CN102506880A

CN102506880A - Method for matching global positioning system (GPS) coordinate and coordinate on road in vector map

Info

Publication number: CN102506880A
Application number: CN2011103332274A
Authority: CN
Inventors: 张维军
Original assignee: SHENZHEN ROADROVER TECHNOLOGY Co Ltd
Current assignee: SHENZHEN ROADROVER TECHNOLOGY Co Ltd
Priority date: 2011-10-28
Filing date: 2011-10-28
Publication date: 2012-06-20

Abstract

A method for matching a global positioning system (GPS) coordinate and a coordinate on a road in a vector map calculates to obtain the position of a vehicle on a practical road by means of instantaneous coordinate points of running of the vehicle collected by a GPS. By means of the method for the coordinate matching of the GPS points, the interference brought by GPS signal point floating to navigation of navigation software is well solved so that the accuracy of GPS signal point matching and the navigation performance of the navigation software are greatly improved.

Description

The method that coordinate in gps coordinate and the map vector on the road is complementary

Technical field

The invention belongs to the vehicle mounted guidance technical field, the method that the coordinate in gps coordinate of specifically using in the navigation software system and the map vector on the road is complementary.

Background technology

In navigation software; Need use the WGS84 coordinate that GPS collects during auto navigation since the instantaneous WGS84 coordinate that collects of GPS maybe because block, the trueness error of multipath effect and polar plot site of road is big and can't drop on accurately on the road of vehicle actual travel on the polar plot.Will cause ongoing navigation work meeting because of the secondary path planning of the drift of gps signal point after going off course like this; The path that also can cause planning because of the start position mistake to ongoing path planning is also incorrect.Therefore, in known navigation software, mostly introduced the matching technique of gps signal, the just compulsory not point on correct road forces to match the road nearest apart from instantaneous coordinate point through algorithm.But also can bring two problems through this matching process, one is when near the instantaneous gps coordinate point many roads being arranged, and the road that may produce according to minimum distance principle coupling is not the actual road of advancing of vehicle; The 2nd, vehicle moves near road, but not on this road, may be because of being matched on this road apart from this road is nearer.Its result of path planning who under above two states, takes place is wrong; And advance when a road of utilizing two-wire to draw is advanced when vehicle; Because close between the up-downgoing of this two-track road, thereby gps signal point usually can cause result's redirect between the up-downgoing of the road of reaching the standard grade of mating because of the error of drift generation.Like this, when vehicle is advanced on uplink and when being matched downlink, the quadratic programming after navigation software can be gone off course at once, the actual effect that this frequent redirect and quadratic programming can influence navigation very much.So the superiority of matching technique directly determines the superiority of navigation effect in the navigation software, how inciting somebody to action not very, accurate GPS point accurate match is the technical barrier that navigation software generally faces to the shape line of the actual polar plot road of advancing of vehicle.

Summary of the invention

The present invention is in order to solve the accuracy of instantaneous gps signal coupling road; Designed the method that the coordinate on the road is complementary in gps coordinate and the map vector; The position coordinates that utilizes the gps signal point to provide; And combine the instantaneous azimuth that vehicle advances and the azimuthal matching degree of passed through direction of gps signal point coupling road, promote gps signal point and mate the accurate fixed a kind of method of map vector road.

The technical scheme that the present invention adopts is: the method that the coordinate in gps coordinate and the map vector on the road is complementary; It is the disposal route that the instantaneous analog coordinate of the CPU of automatic navigator vehicle ' that GPS is gathered matches the actual coordinate on the actual polar plot road of advancing of vehicle; Key is: set up the angle computing circuit on the circuit board in the vehicle mounted guidance instrument apparatus, store the private memory and the judging circuit of preset value and fiducial value; With the upper angle computing circuit, and the judging circuit output terminal link to each other with cpu data bus, this device carries out gps coordinate and matees in the method step of the actual coordinate on the map vector road that vehicle advances and comprise:

Two instantaneous analog coordinates of last second of gathering according to GPS of A, angle computing circuit and current time obtain angle, simulated-azimuth that vehicle advances to be Q1 and Q1 is stored in the private memory;

B, CPU calculate the distance between each road in current time instantaneous coordinate point and the map vector and with the gained distance value less than the vector road of preset value as coupling road in advance, the instantaneous coordinate point in this current moment is stored in the private memory as preparatory match point at the preparatory intersection point that matees on the road;

C, CPU obtain this current azimuth of coupling road in advance based on preparatory match point both sides, two shape point coordinates nearest apart from this point, and are stored in the private memory;

D, CPU control judging circuit compare at the current position angle of coupling road the Q1 that stores in the private memory and each in advance; With the preparatory match point deletion of difference greater than fiducial value, with difference less than the coordinate of the preparatory match point of fiducial value as the actual coordinate of vehicle on this road; If the preparatory match point less than fiducial value is no less than one, the coordinate of then choosing the minimum preparatory match point of difference is as the actual coordinate of vehicle on this road.

The invention has the beneficial effects as follows: adopt this method to carry out the coordinate coupling that GPS is ordered; Can solve the gps signal point drift interference that navigation brings to navigation software preferably; Thereby improved the accuracy of gps signal point coupling greatly, increased substantially the navigation performance of navigation software.

Description of drawings

Fig. 1 is a specific embodiment synoptic diagram of the present invention.

In the accompanying drawing, A represents ascending pathway, and B represents descending road; H1 represents the instantaneous coordinate of the current time of GPS collection, and H2 represents the coordinate of last one second of GPS collection, and A1 represents the intersection point of H1 to ascending pathway; B1 represents the intersection point of H1 to descending road, and arrow is represented the up-downlink direction of road, and double-head arrow is represented the travel direction of the vehicle of GPS collection; The shape point of blockage representative vector road, the physical location of vehicle represented in cross.

Embodiment

The method that coordinate in gps coordinate and the map vector on the road is complementary; It is the disposal route that the instantaneous analog coordinate of the CPU of automatic navigator vehicle ' that GPS is gathered matches the actual coordinate on the actual polar plot road of advancing of vehicle; Importantly: set up the angle computing circuit on the circuit board in the vehicle mounted guidance instrument apparatus, store the private memory and the judging circuit of preset value and fiducial value; With the upper angle computing circuit, and the judging circuit output terminal link to each other with cpu data bus, this device carries out gps coordinate and matees in the method step of the actual coordinate on the map vector road that vehicle advances and comprise:

The span of described preset value is 25 ~ 31 meters.

The span of described fiducial value is 28 ~ 32 °

In the specific implementation, as shown in Figure 1, H1 is the instantaneous coordinate of the current time gathered of GPS, and H2 is the GPS coordinate of last one second of gathering, according to the coordinate of H1 and H2, can calculate H2 to the vehicle of H1 angle, the simulated-azimuth Q1 that advances; H1 is A1 to the intersection point of road A; H1 is B1 to the intersection point of road B, and the distance of H1 to the distance of A1 and H1 to B1 is all less than 30 meters, so; With road A and road B all as coupling road in advance; The current position angle that the coordinate Calculation of two nearest shape points draws preparatory coupling road A before and after the selected distance A1 point on road A is QA, and to draw the current position angle of preparatory coupling road B be QB to the coordinate Calculation of nearest two shape points in selected distance B1 point front and back on road B, according to the comparison of Q1 and QA, QB angle; The difference that can find Q and QB is judged vehicle the position on real road of B1 for this GPS location in view of the above less than 30 degree.

Claims

1.GPS the method that the coordinate in coordinate and the map vector on the road is complementary; It is the disposal route that the instantaneous analog coordinate of the CPU of automatic navigator vehicle ' that GPS is gathered matches the actual coordinate on the actual polar plot road of advancing of vehicle; It is characterized in that: set up the angle computing circuit on the circuit board in the vehicle mounted guidance instrument apparatus, store the private memory and the judging circuit of preset value and fiducial value; With the upper angle computing circuit, and the judging circuit output terminal link to each other with cpu data bus, this device carries out gps coordinate and matees in the method step of the actual coordinate on the map vector road that vehicle advances and comprise:

2. the method that the coordinate in gps coordinate according to claim 1 and the map vector on the road is complementary is characterized in that: the span of described preset value is 25 ~ 31 meters.

3. the method that the coordinate in gps coordinate according to claim 1 and the map vector on the road is complementary is characterized in that: the span of described fiducial value is 28 ~ 32 °.