CN108458722A - A kind of real-time analogue navigation method - Google Patents
A kind of real-time analogue navigation method Download PDFInfo
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- CN108458722A CN108458722A CN201810188093.3A CN201810188093A CN108458722A CN 108458722 A CN108458722 A CN 108458722A CN 201810188093 A CN201810188093 A CN 201810188093A CN 108458722 A CN108458722 A CN 108458722A
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- analogue navigation
- navigation
- guidance path
- point
- analogue
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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
- 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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3617—Destination input or retrieval using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement
-
- 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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Social Psychology (AREA)
- Navigation (AREA)
Abstract
A kind of real-time analogue navigation method when detecting that satellite positioning signal is lost, records current geographic position and its location of in entire guidance path, starts analogue navigation thread and carry out real-time analogue navigation：Obtain remaining guidance path track point set P in entire guidance path；Start the inquiry of OBD speeds, sets first guidance path tracing point in the point set P of guidance path track to starting analogue navigation point S；Calculate the time interval Δ t between the current location and present day analog navigation spots S of vehicle；Current vehicle speed v is obtained from OBD, estimates the operating range d_move of vehicle in time interval Δ t；Calculating simulation navigation spots S and next guidance path tracing point distance d；According to the magnitude relationship of operating range d_move and distance d, dynamic updates analogue navigation thread latency and analogue navigation point S；After waiting for analogue navigation thread latency, the simulation of next navigation spots is carried out.In the case where satellite positioning signal is lost, real-time analogue navigation is carried out according to vehicle actual speed.
Description
Technical field
The present invention relates to technical field of automobile navigation, and in particular to a kind of real-time analogue navigation method.
Background technology
Mobile terminal on the run, is being commonly used, such as mobile phone carries out real-time navigation and satellite often still occurs
The phenomenon that positioning signal, such as GPS signal, loss, to lead to not the current location of positioning vehicle, then, in satellite positioning
It can not continue accurate navigation in the case of dropout.
Invention content
For the problem of mobile terminal is unable to accurate navigation in the case where satellite-signal is lost, the application provides a kind of reality
When analogue navigation method, when detecting that satellite positioning signal is lost, record current geographic position and its in entire guidance path
Location starts analogue navigation thread and carries out real-time analogue navigation, which includes step：
S1：Obtain remaining guidance path track point set P in entire guidance path；
S2：Start the inquiry of OBD speeds, by first guidance path tracing point in the guidance path track point set P
It is set as starting analogue navigation point S；
S3：Calculate the time interval Δ t between the current location and present day analog navigation spots S of vehicle；
S4：Current vehicle speed v is obtained from OBD, estimates the operating range d_move of vehicle in the time interval Δ t；
S5：Calculating simulation navigation spots S and next guidance path tracing point distance d；
S6：According to the magnitude relationship of operating range d_move and distance d, when dynamically updating the analogue navigation thread waiting
Between and dynamic update the analogue navigation point S；
S7：After waiting for analogue navigation thread latency, return to step S3 continues analogue navigation, is led until reaching
The last one guidance path tracing point in the point set P of bit path track.
Further include being updated to the time interval Δ t before step S4 after step s 3 in a kind of embodiment
The step of, it specifically includes：
Judge whether the time interval Δ t is less than predetermined analog interval time t_wait, if being less than, utilizes default mould
Quasi- interval time t_wait updates the time interval Δ t currently calculated, otherwise, keeps the time interval Δ t currently calculated.
In a kind of embodiment, according to the magnitude relationship of operating range d_move and distance d, the analogue navigation is dynamically updated
Thread latency specifically includes step：
Judge whether operating range d_move is less than distance d, if so, predetermined analog interval time t_wait is updated to
The analogue navigation thread latency；
Otherwise, the real time interval t between the current location of vehicle and analogue navigation point S is calculateds, and will be practical
Time interval tsIt is updated to the analogue navigation thread latency.
In a kind of embodiment, according to the magnitude relationship of operating range d_move and distance d, dynamic updates the simulation and leads
Destination S, specifically includes step：
Judge whether operating range d_move is less than distance d, if so, being updated according to operating range d_move and guidance path
The analogue navigation point S；
Otherwise, using next path locus point as newer analogue navigation point S.
According to the real-time analogue navigation method of above-described embodiment, due in the case where satellite positioning signal is lost, passing through
OBD obtains current vehicle speed in real time, and carries out simulation to the residual paths tracing point in guidance path track according to current vehicle speed and lead
Boat, can not only solve the problems, such as that vehicle actual vehicle speed cannot be obtained in the case where satellite positioning signal is lost, moreover, at this
In the case of kind, analogue navigation is compensated using vehicle actual vehicle speed, can realize precisely the effect of analogue navigation in real time.
Description of the drawings
Fig. 1 is real-time analogue navigation method flow diagram.
Specific implementation mode
Below by specific implementation mode combination attached drawing, invention is further described in detail.
The explanation of nouns used in the application is as follows：
Navigation：Auto navigation is herein referred to, is to utilize Global Satellite Navigation System (such as GPS, Beidou navigation) and electronic map
Come carry out.It tells driver to go to the most short or the fastest path of destination, positions automobile in real time by satellite on map
Position, the path that should actually travel of driver is constantly updated, until destination.
Guidance path：Auto navigation according to electronic map according to certain regular (such as shortest path) cook up come follow
Driving path of the ground to destination.
Guidance path tracing point：Guidance path is made of a series of tracing points, and each tracing point is by the warp on electronic map
Latitude indicates.
Analogue navigation：Analogue navigation refers to after vehicle satellite positioning signal (such as GPS signal) is lost, according to having planned
The process navigated of path simulation.
OBD：That is on-board automatic diagnosis system, it can detect engine electric-controlled system and vehicle in car running process
Other function modules working condition.By OBD interfaces can obtain in real time the travel speed of vehicle, engine speed,
Coolant temperature etc. data.
In embodiments of the present invention, in the case where satellite positioning signal is lost, by obtaining speed from OBD to simulation
Navigation compensates, with reality there are currently no satellite positioning signal in the case of remain to accurate simulation navigation.
The real-time analogue navigation method that this example provides specifically includes following steps, and flow chart is as shown in Figure 1.
When detecting that satellite positioning signal is lost, record current geographic position and its in entire guidance path it is residing
Position starts the real-time analogue navigation that analogue navigation thread follows the steps below.
S1：Obtain remaining guidance path track point set P in entire guidance path.
Specifically, the expression formula of guidance path track point set P is：P={ Pj, j=0,1,2 ..., n, wherein n is surplus
The number of remaining guidance path tracing point.
S2：Start the inquiry of OBD speeds, first guidance path tracing point in the point set P of guidance path track is arranged
To originate analogue navigation point S.
The analogue navigation point S=P originated0。
S3：Calculate the time interval Δ t between the current location and present day analog navigation spots S of vehicle.
In this step, Δ t=t_current-t (S), after calculating time interval Δ t using the formula, it is also necessary to right
The step of time interval Δ t is updated, specifically includes：
Judge whether time interval Δ t is less than predetermined analog interval time t_wait, if being less than, using between predetermined analog
The time interval Δ t currently calculated is updated every time t_wait, that is, otherwise Δ t=t_wait is kept for the time currently calculated
Interval of delta t.The dummy spacers time t_wait of this example is 1 second, and in other embodiments, t_wait may be set to be other numbers
Value.
S4：Current vehicle speed v is obtained from OBD, estimates the operating range d_move of vehicle in time interval Δ t.
The operating range d_move of vehicle in time interval Δ t is calculated according to formula d_move=v* Δs t.
S5：Calculating simulation navigation spots S and next guidance path tracing point distance d.
According to formula d=distance (S, Pj+1) calculating simulation navigation spots S is at a distance from next guidance path tracing point
d。
S6：According to the magnitude relationship of operating range d_move and distance d, dynamic update analogue navigation thread latency and
Dynamic update analogue navigation point S.
Wherein, it according to the magnitude relationship of operating range d_move and distance d, dynamically updates the analogue navigation thread and waits for
Time specifically includes step：
Judge whether operating range d_move is less than distance d, if so, predetermined analog interval time t_wait is updated to
Analogue navigation thread latency tw, i.e. tw=t_wait；
Otherwise, the real time interval t between the current location of vehicle and analogue navigation point S is calculateds, and by the real time
It is spaced tsIt is updated to analogue navigation thread latency tw, that is, tw=ts, wherein ts=t (Pj)-t(S0), wherein S0For vehicle
Current location.
According to the magnitude relationship of operating range d_move and distance d, dynamic update analogue navigation point S is moved, step is specifically included
Suddenly：
Judge whether operating range d_move is less than distance d, if so, being updated according to operating range d_move and guidance path
Analogue navigation point S：S=S+d_move；
Otherwise, using next path locus point as newer analogue navigation point S：S=Pj+1。
S7：After waiting for analogue navigation thread latency, return to step S3 continues analogue navigation, is led until reaching
The last one guidance path tracing point in the point set P of bit path track.
It should be noted that the application is based on vehicle actual travel speed progress analogue navigation, and vehicle actual travel
It is not average rate traveling in the process, e.g., according to road conditions difference, speed is of different sizes, during the specific implementation of analogue navigation,
By dynamic update analogue navigation thread latency and dynamic update analogue navigation point S, realize, by the travel speed of vehicle with
The renewal speed of analogue navigation is associated, in the case where satellite positioning signal is lost, avoid analogue navigation renewal speed and
The unmatched problem of vehicle actual travel speed occurs, it is achieved thereby that when GPS signal is lost, can accurately simulate in real time
The effect of navigation.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not limiting
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (4)
1. a kind of real-time analogue navigation method, which is characterized in that when detecting that satellite positioning signal is lost, record current geographic position
It sets and its location of in entire guidance path, starts analogue navigation thread and carry out real-time analogue navigation, the simulation is led
Boat includes step：
S1：Obtain remaining guidance path track point set P in entire guidance path；
S2：Start the inquiry of OBD speeds, first guidance path tracing point in the guidance path track point set P is arranged
To originate analogue navigation point S；
S3：Calculate the time interval Δ t between the current location and present day analog navigation spots S of vehicle；
S4：Current vehicle speed v is obtained from OBD, estimates the operating range d_move of vehicle in the time interval Δ t；
S5：Calculate the analogue navigation point S and next guidance path tracing point distance d；
S6：According to the magnitude relationship of operating range d_move and distance d, dynamically update the analogue navigation thread latency and
Dynamic updates the analogue navigation point S；
S7：After waiting for the analogue navigation thread latency, return to step S3 carries out the simulation of next analogue navigation point
Navigation, until reaching the last one guidance path tracing point in the guidance path track point set P.
2. analogue navigation method in real time as described in claim 1, which is characterized in that after step s 3, before step S4, also
Include the steps that being updated to the time interval Δ t, specifically includes：
Judge whether the time interval Δ t is less than predetermined analog interval time t_wait, if being less than, utilizes the default mould
Quasi- interval time t_wait updates the time interval Δ t currently calculated, otherwise, keeps the time interval currently calculated
Δt。
3. analogue navigation method in real time as described in claim 1, which is characterized in that it is described according to operating range d_move and away from
Magnitude relationship from d dynamically updates the analogue navigation thread latency, specifically includes step：
Judge whether operating range d_move is less than distance d, if so, the predetermined analog interval time t_wait is updated to
The analogue navigation thread latency；
Otherwise, the real time interval t between the current location of vehicle and analogue navigation point S is calculateds, and by the reality
Time interval tsIt is updated to the analogue navigation thread latency.
4. analogue navigation method in real time as described in claim 1, which is characterized in that it is described according to operating range d_move and away from
Magnitude relationship from d, dynamic update the analogue navigation point S, specifically include step：
Judge whether operating range d_move is less than distance d, if so, according to described in operating range d_move and guidance path update
Analogue navigation point S；
Otherwise, using next path locus point as newer analogue navigation point S.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810188093.3A CN108458722B (en) | 2018-03-07 | 2018-03-07 | Real-time simulation navigation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810188093.3A CN108458722B (en) | 2018-03-07 | 2018-03-07 | Real-time simulation navigation method |
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| CN108458722A true CN108458722A (en) | 2018-08-28 |
| CN108458722B CN108458722B (en) | 2021-10-08 |
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| CN201810188093.3A Active CN108458722B (en) | 2018-03-07 | 2018-03-07 | Real-time simulation navigation method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109660318A (en) * | 2018-12-28 | 2019-04-19 | 成都路行通信息技术有限公司 | A kind of speed noise-reduction method based on car networking |
| CN112289060A (en) * | 2020-09-02 | 2021-01-29 | 上海赛可出行科技服务有限公司 | Drift-free driver-and-passenger-display method for weak signal scene |
| CN113670328A (en) * | 2021-08-17 | 2021-11-19 | 重庆愉客行网络有限公司 | Network appointment data acquisition system for offline state |
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| JP2009156649A (en) * | 2007-12-26 | 2009-07-16 | Sanyo Electric Co Ltd | Navigation apparatus |
| JP2012098030A (en) * | 2010-10-29 | 2012-05-24 | Sanyo Electric Co Ltd | Navigation device |
| CN103124895A (en) * | 2011-03-31 | 2013-05-29 | 爱信艾达株式会社 | Travel guidance system, travel guidance apparatus, travel guidance method and computer program |
| CN107167143A (en) * | 2017-07-05 | 2017-09-15 | 乐高乐佳（北京）信息技术有限公司 | Guidance quality air navigation aid, device and equipment based on key point |
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| JP2009156649A (en) * | 2007-12-26 | 2009-07-16 | Sanyo Electric Co Ltd | Navigation apparatus |
| JP2012098030A (en) * | 2010-10-29 | 2012-05-24 | Sanyo Electric Co Ltd | Navigation device |
| CN103124895A (en) * | 2011-03-31 | 2013-05-29 | 爱信艾达株式会社 | Travel guidance system, travel guidance apparatus, travel guidance method and computer program |
| CN107167143A (en) * | 2017-07-05 | 2017-09-15 | 乐高乐佳（北京）信息技术有限公司 | Guidance quality air navigation aid, device and equipment based on key point |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109660318A (en) * | 2018-12-28 | 2019-04-19 | 成都路行通信息技术有限公司 | A kind of speed noise-reduction method based on car networking |
| CN112289060A (en) * | 2020-09-02 | 2021-01-29 | 上海赛可出行科技服务有限公司 | Drift-free driver-and-passenger-display method for weak signal scene |
| CN112289060B (en) * | 2020-09-02 | 2023-07-21 | 上海赛可出行科技服务有限公司 | Drift-free simultaneous display method for weak signal scene |
| CN113670328A (en) * | 2021-08-17 | 2021-11-19 | 重庆愉客行网络有限公司 | Network appointment data acquisition system for offline state |
| CN113670328B (en) * | 2021-08-17 | 2023-08-08 | 重庆愉客行网络有限公司 | Network appointment vehicle data acquisition system for offline state |
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| CN108458722B (en) | 2021-10-08 |
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