CN112213689A - Navigation method, positioning method, device and equipment - Google Patents
Navigation method, positioning method, device and equipment Download PDFInfo
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- CN112213689A CN112213689A CN201910615172.2A CN201910615172A CN112213689A CN 112213689 A CN112213689 A CN 112213689A CN 201910615172 A CN201910615172 A CN 201910615172A CN 112213689 A CN112213689 A CN 112213689A
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- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000004891 communication Methods 0.000 claims description 13
- 230000015654 memory Effects 0.000 claims description 11
- 238000010586 diagram Methods 0.000 description 7
- 230000004044 response Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
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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
- G01C21/30—Map- or contour-matching
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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
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
Abstract
The embodiment of the invention provides a navigation method, a positioning method, a device and equipment, wherein the positioning method comprises the following steps: a moving body moving on a first road surface or a second road surface receives signals transmitted by a signal transmitter arranged on the first road surface, wherein the first road surface and the second road surface are two road surfaces with different heights; the height of the moving body is determined according to the signal characteristics of the signals, so that the positioning of the height situation of the moving body is realized.
Description
Technical Field
The invention relates to the technical field of internet, in particular to a navigation method, a positioning method, a device and equipment.
Background
In many practical application scenarios, there is a need for positioning moving objects. Among them, the most common requirement for locating moving objects is the vehicle navigation scenario. In a vehicle navigation scene, a real-time position of a vehicle needs to be located so as to perform corresponding driving reminding on a driver, for example, reminding the driver of turning left in a front meter and reminding the driver of where the front camera is.
Taking a vehicle navigation scene as an example, based on the current positioning means, the positioning of the longitude and latitude position of the vehicle can be mostly realized, for example, the vehicle position obtained based on the common GPS positioning manner is the longitude and latitude position, but the positioning of the driving height condition of the vehicle cannot be realized, especially when the vehicle drives in the range of the viaduct.
Disclosure of Invention
The embodiment of the invention provides a navigation method, a positioning device and equipment, which are used for positioning the height condition of a moving body.
In a first aspect, an embodiment of the present invention provides a positioning method, where the method includes:
a moving body moving on a first road surface or a second road surface receives signals transmitted by a signal transmitter arranged on the first road surface, wherein the first road surface and the second road surface are two road surfaces with different heights;
and determining the height of the moving body according to the signal characteristics of the signal.
In a second aspect, an embodiment of the present invention provides a positioning apparatus, including:
the receiving module is used for receiving signals transmitted by a signal transmitter deployed on a first road surface by a moving body moving on the first road surface or a second road surface, wherein the first road surface and the second road surface are two road surfaces with different heights;
and the determining module is used for determining the height of the moving body according to the signal characteristics of the signal.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a processor and a memory, where the memory stores executable code, and when the executable code is executed by the processor, the processor is enabled to implement at least the positioning method in the first aspect.
In a fourth aspect, an embodiment of the present invention provides a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to implement at least the positioning method of the first aspect.
In a fifth aspect, an embodiment of the present invention provides a navigation method, where the method includes:
a vehicle moving on a first road surface or a second road surface receives signals transmitted by a signal transmitter arranged on the first road surface, wherein the first road surface and the second road surface are two road surfaces with different heights;
determining a height at which the vehicle is located based on a signal characteristic of the signal.
In a sixth aspect, an embodiment of the present invention provides a navigation device, including:
the receiving module is used for receiving signals transmitted by signal transmitters arranged on a first road surface by a vehicle moving on the first road surface or a second road surface, wherein the first road surface and the second road surface are two road surfaces with different heights;
a determination module for determining a height at which the vehicle is located based on a signal characteristic of the signal.
In a seventh aspect, an embodiment of the present invention provides an electronic device, which includes a processor and a memory, where the memory stores executable code, and when the executable code is executed by the processor, the processor is enabled to implement at least the navigation method in the fifth aspect.
In the embodiment of the present invention, it is assumed that two road surfaces having different heights at a position where a moving body (such as a vehicle) is currently located: the first road surface and the second road surface may be provided with a specific signal transmitter for transmitting signals on one of the road surfaces, such as the first road surface, in order to accurately locate whether the road surface on which the mobile body is currently located is the first road surface or the second road surface, i.e., to determine the height of the mobile body currently located. Based on the signal, the mobile body can receive the signal transmitted by the signal transmitter through the signal receiver arranged on the mobile body, and the height of the mobile body is determined according to the signal characteristics of the signal, so that the positioning of the height condition of the mobile body is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a positioning method according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a deployment scenario of a signal transmitter according to an embodiment of the present invention;
fig. 3 is a flowchart of another positioning method according to an embodiment of the present invention;
fig. 4 is a flowchart of another positioning method according to an embodiment of the present invention;
FIG. 5 is a flowchart of a navigation method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device corresponding to the positioning apparatus provided in the embodiment shown in fig. 6;
fig. 8 is a schematic structural diagram of a navigation device according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device corresponding to the navigation device provided in the embodiment shown in fig. 8.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.
Fig. 1 is a flowchart of a positioning method according to an embodiment of the present invention, which can be applied to a mobile body, as shown in fig. 1, and the method includes the following steps:
101. a moving body moving on a first road surface or a second road surface receives a signal emitted by a signal emitter disposed on the first road surface, the first road surface and the second road surface being two road surfaces of different heights.
102. The height at which the mobile body is located is determined based on the signal characteristics of the received signal.
The moving body, the signal transmitter, the signal receiver, the first road surface, and the second road surface referred to herein will be briefly described.
The mobile body may be any device with a moving capability, such as a vehicle or a movable robot, or may be a user terminal device that passively moves along with the movement of a person, such as a mobile phone or a wearable device. The device may have data processing capabilities and communication capabilities, for example, one or more processors and memories in the device, and to implement the communication capabilities, the device may further have one or more communication devices including a signal receiver corresponding to the signal transmitter.
As indicated above: the first road surface and the second road surface are two road surfaces with different heights, and are usually found in a viaduct scene in real life, that is, a moving body can move on the viaduct and under the viaduct, for example, a vehicle can run on the viaduct in the east-west direction and can also run under the viaduct in the same direction. In this scenario, the first road surface and the second road surface are an over-bridge road surface and an under-bridge road surface, respectively. Of course, the method is not limited to the viaduct scenario, and the first road surface and the second road surface meeting the characteristic in any other scenario are all applicable to the positioning method provided by the embodiment of the invention.
It will be appreciated that it is not required here that the first and second road surfaces are perfectly parallel in the vertical direction. In short, the moving body can move in a uniform direction both above and below the bridge, and the uniform direction means that the entire moving tendency is the same.
The signal transmitter herein may be deployed on a first road surface or alternatively, may be deployed on a second road surface, with the signal receiver being located on the mobile body. In practical applications, taking the example that the signal emitter is deployed on the first road surface, the signal emitter may be laid on a roadbed of the first road surface, or may be installed at another facility provided on the first road surface, such as a certain position on a street lamp, for example, the top of a street lamp post.
As shown in fig. 2, fig. 2 illustrates a case where signal transmitters are installed on a plurality of lamp posts on a first road surface (e.g., a road surface on a bridge).
In addition, in order to satisfy a situation where the mobile body can move at a high speed, such as a situation where the vehicle is traveling at a high speed, the signal transmitter and the signal receiver may be selected from communication devices supporting a high-speed transmission rate, such as communication devices supporting a 5G (fifth generation mobile communication technology) communication protocol.
The core purpose of the positioning method provided by the embodiment of the invention is as follows: assume that the moving body is currently located on two road surfaces with different heights: the first road surface and the second road surface are required to determine whether the road surface on which the mobile body is currently located is the first road surface or the second road surface, that is, to determine the height of the mobile body.
To achieve this, a specific certain signal transmitter, such as a signal transmitter supporting 5G communication capability, may be installed on the first road surface or the second road surface.
The following description will be given taking an example in which the signal transmitter is mounted on the first road surface.
It will be appreciated that a plurality of signal emitters may be mounted at spaced intervals on the first road surface, and that one or more signal emitters may be provided at each end of the first road surface in order to achieve positioning of the road surface on which the mobile body is located, in the vicinity of the junction between the first road surface and the second road surface. Wherein each signal transmitter may be configured to transmit a specific signal, such as a broadcast transmission beacon signal, a probe signal, or other predetermined signal.
Based on the above, assuming that a mobile body is currently moving on a first road surface or a second road surface, and assuming that a signal receiver on the mobile body can receive a signal transmitted by a signal transmitter disposed on the first road surface, the mobile body can determine whether the road surface on which the mobile body is currently located is the first road surface or the second road surface according to the signal characteristics of the signal, thereby realizing the positioning of the height situation of the mobile body.
The following explains how the moving body determines the road surface on which the moving body is currently located according to the signal characteristics of the signal.
Optionally, the signal characteristics may include: signal strength or signal direction.
Assuming that the first road surface on which the signal emitter is installed is higher than the second road surface, for example, the first road surface is an over-bridge road surface, and the second road surface is an under-bridge road surface, the positioning of the height of the moving body can be realized by the following two alternative embodiments:
in an alternative embodiment, the mobile body may determine the height at which the mobile body is located based on the signal direction of the received signal, assuming that the deployment height of the signal transmitter on the first road surface is lower than the signal receiver on the mobile body.
The following is a detailed description of how to determine the height, i.e., the road surface, at which the mobile object is located according to the signal direction of the received signal in this alternative embodiment. Assuming that the moving body is currently located on the first road, since the signal receiver on the moving body is located at a higher elevation than the signal transmitter, the signal received by the moving body moving on the first road exhibits a bottom-up directional characteristic. Conversely, assuming that the mobile body is currently located on a second road surface, then even if the mobile body is able to receive the signal emitted by the signal emitter located on the first road surface, the signal will also exhibit a top-down directional characteristic. It follows that, in the case where the signal transmitter is disposed on a first road surface which is higher than the height of the signal receiver on the mobile body relative to the first road surface, if the signal received by the mobile body exhibits a bottom-up directional characteristic, it can be determined that the mobile body is located on the first road surface (i.e., located on the higher road surface), whereas if the signal received by the mobile body exhibits a top-down directional characteristic, it can be determined that the mobile body is located on a second road surface (i.e., located on the lower road surface).
It should be noted that, in practical applications, the antenna array of the signal transmitter may be set according to practical requirements, so that the signal transmitted by the signal transmitter has a suitable coverage angle and strength.
In another alternative embodiment, the mobile body may determine the altitude at which the mobile body is located based on the signal strength of the signal, assuming that the deployment altitude of the signal transmitter on the first road surface is higher than the signal receiver on the mobile body.
The following is a detailed description of how to determine the height at which the mobile object is located, i.e., the road surface, based on the signal strength of the received signal in this alternative embodiment. Suppose that the moving object is currently located on the first road, and suppose that the signal intensity of a signal transmitted by a certain signal transmitter received by the moving object at the moment is A. Further assume that the moving body is currently located on the second road, and assume that the moving body receives the same signal transmitted by the signal transmitter at this time with signal strength B. It can be understood that the horizontal direction positions (longitude and latitude positions) of the moving body on the first road and the second road are not greatly different. Since the signal transmitter is located on the first road surface, the signal strength a is greater than the signal strength B according to the characteristic that the strength of the wireless signal attenuates as the distance increases. Therefore, in practical applications, a certain threshold may be set according to a test, so that, in a case where the signal transmitter is disposed on a higher first road surface and the disposition height of the signal transmitter on the first road surface is higher than the height of the signal receiver on the mobile body with respect to the first road surface, if the strength of the signal received by the mobile body is greater than the threshold, it may be determined that the mobile body is located on the first road surface, whereas if the strength of the signal received by the mobile body is less than the threshold, it may be determined that the mobile body is located on the second road surface.
Based on the principles of the two alternative embodiments, if the signal transmitter is deployed on a second lower road surface, the mobile body may also determine the height, i.e. the road surface, according to the signal direction and the signal strength of the transmitted signal. For example, if the height of the position of the signal transmitter mounted on the second lower road surface is lower than the height of the position of the signal receiver on the mobile body with respect to the second road surface, the height at which the mobile body is located can be determined based on the signal strength of the received signal. If the height of the position of the signal transmitter installed on the second lower road surface is higher than the height of the position of the signal receiver on the mobile body with respect to the second road surface, the height at which the mobile body is located can be determined from the signal direction of the received signal.
In summary, a specific signal emitter is arranged on one of the two road surfaces, and a corresponding signal receiver is arranged on the moving body, so that the moving body can accurately locate the height of the moving body based on the received characteristics of the signal emitted by the signal emitter.
Fig. 3 is a flowchart of another positioning method according to an embodiment of the present invention, as shown in fig. 3, the method includes the following steps:
301. a moving body moving on a first road surface or a second road surface receives a signal emitted by a signal emitter disposed on the first road surface, the first road surface and the second road surface being two road surfaces of different heights.
302. And inquiring the road surface description information corresponding to the equipment identification according to the equipment identification of the signal transmitter contained in the received signal.
303. And determining the height of the moving body according to the inquired road surface description information.
Each signal transmitter has a unique device identification, which may be the device serial number, MAC address, etc. identification information of the signal transmitter. Many electronic devices may be connected to the internet based on the development of the I Pv6 technology, upon which a network address (I P address) may be assigned to each signal transmitter, and thus the device identification may also be the assigned network address.
In practical application, in the process of deploying the signal transmitter, a corresponding relation between the equipment identification of the signal transmitter and the description information of the pavement on which the signal transmitter is deployed can be established. For example, A, B, C three signal emitters are deployed on a road surface, the corresponding relationship between the description information of the road surface and the signal emitter a, the signal emitter B, and the signal emitter C can be established. The correspondence may be stored in the cloud. The road surface description information may include information indicating whether the road surface is an overhead road surface or an underground (ground) road surface, and may further include identification information of the road surface, such as a name. For example, assuming a bridge with the name X is located, the road surface on the bridge can be described as: on the X-bridge, the under-bridge pavement can be described as: under the X bridge.
Additionally, the signal transmitter may also be configured to periodically transmit a signal carrying its device identification at short time intervals. Moreover, the intensity and direction of the signal emitted by the signal emitter can be configured, so that the signal only covers the road surface where the signal emitter is located, and the signal does not cover other road surfaces which are adjacent up and down. Therefore, assuming that the signal emitter is disposed on the first road, after receiving the signal which is emitted by the mobile body and contains the equipment identifier, the mobile body moving on the first road can obtain the corresponding road description information according to the equipment identifier, so that whether the mobile body is located on the first road or on a second road above or below the first road can be known according to the road description information.
Taking a moving body as a vehicle, a first road surface as an over-bridge road surface and a second road surface as an under-bridge road surface as an example, an execution process of the positioning method provided by the embodiment of the invention in a vehicle navigation scene is exemplarily described below.
Fig. 4 is a flowchart of another positioning method according to an embodiment of the present invention, as shown in fig. 4, the method includes the following steps:
401. and positioning the longitude and latitude position of the vehicle on the navigation map.
402. And if the longitude and latitude positions are determined to have the bridges according to the bridge information contained in the navigation map, starting the signal receiver.
403. And receiving signals transmitted by signal transmitters arranged on the road surface on the bridge.
404. And determining the road surface on which the vehicle is positioned according to the signal characteristics of the signal.
I.e. the height at which the vehicle is located is determined on the basis of the signal characteristics of the signal.
405. And positioning the vehicle to a position corresponding to the longitude and latitude positions of the vehicle on the road surface above the bridge or the road surface below the bridge on the navigation map according to the positioning result of the road surface on which the vehicle is positioned.
Before specifically describing the positioning method provided by the embodiment, the necessity of positioning the vehicle on the viaduct or under the viaduct in the vehicle navigation scene is briefly described.
During actual driving, such experience is encountered: the user is clearly driving on the viaduct, but the navigation gives prompt information such as a left turn m meters ahead, a traffic light n meters ahead and the like; or the user is clear to be driving under the viaduct, the front is provided with a red light, but the navigation gives prompt information such as please go straight. These situations occur primarily because of the inability to accurately locate whether the vehicle is currently located on or under the bridge.
Therefore, the positioning method provided by the embodiment can accurately position whether the vehicle is on the bridge or under the bridge.
Specifically, assuming that the user uses a navigation application during the current driving, the longitude and latitude position of the vehicle can be located on the navigation map based on the conventional positioning method. Such as a GPS positioning method. That is, as the vehicle moves, the latitude and longitude positions of the vehicle can be located on the navigation map in real time.
Besides the real-time longitude and latitude positions of the vehicles, the navigation map also comprises map elements such as buildings, bridges and the like. Based on the bridge information contained on the navigation map, the signal receiver may be turned on if it is found that the vehicle has a bridge at the current longitude and latitude position. Based on the method, the signal receiver can be started when the vehicle runs to the fork of the bridge and the fork under the bridge. Therefore, the resource endless consumption caused by the signal receiver always keeping the working state is avoided.
If the signal transmitter is deployed on the road surface on the bridge, the signal receiver is turned on, so that the signal transmitted by the signal transmitter on the bridge can be received, and the road surface on which the vehicle is located can be determined based on the signal characteristics of the received signal, namely, whether the vehicle is located on the bridge or under the bridge is determined. For a specific positioning process, reference may be made to the description in the foregoing embodiments, which is not described in detail.
When the vehicle obtains the positioning result of the road surface where the vehicle is located, the vehicle can be positioned to the position corresponding to the longitude and latitude position of the vehicle on the road surface above the bridge or on the road surface below the bridge on the navigation map. That is, if the positioning result indicates that the vehicle is currently on the bridge, marking the vehicle at a position on the road surface on the bridge corresponding to the longitude and latitude position to indicate that the vehicle is currently located at the longitude and latitude position on the bridge; on the contrary, if the positioning result indicates that the vehicle is currently under the bridge, the vehicle is marked at the position corresponding to the longitude and latitude position on the road surface under the bridge so as to indicate that the vehicle is currently positioned at the longitude and latitude position under the bridge.
Based on the positioning result of the vehicle on the bridge or under the bridge, the navigation application can make the driving guide more accurately.
An embodiment of the present invention further provides a navigation method, as shown in fig. 5, the method may include the following steps:
501. a vehicle moving on a first road surface or a second road surface receives signals transmitted by a signal transmitter arranged on the first road surface, wherein the first road surface and the second road surface are two road surfaces with different heights.
502. The height at which the vehicle is located is determined from the signal characteristics of the signal.
As mentioned above, in practical applications, the first road surface and the second road surface may be an over-bridge road surface and an under-bridge road surface of the viaduct, respectively. At this time, the height of the vehicle is determined, which is actually to determine whether the vehicle is on the first road surface or the second road surface, and the specific determination process can be referred to the description in the foregoing embodiment.
Optionally, the navigation method may further include the steps of:
503. the longitude and latitude positions of the vehicle are obtained.
504. And positioning the vehicle to a position corresponding to the longitude and latitude position on a target road surface corresponding to the height in the navigation map, wherein the target road surface is a first road surface or a second road surface corresponding to the height at which the vehicle is positioned.
505. And outputting corresponding navigation information according to the positioning result of the vehicle position.
If the current height condition of the vehicle is determined to be on the first road surface or the second road surface, and if the vehicle is located on the first road surface, the accurate position of the vehicle on the first road surface can be accurately located by combining the longitude and latitude positions of the current vehicle. Therefore, corresponding navigation information can be output according to the positioning result of the vehicle position.
The positioning device of one or more embodiments of the present invention will be described in detail below. Those skilled in the art will appreciate that these positioning devices can each be constructed using commercially available hardware components configured through the steps taught in this disclosure.
Fig. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present invention, as shown in fig. 6, the positioning device includes: the device comprises a receiving module 11 and a determining module 12.
The receiving module 11 is configured to receive a signal transmitted by a signal transmitter disposed on a first road surface by a moving body moving on the first road surface or a second road surface, where the first road surface and the second road surface are two road surfaces with different heights.
A determining module 12 for determining the height at which the moving body is located according to the signal characteristics of the signal.
Optionally, the signal feature is an equipment identifier of the signal transmitter, and at this time, the determining module 12 may specifically be configured to: inquiring the pavement description information corresponding to the equipment identification; and determining the road surface on which the moving body is positioned according to the inquired road surface description information.
Wherein, optionally, the device identifier is a network address corresponding to the signal transmitter.
Optionally, the signal features include: signal strength or signal direction.
In an alternative embodiment, the first road surface is higher than the second road surface.
In this alternative embodiment, assuming that the deployment height of the signal transmitter on the first road is lower than that of the signal receiver on the mobile body, the determining module 12 may specifically be configured to: and determining the height of the moving body according to the signal direction of the signal. Assuming that the deployment height of the signal transmitter on the first road is higher than that of the signal receiver on the mobile body, the determining module 12 may specifically be configured to: and determining the height of the mobile body according to the signal strength of the signal.
Optionally, the moving body is a vehicle, and the first road surface and the second road surface are an over-bridge road surface and an under-bridge road surface, respectively, in this case, the apparatus may further include: the processing module is used for positioning the longitude and latitude position of the vehicle on the navigation map; and positioning the vehicle to a position corresponding to the longitude and latitude position on the road surface above the bridge or the road surface below the bridge on a navigation map according to the positioning result of the height of the vehicle.
Optionally, the processing module is further configured to: after the longitude and latitude positions of the vehicle are located on the navigation map, if the longitude and latitude positions are determined to have bridges according to bridge information contained in the navigation map, a signal receiver is started.
Optionally, the signal transmitter is disposed on a roadbed of the first road surface, or the signal transmitter is disposed on a street lamp on the first road surface.
Optionally, the signal transmitter is a signal transmitter supporting a 5G communication protocol.
The positioning apparatus shown in fig. 6 can perform the method provided in the embodiments shown in fig. 1 to fig. 4, and parts not described in detail in this embodiment may refer to the related description of the embodiments, which are not described herein again.
In one possible design, the structure of the positioning device shown in fig. 6 may be implemented as an electronic device. As shown in fig. 7, the electronic device may include: a first processor 21, a first memory 22. Wherein the first memory 22 has stored thereon executable code, which when executed by the first processor 21, at least makes the first processor 21 capable of implementing the positioning method as provided in the embodiments of fig. 1 to 4.
The electronic device may further include a first communication interface 23 configured to communicate with other devices or a communication network.
In addition, an embodiment of the present invention provides a non-transitory machine-readable storage medium, on which executable code is stored, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the positioning method provided in the foregoing embodiments shown in fig. 1 to 4.
Fig. 8 is a schematic structural diagram of a navigation device according to an embodiment of the present invention, as shown in fig. 8, the navigation device includes: a receiving module 31 and a determining module 32.
The receiving module 31 is configured to receive a signal transmitted by a signal transmitter disposed on a first road surface by a vehicle moving on the first road surface or a second road surface, where the first road surface and the second road surface are two road surfaces with different heights.
A determination module 32 for determining a height at which the vehicle is located based on a signal characteristic of the signal.
Wherein, optionally, the determining module 32 is further configured to: acquiring longitude and latitude positions of the vehicle; and positioning the vehicle to a position corresponding to the longitude and latitude position on a target road surface corresponding to the height in a navigation map, wherein the target road surface is the first road surface or the second road surface corresponding to the height.
Optionally, the apparatus may further include: and the output module is used for outputting corresponding navigation information according to the positioning result of the vehicle position.
The positioning apparatus shown in fig. 8 can perform the method provided in the embodiment shown in fig. 5, and parts not described in detail in this embodiment may refer to the related description of the foregoing embodiment, which is not described again here.
In one possible design, the structure of the navigation device shown in fig. 8 can be implemented as an electronic device. As shown in fig. 9, the electronic device may include: a second processor 41, a second memory 42. Wherein the second memory 42 has stored thereon executable code which, when executed by the second processor 41, at least makes the second processor 41 capable of implementing the navigation method as provided in the embodiment illustrated in fig. 5 described above.
The electronic device may further include a second communication interface 43 for communicating with other devices or a communication network.
In addition, an embodiment of the present invention provides a non-transitory machine-readable storage medium, on which executable code is stored, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the navigation method provided in the foregoing embodiment shown in fig. 5.
The above-described apparatus embodiments are merely illustrative, wherein the various modules illustrated as separate components may or may not be physically separate. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by adding a necessary general hardware platform, and of course, can also be implemented by a combination of hardware and software. With this understanding in mind, the above-described aspects and portions of the present technology which contribute substantially or in part to the prior art may be embodied in the form of a computer program product, which may be embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including without limitation disk storage, CD-ROM, optical storage, and the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (17)
1. A method of positioning, comprising:
a moving body moving on a first road surface or a second road surface receives signals transmitted by a signal transmitter arranged on the first road surface, wherein the first road surface and the second road surface are two road surfaces with different heights;
and determining the height of the moving body according to the signal characteristics of the signal.
2. The method of claim 1, wherein the signal characteristic is a device identification of the signal transmitter;
the determining the height at which the moving body is located according to the signal characteristics of the signal includes:
inquiring the pavement description information corresponding to the equipment identification;
and determining the height of the mobile body according to the inquired road surface description information.
3. The method of claim 2, wherein the device identification is a network address corresponding to the signal transmitter.
4. The method of claim 1, wherein the signal features comprise: signal strength or signal direction.
5. The method of claim 4, wherein the first road surface is higher than the second road surface.
6. The method of claim 5, wherein the signal transmitter is deployed at a lower elevation on the first roadway than a signal receiver on the mobile body;
the determining the height at which the moving body is located according to the signal characteristics of the signal includes:
and determining the height of the moving body according to the signal direction of the signal.
7. The method of claim 5, wherein the signal transmitter is deployed at a higher elevation on the first roadway than a signal receiver on the mobile body;
the determining the height at which the moving body is located according to the signal characteristics of the signal includes:
and determining the height of the mobile body according to the signal strength of the signal.
8. The method of any one of claims 1 to 7, wherein the signal transmitter is deployed on a roadbed of the first roadway or the signal transmitter is deployed on a street light on the first roadway.
9. The method of any one of claims 1 to 7, wherein the signal transmitter is a signal transmitter supporting a 5G communication protocol.
10. The method according to any one of claims 1 to 7, wherein the mobile body is a vehicle, and the first road surface and the second road surface are an on-bridge road surface and an off-bridge road surface, respectively.
11. The method of claim 10, further comprising:
positioning the longitude and latitude position of the vehicle on a navigation map;
and positioning the vehicle to a position corresponding to the longitude and latitude position on the road surface above the bridge or the road surface below the bridge on a navigation map according to the positioning result of the height of the vehicle.
12. The method of claim 10, further comprising:
and if the longitude and latitude positions are determined to have the bridges according to the bridge information contained in the navigation map, starting a signal receiver.
13. A positioning device, comprising:
the receiving module is used for receiving signals transmitted by a signal transmitter deployed on a first road surface by a moving body moving on the first road surface or a second road surface, wherein the first road surface and the second road surface are two road surfaces with different heights;
and the determining module is used for determining the height of the moving body according to the signal characteristics of the signal.
14. An electronic device, comprising: a memory, a processor; wherein the memory has stored thereon executable code which, when executed by the processor, causes the processor to perform the positioning method of any of claims 1 to 12.
15. A navigation method, comprising:
a vehicle moving on a first road surface or a second road surface receives signals transmitted by a signal transmitter arranged on the first road surface, wherein the first road surface and the second road surface are two road surfaces with different heights;
determining a height at which the vehicle is located based on a signal characteristic of the signal.
16. The method of claim 15, further comprising:
acquiring longitude and latitude positions of the vehicle;
and positioning the vehicle to a position corresponding to the longitude and latitude position on a target road surface corresponding to the height in a navigation map, wherein the target road surface is the first road surface or the second road surface corresponding to the height.
17. The method of claim 16, further comprising:
and outputting corresponding navigation information according to the positioning result of the vehicle position.
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| CN201910615172.2A CN112213689A (en) | 2019-07-09 | 2019-07-09 | Navigation method, positioning method, device and equipment |
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| CN201910615172.2A CN112213689A (en) | 2019-07-09 | 2019-07-09 | Navigation method, positioning method, device and equipment |
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