CN109253736A - A kind of air navigation aid, device, electric terminal and medium - Google Patents

A kind of air navigation aid, device, electric terminal and medium Download PDF

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Publication number
CN109253736A
CN109253736A CN201810989021.9A CN201810989021A CN109253736A CN 109253736 A CN109253736 A CN 109253736A CN 201810989021 A CN201810989021 A CN 201810989021A CN 109253736 A CN109253736 A CN 109253736A
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CN
China
Prior art keywords
navigation
analog image
drive simulating
user
air
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CN201810989021.9A
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Chinese (zh)
Inventor
刘玉
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Shanghai Qinggan Intelligent Technology Co Ltd
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Shanghai Qinggan Intelligent Technology Co Ltd
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Priority to CN201810989021.9A priority Critical patent/CN109253736A/en
Publication of CN109253736A publication Critical patent/CN109253736A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3626Details of the output of route guidance instructions

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

The present invention provides a kind of air navigation aid, device, electric terminal and medium, obtains navigation departure place and navigation destination, according to the navigation departure place and navigation destination planning navigation routine;It according to the navigation routine, transfers corresponding analog image and is virtually shown, to carry out drive simulating.Before starting navigation, more really driving behavior later is simulated, user is allowed really to perceive the traffic information of navigation circuit, before stroke starts, intuitive precognition trip.

Description

A kind of air navigation aid, device, electric terminal and medium
Technical field
The present invention relates to intelligent navigation fields, more particularly to a kind of air navigation aid, device, electric terminal and medium.
Background technique
With the development of intelligent control technology, demand of the people to intelligent control is also higher and higher, more and more diversified.Mesh Before, automobile has become a part indispensable in national life, and vehicle intellectualized development is also very fast.Auto navigation Very big convenience can be provided for the trip of people, existing auto navigation more focuses on the practicability used, and in the interest of navigation It is more short of in terms of taste and the authenticity of perception.
Existing auto navigation process, generally user input starting point and navigation destination, and Navigator, which is cooked up, leads Air route line checks that user is difficult the real scene in sensed in advance navigation road, such as overhead in navigation distance for user Bridge and tunnel etc., the anticipation that user drives this section of distance be not high.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of air navigation aid, device, electronics Terminal and medium cannot carry out the stronger navigation simulation of perceptibility according to navigation circuit in the prior art for solving the problems, such as.
In order to achieve the above objects and other related objects, the present invention provides a kind of air navigation aid, obtain navigation departure place and Navigation destination plans navigation routine according to the navigation departure place and navigation destination;According to the navigation routine, phase is transferred The analog image answered virtually is shown, to carry out drive simulating.
In a specific embodiment of the invention, further includes: according to the drive simulating time set by user, adjust the simulation The speed of driving.
In a specific embodiment of the invention, further includes: according to user, current input instruction control present day analog is driven Speed.
In a specific embodiment of the invention, the mode of the input of the input instruction includes one of following or more Kind: voice input, gesture input or eye movement input.
It further include by the navigation routine, traffic information and the analog image in a specific embodiment of the invention It is shown simultaneously.
In a specific embodiment of the invention, further includes: the analog image is sent to an AR equipment, so that user makes Drive simulating is carried out according to the analog image with when the AR equipment.
In an of the invention specific embodiment, further includes: be sent to video mode the process for carrying out drive simulating pre- If cloud address stored.
In order to achieve the above objects and other related objects, the present invention also provides a kind of navigation devices, comprising: navigation routine rule Module is drawn, to obtain navigation departure place and navigation destination, according to the navigation departure place and navigation destination planning navigation Route;Virtual display module, to transfer corresponding analog image and virtually be shown according to the navigation routine, to carry out Drive simulating.
In order to achieve the above objects and other related objects, the present invention also provides a kind of computer readable storage mediums, thereon Be stored with computer program, when which is executed by processor realize as above any one of described in air navigation aid.
In order to achieve the above objects and other related objects, the present invention also provides a kind of electric terminals, comprising: processor and deposits Reservoir;The memory is used to execute the computer journey of the memory storage for storing computer program, the processor Sequence so that the electric terminal execute as above any one of described in air navigation aid.
As described above, air navigation aid of the invention, device, electric terminal and medium, obtain navigation departure place and navigation mesh Ground, navigation routine is planned according to the navigation departure place and navigation destination;According to the navigation routine, corresponding mould is transferred Quasi- image is virtually shown, to carry out drive simulating.Before starting navigation, more really to driving behavior later into Row simulation, allows user really to perceive the traffic information of navigation circuit, before stroke starts, intuitive precognition trip.
Detailed description of the invention
Fig. 1 is shown as the flow diagram of air navigation aid of the invention in one embodiment.
Fig. 2 is shown as showing image schematic diagram in a specific embodiment of the invention.
Fig. 3 is shown as showing image schematic diagram in a specific embodiment of the invention.
Fig. 4 is shown as the composition schematic diagram of navigation device of the invention in one embodiment.
Fig. 5 is shown as the composition schematic diagram of electric terminal of the invention in one embodiment.
Component label instructions
1 navigation device
11 navigation route planning modules
12 virtual display modules
2 electric terminals
21 processors
22 memories
S11, S12 step
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification Other advantages and efficacy of the present invention can be easily understood for disclosed content.
In described below, with reference to attached drawing, attached drawing describes several embodiments of the application.It should be appreciated that also can be used Other embodiments, and can be carried out without departing substantially from spirit and scope of the present disclosure mechanical composition, structure, electrically with And the operational detailed description changed below should not be considered limiting, and the range of embodiments herein Only the limited of claims of the patent by announcing term used herein is merely to describe specific embodiment, and be not It is intended to limit the application.The term of space correlation, for example, "upper", "lower", "left", "right", " following ", " lower section ", " lower part ", " top ", " top " etc. can be used in the text in order to an elements or features and another element or spy shown in explanatory diagram The relationship of sign.
Although term first, second etc. are used to describe various elements herein in some instances, these elements It should not be limited by these terms.These terms are only used to distinguish an element with another element.For example, first is pre- If threshold value can be referred to as the second preset threshold, and similarly, the second preset threshold can be referred to as the first preset threshold, and The range of various described embodiments is not departed from.First preset threshold and preset threshold are to describe a threshold value, still Unless context otherwise explicitly points out, otherwise they are not the same preset thresholds.Similar situation further includes first Volume and the second volume.
Furthermore as used in herein, singular " one ", "one" and "the" are intended to also include plural number shape Formula, unless there is opposite instruction in context.It will be further understood that term "comprising", " comprising " show that there are the spies Sign, step, operation, element, component, project, type, and/or group, but it is not excluded for one or more other features, step, behaviour Work, element, component, project, the presence of type, and/or group, appearance or addition term "or" used herein and "and/or" quilt It is construed to inclusive, or means any one or any combination.Therefore, " A, B or C " or " A, B and/or C " mean " with Descend any one: A;B;C;A and B;A and C;B and C;A, B and C ".Only when element, function, step or the combination of operation are in certain sides When inherently mutually exclusive under formula, it just will appear the exception of this definition.
It will be described in detail below with technical solution of the specific embodiment to the application.Following specific implementation Example can be combined with each other, and the same or similar concept or process may be repeated no more in certain embodiments.
Referring to Fig. 1, being shown as the flow diagram of air navigation aid of the invention in one embodiment.The navigation Method includes:
S11: obtaining navigation departure place and navigation destination, according to the navigation departure place and navigation destination planning navigation Route.
S12: it according to the navigation routine, transfers corresponding analog image and is virtually shown, to carry out drive simulating.It is excellent Choosing, the analog image is shown on the windshield in the front of user.The analog image is, for example, 3D signal Navigation routine image, or navigation picture (as shown in Figure 2) is emulated for 3D.Wherein, 3D illustrates navigation routine image as will Existing conventional navigation routine is made as the interface of 3D, carries out drive simulating in 3D signal interface.It is furthermore preferred that in order to Increase the experience sense of user and the interest of operation, the analog image is that 3D emulates navigation picture, i.e. drive simulating on the way Real scene.
In a specific embodiment of the invention, further includes: according to the drive simulating time set by user, adjust the simulation The speed of driving., can be within the drive simulating time set by user in order to improve the efficiency of simulation, Fast simulation drives complete A route, such as the route when a practical driving needs 5 small, drive simulating time set by user are 5 minutes, that is, are existed To approach the practical speed for driving 60 times in the analog image, the drive simulating is completed in signal.The drive simulating can be automatic complete At in another embodiment, the movement of the drive simulating is that user manipulates completion, such as provides the user with external hand Handle, or the portable electronic device of the system for running the air navigation aid and user is combined, open drive simulating.Operation The system of the air navigation aid is the portable electronic device or vehicle intelligent system.The portable electronic device includes indigo plant Tooth earphone, mobile phone, portable camera, tablet computer, laptop or desk side computer system etc..Portable electronic device can Including processor, display, user interface, graphic hardware, device sensor (for example, proximity sensor/ambient light sensor, Accelerometer and/or gyroscope), microphone, one or more audio codec, one or more speakers, telecommunication circuit, Image capture circuit or unit, one or more Video Codecs, memory, storage device and communication bus.
In certain embodiments, which is such a equipment: the predetermined function set behaviour in equipment Make all to execute (if the equipment includes touch tablet) by touch screen or touch tablet.By the way that touch screen and touch tablet are made To use, it is possible to reduce being physically entered in equipment/control equipment for the main input/control devices of the operation for equipment The quantity of (such as push button, dial etc.).In one embodiment, equipment includes touch screen, touch tablet, for set Standby power on/off and locking device push switch, volume adjustment driving lever button, and the cunning for cutting ring configuration file Dynamic switch.By pressing push button and the button be held in down state at preset time intervals, can be used this by Button carrys out on/off equipment power supply, alternatively, by pressing lower button and discharging the button before by predetermined time interval, The button can be used and carry out locking device.In alternative embodiments, equipment can also receive voice input by microphone, To activate or deactivate certain functions.And the function in order to realize touch screen manipulation, the portable electronic device have touch screen. The touch screen receives the input of user based on tactile and/or tactile contact.The touch screen forms one, and to receive user defeated The touch sensitive surface entered.The touch screen and touch screen controller (together with associated module any in memory and/or refer to Enable collection together) contact (and any movement or interruption of the touch) on detection touch screen, and the contact that will test It is transformed into the interaction of multimedia sample file (such as picture file or video file) object with display on the touchscreen.
In one exemplary embodiment, the contact point between touch screen and user corresponds to one or more hands of user Refer to.LCD (liquid crystal display) technology or LPD (light emitting polymer displays) technology can be used in the touch screen, but in other realities It applies and other display technologies can be used in example.
Any one of a variety of Touch technologies can be used to detect contact and its shifting in touch screen and touch screen controller Dynamic or interruption, these Touch technologies include but is not limited to capacitor, resistance, infrared and surface acoustic wave techniques and other close biographies Sensor array, or the other technologies for determining the one or more points being in contact with touch screen.
Touch screen shows the visual output from portable device, and touch plate does not provide visual output.Touch screen can be with With the resolution ratio for being higher than 100dpi.In one exemplary embodiment, touch screen can have the resolution ratio of about 168dpi. Any appropriate object or accessory, such as stylus, finger etc. can be used in user, to contact touch screen.
And shown application icon is, for example, the icon of corresponding following application program on the display screen: being drawn Application program, word-processing application, website creation application program, disk editor application program, electronic watch is presented in application program Lattice application program, telephony application, videoconference application, email application, disappears at game application immediately Cease application program, application program, photo management application program, digital camera applications program, digital video camcorder are supported in body-building Application program, web page browsing application program, digital music player application and/or video frequency player application program.
In a specific embodiment of the invention, further includes: according to user, current input instruction control present day analog is driven Speed.Such as in the simulating driving procedure being automatically performed, when in a certain complex road condition, user wishes slow-down with son When the case where carefully detecting the section, with one of input modes such as voice input, gesture input or eye movement input or more Kind, the speed for enabling present day analog drive reduces.Reduce the instruction for the speed that present day analog drives for example are as follows: voice input " subtracts Speed ";Gesture input: palm is clenched fist by strutting;Eyeball moves downward.
In another specific embodiment of the present invention, as shown in figure 3, further include by the navigation routine and traffic information with The analog image is shown simultaneously.Display interface is divided into two parts, and the left side is the display that 3D emulates navigation picture, the right For the display of traffic information, which includes superposed road conditions entirety general view schematic diagram in this present embodiment, and Filled black section in traffic information text prompt positioned at lower part, such as road conditions entirety general view schematic diagram is congested link, So prompted in lower part with text, are as follows: the area xx, congested link is about 10KM.
It further include that the AR communicated with the system for running the air navigation aid is set in another specific embodiment of the present invention It is standby, the analog image is sent to the AR (Augmented Reality, augmented reality) equipment, with institute for users to use Drive simulating is carried out according to the analog image when stating AR equipment.
In an of the invention specific embodiment, further includes: be sent to video mode the process for carrying out drive simulating pre- If cloud address stored.
Referring to Fig. 4, being shown as the composition schematic diagram of navigation device of the invention in one embodiment.The navigation Device 1, comprising: navigation route planning module 11 and virtual display module 12.
The navigation route planning module 11 is set out to obtain navigation departure place and navigation destination according to the navigation Ground and navigation destination plan navigation routine;
The virtual display module 12 is to transfer corresponding analog image and virtually be shown according to the navigation routine Show, to carry out drive simulating.Preferably, the analog image is shown on the windshield in the front of user.It is described Analog image is, for example, 3D signal navigation routine image, or emulates navigation picture (as shown in Figure 2) for 3D.Wherein, 3D shows Meaning navigation routine image is the interface that existing conventional navigation routine is made as to 3D, carries out mould in 3D signal interface It is quasi- to drive.It is furthermore preferred that in order to increase the interest of the experience sense of user and operation, the analog image is that 3D emulates navigation picture The real scene of picture, i.e. drive simulating on the way.
It further include adjustment module in an of the invention specific embodiment, to according to the drive simulating time set by user, Adjust the speed of the drive simulating.It, can be within the drive simulating time set by user, quickly in order to improve the efficiency of simulation Drive simulating completely a route, such as the route when a practical driving needs 5 small, drive simulating time set by user It is 5 minutes, i.e., approaches the practical speed for driving 60 times in the analog image, the drive simulating is completed in signal.The simulation is driven Sailing can be to be automatically performed, and in another embodiment, the movement of the drive simulating is that user manipulates completion, such as mentions to user It is combined for external handle, or by the portable electronic device of the system for running the air navigation aid and user, opens mould It is quasi- to drive.The system for running the air navigation aid is the portable electronic device or vehicle intelligent system.The portable electric Sub- equipment includes bluetooth headset, mobile phone, portable camera, tablet computer, laptop or desk side computer system etc..It is portable Formula electronic equipment may include processor, display, user interface, graphic hardware, device sensor (for example, proximity sensor/ring Border optical sensor, accelerometer and/or gyroscope), microphone, one or more audio codec, one or more loudspeakings Device, telecommunication circuit, image capture circuit or unit, one or more Video Codecs, memory, storage device and communication are total Line.
In certain embodiments, which is such a equipment: the predetermined function set behaviour in equipment Make all to execute (if the equipment includes touch tablet) by touch screen or touch tablet.By the way that touch screen and touch tablet are made To use, it is possible to reduce being physically entered in equipment/control equipment for the main input/control devices of the operation for equipment The quantity of (such as push button, dial etc.).In one embodiment, equipment includes touch screen, touch tablet, for set Standby power on/off and locking device push switch, volume adjustment driving lever button, and the cunning for cutting ring configuration file Dynamic switch.By pressing push button and the button be held in down state at preset time intervals, can be used this by Button carrys out on/off equipment power supply, alternatively, by pressing lower button and discharging the button before by predetermined time interval, The button can be used and carry out locking device.In alternative embodiments, equipment can also receive voice input by microphone, To activate or deactivate certain functions.And the function in order to realize touch screen manipulation, the portable electronic device have touch screen. The touch screen receives the input of user based on tactile and/or tactile contact.The touch screen forms one, and to receive user defeated The touch sensitive surface entered.The touch screen and touch screen controller (together with associated module any in memory and/or refer to Enable collection together) contact (and any movement or interruption of the touch) on detection touch screen, and the contact that will test It is transformed into the interaction of multimedia sample file (such as picture file or video file) object with display on the touchscreen.
In one exemplary embodiment, the contact point between touch screen and user corresponds to one or more hands of user Refer to.LCD (liquid crystal display) technology or LPD (light emitting polymer displays) technology can be used in the touch screen, but in other realities It applies and other display technologies can be used in example.
Any one of a variety of Touch technologies can be used to detect contact and its shifting in touch screen and touch screen controller Dynamic or interruption, these Touch technologies include but is not limited to capacitor, resistance, infrared and surface acoustic wave techniques and other close biographies Sensor array, or the other technologies for determining the one or more points being in contact with touch screen.
Touch screen shows the visual output from portable device, and touch plate does not provide visual output.Touch screen can be with With the resolution ratio for being higher than 100dpi.In one exemplary embodiment, touch screen can have the resolution ratio of about 168dpi. Any appropriate object or accessory, such as stylus, finger etc. can be used in user, to contact touch screen.
And shown application icon is, for example, the icon of corresponding following application program on the display screen: being drawn Application program, word-processing application, website creation application program, disk editor application program, electronic watch is presented in application program Lattice application program, telephony application, videoconference application, email application, disappears at game application immediately Cease application program, application program, photo management application program, digital camera applications program, digital video camcorder are supported in body-building Application program, web page browsing application program, digital music player application and/or video frequency player application program.
In a specific embodiment of the invention, the virtual display module 12 according to the current input of user also to instruct Control the speed that present day analog drives.Such as in the simulating driving procedure being automatically performed, when in a certain complex road condition, user When wishing the case where slow-down is carefully to detect the section, with inputs such as voice input, gesture input or eye movement inputs One of mode is a variety of, and the speed for enabling present day analog drive reduces.Reduce the instruction for the speed that present day analog drives for example Are as follows: voice inputs " deceleration ";Gesture input: palm is clenched fist by strutting;Eyeball moves downward.
In another specific embodiment of the present invention, as shown in figure 3, further include by the navigation routine and traffic information with The analog image is shown simultaneously.Display interface is divided into two parts, and the left side is the display that 3D emulates navigation picture, the right For the display of traffic information, which includes superposed road conditions entirety general view schematic diagram in this present embodiment, and Filled black section in traffic information text prompt positioned at lower part, such as road conditions entirety general view schematic diagram is congested link, So prompted in lower part with text, are as follows: the area xx, congested link is about 10KM.
It further include that the AR communicated with the system for running the air navigation aid is set in another specific embodiment of the present invention It is standby, the analog image is sent to the AR (Augmented Reality, augmented reality) equipment, with institute for users to use When stating AR equipment, drive simulating is carried out according to the analog image.
It further include memory module in a specific embodiment of the invention, to further include: the process of drive simulating will be carried out Preset cloud address is sent to video mode to be stored.
In a specific embodiment, the present invention also provides a kind of computer readable storage mediums, are stored thereon with computer Program realizes the air navigation aid of embodiment illustrated in fig. 1 when the computer program is executed by processor.
Refering to Fig. 5, it is shown as the composition schematic diagram of electric terminal of the invention in one embodiment.The electronics is whole End 2 includes: processor 21 and memory 22;The memory 22 is for storing computer program, and the processor 21 is for holding The computer program of the row memory storage, so that the electric terminal 2 executes the air navigation aid of embodiment illustrated in fig. 1.
In this present embodiment, the electric terminal 2 is, for example, portable electronic device or vehicle intelligent system.The storage Device may include high-speed random access memory, and may also include nonvolatile memory, such as one or more disk storages Equipment, flash memory device or other non-volatile solid-state memory devices.In certain embodiments, memory can also include far from one The memory of a or multiple processors, such as the network attached storage via RF circuit or outside port and communication network access Device, wherein the communication network can be internet, one or more intranets, local area network (LAN), wide area network (WLAN), deposit It stores up local area network (SAN) etc. or its is appropriately combined.Such as CPU's and Peripheral Interface of Memory Controller controllable device etc Access of the other assemblies to memory.
The processor is operationally coupled with memory and/or non-volatile memory device.More specifically, processor can The instruction stored in memory and/or non-volatile memory device is executed to execute operation in calculating equipment, is such as generated Image data and/or image data is transferred to electronic console.In this way, processor may include one or more general micro processs Device, one or more application specific processor (ASIC), one or more Field Programmable Logic Array (FPGA) or theirs is any Combination.
In conclusion air navigation aid of the invention, device, electric terminal and medium, obtain navigation departure place and navigation mesh Ground, navigation routine is planned according to the navigation departure place and navigation destination;According to the navigation routine, corresponding mould is transferred Quasi- image is virtually shown, to carry out drive simulating.Before starting navigation, more really to driving behavior later into Row simulation, allows user really to perceive the traffic information of navigation circuit, before stroke starts, intuitive precognition trip.Institute With the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as At all equivalent modifications or change, should be covered by the claims of the present invention.

Claims (10)

1. a kind of air navigation aid characterized by comprising
Navigation departure place and navigation destination are obtained, according to the navigation departure place and navigation destination planning navigation road Line;
It transfers corresponding analog image according to the navigation routine virtually to be shown, to carry out drive simulating.
2. air navigation aid according to claim 1, which is characterized in that further include: when according to drive simulating set by user Between, adjust the speed of the drive simulating.
3. air navigation aid according to claim 1, which is characterized in that further include: control is instructed according to the current input of user The speed that present day analog processed drives.
4. air navigation aid according to claim 3, which is characterized in that the mode of the input of the input instruction includes following One of or it is a variety of: voice input, gesture input or eye movement input.
5. air navigation aid according to claim 1, which is characterized in that further include: by the navigation routine, traffic information with And the analog image is shown simultaneously.
6. air navigation aid according to claim 1, which is characterized in that further include: the analog image is sent to an AR Equipment when with the AR equipment for users to use, carries out drive simulating according to the analog image.
7. air navigation aid according to claim 1, which is characterized in that further include: by the process for carrying out drive simulating to regard Frequency mode is sent to preset cloud address and is stored.
8. a kind of navigation device characterized by comprising
Navigation route planning module, to obtain navigation departure place and navigation destination, according to the navigation departure place and navigation Plan navigation routine in destination;
Virtual display module, to transfer corresponding analog image and virtually be shown according to the navigation routine, to carry out mould It is quasi- to drive.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program is located Reason device realizes air navigation aid described in any one of claims 1 to 7 when executing.
10. a kind of electric terminal characterized by comprising processor and memory;
The memory is used to execute the computer journey of the memory storage for storing computer program, the processor Sequence, so that the electric terminal executes the air navigation aid as described in any one of claims 1 to 7.
CN201810989021.9A 2018-08-28 2018-08-28 A kind of air navigation aid, device, electric terminal and medium Pending CN109253736A (en)

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Publication number Priority date Publication date Assignee Title
CN110470318A (en) * 2019-08-15 2019-11-19 昆明理工大学 A kind of mobile phone virtual navigation system for driving simulator
CN112861657A (en) * 2021-01-21 2021-05-28 厦门金龙联合汽车工业有限公司 Unmanned vehicle calling and parking method, terminal equipment and storage medium
CN116153166A (en) * 2023-04-21 2023-05-23 西北铁道电子股份有限公司 Vehicle-mounted simulation method, system and equipment for rail car driver before taking out

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