九'發明說明： 【發明所屬之技術領域】 本發明係有關於-種導航系統與方法，尤指一種以G 、S訊號搭配整合慣性70件所提供的資料，用以進行立體 這路導航之微慣性導航系統與方法。 【先前技術】 ，科技進步之賜，使得衛星^位裝置已不再是高樓的 ;，且由於生活水準提高’人們逐漸重視休閒下， 在汽車中加裝衛星定位裝置，用以在廣大的 複雜的交通網路中，定位出車輛所在，因此使 传近年來衛i定位裝置的銷f數量大幅辦加。 衛輛的導航係以衛1定位心成的，亦即利用 ΐ!航軟體’藉該導航軟體將導航資 導航系統包含有-輪入裝置“、-G 擇裝置4、心、平面電子地圖資料庫3a、-路徑選 接收t置2裝》t疋甩來提供功能的選擇，而該G P s =收衛星信號而定位汽車目前所在的 該路徑選:：，=:導^ 路徑選擇裝置4a可以依據輪人裝置la之指令要 地圖資料庫3a中所儲存的魔大資料中 :=者之指示，決定-起二二 取彳.間舆距離’而能由起點到終點的導引路徑。’、 1該ΐ!裝置6a則是能夠與-行控中心進杆鱼錄資斜 及相故當 平面電子地後生! 並傳送至該顯示裝置7a座玍、、*°果〜像8a 此引導.駕敬人。.顯示（如第二圖所示），.藉 然，習知導航定位裝置具有以下缺點 1、路導航’無法進—步提供準確的道 ^境U雜线下道），導致駕以誤判行進路 2 旦接收不到G P S訊號時，等侗邋f .靈，喪失導航的功能。』導航疋位裝置將失 3、置内需額外加展資料處理軟體用以 虎轉換.成適合導航軟體所用的通訊協定 本發明人有感上述缺失之可改善，提出一種合 理且有效改善上述缺失之本發明。 .σ 【發明内容】 法，2 =要目的，在於提供一種微慣性導航系統及方 法’藉由慣性！測科提供車柄三維狀態資訊，並搭邮 任^訊號’提供驗人更精確的立體道路導航，且一旦無 位心^s訊號時’亦能以提供無中斷訊號進行持續的定 统^為了達成上述之目的，本發明係提供―種微慣性導航系 有〜…微慣性處理m該微慣性處理子系統具 蛊〜S訊號接收模組、—微控制處理單元（MCLJ) L/f性感測單元’其中該G P S訊號接收模組與該慣性 ^早το電性連接該微控制處理單元；—導航處理子系 資料Ϊ導航處理子线具有—導練酸域—電子地圖 哭Ϊί、’其中該導航軟體模組内設置有—處職，該處理 理ίί該導航軟體模組、該電子地圖資料庫與.該微控 本發明係提供-種微慣性導航方法，其步驟包括一 =P s訊號接收模纽接收一G p s訊號，該G p s訊號透過該 GPS訊號接收模組傳送至一微控制處理單元（mcu)中 處理，，—jf性屬測單元量測車輛運動狀態以提供一車鉍 三維狀態資訊’並且該慣性感測單元輸出該車輛三雄狀離 資訊至該微控減理單元中處理；而後，該微控制處理^ 元整合處:職GP S訊號_車_三雜·訊，提供一 符合導航軟體通訊協定格式之三維導航資料'，並且將該三 維導航資料以有線資料傳輪方式或無線資料傳輸方 至一處理器中運算處理；隨後.，由-電子地圖資料庫^ -立體道路地圖資料至該處理器中處理；最後該處理$ 合處理該二維導航資料與該立體道路地圖㈣，以提供一 1375014 立體道路導航資訊給駕駛人β 本發明·提供另二種微慣性導航方法，其“ G P. S訊號細驗接收不雜何G p s = & 號接收模組傳送最後一次接收的G P S訊號至一微該;^虛^ 單元(MCU)中處理；由一慣性_單元持== 運動狀態以提供一車輛二维狀離資 —、一，、J車輛 Μ㈣^ - 並且贿性感測單 凡輸出該轉三維狀_訊至該難輯理單 _理單元以該最後一次接收的Gps訊號 ，基準，並加上該車輛.三維狀態資訊，經過整合模擬出一 導航軟體通訊協定格式之三維導航資料’並且以有線 貧料傳輸方式或無線資料傳輪方式將該三維導航資料傳送 至處理器令處理；然後.，由一電子地圖資料庫提供一立 體道路地圖資料至該處理器中處理;.最後該處理器整合處 •理該二維導航資料與該立體道路地圖資料，以提供一立體 道路導航資訊給駕駛人。 本發明具有以下有益效果： 1、以該償性感測單元提供高度訊號，.並榕配Gps訊 號’經整合處理後，可讓駕駛人享受到精準的立體 道路導航。 本發明之方法亦適用於在接收不到G P s訊號狀 況下’即本發明之方法能以最後一次接收的G p S 訊號為基準，並加上該慣性感測單元所輪出的資 料’經整合模擬後，得到在無G P S訊號下之立體 道路導航資訊。 2 ^/^014 3、無需額外增加處理軟體用以將G p s訊號與該慣性 感測單元所提供的資訊轉換成合乎導航軟體.通訊協 定的格式，故節省製作成本。 • 4、^發明之方法係將(^ p s訊號與該慣性感測單元所 提供的資訊整合後，經該微控制處理單元以合乎導航 軟體通訊協定的格式直接傳輸至該導航軟體模組中 的處理器處理使用。 為使能更進一步瞭解本發明之特徵及技術内容，請參 ♦ 目以下有縣發明之詳細制與_，然而所_式僅提 供參考與說明用‘，並非用來對本發明加以限制者。 【貫施方式】 請參閱第三圖所示，本發明係提出一慣性導航系統， 該’丨貝性導航系統係用於提供駕歇人行車資訊，其包括有. 一微慣性處理子系統i與一導航處理子系統2，且該微慣 性處理子系統1與該導航處理子系統2彼此電性連接，藉 . 此達到資料的傳送接收。另外，該微慣性處理子系統工^ •.該導航處理子系統2亦可彼此以無線電性連接的方式傳送 接收資訊。 、 該微慣性處理子系統1具有一微控制處理單元（MC u) 1 1、一慣性感測單元}2與一Gp s訊號接收模紐 .1 3，且該慣性感測單元1 2與該G P S訊號接收模組工 3電性連接該微慣性處理模組1 2，俾藉該微控制處理單 元11處理該慣性感測單元12與該GPs訊號接收模組 1 3所提供的資料？另外，該慣性感測單元丄2為一加速 ^或-_儀’亦或是該加速度計與該陀螺儀兩裝置之 該導航統2係無微慣性處理子⑽1電性 & ’其中該導航處理子系統2具有-導航軟體模組21 :首電子地圖㈣庫2 2，該f子地圖資料庫2 2為立體 ==貝料庫’且該電子地圖資料庫2 2與該導航軟體 耦組21電性連接。 ㈣該ί航軟體模組2 1進—步設置有—處理器2 1 1， :制Si i; C:該電子地圖資料庫2 2與該微 & 3，藉此用以整合處理來自該電子地 貝；1庫22 _微控制處理單s 11的資料。 1亦可戽理子系統2係與該微慣性處理子系統 系統1及if航處方式連結，亦特職慣性處理子 (圖上未,^)。_ 子系統2各設有發射單元及接收單元 方法，驟圖所不’本發明係提出—種微慣性導航 ，、步驟包括（請同時參閱第三圖）： (b) 辦nS訊號接收模組1 3接收一 G P S訊 “=GPS訊號接收麻13再將該GPS訊 傳廷至一微控制處理單元（Met!) 1 1處理。 ===，、單元/2提供—車輛三維狀態資 吨傳二二性感測早凡1 2再將該車輛三維狀態資 傳送至該微控制處理單元11處理。 該微控制處理單元η接收該GPS訊號與該車 11 1375014 輛三維狀㈣訊後，其進行整合處理㈣—三維導 .航㈣，而錄㈣處理單元i再職三維導航. 資料傳送至一處理器.2 1 1中處理。 (d) 由電子地圖資料庫2 2提供一立體道路地圖.資 料至該處！器2 1 1中處理。 (e) 該處理器2 1 1接收該三維導航資料與該立體道 路地圖資料後，其進行整合處理得到一立體道路導 航資訊。 籲為了幫助熟習此項技街人員明白並實施本發明，在此 詳細介紹說明本發明之方法細節。. 首先，該G P S訊號接收模組1 3接收來自衛星^^出 的G P S訊號，待其接收處理完畢後，該G p s訊號接收模 組1 3將該GP S訊號傳送至該微控制處理單元丄丄中處理。 ¥該G P S訊號傳送至該微控制處理單元1 1的同時，該 慣性感測單元12量測車輛運動狀態，並提供該車輛三維 狀態資訊至該微控制處理單元1 1 ,其中因該慣性感測單元 鲁.12為一加速度計與一陀螺儀，故該車輛三維狀態資訊係. 由該加速度計所量測的車輛加速度測量值，與該陀螺儀所 量測到的車輛轉動角度量測值經整合處理而得的。 接著，該微控制處理單元11依據該Gps訊號與該 車輛三維狀態資訊，整合處理得到符合導航軟體通訊= •.袼式之三維導航資料；進一步，該微控制處理軍元i工將 該三維導航資料以有線資料傳輸方式或無線資料傳輸方式 傳送至該處理器2 1 1中處理；隨後’由該電子地圖資料 12 庫2 2提供該立體道路地 理。 ….口貝科至該處理器21!中處 接收該三雄導航資料與該 _ 211便對該三維導疏資料^該立^地圖貧科之處理器 合處理，而得到—立體道路導^訊，，資料進行整 航資訊提供给駕駛人立體、面二丹丫綠立體道路導 駕駛人能獲得更精準的立體道路=下別，使得 二維的道路導航。 航而不只疋習知平面 請配合參閱.第五圖所示，本發接另 導航方法，其步驟包括（請同時參閱第三.種微慣性. (a)當無转Gps職時，— “ 3 ^ PS訊號接收模組1 卢理Γ —人接收到的G p S訊號至一微押制 (b) 處理羊元（MCU) Γ1處理。. 微⑸ 由一慣性感測單it χ 2提供—車輛 訊，並將該車輛二軸能次〜生早细一唯1%'貝 單元11處^維狀態傳送至該微控制處理 ^控制處理單元1 1於接收該GP S訊號與該 f柄二維狀態f訊後’其㈣GPS訊號為基準， 上該車輔二維狀4資訊整合模擬得到一三維導 (d) =’而該微控制處理單元11再將該三維導航 貝枓傳送至-處理器211中處理。 e) ，一電子地圖資料庫2 2提供一立體道路地圖資 料至該處理器21 1中處理。 該處理器21 1接收該三維導航資料與該立體道 13 1375014 路地圖資料後，其進行整合處理得到一立體道路導 航資訊。 為了幫助熟習此項技術人員明白並實施本發明，在此 詳細介紹說明本發明之方法細節。 首先，當車輛因地形的影響；使得該G P $訊號接收 模組1 3接收不到任何G P S訊號時，該G P s訊號接收 模組1 3於是傳送最後一次接收到的GPS訊號至該微 控制處理單元11中處理。 當接收不到GPS訊號的同時，該慣性感剩罩元工 仍然持續量測車輛運動狀態，並且提供該車輛三維狀熊次 訊至該微控制處理單元1 1，其中因該慣性感測單元王^、二 -加速度計與-陀螺儀’故該車輛三賴，態f訊係由心、、 速度計所f測的車輛加速度測量值，與該陀螺儀所= 的車輛轉動角度量測值經整合處理而得的。 刈 當該微控制處理單元u接收該Gps訊號虚 貧訊後，該微控制處理單元Ί丄以該Gpn 為基準，依據基準並配合加上該 訊諕 .模擬出符合導航軟體^輛一維狀心貝訊Μ整合 以古給签』…广 協疋格式之三維導航資料，拯装 料僂輪方式或無線資料傳輸方式將該三維導般警 枓傳至該處理器2丄Ί中虑 $導航資 該處理器2 1 1時，㈣電子址在該三維導航資料傳至 道略地圖資料至該處:口 =庫2 2提—體 當該處理器211接收該三维導 地圖資料後，其開始對該：唯導=貝/核該立體道路 了通一維導航資料與該立體道路地圖 14 1375014 資料進行整合處理，理 ^ ^ ^ 侍到一立體道路導航資訊，俾藉該立 體道路導航貧訊告知驾 烏駛人目刖車輛位置狀態，而其牛該 立體道2抗貧訊提供給駕敎人立體、乎面或地下道路的 與另得駕敬人在無任何013 s訊號下，也能獲得精準 的立體道路導航。 月卡 μ參閱第六_示’本發明所提供之立體道路導航資 訊^，顯不裝置（圖未示）上提供一導航影像3給駕敬人， 使疑人料正確的導航路徑，即使進人獅的立體道路 系統.’亦不會產生錯誤的觸；錢，即使無任何g 訊號，本發然會提供精準的導航，極具實用性。 & .是以’本發狀系統及方法具有如下述之特點及功 能· . 1、駕敏人可享受到精準的立體道路導航，不再誤判行 進路線。 2 ，任何G P S减時’能提供無情訊賴彳于持續 定位與追縱。 ^ 3、 於接收不到GPS訊號時，本發明之方法能以最 :次接收的G:S訊號為基準，並加上該慣性感】 單70所輸出的資料，經整合模擬後，得到在無广乂 S訊號下之立體道路導航資訊。 μ _ p 4、 直接轉換成合乎導航軟體通訊協定的格式，因益 加裝處理軟體轉換，故節省製作成本。 …、須 5、 本發明之方法係將G.P S訊號與該慣性感 提供的資訊整合後，經該微控制處理單元以合=所 口于導航 15 1375014 軟體通訊協定的格式直接傳輸至該導航軟體模組之 處理器處·理使用·6 · 惟以上所述僅為本發明之較佳實施例，非意欲侷限本 發明之專利保護範圍，故舉凡運用本發明說明書及圖式内 容所為之等效變化，均同理皆包含於本發明之權利保護範 圍内，合予陳明。 【圖式簡單說明】 第一圖係習知導航系統之架構示意圖。 第二圖係習知導航系統顯示之平面地圖。..... 第三圖係本發明之微慣性導航系統之架構示意圖。 第四圖係本發明之微慣性導航方法之步驟流程圖。 第五圖係本發明之微慣性導航方法之另一步驟流程圖。 第六.圖係本發明之立體道路導航影像不意圖。 【主要元件符號說明】 (習知) 1 a輸入袭置 2a GP S接收裝置 3a平面電子地圖資料庫 .4a路徑選擇裝置 5a導航軟體裝置 6 a通訊裝置 7 a顯示裝置 8 β結果影像 16 1375014 (本發明） 1 微慣性處理子系統 11 微控制處理單元 12 慣性感測單元 13 GPS訊號接收模組 2 導航處理子系統 21 導航軟體模組 21 1 ‘處理器 2 2 電子地圖資料庫… 3 導航影像九的发明说明: [Technical field to which the invention pertains] The present invention relates to a navigation system and method, and more particularly to a data provided by combining G and S signals with integrated inertia 70 pieces for performing three-dimensional navigation. Micro-inertial navigation systems and methods. [Prior technology], the gift of scientific and technological progress, making the satellite device is no longer a high-rise; and because of the improvement of living standards, people gradually attach importance to leisure, and install satellite positioning devices in the car for In the complex transportation network, the location of the vehicle is located, so that the number of sales f of the positioning device has been greatly increased. The navigation system of the Guardian is based on the positioning of Wei 1 , that is, using the navigation software to use the navigation software to include the navigation device, the wheel-in device, the -G device 4, the heart and the plane electronic map data. The library 3a, the path selects the receive t set 2 install "t" to provide the function selection, and the GP s = collects the satellite signal and locates the path where the car is currently located::, =: guide ^ path selection device 4a can According to the instruction of the wheelman device la, in the magic data stored in the map database 3a: the instruction of the =, the decision - the distance between the two and the second, and the distance from the start point to the end point. 1, 1 ΐ! Device 6a is able to enter the fish with the - control center oblique and the same as the plane electronically generated! And transmitted to the display device 7a 玍,, * ° fruit ~ like 8a guide. Guarding people. Display (as shown in the second figure). By convention, the conventional navigation and positioning device has the following disadvantages: 1. The road navigation 'cannot enter the step to provide accurate roads and U lines”, resulting in Driving the road with a false positive 2 When the GPS signal is not received, the 侗邋f. Ling loses the navigation function. The navigation device will lose 3, and the additional data processing software for the internal use of the device will be used for the conversion of the tiger into a communication protocol suitable for the navigation software. The inventor feels that the above-mentioned deficiency can be improved, and proposes a reasonable and effective improvement of the above-mentioned deficiency. Invention. σ [Summary] Method, 2 = The purpose is to provide a micro-inertial navigation system and method 'by inertia! The survey provides the three-dimensional state information of the handle, and the postal signal ^ provides more accurate inspection Stereoscopic road navigation, and once there is no centering signal, 'can also provide continuous uninterrupted signal. In order to achieve the above purpose, the present invention provides a micro-inertial navigation system with ... micro-inertial processing The micro inertial processing subsystem has a S~S signal receiving module, a micro control processing unit (MCLJ), an L/f sensing unit, wherein the GPS signal receiving module is electrically connected to the inertia Processing unit; - navigation processing sub-system data Ϊ navigation processing sub-line has - guiding acid field - electronic map crying 、, 'where the navigation software module is set - the position, the treatment The navigation software module, the electronic map database and the micro-controlling invention provide a micro-inertial navigation method, the steps comprising: a = P s signal receiving module receiving a G ps signal, the G ps signal The GPS signal receiving module transmits the processing to a micro control processing unit (mcu), and the -jf measuring unit measures the vehicle motion state to provide a vehicle three-dimensional state information 'and the inertial sensing unit outputs the vehicle The three males are separated from the information to the micro-control unit for processing; and then the micro-control processing unit is integrated with the GP S signal _ car _ San Miscellaneous, providing a three-dimensional navigation data conforming to the navigation software protocol format. And the three-dimensional navigation data is processed by a wired data transmission method or a wireless data transmission method to a processor; subsequently, the electronic map database ^-stereo road map data is processed into the processor; Processing the two-dimensional navigation data and the three-dimensional road map (4) to provide a 1375014 three-dimensional road navigation information to the driver β. The invention provides two other methods of micro-inertial navigation. “G P. S signal receiving is not mixed. G ps = & receiving module transmits the last received GPS signal to a micro; ^ virtual ^ unit (MCU) processing; by an inertia _ unit holding = = the state of motion to provide a two-dimensional decentralization of the vehicle -, one, J vehicle (four) ^ - and bribe the sexy test unit to output the three-dimensional output to the difficult unit to receive the last received Gps signal, benchmark, plus the vehicle. Three-dimensional status information, integrated simulation of a three-dimensional navigation data in a navigation software protocol format' and the three-dimensional navigation data is transmitted to the wired poor transmission mode or wireless data transmission mode to Processor processing; then, an electronic map database provides a three-dimensional road map data to the processor for processing; and finally the processor integration office • the two-dimensional navigation data and the stereo road map data to provide A three-dimensional road navigation information to the driver. The invention has the following beneficial effects: 1. The height sensing signal is provided by the compensation sensing unit, and the GPS signal is integrated, so that the driver can enjoy accurate three-dimensional road navigation. The method of the present invention is also applicable to the case where the GP s signal is not received, that is, the method of the present invention can be based on the last received G s signal, and the data rotated by the inertial sensing unit is added. After integrating the simulation, the three-dimensional road navigation information without GPS signal is obtained. 2 ^/^014 3, no additional processing software is needed to convert the G p s signal and the information provided by the inertial sensing unit into a format compatible with the navigation software and communication protocol, thereby saving production costs. • The method of the invention is that the (^ ps signal is integrated with the information provided by the inertial sensing unit, and then directly transmitted to the navigation software module by the micro control processing unit in a format conforming to the navigation software communication protocol. Processor processing and use. In order to further understand the features and technical contents of the present invention, please refer to the following detailed description of the invention and the _, but the _ formula is only for reference and description, and is not intended to be used for the present invention. [Approx.] Referring to the third figure, the present invention proposes an inertial navigation system, which is used to provide driving information, including a micro inertia. Processing subsystem i and a navigation processing subsystem 2, and the micro-inertial processing subsystem 1 and the navigation processing subsystem 2 are electrically connected to each other, thereby achieving transmission and reception of data. In addition, the micro-inertial processing subsystem The navigation processing subsystem 2 can also transmit and receive information in a wireless connection with each other. The micro inertial processing subsystem 1 has a micro control processing unit (MC u) 1 1 . The inertial sensing unit}2 and a Gp s signal receiving module 1-3, and the inertial sensing unit 12 and the GPS signal receiving module 3 are electrically connected to the micro inertial processing module 1 2 The micro-control processing unit 11 processes the data provided by the inertial sensing unit 12 and the GPs signal receiving module 13; in addition, the inertial sensing unit 为2 is an acceleration device or an _meter or an accelerometer The navigation system 2 with the gyroscope has no micro inertia processor (10) 1 electrical & 'where the navigation processing subsystem 2 has a navigation software module 21: a first electronic map (four) library 2 2, the f submap The database 2 2 is a stereo == shell library ' and the electronic map database 2 2 is electrically connected to the navigation software coupling group 21 . (4) The software module 2 1 is stepped with a processor 2 1 1, :Si i; C: the electronic map database 2 2 and the micro & 3, thereby used to integrate processing data from the electronic floor; 1 library 22_micro control processing single s 11 . The tamperable subsystem 2 is connected to the micro inertial processing subsystem system 1 and the if voyage mode, and is also a special inertia processor (not shown, ^). The subsystems 2 are respectively provided with a transmitting unit and a receiving unit method, and the present invention is not a 'micro-inertial navigation, and the steps include (please refer to the third figure at the same time): (b) the nS signal receiving module 1 3 Receive a GPS message "= GPS signal receiving hemp 13 and then send the GPS signal to a micro control processing unit (Met!) 1 1 processing. ===, unit/2 provides - vehicle three-dimensional state The second sensing unit transmits the vehicle three-dimensional state to the micro control processing unit 11. The micro control processing unit η receives the GPS signal and the vehicle 13 1375014 three-dimensional (four) signals, and then performs integration processing. (4) - 3D navigation and navigation (4), and recording (4) processing unit i re-service 3D navigation. Data is transmitted to a processor. 2 1 1 processing. (d) A three-dimensional road map is provided by the electronic map database 2 2. Information is available there! Processing in 2 1 1 . (e) After the processor 2 1 1 receives the three-dimensional navigation data and the stereoscopic road map data, it performs integration processing to obtain a three-dimensional road navigation information. The details of the method of the present invention are described in detail herein in order to assist those skilled in the art to understand and practice the invention. First, the GPS signal receiving module 13 receives the GPS signal from the satellite. After the receiving process is completed, the GPS signal receiving module 13 transmits the GP S signal to the micro control processing unit. Handling in the middle. While the GPS signal is transmitted to the micro control processing unit 1 1 , the inertial sensing unit 12 measures the vehicle motion state, and provides the vehicle three-dimensional state information to the micro control processing unit 1 1 , wherein the inertia sensing unit The unit Lu.12 is an accelerometer and a gyroscope, so the vehicle three-dimensional state information system. The vehicle acceleration measurement value measured by the accelerometer and the measurement result of the vehicle rotation angle measured by the gyroscope Integrated processing. Then, the micro control processing unit 11 integrates and processes the three-dimensional state information of the vehicle according to the GPS signal to obtain a three-dimensional navigation data conforming to the navigation software communication==.袼; further, the micro control processing the military three-dimensional navigation The data is transmitted to the processor 21 1 for processing by wired data transmission or wireless data transmission; then the stereoscopic road geography is provided by the electronic map data 12 library 2 2 . .... 口贝科 to the processor 21! The middle receives the Sanxiong navigation data and the _ 211 will deal with the three-dimensional guidance data ^ the map ^ map of the poor department of the processing, and get - three-dimensional road guidance , the data for the whole navigation information is provided to the driver's three-dimensional, face two Dan 丫 green three-dimensional road guide driver can get more accurate three-dimensional road = next, making two-dimensional road navigation. The navigation is not only the familiar plane, please refer to the reference. The fifth picture shows the navigation method, the steps include (please refer to the third. Microinertia. (a) When there is no Gps duty, - " 3 ^ PS signal receiving module 1 Lu Lijun - human received G p S signal to a micro-bar (b) processing sheep (MCU) Γ 1 processing. Micro (5) provided by an inertial sensing single it χ 2 - Vehicle information, and the vehicle's two-axis energy-to-early-first-only 1%' shell unit 11-dimensional state is transmitted to the micro-control processing ^ control processing unit 1 1 to receive the GP S signal and the f-handle After the two-dimensional state f is transmitted, the (four) GPS signal is used as a reference, and the vehicle is supplemented by a two-dimensional 4 information integration simulation to obtain a three-dimensional guide (d) = ' and the micro control processing unit 11 transmits the three-dimensional navigation bellows to - Processing in the processor 211. e), an electronic map database 2 2 provides a stereo road map data to the processor 21 1 for processing. The processor 21 1 receives the three-dimensional navigation data and the stereo channel 13 1375014 road map data After that, it is integrated to get a three-dimensional road navigation information. In order to help people familiar with this technology The invention will be described and implemented in detail, and the details of the method of the present invention will be described in detail. First, when the vehicle is affected by the terrain; the GP _ signal receiving module 13 does not receive any GPS signal, the GP s signal receiving mode The group 1 3 then transmits the last received GPS signal to the micro control processing unit 11. When the GPS signal is not received, the inertial sensor remains continuously measuring the vehicle motion state and provides the vehicle. The three-dimensional bear is sent to the micro-control processing unit 1 1, wherein the inertial sensing unit Wang ^, the two - accelerometer and the - gyroscope - the vehicle is the third, the state of the signal is from the heart, the speedometer The vehicle acceleration measurement value measured by f is integrated with the vehicle rotation angle measurement value of the gyroscope = 刈 When the micro control processing unit u receives the GPS signal, the micro control processing unit Ί丄Based on the Gpn, based on the benchmark and with the addition of the signal, the simulation conforms to the navigation software, the one-dimensional heart-shaped heartbeat, the integration of the ancient signing...The three-way navigational alert is transmitted to the processor 2丄Ί by means of the round-robin mode or the wireless data transmission mode, and (4) the electronic address is transmitted to the road map data in the three-dimensional navigation data. To this point: mouth = library 2 2 - when the processor 211 receives the three-dimensional map data, it begins to: the guide = shell / core the three-dimensional road through the one-dimensional navigation data and the three-dimensional road map 14 1375014 The data is integrated and processed, and ^ ^ ^ is served to a three-dimensional road navigation information, and the three-way road navigation information is used to inform the driver of the driving position of the vehicle, and the cow is responsible for the driving of the vehicle. You can get accurate stereoscopic road navigation without any 013 s signal when you are in a three-dimensional, versatile or underground road. The monthly card μ refers to the third-dimensional road navigation information provided by the present invention, and a navigation device 3 is provided on the display device (not shown) to give the driver a proper navigation path, even if the suspect is correct. The human lion's three-dimensional road system. 'There is no wrong touch; money, even without any g signal, this will provide accurate navigation, very practical. & is based on the following features and functions of the hairline system and method. 1. Drivers can enjoy accurate three-dimensional road navigation and no longer misjudge the route. 2, any G P S minus time can provide uninteresting information for continuous positioning and tracking. ^ 3, when the GPS signal is not received, the method of the present invention can use the G:S signal received by the most: and the inertial sense] the data output by the single 70 is integrated and simulated to obtain There is no three-dimensional road navigation information under the wide-area S signal. μ _ p 4, directly converted into a format that conforms to the navigation software protocol, and saves manufacturing costs due to the addition of processing software conversion. The method of the present invention integrates the GP S signal with the information provided by the inertial sense, and then directly transmits the information to the navigation software via the micro control unit in the format of the navigation 15 1375014 software communication protocol. The present invention is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Therefore, the equivalent of the present invention and the contents of the drawings are equivalent. All changes are included in the scope of protection of the present invention and are combined with Chen Ming. [Simple description of the diagram] The first diagram is a schematic diagram of the architecture of the conventional navigation system. The second picture is a flat map displayed by the conventional navigation system. The third figure is a schematic diagram of the architecture of the micro-inertial navigation system of the present invention. The fourth figure is a flow chart of the steps of the micro-inertial navigation method of the present invention. The fifth figure is a flow chart of another step of the micro-inertial navigation method of the present invention. Sixth. The figure is not intended for the three-dimensional road navigation image of the present invention. [Main component symbol description] (conventional) 1 a input attack 2a GP S receiving device 3a planar electronic map database. 4a path selecting device 5a navigation software device 6 a communication device 7 a display device 8 β result image 16 1375014 ( The present invention) 1 micro inertia processing subsystem 11 micro control processing unit 12 inertial sensing unit 13 GPS signal receiving module 2 navigation processing subsystem 21 navigation software module 21 1 'processor 2 2 electronic map database... 3 navigation image
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