CN108267761A - Positioning, air navigation aid and device and related system, application - Google Patents
Positioning, air navigation aid and device and related system, application Download PDFInfo
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- CN108267761A CN108267761A CN201611254558.8A CN201611254558A CN108267761A CN 108267761 A CN108267761 A CN 108267761A CN 201611254558 A CN201611254558 A CN 201611254558A CN 108267761 A CN108267761 A CN 108267761A
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- tunnel
- vehicle
- signal intensity
- navigation signal
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- 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
Abstract
The invention discloses positioning, air navigation aid and device and related system, application, when in road there are during tunnel, obtain vehicle with the navigation signal intensity before tunnel portal position and with the navigation signal intensity after tunnel portal position；If the navigation signal intensity after the position with tunnel portal is stronger or unchanged than the navigation signal intensity before the position with tunnel portal, judge vehicle on tunnel outer course road.The technical program obtain vehicle with tunnel portal before and after navigation signal strength information, and the road information in navigation map data, by comparing, if navigation signal intensity later is compared with signal strength before, relatively by force or without significant change, judge vehicle on tunnel outer course road.Such as automobile navigation vehicle-logo location is handled in tunnel, then by aforesaid way and calculating is located to tunnel outer course road, is improved navigator fix accuracy rate, is provided better guarantee safely for driver drives vehicle, improve the usage experience of user.
Description
Technical field
The present invention relates to field of navigation technology, more particularly to a kind of positioning, air navigation aid and device and related system are answered
With.
Background technology
At present, with the rapid development of navigation field, present navigation software is gradually perfect, but there are one so far
All it is the problem of allowing many navigation software manufacturer headaches, is exactly the main and side road matching problem with ring road.Existing solution
Mostly it is the traveling positioned according to Global Navigation Satellite System (Global Navigation Satellite System, GNSS)
Track judges to match, but when encounter tunnel, navigator fix is likely to yaw, give the very bad driving of user
Experience.
Invention content
In view of the above problems, it is proposed that the present invention overcomes the above problem in order to provide one kind or solves at least partly
State positioning, air navigation aid and the device of problem and related system, application.
In a first aspect, the embodiment of the present invention provides a kind of localization method, including：When there are during tunnel, obtaining vehicle in road
With the navigation signal intensity before tunnel portal position and with the navigation signal intensity after tunnel portal position；
If the navigation signal intensity with after tunnel portal position is than the navigation with before tunnel portal position
Signal strength is strong or unchanged, then judges the vehicle on tunnel outer course road.
In one embodiment, obtain navigation signal intensity before vehicle and tunnel portal position and with tunnel portal position
Navigation signal intensity after putting, including：
Obtain navigation signal intensity before vehicle and tunnel portal position transverse horizontal line in pre-determined distance and vehicle with
Navigation signal intensity after the transverse horizontal line of tunnel portal position in pre-determined distance；
Or
Obtain navigation signal intensity before vehicle and tunnel portal position transverse horizontal line in preset time and vehicle with
Navigation signal intensity after the transverse horizontal line of tunnel portal position in preset time；
Or
Obtain navigation signal intensity before vehicle and tunnel portal position transverse horizontal line in pre-determined distance and vehicle with
Navigation signal intensity after the transverse horizontal line of tunnel portal position in preset time；
Or
Obtain navigation signal intensity before vehicle and tunnel portal position transverse horizontal line in preset time and vehicle with
Navigation signal intensity after the transverse horizontal line of tunnel portal position in pre-determined distance.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The average value of multiple navigation signal intensity with after tunnel portal position is than described and tunnel portal position
The average value of multiple navigation signal intensity before is strong or equal.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The sample of multiple stochastical samplings of navigation signal intensity than described in enters with tunnel after the position with tunnel portal
The sample of multiple stochastical samplings of navigation signal intensity is strong or equal before mouth position.
Second aspect, the embodiment of the present invention provide a kind of positioning device, which includes：
Acquisition module, for when there are during tunnel, obtaining vehicle and the navigation signal before tunnel portal position in road
Intensity and with the navigation signal intensity after tunnel portal position；
Judgment module, if for the navigation signal intensity with after tunnel portal position than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, then judges the vehicle on tunnel outer course road.
In one embodiment, the acquisition module, including：
First acquisition submodule, for obtaining vehicle and leading in pre-determined distance before the transverse horizontal line of tunnel portal position
Signal strength of navigating and vehicle and the navigation signal intensity in pre-determined distance after the transverse horizontal line of tunnel portal position；
Second acquisition submodule, for obtaining vehicle and leading in preset time before the transverse horizontal line of tunnel portal position
Signal strength of navigating and vehicle and the navigation signal intensity in preset time after the transverse horizontal line of tunnel portal position；
Third acquisition submodule, for obtaining vehicle and leading in pre-determined distance before the transverse horizontal line of tunnel portal position
Signal strength of navigating and vehicle and the navigation signal intensity in preset time after the transverse horizontal line of tunnel portal position；
4th acquisition submodule, for obtaining vehicle and leading in preset time before the transverse horizontal line of tunnel portal position
Signal strength of navigating and vehicle and the navigation signal intensity in pre-determined distance after the transverse horizontal line of tunnel portal position.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The average value of multiple navigation signal intensity with after tunnel portal position is than described and tunnel portal position
The average value of multiple navigation signal intensity before is strong or equal.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The sample of multiple stochastical samplings of navigation signal intensity than described in enters with tunnel after the position with tunnel portal
The sample of multiple stochastical samplings of navigation signal intensity is strong or equal before mouth position.
The third aspect, the embodiment of the present invention provide a kind of alignment system, including：In location-server and such as above-described embodiment
Any one of them positioning device.
Fourth aspect, the embodiment of the present invention provide a kind of positioning device as described in above-described embodiment in vehicle drive
Application.
5th aspect, the embodiment of the present invention provide a kind of air navigation aid, including：When there are during tunnel, obtaining vehicle in road
With the navigation signal intensity before tunnel portal position and with the navigation signal intensity after tunnel portal position；
If the navigation signal intensity with after tunnel portal position is than the navigation with before tunnel portal position
Signal strength is strong or unchanged, then judges the vehicle on tunnel outer course road；
Vehicle-logo location will be navigated on tunnel outer course road, navigated to the vehicle.
In one embodiment, obtain navigation signal intensity before vehicle and tunnel portal position and with tunnel portal position
Navigation signal intensity after putting, including：
Obtain navigation signal intensity before vehicle and tunnel portal position transverse horizontal line in pre-determined distance and vehicle with
Navigation signal intensity after the transverse horizontal line of tunnel portal position in pre-determined distance；
Or
Obtain navigation signal intensity before vehicle and tunnel portal position transverse horizontal line in preset time and vehicle with
Navigation signal intensity after the transverse horizontal line of tunnel portal position in preset time；
Or
Obtain navigation signal intensity before vehicle and tunnel portal position transverse horizontal line in pre-determined distance and vehicle with
Navigation signal intensity after the transverse horizontal line of tunnel portal position in preset time；
Or
Obtain navigation signal intensity before vehicle and tunnel portal position transverse horizontal line in preset time and vehicle with
Navigation signal intensity after the transverse horizontal line of tunnel portal position in pre-determined distance.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The average value of multiple navigation signal intensity with after tunnel portal position is than described and tunnel portal position
The average value of multiple navigation signal intensity before is strong or equal.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The sample of multiple stochastical samplings of navigation signal intensity than described in enters with tunnel after the position with tunnel portal
The sample of multiple stochastical samplings of navigation signal intensity is strong or equal before mouth position.
6th aspect, the embodiment of the present invention provide a kind of navigation device, including：
Acquisition module, for when there are during tunnel, obtaining vehicle and the navigation signal before tunnel portal position in road
Intensity and with the navigation signal intensity after tunnel portal position；
Judgment module, if for the navigation signal intensity with after tunnel portal position than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, then judges the vehicle on tunnel outer course road；
Navigation module for the vehicle-logo location that will navigate on tunnel outer course road, navigates to the vehicle.
In one embodiment, the acquisition module, including：
First acquisition submodule, for obtaining vehicle and leading in pre-determined distance before the transverse horizontal line of tunnel portal position
Signal strength of navigating and vehicle and the navigation signal intensity in pre-determined distance after the transverse horizontal line of tunnel portal position；
Second acquisition submodule, for obtaining vehicle and leading in preset time before the transverse horizontal line of tunnel portal position
Signal strength of navigating and vehicle and the navigation signal intensity in preset time after the transverse horizontal line of tunnel portal position；
Third acquisition submodule, for obtaining vehicle and leading in pre-determined distance before the transverse horizontal line of tunnel portal position
Signal strength of navigating and vehicle and the navigation signal intensity in preset time after the transverse horizontal line of tunnel portal position；
4th acquisition submodule, for obtaining vehicle and leading in preset time before the transverse horizontal line of tunnel portal position
Signal strength of navigating and vehicle and the navigation signal intensity in pre-determined distance after the transverse horizontal line of tunnel portal position.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The average value of multiple navigation signal intensity with after tunnel portal position is than described and tunnel portal position
The average value of multiple navigation signal intensity before is strong or equal.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The sample of multiple stochastical samplings of navigation signal intensity than described in enters with tunnel after the position with tunnel portal
The sample of multiple stochastical samplings of navigation signal intensity is strong or equal before mouth position.
7th aspect, the embodiment of the present invention provide a kind of navigation system, including navigation server and as in above-described embodiment
Any one of them navigation device.
Eighth aspect, the embodiment of the present invention provide a kind of navigation device as described in above-described embodiment in vehicle drive
Application.
9th aspect, the embodiment of the present invention also provide a kind of localization method, including：When there are tunnel and vehicle positions in road
When tunnel road, the navigation signal intensity in preset time is obtained；When the navigation signal intensity be more than preset threshold value, then
Judge that vehicle is located at road outside tunnel.
In one embodiment, under the non-3D positioning states of navigation signal, the preset threshold value is navigation signal precision
Factor intensive parameter corresponding below 3.
Tenth aspect, the embodiment of the present invention also provide a kind of positioning device, including：
Acquisition module, for when being located at tunnel road there are tunnel and vehicle in road, obtaining leading in preset time
Boat signal strength；
Judgment module for working as the navigation signal intensity more than preset threshold value, then judges that vehicle is located at tunnel outer course
Road.
In one embodiment, under the non-3D positioning states of navigation signal, the preset threshold value is navigation signal precision
Factor intensive parameter corresponding below 3.
Tenth on the one hand, and the embodiment of the present invention also provides a kind of alignment system, including location-server and such as above-mentioned implementation
Positioning device described in any one of example.
12nd aspect, the embodiment of the present invention also provide a kind of positioning device as described in above-described embodiment and are driven in vehicle
Application in sailing.
13rd aspect, the embodiment of the present invention also provide a kind of air navigation aid, including：When there are tunnel and vehicles in road
During positioned at tunnel road, the navigation signal intensity in preset time is obtained；
When the navigation signal intensity be more than preset threshold value, then judge that vehicle is located at road outside tunnel；
By the vehicle-logo location of the vehicle outside the tunnel road, navigate to the vehicle.
In one embodiment, under the non-3D positioning states of navigation signal, the preset threshold value is navigation signal precision
Factor intensive parameter corresponding below 3.
Fourteenth aspect, the embodiment of the present invention also provide a kind of navigation device, including：
Acquisition module, for when being located at tunnel road there are tunnel and vehicle in road, obtaining leading in preset time
Boat signal strength；
Judgment module for working as the navigation signal intensity more than preset threshold value, then judges that vehicle is located at tunnel outer course
Road；
Navigation module, for by the vehicle-logo location of the vehicle outside the tunnel road, navigate to the vehicle.
In one embodiment, under the non-3D positioning states of navigation signal, the preset threshold value is navigation signal precision
Factor intensive parameter corresponding below 3.
15th aspect, the embodiment of the present invention also provide a kind of navigation system, including navigation server and such as above-mentioned implementation
Navigation device described in any one of example.
16th aspect, the embodiment of the present invention also provide a kind of navigation device as described in above-described embodiment and are driven in vehicle
Application in sailing.
The advantageous effect of above-mentioned technical proposal provided in an embodiment of the present invention includes at least：
A kind of positioning provided in an embodiment of the present invention, air navigation aid and device and related system, application, this method include,
When there are during tunnel, obtained in road vehicle with the navigation signal intensity before tunnel portal position and with tunnel portal position it
Navigation signal intensity afterwards；If it is described with tunnel portal position after navigation signal intensity than it is described with tunnel portal position it
Preceding navigation signal intensity is strong or unchanged, then judges the vehicle on tunnel outer course road.The technical program obtains vehicle and exists
With the navigation signal strength information before and after tunnel portal, and dependent on the road information in map datum, by comparing, if described
With the navigation signal intensity after tunnel portal position than it is described with tunnel portal position before navigation signal intensity is strong or nothing
Variation, then judge the vehicle on tunnel outer course road.Such as the automobile navigation vehicle-logo location is in tunnel, then by aforesaid way
Processing and calculating are located to tunnel outer course road, improve navigator fix accuracy rate, are provided safely more for driver drives vehicle
Good guarantee improves the usage experience of user.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that being understood by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write
Specifically noted structure is realized and is obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention is described in further detail.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Example is applied together for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the flow chart of localization method provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of embodiment provided in an embodiment of the present invention；
Fig. 3 is the block diagram of positioning device provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of alignment system provided in an embodiment of the present invention or navigation system；
Fig. 5 is the flow chart of air navigation aid provided in an embodiment of the present invention；
Fig. 6 is the block diagram of navigation device provided in an embodiment of the present invention；
Fig. 7 is the flow chart of another localization method provided in an embodiment of the present invention；
Fig. 8 is the block diagram of another positioning device provided in an embodiment of the present invention；
Fig. 9 is the flow chart of another air navigation aid provided in an embodiment of the present invention；
Figure 10 is the block diagram of another navigation device provided in an embodiment of the present invention.
Specific embodiment
Here exemplary embodiment will be illustrated in detail, example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar element.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects being described in detail in claims, of the invention.
An embodiment of the present invention provides a kind of localization method, with reference to shown in Fig. 1, may comprise steps of S101~
S102；
S101, when there are during tunnel, obtained in road vehicle with the navigation signal intensity before tunnel portal position and with
Navigation signal intensity after tunnel portal position；
If before S102, the navigation signal intensity with after tunnel portal position are than described and tunnel portal position
Navigation signal intensity is strong or unchanged, then judges the vehicle on tunnel outer course road.
In the embodiment of the present disclosure, navigation signal intensity for example can be global positioning system received signal strength or
The received signal strength of other alignment systems：Navigation equipment can judge positioning just for example, by the intensity of GPS receiver signal
Whether really.
In the present embodiment, in-vehicle navigation apparatus gets the road in 2 kilometer ranges around from centered on vehicle such as in advance
Road information, wherein road information such as include road name, the number of track-lines of road, traffic lights, pavement marker, the mark holded up with
And altitude info ination of road etc..In-vehicle navigation apparatus is with from vehicle running movement, lasting acquisition preset range
Road information.If also vehicle and tunnel portal position are next obtained there are during tunnel in the preset range got
Navigation signal intensity before and with the navigation signal intensity after tunnel portal position.Tunnel portal position is can to pass through
Know from vehicle navigation system, for example, when there are 500 meters apart from tunnel portal from vehicle, navigation system can make prompt message, prompt
There is tunnel portal in 500 meters of front.
The above two navigation signal intensity got is compared, the process of comparison, can be it is one-to-one compare, can be with
Be it is one-to-many compare or multi-to-multi is compared, the principle of comparison is based on a navigation signal intensity and another navigation
Signal strength compares.The embodiment of the present disclosure does not limit this.
Navigation signal intensity after the result of comparison is tunnel portal position is than described in and before tunnel portal position
Navigation signal intensity it is strong or unchanged, then judge the vehicle always on tunnel outer course road.If the navigation of vehicle at this time
Vehicle-logo location will then navigate vehicle-logo location on tunnel outer course road in tunnel.
The process that above-mentioned navigation signal intensity compares, for example can be carried out on in-vehicle navigation apparatus, it can also be beyond the clouds
It is carried out on server, according to comparison result, by navigation vehicle-logo location, road or prompting user's current driving road are outside tunnel
No is road outside tunnel, waits for user's selection operation.Operation is compared in above-mentioned server beyond the clouds, can be not take up or account for less
With the memory headroom of in-vehicle navigation apparatus, the speed of service of in-vehicle navigation apparatus is further improved.
In one embodiment, with reference to shown in Fig. 2, in-vehicle navigation apparatus is with wireless communication module (such as public's movement
Communications network module can be 2G, 3G, 4G communication module of various standards) between cloud server by radio communication
Mode communicate.
A kind of localization method provided in an embodiment of the present invention, including when there are during tunnel, obtaining vehicle and tunnel in road
Navigation signal intensity before entry position and with the navigation signal intensity after tunnel portal position；If described and tunnel portal
Navigation signal intensity after position is stronger or unchanged than the navigation signal intensity before the position with tunnel portal, then judges
The vehicle is on tunnel outer course road.This method obtain vehicle with tunnel portal before and after navigation signal strength information, and according to
Rely the road information in map datum, when there are during tunnel, by comparing, if the navigation with after tunnel portal position
It is strong or unchanged with the navigation signal intensity before tunnel portal position described in signal intensity ratio, then judge the vehicle in tunnel
Outer course road.If the automobile navigation vehicle-logo location, can be fixed by navigation by a series of processing and calculating in tunnel
Position to correct position Shang Ji tunnels outer course road, improves navigator fix accuracy rate, is provided safely more preferably for driver drives vehicle
Guarantee, improve the usage experience of user.
In one embodiment, in step S101, obtain navigation signal intensity before vehicle and tunnel portal position and
With the navigation signal intensity after tunnel portal position, with reference to shown in Fig. 2, A-A ' is the transverse horizontal of tunnel portal position in figure
Line can be lines vertical with vehicle heading and by tunnel portal, by obtain with tunnel portal position before (i.e.
Before A-A ' lines) and with the pre-determined distance after tunnel portal position (i.e. after A-A ' lines) or the navigation signal in preset time
Intensity by the navigation signal intensity in above-mentioned pre-determined distance and preset time, carries out combination of two, can be divided into following four kinds of feelings
Condition：
1st, vehicle and the navigation signal intensity and vehicle in pre-determined distance before the transverse horizontal line of tunnel portal position are obtained
With the navigation signal intensity after the transverse horizontal line of tunnel portal position in pre-determined distance；
2nd, vehicle and the navigation signal intensity and vehicle in preset time before the transverse horizontal line of tunnel portal position are obtained
With the navigation signal intensity after the transverse horizontal line of tunnel portal position in preset time；
3rd, vehicle and the navigation signal intensity and vehicle in pre-determined distance before the transverse horizontal line of tunnel portal position are obtained
With the navigation signal intensity after the transverse horizontal line of tunnel portal position in preset time；
4th, vehicle and the navigation signal intensity and vehicle in preset time before the transverse horizontal line of tunnel portal position are obtained
With the navigation signal intensity after the transverse horizontal line of tunnel portal position in pre-determined distance.
Preset time more convenient acquisition in above-mentioned condition, for example can be in 1 minute；Preset distance can distance
100 meters of tunnel portal position transverse horizontal line and with 100 meters after transverse horizontal line；Wherein, transverse horizontal line is with reference to Fig. 2 institutes
A-A ' lines in showing.The embodiment of the present disclosure does not limit above-mentioned 4 kinds of situations.
In one embodiment, in step S102, described in the above-mentioned navigation signal intensity ratio with after tunnel portal position
It is strong or unchanged with the navigation signal intensity before tunnel portal position, for example, can be it is above-mentioned with tunnel portal position after
The average value of multiple navigation signal intensity is stronger than the average value of multiple navigation signal intensity before the position with tunnel portal
It is or equal.
Such as when employed between as obtain navigation signal intensity condition, in before tunnel portal position 30 seconds,
Interval obtains a navigation signal intensity in 5 seconds, obtains the corresponding numerical value of 6 navigation signal intensity in total, for example,：40dB、
40dB, 39dB, 40dB, 39dB and 40dB, referred to as first group of data；
After by tunnel portal position transverse horizontal line in 30 seconds, it is spaced 5 seconds and obtains a navigation signal intensity, always
The corresponding numerical value of 6 navigation signal intensity is obtained altogether, for example,：40dB, 40dB, 39dB, 40dB, 39dB and 40dB, referred to as
Two groups of data；
Above-mentioned first group of data and second group of data, it can be seen that navigation signal intensity can also pass through without significant change
The average value and the average value of second group of data for calculating first group of data are compared；
Such as：It can be obtained by the following formula calculating：
In above formula, A1, A2 ... ..An is that vehicle and the navigation signal of acquisition before the transverse horizontal line of tunnel portal position are strong
Degree, n is positive integer, represents the quantity of the navigation signal obtained；
B1, B2 ... ... the navigation signal intensity that Bm is obtained later for vehicle with tunnel portal position transverse horizontal line, m
For positive integer, the quantity of the navigation signal obtained is represented.
Substituting into above formula can show that the average value of first group of data is equal to the average value of second group of data.
In one embodiment, in step S102, described in the above-mentioned navigation signal intensity ratio with after tunnel portal position
It is strong or unchanged with the navigation signal intensity before tunnel portal position, for example, can be it is above-mentioned with tunnel portal position after lead
The sample of the multiple stochastical samplings for signal strength of navigating than it is above-mentioned with tunnel portal position before navigation signal intensity it is multiple random
The sample of sampling is strong or equal.
Or with the data instance in above-described embodiment：First group of data be：40dB, 40dB, 39dB, 40dB, 39dB and
40dB；Second group of data be：40dB, 40dB, 39dB, 40dB, 39dB and 40dB；
In the present embodiment by way of stochastical sampling, it is contemplated that the navigation signal intensity of acquisition might have error, to the greatest extent
It is possible to acquire a little data more and be compared, in all comparison results, be all more than preset threshold value (for example being 80%)
Second group of data is slightly better than first group of data or second group of data is equal to first group of data, you can obtains above-mentioned navigation signal later
The sample of multiple stochastical samplings of intensity before above-mentioned compared with the sample of multiple stochastical samplings of navigation signal intensity, the result is that
Slightly strong or equal (i.e. unchanged), so as to obtain vehicle always on tunnel outer course road.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of positioning device, since the device solves to ask
The principle of topic is similar to a kind of localization method of previous embodiment, therefore the implementation of the device may refer to the implementation of preceding method,
Overlaps will not be repeated.
Following is a kind of positioning device provided in an embodiment of the present invention, can be used for performing the implementation of above-mentioned localization method
Example.
With reference to shown in Fig. 3, above device includes：Acquisition module 31, for when there are during tunnel, obtained in road vehicle with
Navigation signal intensity before tunnel portal position and with the navigation signal intensity after tunnel portal position；
Judgment module 32, if for the navigation signal intensity with after tunnel portal position than described and tunnel portal
Navigation signal intensity before position is strong or unchanged, then judges the vehicle on tunnel outer course road.
In one embodiment, with reference to shown in Fig. 3, the acquisition module 31, including：
First acquisition submodule 311, for obtaining before vehicle and tunnel portal position transverse horizontal line in pre-determined distance
Navigation signal intensity and vehicle and tunnel portal position transverse horizontal line after navigation signal intensity in pre-determined distance；
Second acquisition submodule 312, for obtaining before vehicle and tunnel portal position transverse horizontal line in preset time
Navigation signal intensity and vehicle and tunnel portal position transverse horizontal line after navigation signal intensity in preset time；
Third acquisition submodule 313, for obtaining before vehicle and tunnel portal position transverse horizontal line in pre-determined distance
Navigation signal intensity and vehicle and tunnel portal position transverse horizontal line after navigation signal intensity in preset time；
4th acquisition submodule 314, for obtaining before vehicle and tunnel portal position transverse horizontal line in preset time
Navigation signal intensity and vehicle and tunnel portal position transverse horizontal line after navigation signal intensity in pre-determined distance.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The average value of multiple navigation signal intensity with after tunnel portal position is than described and tunnel portal position
The average value of multiple navigation signal intensity before is strong or equal.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The sample of multiple stochastical samplings of navigation signal intensity than described in enters with tunnel after the position with tunnel portal
The sample of multiple stochastical samplings of navigation signal intensity is strong or equal before mouth position.
According to the third aspect of the embodiment of the present disclosure, with reference to shown in Fig. 4, the embodiment of the present invention provides a kind of alignment system,
Including location-server 41, the positioning device 42 as described in any one of above-described embodiment.
According to the fourth aspect of the embodiment of the present disclosure, the embodiment of the present invention also provides a kind of as described in above-described embodiment
Application of the positioning device in vehicle drive.
According to a fifth aspect of the embodiments of the present disclosure, the embodiment of the present invention also provides a kind of air navigation aid, with reference to Fig. 5 institutes
Show, including step S501~S503：
S501, when there are during tunnel, obtained in road vehicle with the navigation signal intensity before tunnel portal position and with
Navigation signal intensity after tunnel portal position；
If before S502, the navigation signal intensity with after tunnel portal position are than described and tunnel portal position
Navigation signal intensity is strong or unchanged, then judges the vehicle on tunnel outer course road；
S503, vehicle-logo location will be navigated on tunnel outer course road, navigated to the vehicle.
In one embodiment, step S501 can have following four kinds of specific embodiments：
First, vehicle and the navigation signal intensity and vehicle in pre-determined distance before the transverse horizontal line of tunnel portal position are obtained
With the navigation signal intensity after the transverse horizontal line of tunnel portal position in pre-determined distance；
2nd, vehicle and the navigation signal intensity and vehicle in preset time before the transverse horizontal line of tunnel portal position are obtained
With the navigation signal intensity after the transverse horizontal line of tunnel portal position in preset time；
3rd, vehicle and the navigation signal intensity and vehicle in pre-determined distance before the transverse horizontal line of tunnel portal position are obtained
With the navigation signal intensity after the transverse horizontal line of tunnel portal position in preset time；
4th, vehicle and the navigation signal intensity and vehicle in preset time before the transverse horizontal line of tunnel portal position are obtained
With the navigation signal intensity after the transverse horizontal line of tunnel portal position in pre-determined distance.
The embodiment of the present disclosure does not limit above-mentioned 4 kinds of modes.
In one embodiment, in step S502 it is above-mentioned with tunnel portal position after navigation signal intensity than it is above-mentioned with
Navigation signal intensity before tunnel portal position is strong or unchanged, is：
The average value of above-mentioned multiple navigation signal intensity with after tunnel portal position is than above-mentioned and tunnel portal position
The average value of multiple navigation signal intensity before is strong or equal.
In one embodiment, with the navigation signal intensity after tunnel portal position than above-mentioned described in being gone up in step S502
It is strong or unchanged with the navigation signal intensity before tunnel portal position, be：
The sample of multiple stochastical samplings of navigation signal intensity enters than above-mentioned with tunnel after the above-mentioned position with tunnel portal
The sample of multiple stochastical samplings of navigation signal intensity is strong or equal before mouth position.
According to the 6th of the embodiment of the present disclosure the aspect, the embodiment of the present invention also provides a kind of navigation device, with reference to Fig. 6 institutes
Show, including：
Acquisition module 61, for when there are during tunnel, obtain vehicle with the navigation before tunnel portal position to believe in road
Number intensity and with the navigation signal intensity after tunnel portal position；
Judgment module 62, if for the navigation signal intensity with after tunnel portal position than described and tunnel portal
Navigation signal intensity before position is strong or unchanged, then judges the vehicle on tunnel outer course road；
Navigation module 63 for the vehicle-logo location that will navigate on tunnel outer course road, navigates to the vehicle.
In one embodiment, the acquisition module 61, with reference to shown in Fig. 6, including：
First acquisition submodule 611, for obtaining before vehicle and tunnel portal position transverse horizontal line in pre-determined distance
Navigation signal intensity and vehicle and tunnel portal position transverse horizontal line after navigation signal intensity in pre-determined distance；
Second acquisition submodule 612, for obtaining before vehicle and tunnel portal position transverse horizontal line in preset time
Navigation signal intensity and vehicle and tunnel portal position transverse horizontal line after navigation signal intensity in preset time；
Third acquisition submodule 613, for obtaining before vehicle and tunnel portal position transverse horizontal line in pre-determined distance
Navigation signal intensity and vehicle and tunnel portal position transverse horizontal line after navigation signal intensity in preset time；
4th acquisition submodule 614, for obtaining before vehicle and tunnel portal position transverse horizontal line in preset time
Navigation signal intensity and vehicle and tunnel portal position transverse horizontal line after navigation signal intensity in pre-determined distance.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The average value of multiple navigation signal intensity with after tunnel portal position is than described and tunnel portal position
The average value of multiple navigation signal intensity before is strong or equal.
In one embodiment, the navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Navigation signal intensity before putting is strong or unchanged, is：
The sample of multiple stochastical samplings of navigation signal intensity than described in enters with tunnel after the position with tunnel portal
The sample of multiple stochastical samplings of navigation signal intensity is strong or equal before mouth position.
According to the 7th of the embodiment of the present disclosure the aspect, the embodiment of the present invention also provides a kind of navigation system, with reference to Fig. 4 institutes
Show, the navigation device including navigation server and as described in any one of above-described embodiment.
According to the eighth aspect of the embodiment of the present disclosure, the embodiment of the present invention also provides a kind of as described in above-described embodiment
Application of the navigation device in vehicle drive.
According to the 9th of the embodiment of the present disclosure the aspect, the embodiment of the present invention also provides a kind of localization method, with reference to Fig. 7 institutes
Show, including：Step S701~S702；
S701, when being located at tunnel road there are tunnel and vehicle in road, the navigation signal obtained in preset time is strong
Degree；
S702, when the navigation signal intensity be more than preset threshold value, then judge that vehicle is located at road outside tunnel.
In step S701, the road information in navigation map preset range is obtained, the tunnel road is such as to include
Road outside tunnel and the tunnel parallel with tunnel also such as can be to include tunnel and on tunnel upper ground (with reference to Fig. 2
It is shown) or overpass road.Can be acquisition per second by obtaining in preset time, such as the navigation signal intensity of 10 seconds
Navigation signal intensity.In step S702, the navigation signal intensity of acquisition is compared with preset threshold value, when acquisition
When navigation signal intensity is better than preset threshold value, then judge current vehicle position on tunnel outer course road.
In the present embodiment, the carrier of mode and comparison algorithm that navigation signal intensity compares operation can refer to above-mentioned reality
The localization method in example is applied, overlaps will not be repeated.
Localization method provided in this embodiment, including：When being located at tunnel road there are tunnel and vehicle in road, obtain
Navigation signal intensity in preset time；When the navigation signal intensity be more than preset threshold value, then judge that vehicle is located at tunnel
Outer course road.The technical program is simple and convenient, can quickly be accurately positioned, and improves the accuracy rate of positioning, improves driving
The driving experience of member.
In one embodiment, above-mentioned navigation signal for example can be Global Navigation Satellite System (Global
Navigation Satellite System, GNSS) signal, GPS signal or base station signal.Wherein GNSS refers to all defend
Star navigation system, including the whole world, region and enhancing, such as the GPS in the U.S., the Glonass of Russia, Europe
Galileo, the Beidou satellite navigation system of China and relevant enhancing system, WAAS (wide area enhancement system) such as the U.S.,
The EGNOS (European geostationary Navigation Overlay System) in Europe and the MSAS (Multi-functional transporting Satellite Augmentation System) of Japan etc., also contain
Gai Jian and later other that be built satellite navigation system.The embodiment of the present disclosure does not limit this.
For example when navigation signal is GNSS, the meaning of each main GNNS message contents identification code is as follows：
GSA：Receiver mode and satellite operation data, including position and horizontal/vertical dilution precision etc..Dilute precision
(Dilution of Precision) is that mono- receiver of geo-location term can obtain many in the same time and defend
Star location information, but in precision positioning, as long as four satellite signals are enough.
RMC：Date, time, position, direction, speed data.
Navigation signal is there are many positioning states, such as GNSS to have 3 kinds of positioning states, is 1 respectively：Invalid positioning, 2：2D determines
Position, 3：3D is positioned.Positioning states are come determining, wherein invalid normal indication does not connect by GSA identification rows in context identifier
Receive satellite positioning signal, 2D normal indications can receive the location information of 3 satellites, can coarse localization, but confidence level is very
It is low, and 3D normal indications can receive the location information of 4 or more satellites, confidence level is higher.
In the present embodiment, under non-3D positioning states i.e. positioning confidence level it is relatively low in the case of, above-mentioned threshold value is above-mentioned to be
Navigation signal dilution of precision intensive parameter corresponding below 3, such as navigation signal dilution of precision corresponding parameter below 3
It is 35, is threshold value described in above-described embodiment.When above-mentioned navigation signal intensity be 45dB, more than threshold value 35, then judge vehicle
Positioned at tunnel outer course road.
For example the dilution of precision of GNSS is HDOP (Horizontal), the VDOP by GSA identification rows in context identifier
(Vertical) and PDOP (Positional) is come what is determined；
And the simple relation between them is：
HDOP2+VDOP2=PDOP2
In above formula, HDOP (Horizontal)：Including the factors such as longitude and latitude, referred to as horizontal (plane) positional precision because
Son；
VDOP(Vertical)：Only include Elevation factor, referred to as the height accuracy factor；
PDOP(Positional)：Including longitude, the factors such as latitude and elevation, referred to as three-dimensional (space) positional precision because
Son；
Satellite navigation signals intensity is mainly judged by the numerical value of PDOP in the present embodiment, numerical value is smaller, illustrates satellite
Positioning signal is stronger, such as range, 0.5~99.9, under normal circumstances, numerical value is less than 3, then it is assumed that satellite-signal is very strong, numerical value
If greater than 30, then it is assumed that satellite-signal is very weak, and when PDOP numerical value is 3, corresponding threshold value is set as 35, when above-mentioned navigation is believed
Number intensity is 45dB, more than threshold value 35, then judges that vehicle is located at tunnel outer course on the road.
In conclusion the dilution of precision based on above-mentioned navigation signal is less than 3 corresponding intensive parameters, the threshold as judgement
Value when above-mentioned navigation signal intensity is more than preset threshold value, then judges that vehicle is located at tunnel outer course on the road.
According to the tenth of the embodiment of the present disclosure the aspect, the embodiment of the present invention also provides a kind of vehicle locating device, with reference to Fig. 8
It is shown, including：
Acquisition module 81, for when being located at tunnel road there are tunnel and vehicle in road, obtaining in preset time
Navigation signal intensity；
Judgment module 82 for working as the navigation signal intensity more than preset threshold value, then judges that vehicle is located at outside tunnel
Road.
In one embodiment, under the non-3D positioning states of navigation signal, the preset threshold value is navigation signal precision
Factor intensive parameter corresponding below 3.
According to the tenth of the embodiment of the present disclosure the on the one hand, the embodiment of the present invention also provides a kind of alignment system, with reference to Fig. 4 institutes
Show, the positioning device including location-server and as described in any one of above-described embodiment.
According to the 12nd of the embodiment of the present disclosure the aspect, the embodiment of the present invention also provides a kind of as determined in above-described embodiment
Application of the position device in vehicle drive.
According to the 13rd of the embodiment of the present disclosure the aspect, the embodiment of the present invention also provides a kind of air navigation aid, with reference to Fig. 9 institutes
Show, including step S901~S903：
S901, when being located at tunnel road there are tunnel and vehicle in road, the navigation signal obtained in preset time is strong
Degree；
S902, when the navigation signal intensity be more than preset threshold value, then judge that vehicle is located at road outside tunnel；
S903, by the vehicle-logo location of the vehicle outside the tunnel road, navigate to the vehicle.
In one embodiment, under the non-3D positioning states of navigation signal, the preset threshold value is navigation signal precision
Factor intensive parameter corresponding below 3.
According to the fourteenth aspect of the embodiment of the present disclosure, the embodiment of the present invention also provides a kind of navigation device, with reference to Figure 10
It is shown, including：
Acquisition module 101, for when being located at tunnel road there are tunnel and vehicle in road, obtaining in preset time
Navigation signal intensity；
Judgment module 102 for working as the navigation signal intensity more than preset threshold value, then judges that vehicle is located at outside tunnel
Road；
Navigation module 103, for by the vehicle-logo location of the vehicle outside the tunnel road, the vehicle is led
Boat.
In one embodiment, under the non-3D positioning states of navigation signal, the preset threshold value is navigation signal precision
Factor intensive parameter corresponding below 3.
According to the 15th of the embodiment of the present disclosure the aspect, the embodiment of the present invention also provides a kind of navigation system, with reference to Fig. 4 institutes
Show, the navigation device including navigation server and as described in any one of above-described embodiment.
According to the 16th of the embodiment of the present disclosure the aspect, the embodiment of the present invention also provides one kind as described in above-described embodiment
Application of the navigation device in vehicle drive.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the present invention
Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the present invention
The shape of computer program product that usable storage medium is implemented on (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real
The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps are performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or
The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (19)
1. a kind of localization method, which is characterized in that including：When there are during tunnel, obtaining vehicle and tunnel portal position in road
Navigation signal intensity before and with the navigation signal intensity after tunnel portal position；
If the navigation signal intensity with after tunnel portal position is than the navigation signal with before tunnel portal position
Intensity is strong or unchanged, then judges the vehicle on tunnel outer course road.
2. the method as described in claim 1, which is characterized in that obtain vehicle and the navigation signal before tunnel portal position is strong
Degree and with the navigation signal intensity after tunnel portal position, including：
Obtain vehicle and the navigation signal intensity in pre-determined distance before the transverse horizontal line of tunnel portal position and vehicle and tunnel
Navigation signal intensity after the transverse horizontal line of entry position in pre-determined distance；
Or
Obtain vehicle and the navigation signal intensity in preset time before the transverse horizontal line of tunnel portal position and vehicle and tunnel
Navigation signal intensity after the transverse horizontal line of entry position in preset time；
Or
Obtain vehicle and the navigation signal intensity in pre-determined distance before the transverse horizontal line of tunnel portal position and vehicle and tunnel
Navigation signal intensity after the transverse horizontal line of entry position in preset time；
Or
Obtain vehicle and the navigation signal intensity in preset time before the transverse horizontal line of tunnel portal position and vehicle and tunnel
Navigation signal intensity after the transverse horizontal line of entry position in pre-determined distance.
3. the method as described in claim 1, which is characterized in that the navigation signal intensity ratio with after tunnel portal position
Navigation signal intensity before the position with tunnel portal is strong or unchanged, is：
Before the average value of multiple navigation signal intensity with after tunnel portal position is than described and tunnel portal position
Multiple navigation signal intensity average value it is strong or equal；
Or
Described in the sample ratio with multiple stochastical samplings of navigation signal intensity after tunnel portal position and tunnel portal position
The sample of multiple stochastical samplings of navigation signal intensity is strong or equal before putting.
4. a kind of positioning device, which is characterized in that including：
Acquisition module, for when there are during tunnel, obtaining vehicle and the navigation signal intensity before tunnel portal position in road
With with the navigation signal intensity after tunnel portal position；
Judgment module, if for it is described with tunnel portal position after navigation signal intensity than it is described with tunnel portal position it
Preceding navigation signal intensity is strong or unchanged, then judges the vehicle on tunnel outer course road.
5. a kind of alignment system, which is characterized in that including location-server and positioning device as claimed in claim 4.
6. a kind of application of positioning device as claimed in claim 4 in vehicle drive.
7. a kind of air navigation aid, which is characterized in that including：When there are during tunnel, obtaining vehicle and tunnel portal position in road
Navigation signal intensity before and with the navigation signal intensity after tunnel portal position；
If the navigation signal intensity with after tunnel portal position is than the navigation signal with before tunnel portal position
Intensity is strong or unchanged, then judges the vehicle on tunnel outer course road；
Vehicle-logo location will be navigated on tunnel outer course road, navigated to the vehicle.
8. a kind of navigation device, which is characterized in that including：
Acquisition module, for when there are during tunnel, obtaining vehicle and the navigation signal intensity before tunnel portal position in road
With with the navigation signal intensity after tunnel portal position；
Judgment module, if for it is described with tunnel portal position after navigation signal intensity than it is described with tunnel portal position it
Preceding navigation signal intensity is strong or unchanged, then judges the vehicle on tunnel outer course road；
Navigation module for the vehicle-logo location that will navigate on tunnel outer course road, navigates to the vehicle.
9. a kind of navigation system, which is characterized in that including navigation server and navigation device as claimed in claim 8.
10. a kind of application of navigation device as claimed in claim 8 in vehicle drive.
11. a kind of vehicle positioning method, which is characterized in that including：When being located at tunnel road there are tunnel and vehicle in road,
Obtain the navigation signal intensity in preset time；When the navigation signal intensity be more than preset threshold value, then judge that vehicle is located at
Road outside tunnel.
12. method as claimed in claim 11, which is characterized in that described preset under the non-3D positioning states of navigation signal
The threshold value intensive parameter corresponding below 3 for navigation signal dilution of precision.
13. a kind of positioning device, which is characterized in that including：
Acquisition module, for when being located at tunnel road there are tunnel and vehicle in road, obtaining the navigation letter in preset time
Number intensity；
Judgment module for working as the navigation signal intensity more than preset threshold value, then judges that vehicle is located at road outside tunnel.
14. a kind of alignment system, which is characterized in that including location-server and positioning device as claimed in claim 13.
15. a kind of application of positioning device as claimed in claim 13 in vehicle drive.
16. a kind of air navigation aid, which is characterized in that including：When being located at tunnel road there are tunnel and vehicle in road, obtain
Navigation signal intensity in preset time；
When the navigation signal intensity be more than preset threshold value, then judge that vehicle is located at road outside tunnel；
By the vehicle-logo location of the vehicle outside the tunnel road, navigate to the vehicle.
17. a kind of navigation device, which is characterized in that including：
Acquisition module, for when being located at tunnel road there are tunnel and vehicle in road, obtaining the navigation letter in preset time
Number intensity；
Judgment module for working as the navigation signal intensity more than preset threshold value, then judges that vehicle is located at road outside tunnel；
Navigation module, for by the vehicle-logo location of the vehicle outside the tunnel road, navigate to the vehicle.
18. a kind of navigation system, which is characterized in that including navigation server and navigation device as claimed in claim 17.
19. a kind of application of navigation device as claimed in claim 17 in vehicle drive.
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| CN201611254558.8A CN108267761A (en) | 2016-12-30 | 2016-12-30 | Positioning, air navigation aid and device and related system, application |
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| CN201611254558.8A CN108267761A (en) | 2016-12-30 | 2016-12-30 | Positioning, air navigation aid and device and related system, application |
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