CN110375749A - Air navigation aid and navigation system - Google Patents
Air navigation aid and navigation system Download PDFInfo
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- CN110375749A CN110375749A CN201811417547.6A CN201811417547A CN110375749A CN 110375749 A CN110375749 A CN 110375749A CN 201811417547 A CN201811417547 A CN 201811417547A CN 110375749 A CN110375749 A CN 110375749A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The embodiment of the invention discloses a kind of air navigation aid and navigation equipments, which comprises obtains travel condition；Based on the travel condition, target navigation mode is determined from least two navigation modes；Wherein, target navigation mode is navigated including the use of at least two navigation system in the target navigation mode；At least one of which navigation system utilized under navigation mode not of the same race in at least two navigation mode is different.
Description
Technical field
This application involves airmanships, and in particular to a kind of air navigation aid and navigation system.
Background technique
With the development of airmanship, the technology positioned to vehicles such as vehicle, aircrafts also develops therewith.Its
In, for the unpiloted vehicles this for unmanned vehicle, unmanned plane etc., it is desirable that the navigation system that it is used is more smart
Really.For the positioning accuracy for guaranteeing this kind of vehicles, in current airmanship, usually simultaneously using two or two with
On navigation system, navigation is realized using the combination of multiple navigation system.It wherein, is guarantee navigation accuracy, entire stroke
In (traveling start to traveling terminate) positioned using identical two or more navigation system, and often advance
Environment is changeable, it is seen that the air navigation aid of single-mode in the related technology is not good enough to the adaptability of changeable environment.
Summary of the invention
To solve existing technical problem, the embodiment of the present invention provides a kind of air navigation aid and navigation equipment, at least
It can adapt to changeable traveling environment.
The technical solution of the embodiment of the present invention is achieved in that
The embodiment of the present invention provides a kind of air navigation aid, which comprises
Obtain travel condition；
Based on the travel condition, target navigation mode is determined from least two navigation modes；
Wherein, target navigation mode is led including the use of at least two navigation system in the target navigation mode
Boat；At least one of which navigation system utilized under navigation mode not of the same race in at least two navigation mode is different.
In above scheme, the travel condition is characterized as at least one of travel speed, traveling mileage and position,
Correspondingly, described be based on the travel condition, target navigation mode is determined from least two navigation modes, is wrapped
It includes:
The navigation mode to match with the travel condition is determined from least two navigation modes；
The determining navigation mode to match with the travel condition is target navigation mode.
In above scheme, the method also includes:
In the first navigation mode in at least two navigation modes, at least with the under the first navigation mode
One navigation system and third navigation system are navigated；
Based on travel condition, switching command is obtained, the switching command is the instruction for switching navigation mode；
The switching command is responded, switching the first navigation mode is the second navigation mould in at least two navigation mode
Formula；
Determine that the second navigation mode is target navigation mode；
Wherein, it is carried out under the second navigation mode at least with first navigation system and second navigation system
Navigation.
In above scheme, the travel condition is obtained by the third navigation system,
Meet predetermined condition in the travel condition that the third navigation system can not obtain travel condition or acquisition
The switching command is generated when variation.
In above scheme, the method also includes:
Different navigation system in at least two navigation mode are at least used for at least two navigation mode
In the output valve of identical navigation system be corrected；With the output of the identical navigation system under different navigation mode
Value is navigated.
The embodiment of the present invention provides a kind of navigation equipment, and the navigation equipment includes pocessor and storage media；Wherein, institute
Storage medium is stated for storing computer sequence；
The processor, at least executing following steps when executing the computer program of the storage medium storage:
Obtain travel condition；
Based on the travel condition, target navigation mode is determined from least two navigation modes；
Wherein, target navigation mode is led including the use of at least two navigation system in the target navigation mode
Boat；At least one of which navigation system utilized under navigation mode not of the same race in at least two navigation mode is different.
In above scheme, the processor is also used to execute following steps:
The travel condition is characterized as at least one of travel speed, traveling mileage and position,
The navigation mode to match with the travel condition is determined from least two navigation modes；
The determining navigation mode to match with the travel condition is target navigation mode.
In above scheme, the processor is also used to execute following steps:
In the first navigation mode in at least two navigation modes, at least with the under the first navigation mode
One navigation system and third navigation system are navigated；
Based on travel condition, switching command is obtained, the switching command is the instruction for switching navigation mode；
The switching command is responded, switching the first navigation mode is the second navigation mould in at least two navigation mode
Formula；
Determine that the second navigation mode is target navigation mode；
Wherein, it is carried out under the second navigation mode at least with first navigation system and second navigation system
Navigation.
In above scheme, the processor is also used to execute following steps:
The travel condition is obtained by the third navigation system,
Meet predetermined condition in the travel condition that the third navigation system can not obtain travel condition or acquisition
The switching command is generated when variation.
In above scheme, the processor is also used to execute following steps:
Different navigation system in at least two navigation mode are at least used for at least two navigation mode
In the output valve of identical navigation system be corrected；With the output of the identical navigation system under different navigation mode
Value is navigated.
The air navigation aid and navigation equipment of the embodiment of the present invention, which comprises obtain travel condition；Based on the row
Into state, target navigation mode is determined from least two navigation modes；Wherein, target navigation mode is including the use of the mesh
At least two navigation system in mark navigation mode are navigated；In at least two navigation mode under navigation mode not of the same race
At least one of which navigation system utilized is different.In the present embodiment, navigation mode (target navigation is determined according to travel condition
Mode), it at least can adapt to changeable traveling environment.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the implementation process schematic diagram one of the air navigation aid of the embodiment of the present application；
Fig. 2 is the implementation process schematic diagram two of the air navigation aid of the embodiment of the present application；
Fig. 3 is an application scenarios schematic diagram of the embodiment of the present application；
Fig. 4 is the composed structure schematic diagram one of the navigation equipment of the embodiment of the present application；
Fig. 5 is the composed structure schematic diagram two of the navigation equipment of the embodiment of the present application.
Specific embodiment
For the purposes, technical schemes and advantages of the application are more clearly understood, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.?
In the case where not conflicting, the features in the embodiments and the embodiments of the present application can mutual any combination.In the process of attached drawing
The step of illustrating can execute in a computer system such as a set of computer executable instructions.Although also, in process
Logical order is shown in figure, but in some cases, it can be to be different from shown or described by sequence execution herein
Step.
It should be noted that air navigation aid provided by the invention and each embodiment of navigation equipment, can be applied to unmanned vehicle, nothing
This unpiloted vehicles such as man-machine, can also be applied in the non-unpiloted vehicles, do not do specific limit to this
It is fixed.
Fig. 1 is the implementation process schematic diagram one of air navigation aid embodiment provided by the invention；As shown in Figure 1, the method
Include:
Step 101: obtaining travel condition；
Step 102: being based on the travel condition, determine target navigation mode from least two navigation modes；Wherein,
Target navigation mode is navigated including the use of at least two navigation system in the target navigation mode；Described at least two
At least one of which navigation system utilized under navigation mode not of the same race in navigation mode is different.
Executing step 101 and 102 main body can be the vehicles, can also be the user that is communicated with the vehicles
Equipment such as mobile phone, PC (PAD).
In the embodiment of the present invention, navigation mode (target navigation mode) is determined according to travel condition, and it is whole in the related technology
It is compared using identical navigation system in a stroke, this programme can carry out navigation mode really according to actual traveling environment
It is fixed, it at least can adapt to changeable traveling environment.Wherein, at least two navigation system are combined to navigate in every kind of navigation mode
(positioning) is greatly improved navigation (positioning) accuracy.
In the embodiment of the present invention, including two or more (at least two) is navigated mode, is at least adopted under every kind of navigation mode
It to the vehicles is navigated with two kinds of navigation system and using the combination of this at least two navigation system.
Wherein, adoptable navigation system is following several:
1) global positioning system (GPS): the GPS receiver being arranged on the user equipment side such as vehicles, mobile phone connects
It receives GPS satellite signal and then obtains the location information of the vehicles for being provided with GPS system or mobile phone.Regarded in this programme GPS as
Third navigation system.
2) inertial navigation system (INS): based on Newton mechanics law, by measurement carrier (object to be navigated) used
The acceleration of property referential, it integrates the time, and it is transformed in navigational coordinate system, it will be able to obtain navigating
The information such as speed, yaw angle and position in coordinate system.It is a kind of independent of external information, also not to external radiation energy
Autonomic navigation system.INS is regarded in this programme as the first navigation system.
3) based on the navigation system of Binocular Vision Principle: advancing with binocular vision sensor and carry out image to traveling environment
Acquisition, and three-dimensional building is carried out based on acquired image and obtains the electronic map of traveling environment.Until in use, to somewhere
Traveling environment is acquired to obtain acquisition image, is iterated closest approach algorithm (ICP) with the acquisition image and electronic map and calculates
The matching of method, and then the information such as the location of the vehicles or mobile phone, speed when obtaining acquiring the image.It is regarded in this programme
INS is the second navigation system.
It is above-mentioned to be several than more typical navigation system, in the present solution, can be by any two kinds or three in above-mentioned three kinds
Kind is combined to obtain one of navigation mode.Certainly, the navigation system that this programme is related to is not limited to described in three of the above,
Further include it is other any it is conceivable that reasonable situation.
Wherein, it is contemplated that each have their own advantage of aforementioned three kinds of navigation system, the stability of INS system is best, and robustness is most
It is good, it is combined with other two kinds of navigation system using navigation (positioning) better effect.This programme is preferably two kinds of navigation moulds
Formula: the first navigation mode and the second navigation mode, include identical navigation system-INS system in both navigation modes.Its
In, INS system and GPS system are used under the first navigation mode；Using INS system and based on binocular vision under second navigation mode
The navigation system of principle.In the present solution, system of navigating based on the identical navigation system-INS system that can be used under different navigation mode
System, other navigation system are to assist the secondary navigation system of the principle navigation system.Assisting navigation system under different navigation mode
System is corrected for the output valve to the principle navigation system in each auto-navigation mode；With leading boat system under different navigation mode
The output valve of system is navigated.Wherein, the output valve of principle navigation system can be travel speed, traveling mileage, advanced positions, row
Into at least one of direction etc..
No matter being subject to navigation routine, the positioning result of principle navigation system that is, in which kind of navigation mode.
Because the principle navigation system chosen in two kinds of navigation modes is INS system in this programme because its be it is a kind of independent of
External information, also not to the autonomic navigation system of external radiation energy, robustness is stronger.Used in this programme INS system for
More stable navigation (positioning) data and result can be obtained in the vehicles of principle navigation system.
In an optional scheme, the travel condition is characterized as the travel speed of the vehicles, traveling mileage and row
Carry at least one of is set,
Correspondingly, step 102 (it is described to be based on the travel condition, determine that target is led from least two navigation modes
Model plane formula) include:
The navigation mode to match with the travel condition is determined from least two navigation modes；
The determining navigation mode to match with the travel condition is target navigation mode.
In aforementioned optional scheme, the matched navigation mode can be considered and travel speed, traveling mileage and row
Carry at least one of sets the corresponding navigation mode of value of traveling factor.The value and navigation of traveling factor can be preset
Corresponding relationship between mode, that is to say, that be the different use condition of different navigation pattern configurations in this programme.With aforementioned
Two kinds of navigation modes for, configuration: can be used different navigation modes in the smaller and biggish situation of traveling mileage, such as capable
When being less than such as 10 kilometers of predetermined mileage range into mileage, the first navigation mode is used；Traveling mileage is greater than or equal to predetermined mileage
When range such as 10 kilometers, the second navigation mode is used.Different navigation can be used in the smaller and biggish situation of travel speed
Mode, such as travel speed are less than such as 120 kilometers/hour of predetermined speed range, use the first navigation mode；Traveling mileage is greater than
Or such as 120 kilometers/hour when being equal to predetermined mileage range, the second navigation mode is used.Advanced positions are at easy traveling and not
It is easy to use different navigation modes at traveling, such as is being easy at traveling-position using the first navigation mode；Do not allow it is easy
It sails and uses the second navigation mode at position.Above it is concrete example, does not limit all situations of the embodiment of the present invention.This
At easy traveling-position in scheme and it is not easy depending on the complexity that can be considered traveling environment at traveling-position, traveling environment does not have
There is blocking for larger shelter to can be considered at easy traveling-position；Conversely, there exist larger shelters, and GPS can not be got
The situation of the location information of the vehicles or the location information got inaccuracy, which can be considered, to be not easy at traveling-position.It can be with
Understand, predetermined mileage range and predetermined speed range can also take any reasonable other values, flexibly set depending on concrete condition
It sets.
Furthermore, it is to be understood that at least two in these three traveling factors of travel speed, traveling mileage and advanced positions go back
It can be used in combination.For example traveling mileage is less than such as 10 kilometers of predetermined mileage range and uses first when being easy at traveling-position
Navigation mode；The is used such as 10 kilometers when traveling mileage is greater than or equal to predetermined mileage range and when being not easy at traveling-position
Two navigation modes.In short, this programme include it is any it is conceivable that combination situation, be not limited only to the above.
In aforementioned optional scheme, the determining navigation mode to match with travel condition is target navigation mode, and sharp
It is combined navigation at least two navigation system in target navigation mode, so that the navigation scheme that this programme provides more adapts to
Changeable traveling environment provides more reasonable navigation scheme for changeable traveling environment, can greatly promote the body that user uses
Test impression.
Fig. 2 is the implementation process schematic diagram two of air navigation aid embodiment provided by the invention；As shown in Fig. 2, the method
Include:
Step 201: in the first navigation mode at least two navigation modes, being based on travel condition, cut
Instruction is changed, the switching command is the instruction for switching navigation mode, is led under the first navigation mode at least with first
Boat system and third navigation system are navigated；
Step 202: responding the switching command, switching the first navigation mode is the in at least two navigation mode
Two navigation modes；Wherein, at least with first navigation system and second navigation system under the second navigation mode
It navigates；
Step 203: the second navigation mode that determines is target navigation mode to be navigated using target navigation mode；
Executing step 101 and 102 main body can be the vehicles, can also be the user that is communicated with the vehicles
Equipment such as mobile phone, PC (PAD).
Aforementioned schemes, for the scheme for carrying out navigation pattern switching based on travel condition.It is carried out using the first navigation mode
When navigation, that is to say, that when being navigated using the first navigation system and third navigation system, obtain travel condition, and be based on
Travel condition obtains for switching the switching command of navigation mode, and responds the navigation mode, by the second navigation mould after switching
Formula is navigated as target navigation mode using target navigation mode.Namely this programme can be realized and be realized based on travel condition
The switching of navigation mode can adapt to changeable traveling environment, and provide more accurate navigation side for changeable traveling environment
Case.
In an optional scheme, the travel condition is obtained by the third navigation system, in third navigation system
It can not obtain when the travel condition of travel condition or acquisition meets the variation of predetermined condition and generate the switching command.
It is appreciated that travel condition is the travel speed that can be characterized as the vehicles, traveling mileage and advanced positions
The state of at least one traveling factor, these traveling factors can indicate the quality of traveling environment.For example, travel speed is fast
Slowly, traveling mileage number, the quality of traveling environment can be indicated by the location of advancing etc..It is appreciated that traveling environment compared with
Good, then shelter is less, and road is relatively flat, and naturally, travel speed is stablized, and traveling mileage steadily increases.Traveling environment compared with
Difference, then shelter is more, and road is uneven, and naturally, travel speed wobble variation, traveling mileage is slowly increased.Travel condition
The variation for meeting predetermined condition can be the first row into environmental change be the second traveling environment, wherein the first traveling environment
It is expressed as the less traveling environment of shelter, the second traveling environment representation is the more traveling environment of shelter.
In the first navigation mode, secondary navigation system of the third navigation system as the first navigation system, also can get
At least one traveling factor such as travel speed, traveling mileage and advanced positions.When GPS system is as third navigation system, depositing
In the case where larger shelter, the limited coverage area of satellite-signal, cause GPS system the vehicles be traveling in the presence of compared with
Big shelter is possible to obtain less than traveling factor above-mentioned in the case where blocking, it is also possible to which the traveling factor got is inaccurate
Really, at this point, GPS system should not be continued to use as third navigation system, it should switch navigation mode to the second navigation mode, make
Use the navigation system based on Binocular Vision Principle as secondary navigation system, the navigation system based on Binocular Vision Principle is more suitable for
There are the traveling environment of larger shelter, are that the vehicles navigate together with INS system.
In aforementioned schemes, in the item that the travel condition that third navigation system can not obtain travel condition or acquisition changes
The instruction for pattern switching of navigating, more adaptation traveling environment are generated under part.It provides and is more suitable for for the traveling environment of variation
Navigation system is greatly improved the accuracy of navigation (positioning).
Below with reference to application scenarios shown in Fig. 3, elaborate to this programme.
Under this application scene, by taking unmanned vehicle is positioned using navigation system as an example.
Under this application scene, including the first navigation mode, the second navigation mode and third navigation mode.Wherein, it first leads
INS system and GPS system are used under model plane formula；INS system and leading based on Binocular Vision Principle are used under second navigation mode
Boat system；It can be used only in INS system, GPS system and navigation system based on Binocular Vision Principle under third navigation mode
Any one.Wherein, third navigation mode is preferably used in advanced section of initial row.
It should be noted that, to improve positioning accuracy, GPS system uses differential global positioning system, poor under this application scene
Be divided to GPS system to include at least two receivers: base station receiver and receiver on-board are separately mounted to car body back and forth or left and right two
Side, base station receiver and receiver on-board receive the location information from GPS satellite, and pass through differential position principle, pseudorange
The GPS positionings algorithms such as differential principle, carrier phase difference principle obtain the position of unmanned vehicle；Differential global positioning system not compared with
The data that it is oriented in the case where big shelter are more accurate；Locating effect is less there are larger shelter
It is ideal.
(1) advanced section of initial row, unmanned vehicle starting start to advance, and open third navigation mode, utilize INS system, GPS system
Any of them in system and the navigation system based on Binocular Vision Principle carry out navigator fix.
It should be noted that at advanced section of initial row, need when using navigation system based on Binocular Vision Principle to row
Image Acquisition is carried out into environment, and the matching of image and electronic map progress ICP algorithm will be acquired, and then obtain acquiring the image
When the location of unmanned vehicle information.
In the positioning of initial stage, because INS system is a kind of autonomous navigation system, the initial value information in position is usually required
Provided by the GPS system that can voluntarily position or the navigation system based on Binocular Vision Principle, INS system by built-in gyroscope and
Accelerometer obtains the deflection and acceleration of unmanned vehicle, and is based on position initial information, obtains the location of unmanned vehicle.
Preferably, it in the initial stage, is navigated using INS system to unmanned vehicle.
It will be understood by those skilled in the art that the feature that INS system is good there are stability, but its own also has one
A weak tendency: along with the increase of traveling mileage, there are the accumulated errors in position, mileage and/or speed, if the error is not
It eliminates in time, then will be had a huge impact to positioning result, so that relatively large deviation occurs in positioning result.
In the initial stage, it is believed that INS system does not have accumulated error.
(2) unmanned vehicle mileage travelled increases, and accumulated error occurs in INS system, when the accumulated error reaches predictive error value
When such as 10 kilometers of (predictive error value can according to application scenarios self-setting), the navigation system of unmanned vehicle be generated for switching
The switching command of navigation mode, for not there is the traveling environment of larger shelter, unmanned vehicle will navigate from third navigation mould
Formula is switched to the first navigation mode, and INS system is as principle navigation system, and GPS system is as auxiliary navigation system, auxiliary navigation system benefit
The value of at least one traveling factor of the travel speed, traveling mileage and the advanced positions that are detected with itself, to INS system
The output valves such as travel speed, traveling mileage and advanced positions are corrected.By taking traveling mileage as an example, traveling that GPS system obtains
Mileage value closer to unmanned vehicle true traveling mileage, to avoid practical traveling of the accumulated error of INS system to INS system
The influence of mileage output valve, the traveling mileage value that GPS system is obtained using itself carry out the traveling mileage value that INS system obtains
The traveling mileage value that INS system obtains is corrected to the traveling mileage value that gradually approach GPS system obtains, to eliminate INS by correction
The accumulated error of system.
Wherein, the process of the correction may is that for not there is the traveling environment of larger shelter, traveling environment compared with
Good, GPS detects that self poisoning information is more accurate, and location information enters GPS differential state, not by Kalman filtering algorithm
Output position, speed and the deflection of disconnected amendment INS, guarantees that unmanned vehicle is travelled according to programme path.
Assume in the traveling environment of stage (1) and (2) preferably, there is no blocking for larger shelter in aforementioned schemes,
GPS signal is stronger, and GPS system can provide accurate location information.
(3) during traveling, when access road of being expert at is encountered such as high mountain, higher high buildings and large mansions, ring as shown in Figure 3
Border, due to blocking for larger shelter, GPS positioning signal is weaker, can not accurately obtain the navigation such as unmanned truck position, speed letter
Breath, the travel condition change for travel condition, and the first traveling environmental change is the second traveling environment, in response to this,
Unmanned vehicle generates switching command, from the first navigation pattern switching to the second navigation mode (target navigation mode), in the second navigation
It uses INS system as principle navigation system under mode, uses the navigation system based on Binocular Vision Principle as auxiliary navigation system.
Wherein, using the realtime graphic of visual sensor acquisition ambient enviroment, and ICP algorithm is carried out with pre-stored electronic map
Location matches obtain the precise position information of unmanned vehicle, INS system are input to using the location information as true value, to correct INS
The position signal of the acquisition of sensor in system eliminates the position accumulated error of INS system with this.
In above scheme, according to the travel condition (traveling environment) of unmanned vehicle, determine with matched navigation mode, for become
The traveling environment of change provides the navigation system being more suitable for.Meanwhile this programme utilizes determined navigation mode to realize to nothing
The precise positioning of people's vehicle is greatly improved the accuracy of navigation.
Wherein, the respective advantage of navigation system not of the same race is combined, and the travel condition according to unmanned vehicle makes full use of respectively
The advantage of auto-navigation system, to provide a kind of navigation scheme that can adapt to changeable traveling environment.
It is appreciated that being also possible to INS system, GPS under the first navigation mode, the second navigation mode and third navigation mode
The combination of other forms in system and navigation system based on Binocular Vision Principle, be not limited to it is above-mentioned shown in.
The embodiment of the present invention also provides a kind of navigation equipment 700, as shown in figure 4, the navigation equipment includes processor 701
With storage medium 702；Wherein, the storage medium 702 is for storing computer program；
The processor 701, for when executing the computer program that the storage medium 702 stores, at least execute with
Lower step:
Obtain travel condition；
Based on the travel condition, target navigation mode is determined from least two navigation modes；
Wherein, target navigation mode is led including the use of at least two navigation system in the target navigation mode
Boat；At least one of which navigation system utilized under navigation mode not of the same race in at least two navigation mode is different.
The processor 701, is also used to execute following steps:
The travel condition is characterized as at least one of travel speed, traveling mileage and position,
The navigation mode to match with the travel condition is determined from least two navigation modes；
The determining navigation mode to match with the travel condition is target navigation mode.
The processor 701, is also used to execute following steps:
In the first navigation mode in at least two navigation modes, at least with the under the first navigation mode
One navigation system and third navigation system are navigated；
Based on travel condition, switching command is obtained, the switching command is the instruction for switching navigation mode；
The switching command is responded, switching the first navigation mode is the second navigation mould in at least two navigation mode
Formula；
Determine that the second navigation mode is target navigation mode；
Wherein, it is carried out under the second navigation mode at least with first navigation system and second navigation system
Navigation.
The processor 701, is also used to execute following steps:
The travel condition is obtained by the third navigation system,
Meet predetermined condition in the travel condition that the third navigation system can not obtain travel condition or acquisition
The switching command is generated when variation.
The processor 701, is also used to execute following steps:
Different navigation system in at least two navigation mode are at least used for at least two navigation mode
In the output valve of identical navigation system be corrected；With the output of the identical navigation system under different navigation mode
Value is navigated.
The electronic equipment of the embodiment of the present invention can be as shown in figure 5, electronic equipment 700 includes: at least one processor
701, storage medium 702, at least one network interface 704 and user interface 703.Various components in electronic equipment 700 pass through
Bus system 705 is coupled.It is understood that bus system 705 is for realizing the connection communication between these components.Total linear system
System 705 further includes power bus, control bus and status signal bus in addition in addition to including data/address bus.But for clear theory
For the sake of bright, various buses are all designated as bus system 705 in Fig. 5.
Wherein, user interface 703 may include display, keyboard, mouse, trace ball, click wheel, key, button, sense of touch
Plate or touch screen etc..
It is appreciated that storage medium 702 can be volatile memory or nonvolatile memory, volatibility may also comprise
Both with nonvolatile memory.Wherein, nonvolatile memory can be read-only memory (ROM, Read Only
Memory), programmable read only memory (PROM, Programmable Read-Only Memory), erasable programmable are read-only
Memory (EPROM, Erasable Programmable Read-Only Memory), electrically erasable programmable read-only memory
The storage of (EEPROM, Electrically Erasable Programmable Read-Only Memory), magnetic random access
Device (FRAM, ferromagnetic random access memory), flash memory (Flash Memory), magnetic surface are deposited
Reservoir, CD or CD-ROM (CD-ROM, Compact Disc Read-Only Memory)；Magnetic surface storage can be
Magnetic disk storage or magnetic tape storage.Volatile memory can be random access memory (RAM, Random Access
Memory), it is used as External Cache.By exemplary but be not restricted explanation, the RAM of many forms is available, such as
Static random access memory (SRAM, Static Random Access Memory), synchronous static random access memory
(SSRAM, Synchronous Static Random Access Memory), dynamic random access memory (DRAM,
Dynamic Random Access Memory), Synchronous Dynamic Random Access Memory (SDRAM, Synchronous
Dynamic Random Access Memory), double data speed synchronous dynamic RAM (DDRSDRAM,
Double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random
Access memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), synchronized links
Dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), direct rambus
Random access memory (DRRAM, Direct Rambus Random Access Memory).Description of the embodiment of the present invention is deposited
Storage media 702 is intended to include but is not limited to the memory of these and any other suitable type.
Storage medium 702 in the embodiment of the present invention is for storing various types of data to support electronic equipment 700
Operation.The example of these data includes: any computer program for operating on electronic equipment 700, such as operating system
7021 and application program 7022.Wherein, operating system 7021 includes various system programs, such as ccf layer, core library layer, driving
Layer etc., for realizing various basic businesses and the hardware based task of processing.Application program 7022 may include various applications
Program, such as media player (Media Player), browser (Browser) etc., for realizing various applied business.It realizes
The program of present invention method may be embodied in application program 7022.
The method that the embodiments of the present invention disclose can be applied in processor 701, or be realized by processor 701.
Processor 701 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 701 or the instruction of software form.Above-mentioned processing
Device 701 can be general processor, digital signal processor (DSP, Digital Signal Processor) or other can
Programmed logic device, discrete gate or transistor logic, discrete hardware components etc..Processor 701 may be implemented or hold
Disclosed each method, step and logic diagram in the row embodiment of the present invention.General processor can be microprocessor or appoint
What conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly at hardware decoding
Reason device executes completion, or in decoding processor hardware and software module combine and execute completion.Software module can be located at
In storage medium, which is located at storage medium 702, and processor 701 reads the information in storage medium 702, in conjunction with it
Hardware completes the step of preceding method.
The embodiment of the present application also provides a kind of storage medium, and the storage medium can be the storage medium in Figure 4 and 5
702, for storing computer program, which, which is performed, executes air navigation aid above-mentioned.
It should be noted that navigation equipment provided in an embodiment of the present invention, the principle solved the problems, such as due to the navigation equipment
Similar to air navigation aid above-mentioned, therefore, the implementation process and implementation principle of navigation equipment may refer to aforementioned buddy method
Implementation process and implementation principle description, overlaps will not be repeated.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.Apparatus embodiments described above are merely indicative, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, such as: multiple units or components can combine, or
It is desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed each composition portion
Mutual coupling or direct-coupling or communication connection is divided to can be through some interfaces, the INDIRECT COUPLING of equipment or unit
Or communication connection, it can be electrical, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member, which can be or may not be, to be physically separated, aobvious as unit
The component shown can be or may not be physical unit, it can and it is in one place, it may be distributed over multiple network lists
In member；Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can be fully integrated in one processing unit, it can also
To be each unit individually as a unit, can also be integrated in one unit with two or more units；It is above-mentioned
Integrated unit both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned include: movable storage device, it is read-only
Memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or
The various media that can store program code such as person's CD.
If alternatively, the above-mentioned integrated unit of the present invention is realized in the form of software function module and as independent product
When selling or using, it also can store in a computer readable storage medium.Based on this understanding, the present invention is implemented
Substantially the part that contributes to existing technology can be embodied in the form of software products the technical solution of example in other words,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
It is personal computer, server or network equipment etc.) execute all or part of each embodiment the method for the present invention.
And storage medium above-mentioned includes: that movable storage device, ROM, RAM, magnetic or disk etc. are various can store program code
Medium.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of air navigation aid, which is characterized in that the described method includes:
Obtain travel condition；
Based on the travel condition, target navigation mode is determined from least two navigation modes；
Wherein, target navigation mode is navigated including the use of at least two navigation system in the target navigation mode；Institute
It is different to state at least one of which navigation system utilized under navigation mode not of the same race at least two navigation modes.
2. the method according to claim 1, wherein the travel condition is characterized as travel speed, traveling mileage
At least one of with position,
Correspondingly, described be based on the travel condition, target navigation mode is determined from least two navigation modes, comprising:
The navigation mode to match with the travel condition is determined from least two navigation modes；
The determining navigation mode to match with the travel condition is target navigation mode.
3. the method according to claim 1, wherein the method also includes:
In the first navigation mode at least two navigation modes, led under the first navigation mode at least with first
Boat system and third navigation system are navigated；
Based on travel condition, switching command is obtained, the switching command is the instruction for switching navigation mode；
The switching command is responded, switching the first navigation mode is the second navigation mode in at least two navigation mode；
Determine that the second navigation mode is target navigation mode；
Wherein, it is led under the second navigation mode at least with first navigation system and second navigation system
Boat.
4. according to the method described in claim 3, it is characterized in that, the travel condition is obtained by the third navigation system,
Meet the variation of predetermined condition in the travel condition that the third navigation system can not obtain travel condition or acquisition
Switching command described in Shi Shengcheng.
5. method according to any one of claims 1 to 4, which is characterized in that the method also includes:
Different navigation system in at least two navigation mode are at least used for in at least two navigation mode
The output valve of identical navigation system is corrected；Under different navigation mode with the output valve of the identical navigation system into
Row navigation.
6. a kind of navigation equipment, which is characterized in that the navigation equipment includes pocessor and storage media；Wherein, the storage
Medium is for storing computer sequence；
The processor, at least executing following steps when executing the computer program of the storage medium storage:
Obtain travel condition；
Based on the travel condition, target navigation mode is determined from least two navigation modes；
Wherein, target navigation mode is navigated including the use of at least two navigation system in the target navigation mode；Institute
It is different to state at least one of which navigation system utilized under navigation mode not of the same race at least two navigation modes.
7. navigation equipment according to claim 6, which is characterized in that the processor is also used to execute following steps:
The travel condition is characterized as at least one of travel speed, traveling mileage and position,
The navigation mode to match with the travel condition is determined from least two navigation modes；
The determining navigation mode to match with the travel condition is target navigation mode.
8. navigation equipment according to claim 6, which is characterized in that the processor is also used to execute following steps:
In the first navigation mode at least two navigation modes, led under the first navigation mode at least with first
Boat system and third navigation system are navigated；
Based on travel condition, switching command is obtained, the switching command is the instruction for switching navigation mode；
The switching command is responded, switching the first navigation mode is the second navigation mode in at least two navigation mode；
Determine that the second navigation mode is target navigation mode；
Wherein, it is led under the second navigation mode at least with first navigation system and second navigation system
Boat.
9. navigation equipment according to claim 8, which is characterized in that the processor is also used to execute following steps:
The travel condition is obtained by the third navigation system,
Meet the variation of predetermined condition in the travel condition that the third navigation system can not obtain travel condition or acquisition
Switching command described in Shi Shengcheng.
10. according to the described in any item navigation equipments of claim 6 to 9, which is characterized in that the processor is also used to execute
Following steps:
Different navigation system in at least two navigation mode are at least used for in at least two navigation mode
The output valve of identical navigation system is corrected；Under different navigation mode with the output valve of the identical navigation system into
Row navigation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811417547.6A CN110375749A (en) | 2018-11-26 | 2018-11-26 | Air navigation aid and navigation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811417547.6A CN110375749A (en) | 2018-11-26 | 2018-11-26 | Air navigation aid and navigation system |
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