CN110645993B - Vehicle navigation positioning method, device, system and storage medium - Google Patents
Vehicle navigation positioning method, device, system and storage medium Download PDFInfo
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- CN110645993B CN110645993B CN201810681867.6A CN201810681867A CN110645993B CN 110645993 B CN110645993 B CN 110645993B CN 201810681867 A CN201810681867 A CN 201810681867A CN 110645993 B CN110645993 B CN 110645993B
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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
Abstract
The invention discloses a vehicle navigation positioning method, a device, a system and a storage medium. The method for measuring the altitude comprises the steps of obtaining the altitude value of a locomotive at an initial position; acquiring an altitude change value between the initial position and a current position driven from the initial position; and obtaining the altitude value of the current position according to the altitude value of the initial position and the altitude change value between the initial position and the current position, and further positioning the current position of the locomotive. According to the scheme, in the process of acquiring the altitude value of the current position, the participation of environmental parameters such as air pressure and the like is not needed, so that the interference of external environmental factors does not exist in the altitude measurement process, and the positioning precision of the locomotive is improved.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to a vehicle navigation positioning method, device and system and a storage medium.
Background
Most of the existing electronic devices determine altitude changes through a Global Positioning System (GPS), and generally, the error of the GPS in determining altitude changes is more than several tens of meters. However, for electronic devices with high positioning accuracy requirements, errors of several tens of meters or even hundreds of meters are unacceptable, for example, for car navigation, in the case of urban viaduct or tunnel road conditions, there is no way to know whether the vehicle is on the overhead or in the tunnel.
Currently existing methods for measuring altitude detect detection information through a sensor at or near a certain position, and estimate altitude data corresponding to the detection information through an auxiliary device, such as a barometer, for example.
Disclosure of Invention
The invention aims to provide a vehicle navigation positioning method, a device, a system and a storage medium, which can improve the positioning precision of a locomotive.
In order to achieve the above object, the present invention provides a vehicle navigation positioning method, including:
acquiring an initial altitude value of the locomotive at an initial position;
acquiring an altitude change value generated when the locomotive runs from the initial position to the current position;
calculating to obtain a current altitude value of the current position according to the initial altitude value and the altitude change value between the initial position and the current position;
and positioning the current position of the locomotive by using the current altitude value.
Wherein the obtaining an initial altitude value of the locomotive at an initial position comprises:
acquiring an altitude value of the locomotive at the initial position by using satellite data, network data or map data, and taking the altitude value as the initial altitude value; or
And acquiring the current altitude value obtained by the last calculation, and taking the current altitude value obtained by the last calculation as the initial altitude value.
Wherein the obtaining of the altitude change value occurring when the locomotive runs from the initial position to the current position comprises:
acquiring a horizontal movement distance and an actual movement distance of the locomotive from the initial position to the current position;
comparing the horizontal movement distance with the actual movement distance;
and if the horizontal moving distance is smaller than the actual moving distance, calculating an altitude change value generated when the locomotive runs from the initial position to the current position according to the horizontal moving distance and the actual moving distance.
Wherein the obtaining of the altitude change value occurring when the locomotive runs from the initial position to the current position comprises:
acquiring the grade climbing of the locomotive from the initial position to the current position, and the horizontal movement distance or the actual movement distance of the locomotive from the initial position to the current position;
and calculating the altitude change value generated when the locomotive runs from the initial position to the current position by using the climbing gradient and the horizontal movement distance or the actual movement distance.
Wherein the obtaining of the altitude change value occurring when the locomotive travels from the initial position to the current position further comprises:
and if the horizontal moving distance is equal to the actual moving distance, making the altitude change value be zero.
Wherein obtaining the current altitude value of the current location according to the initial altitude value and the altitude change value between the initial location and the current location comprises:
determining a direction of movement of the locomotive relative to the initial position;
and calculating the current altitude value of the current position according to the moving direction, the initial altitude value and the altitude change value.
Wherein said determining a direction of movement of said locomotive relative to said initial position comprises:
acquiring the running speed of the locomotive from the initial position to the current position;
comparing the running speed with a preset speed, and determining the moving direction of the locomotive relative to the initial position according to the comparison result;
if the running speed is lower than the preset speed, the moving direction of the locomotive relative to the initial position is upward;
if the running speed is equal to the preset speed, the moving direction of the locomotive relative to the initial position is a horizontal direction;
if the running speed is higher than the preset speed, the moving direction of the locomotive relative to the initial position is downward.
In another aspect, the present invention provides a vehicle navigation positioning device, which includes a memory and a processor connected to each other, wherein:
the memory stores instructions for implementing the vehicle navigation positioning method;
the processor executes the instructions in the memory.
In another aspect, the present invention further provides a storage medium storing program data, which can be executed to implement the vehicle navigation positioning method.
In another aspect, the present invention further provides a vehicle navigation positioning system, which includes:
the system comprises an initial positioning information acquisition device, a vehicle data acquisition device, a display device and the vehicle navigation positioning device or the storage medium, wherein the initial positioning information acquisition device, the vehicle data acquisition device and the display device are respectively connected with the navigation positioning device or the storage medium;
the initial positioning information acquisition device is used for acquiring initial positioning information of the locomotive;
the vehicle data acquisition device is used for acquiring vehicle data including tire width, tire aspect ratio, hub diameter, engine speed, final transmission ratio and gear transmission ratio;
the display device is used for displaying positioning information of the current position of the locomotive.
Has the advantages that: different from the prior art, the vehicle navigation positioning method of the invention obtains the altitude value of the locomotive at the initial position; acquiring an altitude change value between the initial position and a current position driven from the initial position; and obtaining the altitude value of the current position according to the altitude value of the initial position and the altitude change value between the initial position and the current position, and further positioning the current position of the locomotive. According to the scheme, in the process of acquiring the altitude value of the current position, the participation of environmental parameters such as air pressure and the like is not needed, so that the interference of external environmental factors does not exist in the altitude measurement process, and the positioning precision of the locomotive is improved.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating a vehicle navigation positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating one embodiment of step S12 in FIG. 1;
FIG. 3 is a schematic illustration of an altitude change value between an initial position and a current position of a locomotive;
FIG. 4 is a schematic flow chart diagram illustrating another embodiment of step S12 in FIG. 1;
FIG. 5 is a schematic flow chart of step S13 in FIG. 1;
FIG. 6 is a schematic flowchart of step S131 in FIG. 5;
FIG. 7 is a schematic structural diagram of an embodiment of a vehicle navigation positioning device according to the present invention;
FIG. 8 is a schematic structural diagram of an embodiment of a storage medium of the present invention;
FIG. 9 is a schematic structural diagram of an embodiment of a vehicle navigation and positioning system of the present invention;
FIG. 10 is a schematic structural diagram of another embodiment of a vehicle navigation and positioning system according to the present invention;
FIG. 11 is a schematic structural diagram of a vehicle navigation and positioning system according to another embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings and detailed description. It is to be understood that the described embodiments are merely some embodiments of the invention, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a vehicle navigation and positioning method according to an embodiment of the present invention. As shown in fig. 1, the vehicle navigation positioning method of the present embodiment at least includes the following steps:
in step S11, an initial altitude value of the locomotive at an initial position is acquired.
In this embodiment, the initial position of the locomotive is determined according to the actual condition of the locomotive, and if the locomotive uses the vehicle navigation positioning method of this embodiment for the first time, the initial position of the locomotive is the initial altitude value of the locomotive directly obtained through satellite data, network data or map data when the locomotive uses the vehicle navigation positioning method of this embodiment for the first time. The initial altitude value is obtained through an initial positioning information obtaining module, the initial positioning information obtaining module can be a global satellite navigation positioning system, such as a GPS (global positioning system), a Beidou satellite positioning system and the like, and positioning is obtained by obtaining satellite data; the system can also be a vehicle networking module, and the vehicle networking module is connected to a cloud to acquire online map data so as to acquire positioning; the locomotive itself may also be loaded with a local map data memory, and the location may be obtained by accessing the memory to retrieve the local map data. It can be understood that, if the user performs operations such as initialization or reset setting on the vehicle navigation positioning method executed by the locomotive, reuse of the vehicle navigation positioning method of the present embodiment after reset may be regarded as the initial use of the vehicle navigation positioning method of the present embodiment.
Further, the vehicle navigation positioning method of the embodiment may continuously perform positioning of the locomotive after the vehicle is initially used, and in the running process of the locomotive, the initial position of the locomotive is the current position of the locomotive running calculated last time, and the current altitude value of the current position obtained by the previous calculation is the initial altitude value of the initial position required by the current calculation.
In this embodiment, since the current altitude value of the current position calculated last time may be used as the initial altitude value of the initial position at the time of the current calculation, the initial positioning information obtaining module of the locomotive, such as the global satellite navigation positioning system, the vehicle network module, or the local map memory, may be turned off during the positioning process of the locomotive, thereby saving energy consumption.
In step S12, an altitude change value occurring when the locomotive travels from the initial position to the current position is acquired.
When the locomotive runs from the initial position to the current position, the altitude of the locomotive changes, and then the altitude change value in the process that the locomotive runs from the initial position to the current position is obtained.
In this embodiment, the calculation of the altitude change value is continuously calculated during the running of the locomotive, i.e., continuously between every two calculations of the altitude change value, so that the altitude change values calculated for a long distance running in this embodiment may be accumulated by a plurality of times during the running. Further, in the embodiment, the distance between the initial position and the current position acquired in each calculation is very short, so that when the altitude change value generated when the locomotive runs from the initial position to the current position is acquired, the influence of the turning of the locomotive on a flat road surface, a buffer zone on a slope and the like on the altitude change value can be ignored, and further, the vehicle navigation positioning method of the embodiment can be applied to various road conditions, so that the navigation positioning of the locomotive is not influenced by the road conditions as much as possible.
In step S13, a current altitude value of the current position is calculated according to the initial altitude value and the altitude change value between the initial position and the current position.
And calculating the sum of the initial altitude value and the altitude change value by using the initial altitude value and the altitude change value of the initial position obtained in the steps S11 and S12, so as to obtain the current altitude value of the current position of the locomotive.
In step S14, the current position of the locomotive is located using the current altitude value.
The current altitude value of the current position of the locomotive calculated in step S13 is used to locate the current position of the locomotive according to the current altitude value.
By the vehicle navigation positioning method, the situation that the locomotive is interfered by the external environment under the condition of a small running distance can be obtained, the altitude change condition of the locomotive can be relatively accurately judged, and the locomotive is relatively accurately navigated and positioned. The embodiment can relatively accurately judge whether the locomotive goes up and down the viaduct, enters a low-lying road section and the like through a navigation positioning method.
In the embodiment, the altitude value of the current position is obtained by calculating the altitude value and the altitude change value of the initial position, and the environment parameter related to the environment does not participate in the calculation process, so that the calculated altitude value of the current position is not influenced by the environment factor, and the measurement precision is further improved; in addition, the embodiment can not utilize an additional sensor, thereby reducing the cost.
It should be noted that the sensor mentioned in this embodiment refers to an additional sensor for measuring altitude, and does not include a sensor carried by the locomotive itself, and a direction sensor, an infrared sensor, a gyroscope, and other sensors are usually built in the current locomotive or electronic device, and these sensors cannot be considered as additional sensors.
Further, referring to fig. 2, as shown in fig. 2, the step S12 may further include the following steps:
in step S121, a horizontal movement distance and an actual movement distance occurring when the locomotive travels from the initial position to the current position are acquired.
If the altitude values of the initial position and the current position are different, there is a difference between the horizontal moving distance of the locomotive and the actual moving distance thereof. Therefore, in the present embodiment, the horizontal movement distance and the actual movement distance in the process of the locomotive running from the initial position to the current position are obtained, and then the subsequent steps are continuously executed to determine whether the current altitude value of the current position changes relative to the initial altitude value of the initial position when the locomotive runs from the initial position to the current position.
In step S122, the horizontal movement distance and the actual movement distance are compared.
Comparing the horizontal movement distance and the actual movement distance of the locomotive obtained in the step S121 in the process of driving from the initial position to the current position, and according to the comparison result, whether the current altitude value of the current position changes relative to the initial altitude value of the initial position in the process of driving from the initial position to the current position can be known.
If the actual moving distance is greater than the horizontal moving distance, it indicates that the moving direction of the locomotive is a non-horizontal moving direction in the process of the locomotive running from the initial position to the current position, in other words, the current altitude value of the current position is changed from the initial altitude value, and then step S123 is continuously executed. If the actual moving distance is equal to the horizontal moving distance, it indicates that the moving direction of the locomotive is the horizontal moving direction in the process of the locomotive running from the initial position to the current position, and the current altitude value of the current position is unchanged from the initial altitude value, and then step S124 is continuously executed.
In step S123, an altitude change value occurring when the locomotive travels from the initial position to the current position is calculated based on the horizontal movement distance and the actual movement distance.
It can be understood that, when the locomotive runs from the initial position to the current position, the horizontal movement distance, the actual movement distance and the vertical distance of the altitude change can form a right triangle, and the altitude change value between the initial position and the current position can be calculated by using a trigonometric formula.
For example, as shown in fig. 3, let the initial position of the locomotive be a, the current position be B, the horizontal movement distance be a, and the actual movement distance be B, as can be seen from fig. 3, the height change of the current position B relative to the plane where the initial position a is located is c, and c is the altitude change value between the initial position and the current position. At this time, the actual moving distance b is greater than the horizontal moving distance a, and the altitude change value c may be calculated according to a trigonometric formula.
According to the trigonometric formula
Namely, an altitude change value between the initial position and the current position can be calculated.
In step S124, the altitude change value is made zero.
If the actual moving distance is equal to the horizontal moving distance, the altitude value of the locomotive is not changed in the process of driving from the initial position to the current position; therefore, the initial altitude value is the current altitude value of the current position, and the altitude change value is set to zero.
Referring further to fig. 4, as shown in fig. 4, in another embodiment, the step S12 may also include the following steps:
in step S125, a grade of climb at which the locomotive travels from the initial position to the current position, and a horizontal movement distance or an actual movement distance at which the locomotive travels from the initial position to the current position are acquired.
The locomotive may be equipped with angle sensors such as gyroscope, etc. on its own, so that the inclination of the slope on which the locomotive runs, i.e. the climbing gradient of the locomotive, can be directly obtained by the angle sensors such as gyroscope; and further acquiring the horizontal movement distance or the actual movement distance generated when the locomotive runs from the initial position to the current position, namely calculating the altitude change value between the initial position and the current position according to a trigonometric formula.
In other embodiments, the grade of the locomotive may be obtained by an angle sensor of a terminal other than the locomotive (e.g., an intelligent terminal in the locomotive), and the obtained grade of the grade may be transmitted to the locomotive.
In step S126, an altitude change value occurring when the locomotive travels from the initial position to the current position is calculated using the grade climbing and the horizontal movement distance or the actual movement distance.
By using the grade of the vehicle obtained in step S125, the altitude change value occurring when the vehicle travels from the initial position to the current position can be calculated by a trigonometric formula in combination with the horizontal movement distance or the actual movement distance of the vehicle.
Further, referring to fig. 5, as shown in fig. 5, in one embodiment, the step S13 may include the following steps:
in step S131, the moving direction of the locomotive relative to the initial position is determined.
It will be appreciated that during actual movement of the locomotive, the locomotive may move up, down, or horizontally, with the up or down movement having a different effect on altitude and the horizontal movement not affecting altitude. If the driving direction of the locomotive is upward, the altitude thereof increases, if the driving direction of the locomotive is downward, the altitude thereof decreases, and if the driving direction of the locomotive is horizontal, the altitude thereof does not change. Therefore, the present embodiment needs to determine the moving direction of the locomotive and further determine the trend of the altitude change before obtaining the altitude value of the current position.
In one embodiment, the moving direction of the locomotive may be determined by the moving speed of the locomotive. For example, in the case of a locomotive, when the gear, the wheel size, the hub size, and the engine speed are constant, a corresponding driving speed is provided, and when the vehicle is driven upwards and downwards, the actual driving speed is different from the driving speed determined by the vehicle data, so that it can be determined whether the locomotive is moving upwards, downwards, or horizontally according to the actual driving speed of the vehicle and the driving speed determined by the vehicle data.
Referring to fig. 6, as shown in fig. 6, in one embodiment, the step S131 may include the following steps:
in step S1311, a running speed at which the locomotive runs from the initial position to the current position is acquired.
In step S1312, the traveling speed is compared with a preset speed, and a moving direction of the locomotive with respect to the initial position is determined according to the comparison result.
In this embodiment, the driving speed of the locomotive from the initial position to the current position may be acquired through the locomotive bus. In addition, in the present embodiment, a preset speed is set, and the preset speed is a preset running speed determined according to vehicle data such as a tire width, a tire aspect ratio, a hub diameter, an engine speed, a final gear ratio, a gear ratio and the like of the locomotive; the preset speed is calculated as follows:
V＝[2B*ik/100+25.4D]*3.6*π*n/60*/[1000*iZ*iD]；
where V denotes a preset speed, B denotes a tire width, ik denotes an aspect ratio, D denotes a hub diameter, n denotes an engine speed, iZ denotes a final gear ratio, and iD denotes a corresponding gear ratio.
It is understood that there is a different corresponding relationship between the actual running speed of the locomotive and the preset speed according to the moving direction of the locomotive, for example, when the locomotive runs from the initial position to the current position on an uphill slope, the actual running speed should be less than the preset speed; if the locomotive runs downhill from the initial position to the current position, the actual running speed should be greater than the preset speed; if the locomotive is traveling on a flat road from the initial position to the current position, the actual traveling speed should be equal to the preset speed. Therefore, the locomotive can be determined to move upwards, downwards or horizontally relative to the initial position in the process of driving from the initial position to the current position by comparing the magnitude relation between the actual driving speed and the preset speed. Specifically, if the running speed is lower than the preset speed, the moving direction of the locomotive relative to the initial position is upward; if the running speed is equal to the preset speed, the moving direction of the locomotive relative to the initial position is a horizontal direction; if the running speed is higher than the preset speed, the moving direction of the locomotive relative to the initial position is downward.
In other embodiments, the direction of movement of the locomotive relative to the initial position may be determined in different ways using electronic devices external to the locomotive. For example, through an intelligent terminal on the locomotive, the height change condition of the intelligent terminal can be judged by utilizing equipment such as a gyroscope, a gravity sensor and the like carried by the intelligent terminal, the locomotive is judged to move upwards, downwards or horizontally according to the height change condition, and the obtained judgment result is transmitted to the locomotive; in addition, the acquired height change condition can be transmitted to the locomotive through the intelligent terminal, and the locomotive judges whether the locomotive moves upwards, downwards or horizontally.
In step S132, a current altitude value of the current position is calculated based on the moving direction, and the initial altitude value and the altitude change value.
Using the moving direction of the locomotive with respect to the initial position determined in step S131, it can be determined whether the locomotive is moving upward, downward or horizontally. If the locomotive moves upwards, the altitude change value obtained in the step S12 is set to be a positive value, and the sum of the altitude of the initial position and the altitude change value is calculated, so that the altitude value of the current position can be obtained; if the locomotive moves downwards, the altitude change value obtained in the step S12 is made to be a negative value, and the sum of the altitude of the initial position and the altitude change value is calculated, so that the altitude value of the current position can be obtained; if the locomotive moves horizontally, the altitude change value obtained in step S12 is set to 0, and the initial altitude value is the current altitude value.
Further, referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a vehicle navigation positioning device according to the present invention. As shown in fig. 7, the vehicle navigation positioning device 100 of the present embodiment includes a memory 12 and a processor 11, which are connected to each other, and may be connected by a bus or in other manners, where the memory 12 stores instructions for implementing the embodiments of the vehicle navigation positioning method shown in fig. 1 to 6; the processor 11 executes the above-mentioned instructions stored in the memory to implement the embodiments of the vehicle navigation positioning method shown in fig. 1 to 6.
The specific implementation content is the same as that of the embodiment of the vehicle navigation positioning method shown in fig. 1 to 6, and please refer to the above description of the embodiment of the vehicle navigation positioning method for details, which is not repeated herein.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a storage medium according to an embodiment of the invention. As shown in fig. 8, the storage medium 400 in the present embodiment stores executable program data 41, and the program data 41 is executed to implement the embodiments of the vehicle navigation positioning method shown in fig. 1 to 6.
In this embodiment, the storage medium 400 may be a storage medium with a storage function, such as a storage module of an intelligent terminal, a mobile storage device (e.g., a mobile hard disk, a usb disk, etc.), a network cloud disk, an application storage platform, or a server. Further, the storage medium may also be the memory 12 shown in fig. 7 described above.
Further, referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of a vehicle navigation positioning system according to the present invention. As shown in fig. 9, the car navigation positioning system 200 of the present embodiment includes the car navigation positioning device 100 shown in fig. 7; in addition, the vehicle navigation positioning system 200 further includes an initial positioning information acquiring device 21, a vehicle data acquiring device 22, and a display device 23. The initial positioning information obtaining device 21, the vehicle data obtaining device 22, and the display device 23 are respectively connected to the vehicle navigation positioning device 100, and further, the initial positioning information obtaining device 21, the vehicle data obtaining device 22, and the display device 23 are respectively connected to the processor 11 of the vehicle navigation positioning device 100.
The initial positioning information acquiring device 21 is used for acquiring initial positioning information of the locomotive, wherein the initial positioning information includes an initial altitude value, position information and the like; the vehicle data acquisition device 22 is used for acquiring vehicle data including a tire width, a tire aspect ratio, a hub diameter, an engine speed, a final gear ratio and a gear transmission ratio through a vehicle bus; the display device 23 is used for displaying the positioning information of the current position of the locomotive to the user, and the positioning information of the current position includes the current altitude value, the position information and the like.
The initial positioning information obtaining device 21 of this embodiment may be a global satellite navigation positioning system, such as a GPS, a beidou satellite positioning system, and obtains positioning by obtaining satellite data, or may be an internet of vehicles module, and is connected to a cloud through the internet of vehicles module to obtain online map data to obtain positioning, or may be a local map data storage mounted on the locomotive itself, and obtains local map data to obtain positioning by accessing the storage.
In addition, as shown in fig. 10, in another embodiment of the car navigation positioning system, the car navigation positioning system 300 may further include a voice device 24, and the voice device 24 is connected to the processor 11 of the car navigation positioning device 100 for broadcasting the positioning information of the current position of the locomotive to the user by voice.
Further, referring to fig. 11, fig. 11 is a schematic structural diagram of another embodiment of the vehicle navigation positioning system according to the present invention. As shown in fig. 11, the vehicle navigation positioning system 500 of the present embodiment may be composed of the smart device 51 of the locomotive and the storage medium 400 shown in fig. 8, and the storage medium 400 may be a cloud storage, a server or another terminal with a storage function, which is independent of the smart device 51 of the locomotive. The program data 41 stored in the storage medium 400 is imported into the intelligent device 51 of the locomotive from a cloud storage, a server or another terminal with a storage function, and the intelligent device 51 of the locomotive executes the program data 41, so as to implement the embodiments of the vehicle navigation positioning method shown in fig. 1 to 6.
In addition, the storage medium 400 of the present embodiment may also be loaded with an application program, and the application program is embedded in the smart device 51 installed to the locomotive. Specifically, the application stored in the storage medium 400 is imported into the smart device 51 of the locomotive from a cloud storage, a server, or another terminal with a storage function, and the vehicle navigation positioning method embodiments shown in fig. 1 to 6 are implemented by enabling the application.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A vehicle navigation positioning method is characterized by comprising the following steps:
acquiring an initial altitude value of the locomotive at an initial position;
acquiring an altitude change value occurring when the locomotive runs from the initial position to the current position, wherein the altitude change value comprises the following steps: acquiring a horizontal movement distance and an actual movement distance of the locomotive from the initial position to the current position; comparing the horizontal movement distance with the actual movement distance; if the horizontal moving distance is smaller than the actual moving distance, calculating an altitude change value generated when the locomotive runs from the initial position to the current position according to the horizontal moving distance and the actual moving distance;
calculating to obtain a current altitude value of the current position according to the initial altitude value and the altitude change value between the initial position and the current position, including: determining a direction of movement of the locomotive relative to the initial position; calculating the current altitude value of the current position according to the moving direction, the initial altitude value and the altitude change value; wherein said determining a direction of movement of said locomotive relative to said initial position comprises: acquiring the running speed of the locomotive from the initial position to the current position; comparing the running speed with a preset speed, and determining the moving direction of the locomotive relative to the initial position according to the comparison result;
and positioning the current position of the locomotive by using the current altitude value.
2. The method of claim 1, wherein said obtaining an initial altitude value for the locomotive at an initial position comprises:
acquiring an altitude value of the locomotive at the initial position by using satellite data, network data or map data, and taking the altitude value as the initial altitude value; or
And acquiring the current altitude value obtained by the last calculation, and taking the current altitude value obtained by the last calculation as the initial altitude value.
3. The method of claim 1, wherein said obtaining an altitude change value occurring while said locomotive is traveling from said initial position to a current position, further comprises:
and if the horizontal moving distance is equal to the actual moving distance, making the altitude change value be zero.
4. The method of claim 1, wherein said determining a direction of movement of said locomotive relative to said initial position comprises:
if the running speed is lower than the preset speed, the moving direction of the locomotive relative to the initial position is upward;
if the running speed is equal to the preset speed, the moving direction of the locomotive relative to the initial position is a horizontal direction;
if the running speed is higher than the preset speed, the moving direction of the locomotive relative to the initial position is downward.
5. A vehicle navigation and positioning device, comprising a memory and a processor coupled to each other, wherein:
the memory stores instructions for implementing the vehicle navigation positioning method of any one of claims 1-4;
the processor executes the instructions in the memory.
6. A storage medium characterized by storing program data executable to implement the vehicle navigation positioning method according to any one of claims 1 to 4.
7. A vehicle navigation positioning system, comprising an initial positioning information obtaining device, a vehicle data obtaining device, a display device, and the vehicle navigation positioning device of claim 5 or the storage medium of claim 6, wherein the initial positioning information obtaining device, the vehicle data obtaining device, and the display device are respectively connected with the vehicle navigation positioning device or the storage medium;
the initial positioning information acquisition device is used for acquiring initial positioning information of the locomotive;
the vehicle data acquisition device is used for acquiring vehicle data including tire width, tire aspect ratio, hub diameter, engine speed, final transmission ratio and gear transmission ratio;
the display device is used for displaying positioning information of the current position of the locomotive.
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| CN111830544B (en) * | 2020-07-02 | 2024-01-05 | 合肥移顺信息技术有限公司 | Method, device, system and storage medium for vehicle positioning |
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