CN1996039B - Method, device, and apparatus for recording navigation path, and navigation method - Google Patents
Method, device, and apparatus for recording navigation path, and navigation method Download PDFInfo
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- CN1996039B CN1996039B CN2006101579163A CN200610157916A CN1996039B CN 1996039 B CN1996039 B CN 1996039B CN 2006101579163 A CN2006101579163 A CN 2006101579163A CN 200610157916 A CN200610157916 A CN 200610157916A CN 1996039 B CN1996039 B CN 1996039B
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Abstract
The invention belongs to the navigation technical field. It provides a guiding track recording method, apparatus, equipment and navigation method, comprising: acquiring the guiding target latitude and longitude values by received GPS signal, analyzing the values, deciding whether the points already on the electronic map data base, recording the road section passed through on the track if it is yes, otherwise recording the latitude and longitude values on the track, and storing the track in the electronic map database; the information of the road section includes the transportation regulation information. Analyzing the acquired longitude and latitude value, deciding road guide or rail guide, reminding the customer based on the regular road guiding on whether the track is drifted or going off course, meeting the course recording requirements of customers, making the most of the recorded track.
Description
Technical field
The invention belongs to navigation field, relate in particular to a kind of recording method, device, equipment and air navigation aid of navigation path.
Background technology
GPS (Global Positioning System, GPS) utilize Navsat to carry out regularly, locate and range finding, can in worldwide, realize round-the-clock, comprehensive three dimensions, speed and the temporal information that real-time high-precision is provided for sea, land and aerial user continuously.This system mainly is made up of three parts, i.e. space segment, Ground Control part and user's set part.Space segment is made up of 24 satellites, is distributed on the plane, 6 roads.Ground Control part is by the master station of the work of being in charge of, coordinating whole ground control system, under the control of master station, injects the ground-plane antenna of seeking text, forms as the monitoring station and the communication backup system of automatic data acquisition center to satellite.The user's set part mainly is made up of GPS receiver and satellite antenna.The GPS receiver is divided into geodetic type, full site type, timing type, handheld, integrated-type according to model, is divided into vehicular, boat-carrying formula, machine-carried type, spaceborne formula, missile-borne formula according to purposes.
At present, gps system has been widely used in automobile navigation, emergency reaction, atmospheric physics observation, the geophysics resource exploration, engineering survey, deformation monitoring, the earth movement monitoring, use on land such as urban planning control, the best voyage of ocean-going vessel course line is measured, ship Real-Time Scheduling and navigation, ocean rescue, hunt for treasure in the ocean, hydrogeological survey and ocean platform location, use oceans such as eustasy monitoring, and aircraft navigation, the control of airborne remote sensing attitude, low orbit satellite orbit determination, missile guidance, in the aerospace applications such as air rescue and manned spacecraft protection detection.
In vehicle mounted guidance, the GPS navigation equipment that the user uses can be personal digital assistant (PersonalDigital Assistant, PDA), electronic equipment such as portable terminal, MP3, MP4, electronics wrist formula equipment and all kinds of miniature electronic instrument, the GPS navigation system is installed in the equipment.In when navigation, the departure place that system is selected according to the user, destination, via ground, avoid ground by corresponding navigation path planning principle, for example highway is preferential, shortest time principle, shortest distance principle etc. calculate a bar navigation path.In the vehicle ' process, the gps signal that system receives according to the gps receiver on the equipment, determine navigation object present located position, moving direction, speed etc., be combined into the guidance path that the user calculates, the user is navigated according to the system electronic map data base.
Track is meant the record of course in the actual navigation procedure of GPS navigation system, and these routes may be by way of road network, zone, no road that also may be outside road network.Since in the GPS navigation system electronic map updating upgrading can not be fully and the actual pace of construction of road network be consistent.Much relate in the GPS navigation system true environment in unwritten highway section in the electronic chart for new tourism forms such as self-driving travels in addition.Therefore the GPS navigation user needs to write down the road section information of existing road network in the electronic chart of GPS navigation system, also needs to write down the information in unwritten highway section in the electronic chart of GPS navigation system simultaneously.
Record as true driving process, the utilization once more of the track that has write down is very valuable, once on electronic chart, there is not a road network record such as preceding, but the track that travels in the zone that road network is arranged in the true environment, perhaps, before once at the track that does not have to travel under the true environment of road network, can both instruct same next time travelling.Certainly,, the record of a preceding driving trace can be arranged, also can help the user to repeat last driving process easily with following the prescribed order even road network is complete in the electronic chart.Therefore, how more the navigation path that write down of the use of hommization also is the problem that needs solve.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of recording method of navigation path, and being intended to solve existing GPS navigation system can't the recording user navigation path, is not easy to the problem that the user utilizes.
The embodiment of the invention is achieved in that a kind of recording method of navigation path, said method comprising the steps of: the latitude and longitude value of obtaining navigation object approach point according to the gps signal that receives;
Latitude and longitude value to the approach point that obtains is analyzed, determine that approach point is whether in electronic map database on the existing road, be then with navigation object by way of the highway section record track, otherwise the latitude and longitude value of navigation object approach point is recorded track, and described track is saved in the system electronic map data base;
The traffic rules information that includes described highway section in the described road section information.
Another purpose of the embodiment of the invention is to provide a kind of pen recorder of navigation path, and described device comprises:
Approach point latitude and longitude value acquisition module is used for obtaining according to the gps signal that receives the latitude and longitude value of navigation object approach point;
Approach point determined property module is used for the latitude and longitude value of the approach point that obtains is analyzed, and determines that approach point is whether in electronic map database on the existing road;
The track record module, be used for analyzing in latitude and longitude value to the approach point that obtains, determine that the approach point is in electronic map database on the existing road time, with navigation object by way of the highway section record track, and analyze in latitude and longitude value to the approach point that obtains, determine approach point not in electronic map database on the existing road time, the latitude and longitude value of navigation object approach point is recorded track; And
Track is preserved module, is used for described track is saved in the system electronic map data base;
The traffic rules information that includes described highway section in the described road section information.
Another purpose of the embodiment of the invention is to provide a kind of GPS navigation equipment, and described equipment comprises a kind of pen recorder of navigation path, and described device comprises:
Approach point latitude and longitude value acquisition module is used for obtaining according to the gps signal that receives the latitude and longitude value of navigation object approach point;
Approach point determined property module is used for the latitude and longitude value of the approach point that obtains is analyzed, and determines that approach point is whether in electronic map database on the existing road;
The track record module, be used for analyzing in latitude and longitude value to the approach point that obtains, determine that the approach point is in electronic map database on the existing road time, with navigation object by way of the highway section record track, and analyze in latitude and longitude value to the approach point that obtains, determine approach point not in electronic map database on the existing road time, the latitude and longitude value of navigation object approach point is recorded track; And
Track is preserved module, is used for described track is saved in the system electronic map data base;
The traffic rules information that includes described highway section in the described road section information.
Another purpose of the embodiment of the invention is to provide a kind of method of utilizing navigation path to realize navigation, and described method comprises the steps: to obtain the latitude and longitude value of navigation object approach point;
Latitude and longitude value to the approach point that obtains is analyzed, determine the navigation of road guide or track, under the track that has the highway section record, remind the user, under the track that does not have the highway section record, depart from threshold value and remind the user whether to go off course according to the track of storing by user's setting according to conventional road guide;
The traffic rules information that includes described highway section in the described road section information.
The track recording method that the embodiment of the invention provides not only writes down the track on the highway section of navigation object in existing road network, also write down the track that does not have the highway section sign in the road network, when the track of user's service recorder, latitude and longitude value to the approach point that obtains is analyzed, determine the navigation of road guide or track, satisfied the user to write down and make full use of the demand of the track that write down by way of route.
Description of drawings
Fig. 1 is the realization flow figure of the navigation path recording method that provides of the embodiment of the invention;
Fig. 2 is the structural drawing of the navigation path pen recorder that provides of the embodiment of the invention;
Fig. 3 is that the track that utilizes that the embodiment of the invention provides carries out the realization flow figure of actual navigation;
Fig. 4 is that the track that utilizes that the embodiment of the invention provides carries out the realization flow figure of analogue navigation.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
In embodiments of the present invention, the GPS navigation system not only writes down the track on the highway section of navigation object in existing road network, also write down the track that does not have the highway section sign in the road network, when the track of user's service recorder, latitude and longitude value to the approach point that obtains is analyzed, and determines the navigation of road guide or track.
When navigating according to gps system, need be according to electronic chart, the road network in the electronic chart is preserved with the database form, and electronic map database has write down the latitude and longitude value of putting on each highway section in the road network, also write down the traffic rules information in each highway section, for example turned round, traffic lights etc.In the electronic chart procedure for displaying, each on the highway section converts by the coordinate corresponding relation of longitude and latitude and screen that navigational system is used, and obtains corresponding screen coordinate, is presented on the screen, by forming the highway section, forms road network by the highway section.In actual GPS navigation and analogue navigation process, the GPS navigation system carries out navigation hint according to corresponding road section and coordinate points in the residing current point of comparison navigation object, travel direction and the calculating path, then sends navigational warning when navigation object departs from calculating path.
The management of track and navigation principle and road network are similar, and track can be regarded as the road network of another kind of type, can comprise it by way of in the road network part, and non-road network part.
Fig. 1 shows the realization flow of the navigation path recording method that the embodiment of the invention provides, and details are as follows.
In step S101, in the navigation object motion process,, obtain the latitude and longitude value of navigation object approach point according to the gps signal that receives.
In step S102, judge according to the latitude and longitude value of the continuity point of navigation object approach whether approach point belongs to the highway section in the existing road network in the system electronic map data base, be execution in step S103 then, otherwise execution in step S104.
In step S103, with navigation object by way of the highway section record track, and deposit track in the system electronic map data base, record this moment in the road section information in the track and comprised the traffic rules information on the highway section.
In step S104, the latitude and longitude value of this approach point is recorded track, and deposit track in the system electronic map data base.
In embodiments of the present invention, the track of preserving in the system electronic map data base is the set of the latitude and longitude value of navigation object approach point.
Fig. 2 shows the structure of the navigation path pen recorder that the embodiment of the invention provides, approach point latitude and longitude value acquisition module 11 obtains the latitude and longitude value of navigation object approach point according to the gps signal that receives, the latitude and longitude value of 12 pairs of approach points that obtain of approach point determined property module is analyzed, and determines that approach point is whether in electronic map database on the existing road.
Latitude and longitude value at 12 pairs of approach points that obtain of approach point determined property module is analyzed, determine that the approach point is in electronic map database on the existing road time, track record module 13 with navigation object by way of the highway section record track, latitude and longitude value at 12 pairs of approach points that obtain of approach point determined property module is analyzed, determine approach point not in electronic map database on the existing road time, track record module 13 records track with the latitude and longitude value of navigation object approach point.
Track is preserved module 14 track is saved in the system electronic map data base 15, and after track was saved in the electronic map database, the track that can preserve carried out actual navigation or analogue navigation.
When reality is navigated, system obtains information such as the residing position of navigation object, moving direction and speed according to the gps signal that receives, according to the destination information of electronic chart, user input, and the positional information at the current place of navigation object and translational speed information are navigated to the user.
The track that utilizes that Fig. 3 shows the embodiment of the invention to be provided carries out the realization flow of actual navigation, and details are as follows.
In step S301, obtain the latitude and longitude value of navigation object approach point according to the gps signal that receives.
In step S302, the latitude and longitude value of the approach point that obtains is analyzed, determine the navigation of road guide or track, if road guide carries out step S303, if step S304 is carried out in the track navigation.
In step S303, under the track of existing highway section record, remind the user according to conventional road guide, mainly keep travel direction, the branch road prompting, and whether go off course and wait navigation to indicate.
In step S304, under the track that does not have the highway section record, depart from threshold value and remind the user whether to go off course according to the track of storing by user's setting.If when the track that the distance value between the current location of navigation object and track is provided with greater than the user departs from threshold value, then remind the user to depart from the track of navigation.
When analogue navigation, system is according to the translational speed of the navigation object of setting, the departure time of navigation object and the position at the current place of current time judgement navigation object, then according to electronic chart, the destination information of user input, and the positional information at the current place of navigation object and translational speed information are navigated to the user.
Fig. 4 shows and utilizes track to carry out the realization flow of analogue navigation, and details are as follows:
In step S401, the latitude and longitude value that the translational speed of the navigation object of setting according to the user, the departure time of navigation object and current time are obtained navigation object approach point.
In step S402, the latitude and longitude value of the approach point that obtains is analyzed, determine the navigation of road guide or track, if road guide carries out step S303, if step S304 is carried out in the track navigation.
In step S403, under the track of existing highway section record, remind the user according to conventional road guide, mainly keep travel direction, branch road prompting, traffic rules prompting.
In step S404, remind the user to keep travel direction or near the prompting of certain tracing point next of the track that does not have highway section record.
In embodiments of the present invention, because track is kept in the electronic map database, therefore between the distinct device that uses same navigational system, the track that has write down can be shared use.Track can be derived from the electronic map database of an equipment, imports in the same format electronic map database of another equipment again, realizes sharing of track.For example user's first track that can utilize user's second to be write down navigates, and the track by way of user's second was once passed by arrives the place that user's second was once gone.
The above only is preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. the recording method of a navigation path is characterized in that, said method comprising the steps of:
Obtain the latitude and longitude value of navigation object approach point according to the gps signal that receives;
Latitude and longitude value to the approach point that obtains is analyzed, determine that approach point is whether in electronic map database on the existing road, be then with navigation object by way of the highway section record track, otherwise the latitude and longitude value of navigation object approach point is recorded track, and described track is saved in the system electronic map data base; The traffic rules information that includes described highway section in the described road section information.
2. the pen recorder of a navigation path is characterized in that, described device comprises:
Approach point latitude and longitude value acquisition module is used for obtaining according to the gps signal that receives the latitude and longitude value of navigation object approach point;
Approach point determined property module is used for the latitude and longitude value of the approach point that obtains is analyzed, and determines that approach point is whether in electronic map database on the existing road;
The track record module, be used for analyzing in latitude and longitude value to the approach point that obtains, determine that the approach point is in electronic map database on the existing road time, with navigation object by way of the highway section record track, and analyze in latitude and longitude value to the approach point that obtains, determine approach point not in electronic map database on the existing road time, the latitude and longitude value of navigation object approach point is recorded track; And
Track is preserved module, is used for described track is saved in the system electronic map data base; The traffic rules information that includes described highway section in the described road section information.
3. a GPS navigation equipment is characterized in that, described equipment comprises a kind of pen recorder of navigation path, it is characterized in that, described device comprises:
Approach point latitude and longitude value acquisition module is used for obtaining according to the gps signal that receives the latitude and longitude value of navigation object approach point;
Approach point determined property module is used for the latitude and longitude value of the approach point that obtains is analyzed, and determines that approach point is whether in electronic map database on the existing road;
The track record module, be used for analyzing in latitude and longitude value to the approach point that obtains, determine that the approach point is in electronic map database on the existing road time, with navigation object by way of the highway section record track, and analyze in latitude and longitude value to the approach point that obtains, determine approach point not in electronic map database on the existing road time, the latitude and longitude value of navigation object approach point is recorded track; And
Track is preserved module, is used for described track is saved in the system electronic map data base; The traffic rules information that includes described highway section in the described road section information.
4. a method of utilizing navigation path to realize navigation is characterized in that described method comprises the steps:
Obtain the latitude and longitude value of navigation object approach point, and current driving direction and speed;
According to the latitude and longitude value of navigation object approach point, and current driving direction and speed navigates to the user, reminds the user according to conventional road guide under the track of existing highway section record, navigates according to the track that is provided with under the track that does not have the highway section record;
The traffic rules information that includes described highway section in the described road section information.
5. the method for utilizing navigation path to realize navigation as claimed in claim 4, it is characterized in that, in actual navigation procedure, under the track that does not have the highway section record, whether depart from threshold value according to the track that is provided with reminds the user to go off course, when if the current location of navigation object and the distance value between track depart from threshold value greater than track, remind the user to depart from the track of navigation.
6. the method for utilizing navigation path to realize navigation as claimed in claim 4 is characterized in that the latitude and longitude value of described navigation object approach point, current driving direction and speed are obtained according to the gps signal that receives.
7. the method for utilizing navigation path to realize navigation as claimed in claim 4, it is characterized in that, in the analogue navigation process, described navigation object current location was obtained according to the translational speed of the navigation object of user's setting, the departure time and the current time of navigation object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2006101579163A CN1996039B (en) | 2006-12-22 | 2006-12-22 | Method, device, and apparatus for recording navigation path, and navigation method |
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| CN2006101579163A CN1996039B (en) | 2006-12-22 | 2006-12-22 | Method, device, and apparatus for recording navigation path, and navigation method |
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| CN1996039A CN1996039A (en) | 2007-07-11 |
| CN1996039B true CN1996039B (en) | 2011-05-18 |
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| CN2006101579163A Expired - Fee Related CN1996039B (en) | 2006-12-22 | 2006-12-22 | Method, device, and apparatus for recording navigation path, and navigation method |
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| CN101464156B (en) * | 2007-12-19 | 2011-05-25 | 联想(北京)有限公司 | Travel track recording apparatus, portable electronic apparatus and method thereof |
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| CN107228677B (en) * | 2016-03-23 | 2019-03-26 | 腾讯科技（深圳）有限公司 | Yaw recognition methods and device |
| CN109956019B (en) * | 2017-12-26 | 2020-06-26 | 浙江大学 | Agricultural unmanned aerodynamic ship with automatic navigation safety auxiliary system and navigation method |
| CN108303075B (en) * | 2017-12-29 | 2021-01-29 | 广州斯马特信息科技有限公司 | Track generation method and system |
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| CN110243383B (en) * | 2019-06-03 | 2024-03-01 | 平安科技（深圳）有限公司 | User home navigation method, device, computer equipment and storage medium |
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