TWI774262B - Positioning deviation modification method and positioning deviation modification system - Google Patents

Positioning deviation modification method and positioning deviation modification system Download PDF

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TWI774262B
TWI774262B TW110108344A TW110108344A TWI774262B TW I774262 B TWI774262 B TW I774262B TW 110108344 A TW110108344 A TW 110108344A TW 110108344 A TW110108344 A TW 110108344A TW I774262 B TWI774262 B TW I774262B
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TW202235914A (en
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施雋男
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神達數位股份有限公司
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Abstract

An positioning deviation modification method is implemented by a processing unit and includes the step of: generating multiple positioning results that relate respectively to different points of time in a no signal time period according to a GPS positioning result, a motion detection record including motion detection data and a driving image record wherein the step of generating nth (n≧2) positioning result includes the step of: generating a inertial positioning result that relates to the point of time of nth positioning result according to (n-1)th positioning result and the motion detection data of the same point of time; determining whether a distance between the inertial positioning result and (n-1)th positioning result is more than a distance upper limit; if yes, generating an image positioning result that relates to the point of time of nth positioning result according to (n-1)th positioning result and the driving image record; and regarding the image positioning result as nth positioning result.

Description

一種定位偏差修正方法及定位偏差修正系統A positioning deviation correction method and positioning deviation correction system

本發明是有關於一種定位偏差修正方法，特別是指一種使用行車影像的定位偏差修正方法。本發明還有關於一種定位偏差修正系統。The present invention relates to a positioning deviation correction method, in particular to a positioning deviation correction method using driving images. The present invention also relates to a positioning deviation correction system.

利用GPS衛星訊號計算出地理位置是一種常見的定位方法。GPS衛星訊號在某些路段（例如隧道內或高架橋下）容易受到屏蔽，當發生前述屏蔽狀況時，本領域已發展出搭配使用陀螺儀/加速規的感測結果進行慣性定位之技術。惟每一定位點的慣性定位運算是基於前一個定位點的位置進行推算，因此，當連續使用慣性定位時，每個慣性定位結果的偏移誤差會隨著時間逐漸累積加劇，甚至有時車輛因為路面條件的震動或晃動，導致計算上發生大幅偏差的情況。如何發展出一種定位偏差修正方法能改善前述現有技術的缺點，是本發明進一步要探討的主題。Using GPS satellite signals to calculate the geographic location is a common positioning method. GPS satellite signals are easily shielded in some road sections (such as in tunnels or under viaducts). When the above-mentioned shielding conditions occur, the technology has been developed in the art to use the sensing results of gyroscopes/accelerometers for inertial positioning. However, the inertial positioning operation of each positioning point is calculated based on the position of the previous positioning point. Therefore, when the inertial positioning is used continuously, the offset error of each inertial positioning result will gradually accumulate over time, and even sometimes the vehicle There is a large deviation in the calculation due to vibration or shaking of road conditions. How to develop a positioning deviation correction method to improve the aforementioned shortcomings of the prior art is a further subject of the present invention.

因此，本發明的目的，即在提供一種定位偏差修正方法。Therefore, the purpose of the present invention is to provide a positioning deviation correction method.

本發明的另一目的，在於提供一種定位偏差修正系統。Another object of the present invention is to provide a positioning deviation correction system.

於是，本發明定位偏差修正方法，藉由一儲存單元及一處理單元實施，該儲存單元儲存有相關於一紀錄時段的一GPS定位紀錄、一動態感測紀錄及一行車影像紀錄，該GPS定位紀錄由一設置於一車輛上的GPS定位單元根據GPS衛星訊號產生，該動態感測紀錄由一設置於該車輛上的動態感測單元產生，該行車影像紀錄由一設置於該車輛上的行車紀錄單元產生，該GPS定位紀錄中於該紀錄時段內的一無訊號時段無GPS定位結果，該GPS定位紀錄包含一相關於該無訊號時段之前的時間點的GPS定位結果，該動態感測紀錄包含多個分別相關於該紀錄時段中不同時間點的動態感測資料，該方法包含：該處理單元依序產生多個分別相關於該無訊號時段內不同時間點的定位結果，其中，產生第n個（n≧2）定位結果的步驟包含：該處理單元根據第n-1個定位結果及與其相同時間點的該動態感測資料，產生一相關於第n個定位結果的時間點的慣性定位結果；該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離是否大於一距離上限；當該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離大於該距離上限，該處理單元根據第n-1個定位結果及該行車影像紀錄，產生一相關於第n個定位結果的時間點的影像定位結果；及該處理單元將相關於第n個定位結果的時間點的該影像定位結果當作第n個定位結果。Therefore, the positioning deviation correction method of the present invention is implemented by a storage unit and a processing unit. The storage unit stores a GPS positioning record, a dynamic sensing record and a vehicle image record related to a recording period. The GPS positioning record The record is generated by a GPS positioning unit set on a vehicle according to GPS satellite signals, the dynamic sensing record is generated by a dynamic sensing unit set on the vehicle, and the driving image record is generated by a driving set on the vehicle. The recording unit generates, in the GPS positioning record, there is no GPS positioning result in a no-signal period within the recording period, the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period, and the motion sensing record Including a plurality of dynamic sensing data respectively related to different time points in the recording period, the method includes: the processing unit sequentially generating a plurality of positioning results respectively related to different time points in the no-signal period, wherein generating a first The step of n (n≧2) positioning results includes: the processing unit generates an inertia relative to the time point of the nth positioning result according to the n-1th positioning result and the dynamic sensing data at the same time point Positioning result; the processing unit judges whether the distance between the inertial positioning result and the n-1th positioning result is greater than a distance upper limit; when the processing unit judges the distance between the inertial positioning result and the n-1th positioning result greater than the upper limit of the distance, the processing unit generates an image positioning result related to the time point of the nth positioning result according to the n-1th positioning result and the driving image record; and the processing unit will be related to the nth positioning result The image positioning result at the time point of the result is regarded as the nth positioning result.

在一些實施態樣中，產生相關於該無訊號時段的第1個定位結果的步驟包含：該處理單元根據該GPS定位紀錄的該GPS定位結果及與其相同時間點的該動態感測資料，產生一相關於第1個定位結果的時間點的慣性定位結果；該處理單元判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離是否大於一距離上限；當該處理單元判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離大於該距離上限，該處理單元根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，產生一相關於第1個定位結果的時間點的影像定位結果；及該處理單元將相關於第1個定位結果的時間點的該影像定位結果當作第1個定位結果。In some implementations, the step of generating the first positioning result related to the no-signal period includes: the processing unit generating, according to the GPS positioning result of the GPS positioning record and the motion sensing data at the same time point, an inertial positioning result related to the time point of the first positioning result; the processing unit judges whether the distance between the inertial positioning result and the GPS positioning result recorded in the GPS positioning record is greater than a distance upper limit; when the processing unit judges the The distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the upper limit of the distance, and the processing unit generates a positioning result related to the first positioning result according to the GPS positioning result and the driving image record of the GPS positioning record and the processing unit regards the image positioning result at the time point related to the first positioning result as the first positioning result.

在一些實施態樣中，當該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離不大於該距離上限，該處理單元將該慣性定位結果當作第n個定位結果。In some embodiments, when the processing unit determines that the distance between the inertial positioning result and the n-1th positioning result is not greater than the upper limit of the distance, the processing unit regards the inertial positioning result as the nth positioning result.

在一些實施態樣中，當該處理單元判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離不大於該距離上限，該處理單元將該慣性定位結果當作第1個定位結果。In some implementation aspects, when the processing unit determines that the distance between the inertial positioning result and the GPS positioning result in the GPS positioning record is not greater than the upper limit of the distance, the processing unit regards the inertial positioning result as the first positioning result.

本發明定位偏差修正方法，藉由一儲存單元及一處理單元實施，該儲存單元儲存有相關於一紀錄時段的一GPS定位紀錄、一動態感測紀錄及一行車影像紀錄，該GPS定位紀錄由一設置於一車輛上的GPS定位單元根據GPS衛星訊號產生，該動態感測紀錄由一設置於該車輛上的動態感測單元產生，該行車影像紀錄由一設置於該車輛上的行車紀錄單元產生，該GPS定位紀錄中於該紀錄時段內的一無訊號時段無GPS定位結果，該GPS定位紀錄包含一相關於該無訊號時段之前的時間點的GPS定位結果，該方法包含：該處理單元根據該GPS定位紀錄的該GPS定位結果及該動態感測紀錄，依序產生多個分別相關於該無訊號時段內不同時間點的慣性定位結果；該處理單元於產生第m個（m≧2）慣性定位結果之後且於產生第m+1個慣性定位結果之前，判斷第m個慣性定位結果與第m-1個慣性定位結果之間的距離是否大於一距離上限；及當該處理單元判斷第m個慣性定位結果與第m-1個慣性定位結果之間的距離大於該距離上限，該處理單元停止繼續產生後續的慣性定位結果，並根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，依序產生多個分別相關於該無訊號時段內不同時間點的影像定位結果，並將該等影像定位結果分別當作多個分別相關於該無訊號時段內不同時間點的定位結果。The positioning deviation correction method of the present invention is implemented by a storage unit and a processing unit. The storage unit stores a GPS positioning record, a dynamic sensing record and a vehicle image record related to a recording period. The GPS positioning record is obtained by A GPS positioning unit installed on a vehicle is generated according to GPS satellite signals, the dynamic sensing record is generated by a dynamic sensing unit installed on the vehicle, and the driving image record is generated by a driving record unit installed on the vehicle Generating, in the GPS positioning record, there is no GPS positioning result in a no-signal period within the recording period, the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period, and the method includes: the processing unit According to the GPS positioning result of the GPS positioning record and the dynamic sensing record, a plurality of inertial positioning results respectively related to different time points in the no-signal period are sequentially generated; the processing unit generates the mth (m≧2 ) after the inertial positioning result and before generating the m+1th inertial positioning result, determine whether the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than a distance upper limit; and when the processing unit judges The distance between the m-th inertial positioning result and the m-1-th inertial positioning result is greater than the upper limit of the distance, the processing unit stops generating subsequent inertial positioning results, and according to the GPS positioning result recorded in the GPS positioning record and the driving Image recording, sequentially generating a plurality of image positioning results respectively related to different time points in the no-signal period, and treating the image positioning results as a plurality of positioning results respectively related to different time points in the no-signal period .

在一些實施態樣中，所述的定位偏差修正方法，還包含：該處理單元於產生第1個慣性定位結果之後且於產生第2個慣性定位結果之前，判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離是否大於一距離上限；及當該處理單元判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離大於該距離上限，該處理單元停止繼續產生後續的慣性定位結果，並根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，依序產生分別相關於該無訊號時段內不同時間點的該等影像定位結果，並將該等影像定位結果分別當作分別相關於該無訊號時段內不同時間點的該等定位結果。In some implementation aspects, the positioning deviation correction method further includes: after the processing unit generates the first inertial positioning result and before generating the second inertial positioning result, judging the difference between the first inertial positioning result and the second inertial positioning result. Whether the distance between the GPS positioning results in the GPS positioning record is greater than a distance upper limit; and when the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result in the GPS positioning record is greater than the distance upper limit, the The processing unit stops generating subsequent inertial positioning results, and sequentially generates the image positioning results respectively related to different time points in the no-signal period according to the GPS positioning results of the GPS positioning record and the driving image record, and The image positioning results are respectively regarded as the positioning results respectively related to different time points in the no-signal period.

在一些實施態樣中，當該處理單元判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離不大於該距離上限，且每一慣性定位結果與前一個慣性定位結果之間的距離皆不大於該距離上限，該處理單元將該等慣性定位結果分別當作分別相關於該無訊號時段內不同時間點的該等定位結果。In some implementation aspects, when the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result recorded in the GPS positioning record is not greater than the upper limit of the distance, and each inertial positioning result and the previous inertial positioning result The distance between them is not greater than the upper limit of the distance, and the processing unit regards the inertial positioning results as the positioning results respectively related to different time points in the no-signal period.

本發明定位偏差修正系統，包含一GPS定位單元、一動態感測單元、一行車紀錄單元、一儲存單元及一處理單元。The positioning deviation correction system of the present invention includes a GPS positioning unit, a dynamic sensing unit, a trip record unit, a storage unit and a processing unit.

該GPS定位單元適於設置於一車輛上，且根據GPS衛星訊號產生相關於一紀錄時段的一GPS定位紀錄。The GPS positioning unit is suitable for being installed on a vehicle, and generates a GPS positioning record related to a recording period according to GPS satellite signals.

該動態感測單元適於設置於該車輛上，且產生相關於該紀錄時段的一動態感測紀錄，該動態感測紀錄包含多個分別相關於該紀錄時段中不同時間點的動態感測資料。The dynamic sensing unit is suitable for being installed on the vehicle, and generates a dynamic sensing record related to the recording period, the dynamic sensing record including a plurality of dynamic sensing data respectively related to different time points in the recording period .

該行車紀錄單元適於設置於該車輛上，且產生相關於該紀錄時段的一行車影像紀錄。The driving record unit is suitable for being installed on the vehicle, and generates a driving image record related to the recording period.

該儲存單元儲存有相關於該紀錄時段的該GPS定位紀錄、該動態感測紀錄及該行車影像紀錄，該GPS定位紀錄中於該紀錄時段內的一無訊號時段無GPS定位結果，且該GPS定位紀錄包含一相關於該無訊號時段之前的時間點的GPS定位結果。The storage unit stores the GPS positioning record, the motion sensing record and the driving image record related to the recording period. There is no GPS positioning result in the GPS positioning record during a no-signal period within the recording period, and the GPS The location record includes a GPS location result related to a time point before the no-signal period.

該處理單元依序產生多個分別相關於該無訊號時段內不同時間點的定位結果，其中，產生第n個（n≧2）定位結果的步驟包含：該處理單元根據第n-1個定位結果及與其相同時間點的該動態感測資料，產生一相關於第n個定位結果的時間點的慣性定位結果；該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離是否大於一距離上限；當該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離大於該距離上限，該處理單元根據第n-1個定位結果及該行車影像紀錄，產生一相關於第n個定位結果的時間點的影像定位結果；及該處理單元將相關於第n個定位結果的時間點的該影像定位結果當作第n個定位結果。The processing unit sequentially generates a plurality of positioning results respectively related to different time points in the no-signal period, wherein the step of generating the nth (n≧2) positioning result includes: the processing unit according to the n-1th positioning The result and the dynamic sensing data at the same time point, generate an inertial positioning result related to the time point of the nth positioning result; the processing unit determines the distance between the inertial positioning result and the n-1th positioning result Whether it is greater than a distance upper limit; when the processing unit determines that the distance between the inertial positioning result and the n-1 th positioning result is greater than the distance upper limit, the processing unit generates the n-1 th positioning result and the driving image record according to the an image positioning result related to the time point of the nth positioning result; and the processing unit regards the image positioning result related to the time point of the nth positioning result as the nth positioning result.

本發明定位偏差修正系統，包含一GPS定位單元、一動態感測單元、一行車紀錄單元、一儲存單元及一處理單元。The positioning deviation correction system of the present invention includes a GPS positioning unit, a dynamic sensing unit, a trip record unit, a storage unit and a processing unit.

該GPS定位單元適於設置於一車輛上，且根據GPS衛星訊號產生相關於一紀錄時段的一GPS定位紀錄。The GPS positioning unit is suitable for being installed on a vehicle, and generates a GPS positioning record related to a recording period according to GPS satellite signals.

該動態感測單元適於設置於該車輛上，且產生相關於該紀錄時段的一動態感測紀錄。The dynamic sensing unit is suitable for being disposed on the vehicle, and generates a dynamic sensing record related to the recording period.

該行車紀錄單元適於設置於該車輛上，且產生相關於該紀錄時段的一行車影像紀錄。The driving record unit is suitable for being installed on the vehicle, and generates a driving image record related to the recording period.

該儲存單元儲存有相關於該紀錄時段的該GPS定位紀錄、該動態感測紀錄及該行車影像紀錄，該GPS定位紀錄中於該紀錄時段內的一無訊號時段無GPS定位結果，且該GPS定位紀錄包含一相關於該無訊號時段之前的時間點的GPS定位結果。The storage unit stores the GPS positioning record, the motion sensing record and the driving image record related to the recording period. There is no GPS positioning result in the GPS positioning record during a no-signal period within the recording period, and the GPS The location record includes a GPS location result related to a time point before the no-signal period.

該處理單元根據該GPS定位紀錄的該GPS定位結果及該動態感測紀錄，依序產生多個分別相關於該無訊號時段內不同時間點的慣性定位結果。The processing unit sequentially generates a plurality of inertial positioning results respectively related to different time points in the no-signal period according to the GPS positioning result of the GPS positioning record and the dynamic sensing record.

該處理單元於產生第m個（m≧2）慣性定位結果之後且於產生第m+1個慣性定位結果之前，判斷第m個慣性定位結果與第m-1個慣性定位結果之間的距離是否大於一距離上限。The processing unit determines the distance between the m-th inertial positioning result and the m-1-th inertial positioning result after generating the m-th (m≧2) inertial positioning result and before generating the m+1-th inertial positioning result Is it greater than a distance upper limit.

當該處理單元判斷第m個慣性定位結果與第m-1個慣性定位結果之間的距離大於該距離上限，該處理單元停止繼續產生後續的慣性定位結果，並根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，依序產生多個分別相關於該無訊號時段內不同時間點的影像定位結果，並將該等影像定位結果分別當作多個分別相關於該無訊號時段內不同時間點的定位結果。When the processing unit determines that the distance between the m-th inertial positioning result and the m-1-th inertial positioning result is greater than the upper limit of the distance, the processing unit stops generating subsequent inertial positioning results, and according to the GPS positioning record of the GPS positioning The positioning result and the driving image record are sequentially generated to generate a plurality of image positioning results respectively related to different time points in the no-signal period, and the image positioning results are regarded as a plurality of different image positioning results respectively related to the no-signal period. Positioning results at a time point.

本發明的功效在於：本發明定位偏差修正系統藉由當該慣性定位結果與第n-1個定位結果之間的距離大於該距離上限，該處理單元根據第n-1個定位結果及該行車影像紀錄，產生相關於第n個定位結果的時間點的該影像定位結果，並將相關於第n個定位結果的時間點的該影像定位結果當作第n個定位結果，從而能在慣性定位結果發生較大偏差時以影像定位結果取代，類似地，本發明定位偏差修正系統藉由當第m個慣性定位結果與第m-1個慣性定位結果之間的距離大於該距離上限，該處理單元停止繼續產生後續的慣性定位結果，並根據該GPS定位結果及該行車影像紀錄，依序產生分別相關於該無訊號時段內不同時間點的該等影像定位結果，並將該等影像定位結果分別當作多個分別相關於該無訊號時段內不同時間點的定位結果，從而能在慣性定位結果發生較大偏差時以影像定位結果取代。The effect of the present invention is as follows: the positioning deviation correction system of the present invention is based on when the distance between the inertial positioning result and the n-1th positioning result is greater than the upper limit of the distance, the processing unit is based on the n-1th positioning result and the driving Image recording, generating the image positioning result related to the time point of the nth positioning result, and using the image positioning result related to the time point of the nth positioning result as the nth positioning result, so that the inertial positioning can be performed. When a large deviation occurs in the result, it is replaced by the image positioning result. Similarly, the positioning deviation correction system of the present invention is processed by when the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than the upper limit of the distance. The unit stops and continues to generate subsequent inertial positioning results, and according to the GPS positioning results and the driving image records, sequentially generates the image positioning results respectively related to different time points in the no-signal period, and stores the image positioning results. They are respectively regarded as a plurality of positioning results respectively related to different time points in the no-signal period, so that the image positioning results can be used to replace the inertial positioning results when there is a large deviation.

在本發明被詳細描述之前，應當注意在以下的說明內容中，類似的元件是以相同的編號來表示。Before the present invention is described in detail, it should be noted that in the following description, similar elements are designated by the same reference numerals.

參閱圖1，本發明定位偏差修正系統100的一第一實施例，包含一GPS定位單元1、一動態感測單元2、一行車紀錄單元3、一儲存單元4及一處理單元5。Referring to FIG. 1 , a first embodiment of a positioning deviation correction system 100 of the present invention includes a GPS positioning unit 1 , a dynamic sensing unit 2 , a trip recording unit 3 , a storage unit 4 and a processing unit 5 .

該GPS定位單元1適於設置於一車輛上，且根據GPS衛星訊號產生相關於一紀錄時段的一GPS定位紀錄。The GPS positioning unit 1 is suitable for being installed on a vehicle, and generates a GPS positioning record related to a recording period according to GPS satellite signals.

該動態感測單元2適於設置於該車輛上，且產生相關於該紀錄時段的一動態感測紀錄。該動態感測紀錄包含多個分別相關於該紀錄時段中不同時間點的動態感測資料。該動態感測單元2例如包含陀螺儀及加速規。The dynamic sensing unit 2 is suitable for being installed on the vehicle, and generates a dynamic sensing record related to the recording period. The dynamic sensing record includes a plurality of dynamic sensing data respectively related to different time points in the recording period. The dynamic sensing unit 2 includes, for example, a gyroscope and an accelerometer.

該行車紀錄單元3適於設置於該車輛上，且產生相關於該紀錄時段的一行車影像紀錄。該行車紀錄單元3例如為一行車紀錄器。The driving record unit 3 is suitable for being installed on the vehicle, and generates a driving image record related to the recording period. The driving record unit 3 is, for example, a driving recorder.

該儲存單元4儲存有相關於該紀錄時段的該GPS定位紀錄、該動態感測紀錄及該行車影像紀錄。該GPS定位紀錄中於該紀錄時段內的一無訊號時段無GPS定位結果，該GPS定位紀錄包含一相關於該無訊號時段之前的時間點的GPS定位結果。該GPS定位紀錄被產生的駕駛情境舉例如下，該車輛先是駛在GPS衛星訊號未被屏蔽的路段，接著在該無訊號時段駛入衛星訊號受遮蔽的路段（例如隧道），該GPS定位單元1在該無訊號時段因缺乏GPS衛星訊號而無法計算GPS定位結果，使得所產生的該GPS定位紀錄中在該無訊號時段不包含任何GPS定位結果，而本實施例中的該GPS定位結果是該車輛在駛入前述遮蔽路段之前該GPS定位單元1最後產生的一筆GPS定位資料。該儲存單元4可使用諸如硬碟、快閃記憶體等的非揮發性儲存媒介來實施。The storage unit 4 stores the GPS positioning record, the motion sensing record and the driving image record related to the recording period. In the GPS positioning record, there is no GPS positioning result in a no-signal period within the recording period, and the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period. An example of the driving situation in which the GPS positioning record is generated is as follows. The vehicle first drives on a road section where GPS satellite signals are not shielded, and then drives into a road section (such as a tunnel) where satellite signals are shielded during the no-signal period. The GPS positioning unit 1 During the no-signal period, the GPS positioning result cannot be calculated due to the lack of GPS satellite signals, so that the generated GPS positioning record does not include any GPS positioning result in the no-signal period, and the GPS positioning result in this embodiment is the The last piece of GPS positioning data generated by the GPS positioning unit 1 before the vehicle enters the aforementioned shaded road section. The storage unit 4 may be implemented using a non-volatile storage medium such as a hard disk, flash memory or the like.

該處理單元5電連接於該GPS定位單元1、該動態感測單元2、該行車紀錄單元3及該儲存單元4。該處理單元5可包含（但不限於）一單核處理器、一個多核處理器、一個雙核手機處理器、一微處理器、一微控制器、一數位訊號處理器（DSP）、一現場可程式邏輯閘陣列（FPGA）、一特殊應用積體電路（ASIC）及一射頻積體電路（RFIC）其中至少一者。The processing unit 5 is electrically connected to the GPS positioning unit 1 , the dynamic sensing unit 2 , the driving record unit 3 and the storage unit 4 . The processing unit 5 may include (but not limited to) a single-core processor, a multi-core processor, a dual-core mobile phone processor, a microprocessor, a microcontroller, a digital signal processor (DSP), a field At least one of a program logic gate array (FPGA), an application-specific integrated circuit (ASIC) and a radio frequency integrated circuit (RFIC).

該處理單元5依序產生多個分別相關於該無訊號時段內不同時間點的定位結果，以下配合圖1及圖2說明產生相關於該無訊號時段的第1個定位結果的步驟。The processing unit 5 sequentially generates a plurality of positioning results respectively related to different time points in the no-signal period. The steps of generating the first positioning result related to the no-signal period are described below with reference to FIG. 1 and FIG. 2 .

首先，如步驟S01所示，該處理單元5根據該GPS定位紀錄的該GPS定位結果（該無訊號時段之前該GPS定位單元1最後產生的一筆GPS定位資料）及與其相同時間點的該動態感測資料，產生一相關於第1個定位結果的時間點的慣性定位結果。First, as shown in step S01, the processing unit 5 according to the GPS positioning result of the GPS positioning record (the last piece of GPS positioning data generated by the GPS positioning unit 1 before the no-signal period) and the dynamic sense at the same time point The measurement data is used to generate an inertial positioning result related to the time point of the first positioning result.

接著，如步驟S02所示，該處理單元5判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果（該無訊號時段之前該GPS定位單元1最後產生的一筆GPS定位資料）之間的距離是否大於一距離上限，若否，則執行步驟S03，若是，則執行步驟S04及S05。本發明在步驟S02中透過判斷該慣性定位結果與該GPS定位結果之間的距離是否大於該距離上限，以推測慣性定位是否發生了大幅偏差。舉例來說，一般在道路上駕駛的車輛的速度絕大多數不超過時速八十公里，即便是高速公路，車輛時速平均約在一百二十公里左右，藉由該GPS定位結果可計算出車輛於失去GPS訊號之前的車輛速度，再藉由搭配慣性定位計算可持續得知車輛速度的變化，因此可進一步判斷該慣性定位結果與該GPS定位結果兩者之間的距離是否合理，舉例來說一般合理情況下該慣性定位結果與該GPS定位結果兩者之間的距離會小於以時速一百五十公里在該慣性定位結果與該GPS定位結果對應的時間差當中所對應的位移量，當將該距離上限的值設定為前述的位移量時，便能透過判斷該慣性定位結果與該GPS定位結果之間的距離是否大於該距離上限，以推測車輛在慣性定位結果上是否發生了大幅偏差。同樣地，若後續以每一慣性定位結果對應於前一個慣性定位結果的距離大於該距離上限值時，可推測該慣性定位結果之間發生了大幅偏差。Next, as shown in step S02, the processing unit 5 determines the distance between the inertial positioning result and the GPS positioning result recorded in the GPS positioning record (the last piece of GPS positioning data generated by the GPS positioning unit 1 before the no-signal period). Whether it is greater than a distance upper limit, if not, go to step S03, if yes, go to steps S04 and S05. In the present invention, in step S02, it is determined whether the distance between the inertial positioning result and the GPS positioning result is greater than the upper limit of the distance, so as to infer whether the inertial positioning has a large deviation. For example, the speed of most vehicles driving on the road does not exceed 80 kilometers per hour. Even on highways, the average speed of vehicles is about 120 kilometers per hour. Based on the GPS positioning results, the vehicle can be calculated. The speed of the vehicle before the GPS signal is lost, and the change of the vehicle speed can be continuously known by the inertial positioning calculation, so it can be further judged whether the distance between the inertial positioning result and the GPS positioning result is reasonable, for example Generally, the distance between the inertial positioning result and the GPS positioning result will be less than the displacement corresponding to the time difference between the inertial positioning result and the GPS positioning result at a speed of 150 kilometers per hour. When the value of the upper limit of the distance is set as the aforementioned displacement, it can be estimated whether the inertial positioning result of the vehicle has a large deviation by judging whether the distance between the inertial positioning result and the GPS positioning result is greater than the upper limit of the distance . Likewise, if the distance between each subsequent inertial positioning result corresponding to the previous inertial positioning result is greater than the upper limit of the distance, it can be inferred that a large deviation has occurred between the inertial positioning results.

步驟S03是當該處理單元5判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離不大於該距離上限（慣性定位未發生大幅偏差），該處理單元5將該慣性定位結果當作第1個定位結果。Step S03 is when the processing unit 5 judges that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the upper limit of the distance (the inertial positioning does not have a large deviation), the processing unit 5 uses the inertial positioning result. as the first positioning result.

步驟S04是當該處理單元5判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離大於該距離上限（慣性定位發生了大幅偏差），該處理單元5根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，產生一相關於第1個定位結果的時間點的影像定位結果。Step S04 is when the processing unit 5 judges that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the distance upper limit (a large deviation has occurred in the inertial positioning), the processing unit 5 is based on the GPS positioning record. The GPS positioning result and the driving image record generate an image positioning result related to the time point of the first positioning result.

更具體來說，該處理單元5分析該行車影像紀錄中該車輛相對於車道線的位置變化以及該車輛與其他車輛之間的相對位置及距離變化，從而推算該車輛與行車環境之間是否有大幅度的改變，藉此推算產生影像定位結果。其中，所使用的演算法例如但不限於「前車距離估算演算法」、以模糊邏輯演算法為基礎的「外型大小相似性演算法（Contour Size Similarity, CSS）」等。More specifically, the processing unit 5 analyzes the position change of the vehicle relative to the lane line and the relative position and distance changes between the vehicle and other vehicles in the driving image record, so as to estimate whether there is a gap between the vehicle and the driving environment. Substantial changes, thereby extrapolating to produce image positioning results. Among them, the algorithm used is, for example, but not limited to, "the distance estimation algorithm in front of the vehicle", the "contour size similarity algorithm (CSS)" based on the fuzzy logic algorithm, and so on.

補充說明的是，無論是步驟S01中的慣性定位運算，或是步驟S04中的影像定位運算，皆基於該GPS定位紀錄的該GPS定位結果（該無訊號時段之前該GPS定位單元1最後產生的一筆GPS定位資料），同時藉由進入無GPS訊號區段之前(例如但不限於:隧道口)導航圖資上所知的特定座標資訊（例如:隧道口座標），以及透過GPS定位資料所得知的車輛速度數據，可在該車輛進入該無GPS訊號區段之前準確掌握該車輛最後接收該GPS定位資料的實時位置與速度，也就是說，該GPS定位結果搭配上述特定座標資訊、該車輛速度數據等可被當作後續慣性定位運算或影像定位運算的準確基礎。It is added that, whether it is the inertial positioning calculation in step S01 or the image positioning calculation in step S04, it is based on the GPS positioning result of the GPS positioning record (the last generated signal by the GPS positioning unit 1 before the no-signal period). A piece of GPS positioning data), and at the same time by the specific coordinate information (for example: the coordinates of the tunnel entrance) known on the navigation map before entering the zone without GPS signal (such as but not limited to: tunnel entrance), and through GPS positioning data. The speed data of the vehicle can accurately grasp the real-time position and speed of the vehicle last receiving the GPS positioning data before the vehicle enters the zone without GPS signal. That is, the GPS positioning result is matched with the above-mentioned specific coordinate information, the vehicle speed Data, etc., can be used as an accurate basis for subsequent inertial positioning operations or image positioning operations.

接著，如步驟S05所示，該處理單元5將相關於第1個定位結果的時間點的該影像定位結果當作第1個定位結果。Next, as shown in step S05, the processing unit 5 regards the image positioning result at the time point related to the first positioning result as the first positioning result.

以下配合圖1及圖3說明產生第n個定位結果的步驟，n≧2，且n小於等於例如該無訊號時段的動態感測資料的資料筆數，但n的上限不以此為限。首先，如步驟S11所示，該處理單元5根據第n-1個定位結果及與其相同時間點的該動態感測資料，產生一相關於第n個定位結果的時間點的慣性定位結果。The steps of generating the nth positioning result are described below with reference to FIG. 1 and FIG. 3 , n≧2, and n is less than or equal to, for example, the number of motion sensing data in the no-signal period, but the upper limit of n is not limited thereto. First, as shown in step S11, the processing unit 5 generates an inertial positioning result related to the time point of the nth positioning result according to the n-1th positioning result and the dynamic sensing data at the same time point.

接著，如步驟S12所示，該處理單元5判斷該慣性定位結果與第n-1個定位結果之間的距離是否大於一距離上限，若否，則執行步驟S13，若是，則執行步驟S14及S15。本發明在步驟S12中透過判斷該慣性定位結果與第n-1個定位結果之間的距離是否大於該距離上限，以推測慣性定位是否發生了大幅偏差。Next, as shown in step S12, the processing unit 5 determines whether the distance between the inertial positioning result and the n-1 th positioning result is greater than a distance upper limit, if not, executes step S13, if yes, executes steps S14 and S15. In the present invention, in step S12, it is determined whether the distance between the inertial positioning result and the n-1th positioning result is greater than the upper limit of the distance, so as to infer whether the inertial positioning has a large deviation.

步驟S13是當該處理單元5判斷該慣性定位結果與第n-1個定位結果之間的距離不大於該距離上限（慣性定位未發生大幅偏差），該處理單元5將該慣性定位結果當作第n個定位結果。Step S13 is when the processing unit 5 judges that the distance between the inertial positioning result and the n-1th positioning result is not greater than the upper limit of the distance (the inertial positioning does not deviate significantly), the processing unit 5 regards the inertial positioning result as the upper limit of the distance. The nth positioning result.

步驟S14是當該處理單元5判斷該慣性定位結果與第n-1個定位結果之間的距離大於該距離上限（慣性定位發生了大幅偏差），該處理單元5根據第n-1個定位結果及該行車影像紀錄，產生一相關於第n個定位結果的時間點的影像定位結果。Step S14 is when the processing unit 5 judges that the distance between the inertial positioning result and the n-1th positioning result is greater than the upper limit of the distance (a large deviation has occurred in the inertial positioning), the processing unit 5 determines that the distance between the inertial positioning result and the n-1th positioning result is greater than the upper limit of the distance (the inertial positioning has a large deviation). and the driving image record, an image positioning result corresponding to the time point of the nth positioning result is generated.

接著，如步驟S15所示，該處理單元5將相關於第n個定位結果的時間點的該影像定位結果當作第n個定位結果。Next, as shown in step S15, the processing unit 5 regards the image positioning result at the time point related to the nth positioning result as the nth positioning result.

參閱圖1與圖4，以下說明在本發明定位偏差修正系統100的一第二實施例中，產生相關於該無訊號時段內不同時間點的第1個定位結果及第m個定位結果的步驟，M≧m≧2，且M為該無訊號時段的動態感測資料的資料筆數，但m的上限M不以此為限。Referring to FIG. 1 and FIG. 4 , in a second embodiment of the positioning deviation correction system 100 of the present invention, the steps of generating the first positioning result and the mth positioning result related to different time points in the no-signal period are described below. , M≧m≧2, and M is the number of data records of the dynamic sensing data in the no-signal period, but the upper limit M of m is not limited to this.

首先，如步驟S21所示，該處理單元5根據該GPS定位紀錄的該GPS定位結果及與其相同時間點的該動態感測資料，產生一相關於第1個定位結果的時間點的慣性定位結果。First, as shown in step S21, the processing unit 5 generates an inertial positioning result related to the time point of the first positioning result according to the GPS positioning result of the GPS positioning record and the dynamic sensing data at the same time point .

接著，如步驟S22所示，該處理單元5於產生第1個慣性定位結果之後且於產生第2個慣性定位結果之前，判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離是否大於一距離上限，若是，則接著執行步驟S23及S24，若否，則接著執行步驟S25。本發明在步驟S22中透過判斷第1個慣性定位結果與該GPS定位結果之間的距離是否大於該距離上限，以推測慣性定位是否發生了大幅偏差。Next, as shown in step S22, the processing unit 5 determines the difference between the first inertial positioning result and the GPS positioning result of the GPS positioning record after generating the first inertial positioning result and before generating the second inertial positioning result Whether the distance between them is greater than a distance upper limit, if yes, then go to step S23 and S24, if not, go to step S25. In the present invention, in step S22, it is determined whether the distance between the first inertial positioning result and the GPS positioning result is greater than the upper limit of the distance, so as to infer whether the inertial positioning has a large deviation.

步驟S23是（當慣性定位發生了大幅偏差）該處理單元5停止繼續產生後續的慣性定位結果，並根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，依序產生分別相關於該無訊號時段內不同時間點的該等影像定位結果。Step S23 is (when the inertial positioning has a large deviation) the processing unit 5 stops and continues to generate subsequent inertial positioning results, and according to the GPS positioning results and the driving image records of the GPS positioning records, sequentially generates the corresponding data related to the These image positioning results at different time points within the signal period.

接著，如步驟S24所示，該處理單元5將該等影像定位結果分別當作分別相關於該無訊號時段內不同時間點的該等定位結果。Next, as shown in step S24, the processing unit 5 regards the image positioning results as the positioning results respectively related to different time points in the no-signal period.

另一方面，步驟S25是當該處理單元5判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離不大於該距離上限（慣性定位未發生大幅偏差），該處理單元5令參數m=2。On the other hand, in step S25, when the processing unit 5 determines that the distance between the first inertial positioning result and the GPS positioning result recorded in the GPS positioning record is not greater than the upper limit of the distance (the inertial positioning does not deviate significantly), the processing unit 5 Let the parameter m=2.

接著，如步驟S26所示，該處理單元5根據第m-1個定位結果及與其相同時間點的該動態感測資料，產生一相關於第m個定位結果的時間點的慣性定位結果。Next, as shown in step S26, the processing unit 5 generates an inertial positioning result related to the time point of the mth positioning result according to the m-1th positioning result and the dynamic sensing data at the same time point.

接著，如步驟S27所示，該處理單元5於產生第m個慣性定位結果之後且於產生第m+1個慣性定位結果之前，判斷第m個慣性定位結果與第m-1個慣性定位結果之間的距離是否大於一距離上限，若是，則接著執行步驟S23及S24，若否，則接著執行步驟S28。本發明在步驟S27中透過判斷第m個慣性定位結果與第m-1個慣性定位結果之間的距離是否大於該距離上限，以推測慣性定位結果之間是否發生了大幅偏差。Next, as shown in step S27, the processing unit 5 determines the m-th inertial positioning result and the m-1-th inertial positioning result after generating the m-th inertial positioning result and before generating the m+1-th inertial positioning result Whether the distance between them is greater than a distance upper limit, if yes, then go to step S23 and S24, if not, go to step S28. In the present invention, in step S27, it is determined whether the distance between the m th inertial positioning result and the m-1 th inertial positioning result is greater than the upper limit of the distance, so as to infer whether there is a large deviation between the inertial positioning results.

步驟S28是（當慣性定位未發生大幅偏差）該處理單元5判斷參數m的值是否到達M。若步驟S28判斷為否，則接著執行步驟S29，也就是將參數m的值加1，並接著再次執行步驟S26。若步驟S28判斷為是，則接著執行步驟S30。Step S28 is (when the inertial positioning does not deviate significantly) the processing unit 5 determines whether the value of the parameter m reaches M. If the determination in step S28 is negative, step S29 is then executed, that is, the value of the parameter m is incremented by 1, and then step S26 is executed again. If the determination in step S28 is yes, then step S30 is executed.

步驟S30是當該處理單元5判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離不大於該距離上限，且後續每一慣性定位結果與前一個慣性定位結果之間的距離皆不大於該距離上限，該處理單元5將該等慣性定位結果（第2個慣性定位結果至第M個）分別當作分別相關於該無訊號時段內不同時間點的該等定位結果。Step S30 is when the processing unit 5 judges that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the distance upper limit, and between each subsequent inertial positioning result and the previous inertial positioning result. The distance is not greater than the upper limit of the distance, and the processing unit 5 regards the inertial positioning results (the second inertial positioning result to the Mth) as the positioning results respectively related to different time points in the no-signal period .

綜上所述，本發明定位偏差修正系統100藉由當相關於第n個定位結果的時間點的該慣性定位結果與第n-1個定位結果之間的距離大於該距離上限，該處理單元5根據第n-1個定位結果及該行車影像紀錄，產生相關於第n個定位結果的時間點的該影像定位結果，並將相關於第n個定位結果的時間點的該影像定位結果當作第n個定位結果，從而能在慣性定位結果發生較大偏差時以影像定位結果取代，類似地，本發明定位偏差修正系統100藉由當第m個慣性定位結果與第m-1個慣性定位結果之間的距離大於該距離上限，該處理單元5停止繼續產生後續的慣性定位結果，並根據該GPS定位結果及該行車影像紀錄，依序產生分別相關於該無訊號時段內不同時間點的該等影像定位結果，並將該等影像定位結果分別當作多個分別相關於該無訊號時段內不同時間點的定位結果，也就是說當車輛處於無GPS訊號路段之情況下時，先採取能直接感測於車輛本身狀態的慣性定位資訊做為持續精準定位的手段，當慣性定位累積計算誤差或遇上車輛行駛被路面影響時，再進一步地透過影像之間車輛與車輛的相對定位結果來最大程度的維持整體定位的穩定性與精準度，修正慣性定位的偏移，故確實能達成本發明的目的。To sum up, the positioning deviation correction system 100 of the present invention determines that when the distance between the inertial positioning result at the time point related to the nth positioning result and the n-1th positioning result is greater than the upper limit of the distance, the processing unit 5. According to the n-1th positioning result and the driving image record, generate the image positioning result related to the time point of the nth positioning result, and use the image positioning result related to the time point of the nth positioning result as As the nth positioning result, the image positioning result can be replaced when the inertial positioning result has a large deviation. Similarly, the positioning deviation correction system 100 of the present invention is based on the When the distance between the positioning results is greater than the upper limit of the distance, the processing unit 5 stops generating subsequent inertial positioning results, and sequentially generates different time points in the no-signal period according to the GPS positioning results and the driving image records. the image positioning results, and treat the image positioning results as multiple positioning results respectively related to different time points in the no-signal period. The inertial positioning information that can directly sense the state of the vehicle itself is used as a means of continuous accurate positioning. When the inertial positioning accumulates calculation errors or encounters the vehicle's driving is affected by the road surface, the relative positioning of the vehicle and the vehicle is further passed between the images. As a result, the stability and accuracy of the overall positioning can be maintained to the greatest extent, and the offset of the inertial positioning can be corrected, so that the purpose of the present invention can be achieved.

惟以上所述者，僅為本發明的實施例而已，當不能以此限定本發明實施的範圍，凡是依本發明申請專利範圍及專利說明書內容所作的簡單的等效變化與修飾，皆仍屬本發明專利涵蓋的範圍內。However, the above are only examples of the present invention, and should not limit the scope of implementation of the present invention. Any simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the patent specification are still included in the scope of the present invention. within the scope of the invention patent.

100:定位偏差修正系統 1:GPS定位單元 2:動態感測單元 3:行車紀錄單元 4:儲存單元 5:處理單元 S01~S05:步驟 S11~S15:步驟 S21~S30:步驟100: Positioning deviation correction system 1: GPS positioning unit 2: Dynamic sensing unit 3: Driving record unit 4: storage unit 5: Processing unit S01~S05: Steps S11~S15: Steps S21~S30: Steps

本發明的其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中： 圖1是本發明的一第一實施例的一硬體連接關係示意圖； 圖2是該第一實施例的一流程圖，說明產生第1個定位結果的步驟； 圖3是該第一實施例的另一流程圖，說明產生第n個（n≧2）定位結果的步驟；及 圖4是本發明的一第二實施例的一流程圖，說明產生多個定位結果的步驟。 Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: 1 is a schematic diagram of a hardware connection relationship according to a first embodiment of the present invention; Fig. 2 is a flow chart of the first embodiment, illustrating the steps of generating the first positioning result; FIG. 3 is another flow chart of the first embodiment, illustrating the steps of generating the nth (n≧2) positioning result; and FIG. 4 is a flow chart of a second embodiment of the present invention, illustrating the steps of generating a plurality of positioning results.

S11~S15:步驟 S11~S15: Steps

Claims (14)

一種定位偏差修正方法，藉由一儲存單元及一處理單元實施，該儲存單元儲存有相關於一紀錄時段的一GPS定位紀錄、一動態感測紀錄及一行車影像紀錄，該GPS定位紀錄由一設置於一車輛上的GPS定位單元根據GPS衛星訊號產生，該動態感測紀錄由一設置於該車輛上的動態感測單元產生，該行車影像紀錄由一設置於該車輛上的行車紀錄單元產生，該GPS定位紀錄中於該紀錄時段內的一無訊號時段無GPS定位結果，該GPS定位紀錄包含一相關於該無訊號時段之前的時間點的GPS定位結果，該動態感測紀錄包含多個分別相關於該紀錄時段中不同時間點的動態感測資料，該方法包含： 該處理單元依序產生多個分別相關於該無訊號時段內不同時間點的定位結果，其中，產生第n個（n≧2）定位結果的步驟包含： 該處理單元根據第n-1個定位結果及與其相同時間點的該動態感測資料，產生一相關於第n個定位結果的時間點的慣性定位結果； 該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離是否大於一距離上限； 當該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離大於該距離上限，該處理單元根據第n-1個定位結果及該行車影像紀錄，產生一相關於第n個定位結果的時間點的影像定位結果；及 該處理單元將相關於第n個定位結果的時間點的該影像定位結果當作第n個定位結果。 A positioning deviation correction method is implemented by a storage unit and a processing unit, the storage unit stores a GPS positioning record, a dynamic sensing record and a vehicle image record related to a recording period, the GPS positioning record is stored by a The GPS positioning unit set on a vehicle is generated according to GPS satellite signals, the dynamic sensing record is generated by a dynamic sensing unit set on the vehicle, and the driving image record is generated by a driving record unit set on the vehicle , in the GPS positioning record, there is no GPS positioning result in a no-signal period within the recording period, the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period, and the motion sensing record includes a plurality of The method includes: The processing unit sequentially generates a plurality of positioning results respectively related to different time points in the no-signal period, wherein the step of generating the nth (n≧2) positioning result includes: The processing unit generates an inertial positioning result related to the time point of the nth positioning result according to the n-1th positioning result and the dynamic sensing data at the same time point; The processing unit determines whether the distance between the inertial positioning result and the n-1th positioning result is greater than a distance upper limit; When the processing unit judges that the distance between the inertial positioning result and the n-1 th positioning result is greater than the upper limit of the distance, the processing unit generates a corresponding n-th positioning result according to the n-1 th positioning result and the driving image record the image positioning result at the time point of the positioning result; and The processing unit regards the image positioning result at the time point related to the nth positioning result as the nth positioning result. 如請求項1所述的定位偏差修正方法，其中，產生相關於該無訊號時段的第1個定位結果的步驟包含： 該處理單元根據該GPS定位紀錄的該GPS定位結果及與其相同時間點的該動態感測資料，產生一相關於第1個定位結果的時間點的慣性定位結果； 該處理單元判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離是否大於一距離上限； 當該處理單元判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離大於該距離上限，該處理單元根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，產生一相關於第1個定位結果的時間點的影像定位結果；及 該處理單元將相關於第1個定位結果的時間點的該影像定位結果當作第1個定位結果。 The positioning deviation correction method according to claim 1, wherein the step of generating the first positioning result related to the no-signal period comprises: The processing unit generates an inertial positioning result related to the time point of the first positioning result according to the GPS positioning result of the GPS positioning record and the dynamic sensing data at the same time point; The processing unit determines whether the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than a distance upper limit; When the processing unit determines that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the upper limit of the distance, the processing unit generates a correlation according to the GPS positioning result of the GPS positioning record and the driving image record the image positioning result at the time point of the first positioning result; and The processing unit regards the image positioning result at the time point related to the first positioning result as the first positioning result. 如請求項1所述的定位偏差修正方法，其中，當該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離不大於該距離上限，該處理單元將該慣性定位結果當作第n個定位結果。The positioning deviation correction method according to claim 1, wherein when the processing unit determines that the distance between the inertial positioning result and the n-1th positioning result is not greater than the upper limit of the distance, the processing unit treats the inertial positioning result as the upper limit of the distance. Make the nth positioning result. 如請求項2所述的定位偏差修正方法，其中，當該處理單元判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離不大於該距離上限，該處理單元將該慣性定位結果當作第1個定位結果。The positioning deviation correction method according to claim 2, wherein when the processing unit determines that the distance between the inertial positioning result and the GPS positioning result recorded in the GPS positioning record is not greater than the upper limit of the distance, the processing unit determines that the inertial positioning result is not greater than the upper limit of the distance. The result is regarded as the first positioning result. 一種定位偏差修正方法，藉由一儲存單元及一處理單元實施，該儲存單元儲存有相關於一紀錄時段的一GPS定位紀錄、一動態感測紀錄及一行車影像紀錄，該GPS定位紀錄由一設置於一車輛上的GPS定位單元根據GPS衛星訊號產生，該動態感測紀錄由一設置於該車輛上的動態感測單元產生，該行車影像紀錄由一設置於該車輛上的行車紀錄單元產生，該GPS定位紀錄中於該紀錄時段中的一無訊號時段無GPS定位結果，該GPS定位紀錄包含一相關於該無訊號時段之前的時間點的GPS定位結果，該方法包含： 該處理單元根據該GPS定位紀錄的該GPS定位結果及該動態感測紀錄，依序產生多個分別相關於該無訊號時段內不同時間點的慣性定位結果； 該處理單元於產生第m個（m≧2）慣性定位結果之後且於產生第m+1個慣性定位結果之前，判斷第m個慣性定位結果與第m-1個慣性定位結果之間的距離是否大於一距離上限；及 當該處理單元判斷第m個慣性定位結果與第m-1個慣性定位結果之間的距離大於該距離上限，該處理單元停止繼續產生後續的慣性定位結果，並根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，依序產生多個分別相關於該無訊號時段內不同時間點的影像定位結果，並將該等影像定位結果分別當作多個分別相關於該無訊號時段內不同時間點的定位結果。 A positioning deviation correction method is implemented by a storage unit and a processing unit, the storage unit stores a GPS positioning record, a dynamic sensing record and a vehicle image record related to a recording period, the GPS positioning record is stored by a The GPS positioning unit set on a vehicle is generated according to GPS satellite signals, the dynamic sensing record is generated by a dynamic sensing unit set on the vehicle, and the driving image record is generated by a driving record unit set on the vehicle , in the GPS positioning record, there is no GPS positioning result in a no-signal period in the recording period, the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period, and the method includes: The processing unit sequentially generates a plurality of inertial positioning results respectively related to different time points in the no-signal period according to the GPS positioning result and the dynamic sensing record of the GPS positioning record; The processing unit determines the distance between the m-th inertial positioning result and the m-1-th inertial positioning result after generating the m-th (m≧2) inertial positioning result and before generating the m+1-th inertial positioning result is greater than a distance ceiling; and When the processing unit determines that the distance between the m-th inertial positioning result and the m-1-th inertial positioning result is greater than the upper limit of the distance, the processing unit stops generating subsequent inertial positioning results, and according to the GPS positioning record of the GPS positioning The positioning result and the driving image record are sequentially generated to generate a plurality of image positioning results respectively related to different time points in the no-signal period, and the image positioning results are regarded as a plurality of different image positioning results respectively related to the no-signal period. Positioning results at a time point. 如請求項5所述的定位偏差修正方法，還包含： 該處理單元於產生第1個慣性定位結果之後且於產生第2個慣性定位結果之前，判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離是否大於一距離上限；及 當該處理單元判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離大於該距離上限，該處理單元停止繼續產生後續的慣性定位結果，並根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，依序產生分別相關於該無訊號時段內不同時間點的該等影像定位結果，並將該等影像定位結果分別當作分別相關於該無訊號時段內不同時間點的該等定位結果。 The positioning deviation correction method according to claim 5, further comprising: After generating the first inertial positioning result and before generating the second inertial positioning result, the processing unit determines whether the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is greater than a distance upper limit; and When the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the upper limit of the distance, the processing unit stops generating subsequent inertial positioning results, and according to the GPS positioning record The GPS positioning results and the driving image records are sequentially generated to generate the image positioning results respectively related to different time points in the no-signal period, and the image positioning results are regarded as respectively related to different times in the no-signal period. such location results for the point. 如請求項6所述的定位偏差修正方法，其中，當該處理單元判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離不大於該距離上限，且每一慣性定位結果與前一個慣性定位結果之間的距離皆不大於該距離上限，該處理單元將該等慣性定位結果分別當作分別相關於該無訊號時段內不同時間點的該等定位結果。The positioning deviation correction method according to claim 6, wherein when the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result recorded in the GPS positioning record is not greater than the upper limit of the distance, and each inertial positioning result is The distance between the result and the previous inertial positioning result is not greater than the upper limit of the distance, and the processing unit regards the inertial positioning results as the positioning results respectively related to different time points in the no-signal period. 一種定位偏差修正系統，包含： 一GPS定位單元，適於設置於一車輛上，且根據GPS衛星訊號產生相關於一紀錄時段的一GPS定位紀錄； 一動態感測單元，適於設置於該車輛上，且產生相關於該紀錄時段的一動態感測紀錄，該動態感測紀錄包含多個分別相關於該紀錄時段中不同時間點的動態感測資料； 一行車紀錄單元，適於設置於該車輛上，且產生相關於該紀錄時段的一行車影像紀錄； 一儲存單元，儲存有相關於該紀錄時段的該GPS定位紀錄、該動態感測紀錄及該行車影像紀錄，該GPS定位紀錄中於該紀錄時段內的一無訊號時段無GPS定位結果，且該GPS定位紀錄包含一相關於該無訊號時段之前的時間點的GPS定位結果；及 一處理單元； 該處理單元依序產生多個分別相關於該無訊號時段內不同時間點的定位結果，其中，產生第n個（n≧2）定位結果的步驟包含： 該處理單元根據第n-1個定位結果及與其相同時間點的該動態感測資料，產生一相關於第n個定位結果的時間點的慣性定位結果； 該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離是否大於一距離上限； 當該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離大於該距離上限，該處理單元根據第n-1個定位結果及該行車影像紀錄，產生一相關於第n個定位結果的時間點的影像定位結果；及 該處理單元將相關於第n個定位結果的時間點的該影像定位結果當作第n個定位結果。 A positioning deviation correction system, comprising: a GPS positioning unit, suitable for being installed on a vehicle, and generating a GPS positioning record related to a recording period according to GPS satellite signals; a dynamic sensing unit, suitable for being installed on the vehicle, and generating a dynamic sensing record related to the recording period, the dynamic sensing record including a plurality of dynamic sensing records respectively related to different time points in the recording period material; a vehicle record unit, which is suitable for being installed on the vehicle and generates a vehicle image record related to the recording period; a storage unit, storing the GPS positioning record, the motion sensing record and the driving image record related to the recording period, there is no GPS positioning result in the GPS positioning record during a no-signal period within the recording period, and the The GPS location record contains a GPS location result for a time point prior to the no-signal period; and a processing unit; The processing unit sequentially generates a plurality of positioning results respectively related to different time points in the no-signal period, wherein the step of generating the nth (n≧2) positioning result includes: The processing unit generates an inertial positioning result related to the time point of the nth positioning result according to the n-1th positioning result and the dynamic sensing data at the same time point; The processing unit determines whether the distance between the inertial positioning result and the n-1th positioning result is greater than a distance upper limit; When the processing unit judges that the distance between the inertial positioning result and the n-1 th positioning result is greater than the upper limit of the distance, the processing unit generates a corresponding n-th positioning result according to the n-1 th positioning result and the driving image record the image positioning result at the time point of the positioning result; and The processing unit regards the image positioning result at the time point related to the nth positioning result as the nth positioning result. 如請求項8所述的定位偏差修正系統，其中，產生相關於該無訊號時段的第1個定位結果的步驟包含： 該處理單元根據該GPS定位紀錄的該GPS定位結果及與其相同時間點的該動態感測資料，產生一相關於第1個定位結果的時間點的慣性定位結果； 該處理單元判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離是否大於一距離上限； 當該處理單元判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離大於該距離上限，該處理單元根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，產生一相關於第1個定位結果的時間點的影像定位結果；及 該處理單元將相關於第1個定位結果的時間點的該影像定位結果當作第1個定位結果。 The positioning deviation correction system of claim 8, wherein the step of generating the first positioning result related to the no-signal period comprises: The processing unit generates an inertial positioning result related to the time point of the first positioning result according to the GPS positioning result of the GPS positioning record and the dynamic sensing data at the same time point; The processing unit determines whether the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than a distance upper limit; When the processing unit determines that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the upper limit of the distance, the processing unit generates a correlation according to the GPS positioning result of the GPS positioning record and the driving image record the image positioning result at the time point of the first positioning result; and The processing unit regards the image positioning result at the time point related to the first positioning result as the first positioning result. 如請求項8所述的定位偏差修正系統，其中，當該處理單元判斷該慣性定位結果與第n-1個定位結果之間的距離不大於該距離上限，該處理單元將該慣性定位結果當作第n個定位結果。The positioning deviation correction system according to claim 8, wherein when the processing unit determines that the distance between the inertial positioning result and the n-1th positioning result is not greater than the upper limit of the distance, the processing unit treats the inertial positioning result as the upper limit of the distance. Make the nth positioning result. 如請求項9所述的定位偏差修正系統，其中，當該處理單元判斷該慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離不大於該距離上限，該處理單元將該慣性定位結果當作第1個定位結果。The positioning deviation correction system according to claim 9, wherein, when the processing unit determines that the distance between the inertial positioning result and the GPS positioning result recorded in the GPS positioning record is not greater than the upper limit of the distance, the processing unit determines that the inertial positioning result is not greater than the upper limit of the distance. The result is regarded as the first positioning result. 一種定位偏差修正系統，包含： 一GPS定位單元，適於設置於一車輛上，且根據GPS衛星訊號產生相關於一紀錄時段的一GPS定位紀錄； 一動態感測單元，適於設置於該車輛上，且產生相關於該紀錄時段的一動態感測紀錄； 一行車紀錄單元，適於設置於該車輛上，且產生相關於該紀錄時段的一行車影像紀錄； 一儲存單元，儲存有相關於該紀錄時段的該GPS定位紀錄、該動態感測紀錄及該行車影像紀錄，該GPS定位紀錄中於該紀錄時段內的一無訊號時段無GPS定位結果，且該GPS定位紀錄包含一相關於該無訊號時段之前的時間點的GPS定位結果；及 一處理單元； 該處理單元根據該GPS定位紀錄的該GPS定位結果及該動態感測紀錄，依序產生多個分別相關於該無訊號時段內不同時間點的慣性定位結果； 該處理單元於產生第m個（m≧2）慣性定位結果之後且於產生第m+1個慣性定位結果之前，判斷第m個慣性定位結果與第m-1個慣性定位結果之間的距離是否大於一距離上限； 當該處理單元判斷第m個慣性定位結果與第m-1個慣性定位結果之間的距離大於該距離上限，該處理單元停止繼續產生後續的慣性定位結果，並根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，依序產生多個分別相關於該無訊號時段內不同時間點的影像定位結果，並將該等影像定位結果分別當作多個分別相關於該無訊號時段內不同時間點的定位結果。 A positioning deviation correction system, comprising: a GPS positioning unit, suitable for being installed on a vehicle, and generating a GPS positioning record related to a recording period according to GPS satellite signals; a dynamic sensing unit, adapted to be installed on the vehicle, and to generate a dynamic sensing record related to the recording period; a vehicle record unit, which is suitable for being installed on the vehicle and generates a vehicle image record related to the recording period; a storage unit, storing the GPS positioning record, the motion sensing record and the driving image record related to the recording period, there is no GPS positioning result in the GPS positioning record during a no-signal period within the recording period, and the The GPS location record contains a GPS location result for a time point prior to the no-signal period; and a processing unit; The processing unit sequentially generates a plurality of inertial positioning results respectively related to different time points in the no-signal period according to the GPS positioning result and the dynamic sensing record of the GPS positioning record; The processing unit determines the distance between the m-th inertial positioning result and the m-1-th inertial positioning result after generating the m-th (m≧2) inertial positioning result and before generating the m+1-th inertial positioning result Whether it is greater than a distance upper limit; When the processing unit determines that the distance between the m-th inertial positioning result and the m-1-th inertial positioning result is greater than the upper limit of the distance, the processing unit stops generating subsequent inertial positioning results, and according to the GPS positioning record of the GPS positioning record The positioning result and the driving image record are sequentially generated to generate a plurality of image positioning results respectively related to different time points in the no-signal period, and the image positioning results are regarded as a plurality of different image positioning results respectively related to the no-signal period. Positioning results at a time point. 如請求項12所述的定位偏差修正系統，其中，該處理單元於產生第1個慣性定位結果之後且於產生第2個慣性定位結果之前，判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離是否大於一距離上限； 當該處理單元判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離大於該距離上限，該處理單元停止繼續產生後續的慣性定位結果，並根據該GPS定位紀錄的該GPS定位結果及該行車影像紀錄，依序產生分別相關於該無訊號時段內不同時間點的該等影像定位結果，並將該等影像定位結果分別當作分別相關於該無訊號時段內不同時間點的該等定位結果。 The positioning deviation correction system according to claim 12, wherein the processing unit determines the difference between the first inertial positioning result and the GPS positioning record after generating the first inertial positioning result and before generating the second inertial positioning result Whether the distance between the GPS positioning results is greater than a distance upper limit; When the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the upper limit of the distance, the processing unit stops generating subsequent inertial positioning results, and according to the GPS positioning record The GPS positioning results and the driving image records are sequentially generated to generate the image positioning results respectively related to different time points in the no-signal period, and the image positioning results are regarded as respectively related to different times in the no-signal period. such location results for the point. 如請求項13所述的定位偏差修正系統，其中，當該處理單元判斷第1個慣性定位結果與該GPS定位紀錄的該GPS定位結果之間的距離不大於該距離上限，且每一慣性定位結果與前一個慣性定位結果之間的距離皆不大於該距離上限，該處理單元將該等慣性定位結果分別當作分別相關於該無訊號時段內不同時間點的該等定位結果。The positioning deviation correction system according to claim 13, wherein when the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result recorded in the GPS positioning record is not greater than the upper limit of the distance, and each inertial positioning result is The distance between the result and the previous inertial positioning result is not greater than the upper limit of the distance, and the processing unit regards the inertial positioning results as the positioning results respectively related to different time points in the no-signal period.
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