smart mobile phone, baroceptor,
Magnetic Sensor, gravity sensor and gyroscope.Using intelligence if in-vehicle navigation apparatus does not have gravity sensor and gyroscope
The gravity sensor and gyroscope of energy mobile phone.
It is further improved, the in-vehicle navigation apparatus further includes baroceptor.Navigation equipment is equipped with baroceptor, this
The baroceptor and intelligent machine baroceptor data of sample navigation equipment can carry out weighted average and obtain more accurately air pressure number
According to.
Wherein, it is communicated between the onboard sensor and the in-vehicle navigation apparatus using CAN, USB or ethernet；Institute
It states and wire communication or wireless communication is used between in-vehicle navigation apparatus and the portable intelligent terminal.
The wire communication includes at least：USB, USRT or SPI, the wireless communication including at least Bluetooth or
Wifi。
The present invention provides second of embodiment of onboard navigation system, including：Onboard sensor, in-vehicle navigation apparatus and portable
Intelligent terminal；
The navigation basic data of acquisition is sent to the portable intelligence by the onboard sensor and the in-vehicle navigation apparatus
Can terminal, the portable intelligent terminal is preset with data anastomosing algorithm, and the portable intelligent terminal is by the navigation basic data
Accurate navigation information is obtained after being calculated using data anastomosing algorithm.That is, the fusion treatment of navigation information is in portable intelligent terminal reality
It applies.
The data anastomosing algorithm uses complementary filter or Kalman Filtering Data Fusion.
The onboard sensor includes speed probe, baroceptor and steering angle sensor.
The in-vehicle navigation apparatus includes GPS, and the portable intelligent terminal includes：Smart mobile phone, gravity sensor, gyro
Instrument, baroceptor and Magnetic Sensor.The portable intelligent terminal be smart mobile phone its can include gravity sensor, gyro
Instrument, baroceptor and Magnetic Sensor or the smart mobile phone can receive external force of gravity sensor, gyroscope, baroceptor and
The data of Magnetic Sensor.
It is further improved, the portable intelligent terminal further includes：GPS.
Portable intelligent terminal is equipped with GPS, and the GPS and vehicle GPS of such portable intelligent terminal can carry out weighted average and obtain
More accurately GPS data.
Wherein, it is communicated between the onboard sensor and the in-vehicle navigation apparatus using CAN, USB or ethernet；Institute
It states and wire communication or wireless communication is used between in-vehicle navigation apparatus and the portable intelligent terminal.
Wherein, the wire communication includes at least：USB, USRT or SPI, the wireless communication include at least Bluetooth
Or Wifi.
As shown in figure 3, data anastomosing algorithm is said by taking complementary filter (Complementaru Filter) as an example
It is bright.
The time of new position=old position+velocity variations
The time of the angle of angle=originally+value variation.
Low-pass filter：The variable quantity of long term signal is only allowed to pass through, filters out short-term fluctuation.
High-pass filter：It only allows short periodic signal to pass through, trap signal and reach stable, for offset offset.
Sampling period：By the length the time required to cycle in each program.
Time constant：Filter time constant shows the signal of a relative durations, for a low-pass filter, divides
The constant of signal is analysed more than the time constant changed by signal shorter than to filter.
The sensors such as short time interior gyroscope are more accurate；The sensors such as long-time accelerometer are more accurate, at this moment
It waits and increases its proportion, realize complementary；Accelerometer filters high-frequency signal, and gyroscope filters low frequency signal, and complementary filter is exactly
According to sensor characteristics difference, by different wave filters, then the signal of entire frequency band is obtained in addition.
As shown in figure 4, data anastomosing algorithm is said for Kalman Filtering Data Fusion (Kalman Filter)
It is bright.
One representative instance of Kalman filtering is limited from one group, comprising noise, to the observation sequence of object space
Row (may have deviation) predict the coordinate and speed of the position of object.The position of target, speed, acceleration measured value often
There is noise at any time.Kalman filtering utilizes the multidate information of target, tries to remove the influence of noise, obtains a pass
Good estimation in target location.This estimation can be the estimation to current goal position (filtering) or for general
Carry out the estimation (prediction) of position or to the estimation of past position (interpolation is smooth).
For each step k, matrix is defined
Such as：KalmanFilter KF(stateNum,measureNum,0)；
Fk:KF.transitionMatrix
Hk:KF.measurementMatrix
Qk:KF.processNoiseCov
Rk:KF.measurementNoiseCov
Pk:KF.errorCovPost
Sometimes it is also required to define Bk:KF.ontrolMatrix.
Kalman filter model assumes that the time of day at k moment is from the state evolution at (k-1) moment, under meeting
Formula：
xk=Fkxk-1+Bkuk+wk
Wherein
Fk is the state transition model (/ matrix/vector) acted on xk-1.
Bk is the input-Controlling model acted on controller vector uk.
Wk is process noise, and it is zero to assume that it meets mean value, and covariance matrix is the multivariate normal distributions of Qk.
wk~N (0, Qk)
Moment k meets following formula to a measurement zk of time of day xk:
zk=Hkxk+vk
Wherein Hk is observation model, and, time of day space reflection into observation space, vk is observation noise for it, and mean value is
Zero, covariance matrix Rk, and Normal Distribution.
vk~N (0, Rk)
The noise at original state and each moment { x0, w1 ..., wk, v1...vk } is regarded as independent mutually.
The present invention provides a kind of implementation method of onboard navigation system, including：
Vehicle tyre rotating speed arteries and veins is obtained by speed probe, is navigated using the tire pulse and tire circumference calculating
Number of passes evidence；
Atmospheric pressure is measured by baroceptor and calculates altitude information residing for acquisition vehicle；
Each axial acceleration information under vehicle space rectangular coordinate system is obtained by gravity sensor；
Each axial angular velocity data and angle data under vehicle space rectangular coordinate system are obtained by gyroscope；
Vehicle longitude and latitude degrees of data, time data, course data, altitude data are obtained by GPS；
Bearing data is obtained by Magnetic Sensor；
The rotational angle data of steering wheel and steering direction data are obtained by steering angle sensor；
Accurate navigation information will be obtained after above-mentioned each data input data fusion calculation.
The data anastomosing algorithm uses complementary filter or Kalman Filtering Data Fusion.
For example class and angle class is accelerated to use complementary filter algorithm；
Height class uses weight, such as average value；
When GPS signal is relatively good, based on GPS, other sensors are supplement, and elevation carrection class height class sensor is
It is main；
When GPS signal is bad, thresholding judges, based on switching sensor navigation, elevation carrection class height class sensor is
It is main.
By taking overpass as an example, GPS signal strength is remarkably decreased, and the navigation based on GPS is inaccurate, and error is larger.Gyro
Instrument, accelerator and barometer are not influenced by overpass, are calculated using complementary filter algorithm or Kalman filter and are obtained orientation, adopted
Height above sea level, continuous uninterrupted navigation are obtained with barometer.
The present invention is described in detail above by specific embodiment and embodiment, but these are not composition pair
The limitation of the present invention.Without departing from the principles of the present invention, those skilled in the art can also make many deformations and change
Into these also should be regarded as protection scope of the present invention.
Claims (12)
1. a kind of onboard navigation system, which is characterized in that including：Onboard sensor, in-vehicle navigation apparatus and portable intelligent terminal；
The navigation basic data of acquisition is sent to the vehicle mounted guidance and set by the onboard sensor and the portable intelligent terminal
Standby, the in-vehicle navigation apparatus is preset with data anastomosing algorithm, and the in-vehicle navigation apparatus utilizes the navigation basic data
Data anastomosing algorithm obtains accurate navigation information after calculating.
2. onboard navigation system as described in claim 1, it is characterised in that：The onboard sensor and the vehicle mounted guidance are set
Standby that the navigation basic data of acquisition is sent to the portable intelligent terminal, the portable intelligent terminal is preset with data fusion calculation
Method, the portable intelligent terminal obtain accurate navigation information after the navigation basic data is calculated using data anastomosing algorithm.
3. onboard navigation system as claimed in claim 1 or 2, it is characterised in that：The data anastomosing algorithm is filtered using complementary
Wave device or Kalman Filtering Data Fusion.
4. onboard navigation system as claimed in claim 1 or 2, it is characterised in that：The onboard sensor includes revolution speed sensing
Device, baroceptor and steering angle sensor.
5. onboard navigation system as described in claim 1, it is characterised in that：The in-vehicle navigation apparatus includes GPS, gravity passes
Sensor and gyroscope；The portable intelligent terminal includes：Smart mobile phone, baroceptor and Magnetic Sensor.
6. onboard navigation system as described in claim 1, it is characterised in that：The in-vehicle navigation apparatus includes GPS；It is described just
Intelligent terminal is taken to include：Smart mobile phone, baroceptor, Magnetic Sensor, gravity sensor and gyroscope.
7. onboard navigation system as claimed in claim 5, it is characterised in that：The in-vehicle navigation apparatus further includes air pressure sensing
Device.
8. onboard navigation system as claimed in claim 2, it is characterised in that：The in-vehicle navigation apparatus includes GPS；It is described just
Intelligent terminal is taken to include：Smart mobile phone, gravity sensor, gyroscope, baroceptor and Magnetic Sensor.
9. onboard navigation system as claimed in claim 8, it is characterised in that：The portable intelligent terminal further includes：GPS.
10. onboard navigation system as claimed in claim 1 or 2, it is characterised in that：It the onboard sensor and described vehicle-mounted leads
It is communicated between equipment of navigating using CAN, USB or ethernet；It is adopted between the in-vehicle navigation apparatus and the portable intelligent terminal
With wire communication or wireless communication.
11. onboard navigation system as claimed in claim 9, it is characterised in that：The wire communication includes at least：USB、USRT
Or SPI, the wireless communication include at least Bluetooth or Wi fi.
12. a kind of implementation method of onboard navigation system, which is characterized in that including：
Vehicle tyre rotating speed arteries and veins is obtained by speed probe, is calculated using the tire pulse and tire circumference and obtains voyage number
According to；
Atmospheric pressure is measured by baroceptor and calculates altitude information residing for acquisition vehicle；
Each axial acceleration information under vehicle space rectangular coordinate system is obtained by gravity sensor；
Each axial angular velocity data and angle data under vehicle space rectangular coordinate system are obtained by gyroscope；
Vehicle longitude and latitude degrees of data, time data, course data, altitude data are obtained by GPS；
Bearing data is obtained by Magnetic Sensor；
The rotational angle data of steering wheel and steering direction data are obtained by steering angle sensor；
Above-mentioned each data are obtained into accurate navigation information after data anastomosing algorithm calculates.
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| CN110375740A (en) * | 2019-06-27 | 2019-10-25 | 香港中文大学（深圳） | Automobile navigation method, device, equipment and storage medium |
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Application publication date: 20180706 |