CN101929866A - Method and device for assisting calculation of position of personal navigation device using road signs - Google Patents
Method and device for assisting calculation of position of personal navigation device using road signs Download PDFInfo
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- CN101929866A CN101929866A CN2009101502413A CN200910150241A CN101929866A CN 101929866 A CN101929866 A CN 101929866A CN 2009101502413 A CN2009101502413 A CN 2009101502413A CN 200910150241 A CN200910150241 A CN 200910150241A CN 101929866 A CN101929866 A CN 101929866A
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Abstract
The invention relates to a method and device for calculating the position of a personal navigation device by using a road sign to assist, wherein the method comprises the steps of using the personal navigation device to obtain the latest coordinate data of a global positioning system; using a camera on the personal navigation device to obtain an image, wherein the image is an image of a road and the surrounding environment where the personal navigation device passes; performing image processing on the image to identify a landmark on the image; and determining an actual position of the personal navigation device according to a known position of the landmark and the latest GPS coordinate data.
Description
Technical field
The present invention relates to method and relevant personal navigation apparatus that a kind of use one personal navigation apparatus goes to carry out map comparison and piloting technology, particularly relate to a kind of method and device thereof that uses road mark to assist the calculating position of personal navigation device.
Background technology
(Global Positioning System has been to be built in the most basic function of personal navigation apparatus in known to the society GPS), and has been widely used in the vehicle personal navigation apparatus GPS.The common function of personal navigation apparatus just provides a map data base analysis producing suitable navigation instruction, and this instruction is shown on the screen of personal navigation apparatus.The personal navigation apparatus of this type is fixed on the front panel of transport facility with the retaining element of sucker or other kinds usually.
Personal navigation apparatus is made a general reference a kind of device that can guide the user to go to intended destination.This class device is built-in one group of system that can receive locator data usually, and for example GPS receiver also may be only with one the receiver communication link that receives the locator data function to be arranged.The method of these class device analysis data has several, one be can from row operation through the data of route; It is two for linking to the far-end server that the path data calculation function can be provided, by this server operation and navigation data is provided; Or this device not only has calculation function voluntarily, also can be wired to the operational data that far-end server receives this server simultaneously.The hand held GPS personal navigation apparatus need not be completely fixed in the transport facility, and will allow user's dismounting easily.This class personal navigation apparatus usually has global positioning system antenna, navigation software and map in (but non-inevitable), and can draw voluntarily, displayed map, also can be the device of an independent fully running.
Dead reckoning is a kind of technology that the position is estimated in the previously known position of analyzing, and can be according to known speed, expend time in and further analyze with path direction and obtain the elements of a fix more accurately.On global position system navigation apparatus, using dead reckoning can be when can not receive the satellite-signal of GPS, or when the location navigation ability of GPS lost efficacy, continues the maintenance navigation feature.For instance, in the time of can't receiving radiowave in the atmosphere regional when driving through some, personal navigation apparatus can't with satellite line data download, for example in the tunnel; Maybe when driving by densely populated city jungle; GPS receiver also may calculate wrong navigation message because of being disturbed, for example in the metropolis.
Except the situation that similar above several GPS satellite receiving qualities lost efficacy, also might be in addition the precision of GPS coordinate data be not enough to the identification personal navigation apparatus some exact position in road, for instance, be equipped with a transport facility of personal navigation apparatus to travel wherein on of two very approaching parallel roads, yet, the coordinate data of the GPS satellite that this personal navigation apparatus receives just has obvious errors in this zone, causes personal navigation apparatus can't judge precisely which bar road this transport facility is positioned on.
In order to overcome the GPS coordinate data under the situation of above-mentioned several shortage fiduciary levels, need a kind of other technologies of using of development badly in order to carry out the method for map comparison and piloting.
Summary of the invention
The objective of the invention is to, the invention provides a kind of auxiliary method and device thereof that calculates position of personal navigation device of road mark that use, use the method and the relevant personal navigation apparatus of the position of calculating personal navigation apparatus, use solving the above problems.
The object of the invention to solve the technical problems realizes by the following technical solutions.According to a kind of method of using road mark agps system coordinate data with the position of calculating a personal navigation apparatus that the present invention proposes, it includes: use this personal navigation apparatus to obtain a up-to-date GPS coordinate data; Use on this personal navigation apparatus a video camera to obtain an image, this image is that this personal navigation apparatus institute is through a road and its context image; This image is carried out image processing, with the road sign on this image of identification; An and physical location of judging this personal navigation apparatus according to a known location and this up-to-date GPS coordinate data of this road sign.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid method, wherein said road sign are to be stored in the road sign database, and this road sign database comprises many style marks and its opposite position information and feature information.
Aforesaid method, it comprises this many styles target profile in a profile of comparing this road sign and this road sign database in addition, uses this road sign of identification.
Aforesaid method, it comprises this many styles target color in a color of comparing this road sign and this road sign database in addition, uses this road sign of identification.
Aforesaid method, it comprises this many styles target pattern in a pattern of comparing this road sign and this road sign database in addition, uses this road sign of identification.
Aforesaid method, it comprises this many styles target literal in a literal of comparing this road sign and this road sign database in addition, uses this road sign of identification.
Aforesaid method, it comprises this many styles target arrow in an arrow of comparing this road sign and this road sign database in addition, uses this road sign of identification.
Aforesaid method, it comprises this many styles target position in a possible position of this personal navigation apparatus that comparison drawn according to this up-to-date GPS coordinate data and this road sign database in addition, uses this road sign of identification.
Aforesaid method, when wherein judging that according to this known location of this road sign and this up-to-date GPS coordinate data this physical location of this personal navigation apparatus comprises a plurality of anticipations position that calculates when this personal navigation apparatus, compare this known location of this road sign and this a plurality of anticipations position that this personal navigation apparatus is calculated, to judge a physical location of this personal navigation apparatus.
Aforesaid method, it comprises in addition when this personal navigation apparatus can't receive the signal of this GPS, utilizes this known location of this road sign to carry out a piloting computing method.
Aforesaid method, wherein said video camera are the video camera of a fechtable continuous image.
The object of the invention to solve the technical problems also realizes by the following technical solutions.Auxiliary according to a kind of road mark that uses that the present invention proposes by the personal navigation apparatus of a GPS coordinate data with the calculating position, it includes: a GPS receiver, and it is to be used for receiving this up-to-date GPS coordinate data; One video camera, it is to be used for capturing the advance image of neighboring area of a road of this personal navigation apparatus; And a processor, it is to be used for this image is carried out image processing with the road sign in this image of identification, and according to auxiliary this up-to-date GPS coordinate data of a known location of this road sign to judge a physical location of this personal navigation apparatus.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid personal navigation apparatus, it comprises a road sign database in addition, and this road sign data base set comprises many style marks and its opposite position information and feature information.
Aforesaid personal navigation apparatus, wherein said processor are to be used for comparing this many styles target profile in a profile of this road sign and this road sign database, use this road sign of identification.
Aforesaid personal navigation apparatus, wherein said processor are to be used for comparing this many styles target color in a color of this road sign and this road sign database, use this road sign of identification.
Aforesaid personal navigation apparatus, wherein said processor are to be used for comparing this many styles target pattern in a pattern of this road sign and this road sign database, use this road sign of identification.
Aforesaid personal navigation apparatus, wherein said processor are to be used for comparing this many styles target literal in a literal of this road sign and this road sign database, use this road sign of identification.
Aforesaid personal navigation apparatus, wherein said processor are to be used for comparing this many styles target arrow in an arrow of this road sign and this road sign database, use this road sign of identification.
Aforesaid personal navigation apparatus, wherein said processor is to be used for comparing this many styles target position in a possible position of this personal navigation apparatus that is drawn according to this up-to-date GPS coordinate data and this road sign database, uses this road sign of identification.
Aforesaid personal navigation apparatus, when wherein said processor is a plurality of anticipations position that is used for calculating according to this up-to-date GPS coordinate data, and compare this known location of this road sign and this a plurality of anticipations position that is calculated, to judge this physical location of this personal navigation apparatus.
Aforesaid personal navigation apparatus, wherein when this GPS receiver can't receive the signal of this GPS, this processor was to be used for utilizing this known location of this road sign to carry out a piloting computing method.
Aforesaid personal navigation apparatus, wherein said video camera are the video camera of a fechtable continuous image.
The present invention compared with prior art has tangible advantage and beneficial effect.By technique scheme, the present invention uses auxiliary method and the device thereof that calculates position of personal navigation device of road mark to have following advantage and beneficial effect at least: the present invention on personal navigation apparatus, install video camera to obtain through road peripheral image, and in order to auxiliary received GPS coordinate coordinate data, make personal navigation apparatus can more precisely go to judge the position.Personal navigation apparatus among the present invention not only use the road sign image analysing computer with judge personal navigation apparatus physical location, also can remind simultaneously travel correct route and unlikely lost of driver.
In sum, a kind of auxiliary method and device thereof that calculates position of personal navigation device of road mark that use of the present invention, this method includes uses this personal navigation apparatus to obtain a up-to-date GPS coordinate data; Use on this personal navigation apparatus a video camera to obtain an image, this image is that this personal navigation apparatus institute is through a road and its context image; This image is carried out image processing, with the road sign on this image of identification; An and physical location of judging this personal navigation apparatus according to a known location and this up-to-date GPS coordinate data of this road sign.The present invention has obvious improvement technically, and has tangible good effect, really is a new and innovative, progressive, practical new design.
Above-mentioned explanation only is the general introduction of technical solution of the present invention, for can clearer understanding technological means of the present invention, and can be implemented according to the content of instructions, and for above-mentioned and other purposes, feature and advantage of the present invention can be become apparent, below especially exemplified by preferred embodiment, and conjunction with figs., be described in detail as follows.
Description of drawings
Fig. 1 is the function block schematic diagram of personal navigation apparatus of the present invention.
Fig. 2 is arranged on the other synoptic diagram of road for pass through road and road sign of transport facility of the present invention.
Fig. 3 is located in synoptic diagram on the checkerboard road for road sign of the present invention.
Fig. 4 is arranged at the synoptic diagram of multilane arranged above expressway for road sign of the present invention.
10: personal navigation apparatus 34: road sign
12: GPS receiver 50,52,54: road
14: display 56,58: north-south road
16: loudspeaker 60: road sign
18: video camera P1, P2, P3, P5, P6, P7: point of crossing
20: processor P 4: fixed point
22: road sign database 70: highway
30: road 72,74,76: drawing lines
32: transport facility 80,82,84: road sign
Embodiment
Reach technological means and the effect that predetermined goal of the invention is taked for further setting forth the present invention, below in conjunction with accompanying drawing and preferred embodiment, the use road mark that foundation the present invention is proposed is auxiliary to be calculated the method for position of personal navigation device and installs its embodiment, structure, feature and effect thereof, describe in detail as after.
Relevant aforementioned and other technology contents, characteristics and effect of the present invention can be known to present in the following detailed description that cooperates with reference to graphic preferred embodiment.By the explanation of embodiment, when can being to reach technological means that predetermined purpose takes and effect to get one more deeply and concrete understanding to the present invention, yet appended graphic only provide with reference to the usefulness of explanation, be not to be used for the present invention is limited.
At the beginning, in order to calculate the position of personal navigation apparatus with triangulation, personal navigation apparatus can only be dependent on the satellite receiving world locational system coordinate data from GPS.But after the continuous increase of the sales volume of personal navigation apparatus, also begin to increase increasing new function.In the present invention, personal navigation apparatus will be equipped with a video camera, make personal navigation apparatus not only can analyze from the satellite data downloaded, can also analyze the visual signal that captures from video camera, improve the station-keeping ability of this personal navigation apparatus identification position.
See also shown in Figure 1ly, be the function block schematic diagram of the present invention's one personal navigation apparatus 10.Personal navigation apparatus 10 includes a GPS receiver 12, and it is to be used for the satellite-signal of receiving world locational system and the position that the relevant coordinate data of calculating is estimated personal navigation apparatus 10 then.Personal navigation apparatus 10 includes a display 14 and a loudspeaker 16 in addition, allows the user read the data that analysis is finished by vision imaging and voice signal.Personal navigation apparatus 10 includes a video camera 18 in addition, is used for road sign in pick-up image and the distinguishing image.For instance, similarly be digital camera or video recorder.When transport facility is installed this personal navigation apparatus 10, the captured image of video camera 18 can with in the transport facility way through the information extraction of road and context thereof interior, therefore video camera 18 just can be obtained the image that is located in road both sides road sign, video camera 18 can be also can be the digital video recorder that continuous shooting-recording function is arranged in the digital camera of particular point in time or schedule time filmed image in addition.Personal navigation apparatus 10 includes a processor 20 in addition, and it not only can be used to control the built-in function of personal navigation apparatus 10, and is used for 18 picked image of video camera are carried out the image processing calculation.Processor 20 can be any processor that meets functional specification, for example digital signal processor (Digital SignalProcessor) or central processing unit (Central Processing Unit) etc., and can replace the core processor by multi-core processor.Personal navigation apparatus 10 also can store a road sign database 22 in built-in storer.Store many style marks and its opposite position information and feature information in the road sign database 22, and the position of each road sign can latitude and longitude coordinates be represented.And in road sign database 22, stored all feature information of each road sign, include road sign pattern, road sign profile, road sign color, road sign literal or road sign arrow etc.The road sign of these feature information and known location all can be used for comparing with the road sign database 22 interior road signs that store by personal navigation apparatus 10.
See also shown in Figure 2, for a pass through road 30 and a road sign 34 of the present invention's one transport facility 32 is arranged at the other synoptic diagram of road 30.Transport facility 32 near front windshields locate personal navigation apparatus 10 can be installed, so the video camera 18 that personal navigation apparatus 10 is equipped with can photograph the image of road 30 and its surrounding enviroment.When transport facility 32 during near road sign 34, video camera 18 can photograph the image that contains road sign 34, when video camera 18 filmed images, processor 20 can be done instant image processing computing to each image, and the utilization identification technique goes to analyze whether occur any road sign on the image.Please consult Fig. 2 again, when processor 20 determines video camera 18 captured images when containing road sign 34, processor 20 can be analyzed all feature information of road signs 34, and with road sign database 22 in many styles marks of storing compare.As mentioned above, road sign 34 has many different feature information can be for comparison, and the profile of road sign 34 may be rectangle, triangle or octagon for instance, all will be used for road sign database 22 in many styles marks compare; The color of road sign 34 may be redness, green, blueness, yellow, white, orange or colour, all can be used to compare with many styles target color information of road sign database 22 interior storages; The pattern of road sign 34 may be patterns such as careful falling rocks, attention pupil, dead end, all can be used to compare with the road sign database 22 interior many styles target pattern information that store; Road sign 34 also has other as features such as literal and arrows, all will compare one by one with the storage data of road sign database 22.
The known location road signs of storages are to finish identification in the position that road sign 34 also can calculate by comparison personal navigation apparatus 10 and the road sign database 22.For instance, if the road 30 of 32 warps of transport facility is highway straight-line segments that pass through farmland, possibility has only (or still less) road sign for every kilometer on this section path.The image of taking when video camera 18 is analyzed when going out road sign 34, more can confirm the position at transport facility 12 places by road sign 34.When the GPS coordinate data that provides when GPS receiver 12 has positive minus tolerance to reach 100 meters error, can be with the tram that the road sign 34 that is stored in known location in the road sign database 22 is accurately oriented transport facility 22.
Another useful function is to carry out the piloting computing method among the present invention.See also Fig. 2, suppose that transport facility 32 travels in the tunnel and personal navigation apparatus is built-in GPS receiver 12 can't receive the satellite-signal of any GPS, this moment, processor 20 can use the up-to-date GPS coordinate data that receives from GPS receiver 12 to calculate with going to carry out by the obtained location information of identification road sign 34 simultaneously.For instance, suppose to have the tunnel and the road sign 34 of two kilometers of length just to be positioned at the centre place, when the information of road sign 34 had been stored in the road sign database 22, personal navigation apparatus can be obtained the tram of road sign 34 by scanning road sign database 22.Therefore, even personal navigation apparatus 10 can't the receiving world locational system coordinate data in the tunnel, still can obtain the position information of transport facility 32 by immediately identifying road sign 34.
Except carrying out dead reckoning, the present invention also uses figure comparison technology.The function of figure comparison technology is that when the result of first calculated has several possible positions figure comparison technology can help personal navigation apparatus 10 to judge the tram at place.See also shown in Figure 3ly, for the present invention's one road sign 60 is located in synoptic diagram on the checkerboard road, wherein road sign 60 promptly is with the position of helping identification transport facility 32.In the 3rd figure, road 50,52,54 is for the East and West direction road and be essentially a road parallel to each other, and the road 56,58 of Jiao Chaing then is the north-south road with it, and hypothesis transport facility 32 travels eastwards on road 52.Because the coordinate data and the out of true of GPS, make that being installed on personal navigation apparatus 10 on the transport facility 32 can't judge and be positioned at road 52,54 or be on 56, especially may roads parallel to each other when near each other again when these, the possibility of this kind erroneous judgement significantly improves especially.Therefore, when transport facility 32 travelled point of crossing P2 near north-south road 56, personal navigation apparatus 10 can't interpretation transport facility 32 be to be positioned on point of crossing P1, P2 or the P3; Hence one can see that, and personal navigation apparatus will provide the navigation instruction of a mistake to transport facility 32.Supposing that transport facility 32 travels continues to advance eastwards on road 52, and transport facility 32 can be through a near road sign 60 that is located in the fixed point P4.Therefore, photograph the image that contains road sign 60 and after style marks, just can pick out road sign 60 and obtain this location information when personal navigation apparatus 10 by manying of storing in than road markings database 22.The more important thing is that this technology can allow the personal navigation apparatus 10 identification transport facilitys 32 be to be positioned at road 52, but not on the road 54,56.Then, when transport facility 32 when being positioned at the north-south road 58 of point of crossing P6, personal navigation apparatus 10 will give the driver suitable navigation instruction.Therefore, personal navigation apparatus 10 just can learn that being about to approaching point of crossing is P6 by identification road sign 60, but not point of crossing P5 or point of crossing P7.
See also shown in Figure 4ly, be arranged at the synoptic diagram of a multilane highway 70 tops for road sign 80,82,84 of the present invention.When transport facility 32 travels on the highway 70 and during near road sign 80,82,84, not only can correctly judge tram on highway 70 to help personal navigation apparatus 10, and to remove to analyze transport facility 32 by road sign 82,82,84 be on which the bar drawing lines that is positioned on the highway 70 by the feature of identification road sign 82,82,84.When multilane highway 70 when certain highway section bifurcated goes out several by-paths, this function just can be travelled in correct path to reach its destination by channel traffic means of transport 32.For instance, suppose that left drawing lines 72 is to lead to destination A, center lane 74 is to lead to destination B, and right drawing lines 76 is to lead to destination C.And photograph one when containing the image of road sign 80,82,84 when video camera 18, personal navigation apparatus 10 just can by than the relative position of road markings 80,82,84 to judge that transport facility 32 be to be positioned on that drawing lines of highway 70.If user's destination is A but travels when drawing lines 74 that personal navigation apparatus will send the conversion drawing lines and move to the instruction prompting driver of drawing lines 72.In order to make these functional operations more smooth and easy, the installation site of personal navigation apparatus 10 must guarantee that video camera 18 is positioned at transport facility 32 dead aheads, and the agonic reception of forward visual angle is arranged.
In sum, the present invention on personal navigation apparatus, install video camera to obtain the peripheral image through road, and, make personal navigation apparatus can more precisely go to judge the position in order to the auxiliary GPS coordinate data that has received.Personal navigation apparatus among the present invention not only uses the road sign image analysing computer to judge the physical location of personal navigation apparatus, also can remind simultaneously travel correct route and unlikely lost of driver.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, though the present invention discloses as above with preferred embodiment, yet be not in order to limit the present invention, any those skilled in the art, in not breaking away from the technical solution of the present invention scope, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be the content that does not break away from technical solution of the present invention, according to technical spirit of the present invention to any simple modification that above embodiment did, equivalent variations and modification all still belong in the scope of technical solution of the present invention.
Claims (22)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101502413A CN101929866A (en) | 2009-06-23 | 2009-06-23 | Method and device for assisting calculation of position of personal navigation device using road signs |
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| CN2009101502413A CN101929866A (en) | 2009-06-23 | 2009-06-23 | Method and device for assisting calculation of position of personal navigation device using road signs |
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| CN101929866A true CN101929866A (en) | 2010-12-29 |
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| CN2009101502413A Pending CN101929866A (en) | 2009-06-23 | 2009-06-23 | Method and device for assisting calculation of position of personal navigation device using road signs |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103105168A (en) * | 2011-11-10 | 2013-05-15 | 奥迪股份公司 | Method for position determination |
| CN103363997A (en) * | 2012-04-03 | 2013-10-23 | 纬创资通股份有限公司 | Positioning method, positioning system and computer readable storage medium for live-action navigation |
| CN104977011A (en) * | 2014-04-09 | 2015-10-14 | 广东融讯信息科技有限公司 | Positioning method and positioning device based on street-photographing image in electronic map |
| CN109579867A (en) * | 2018-11-30 | 2019-04-05 | 惠州市德赛西威汽车电子股份有限公司 | A kind of air navigation aid and its system with marker prompt |
| TWI668464B (en) * | 2018-09-10 | 2019-08-11 | 和碩聯合科技股份有限公司 | Positioning method for mobile electronic apparatus and positioning system |
| TWI676812B (en) * | 2019-03-15 | 2019-11-11 | 東元電機股份有限公司 | Two-stage navigating system |
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2009
- 2009-06-23 CN CN2009101502413A patent/CN101929866A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103105168A (en) * | 2011-11-10 | 2013-05-15 | 奥迪股份公司 | Method for position determination |
| CN103105168B (en) * | 2011-11-10 | 2016-03-30 | 奥迪股份公司 | method used to determine location |
| US9500491B2 (en) | 2011-11-10 | 2016-11-22 | Audi Ag | Method for position determination |
| CN103363997A (en) * | 2012-04-03 | 2013-10-23 | 纬创资通股份有限公司 | Positioning method, positioning system and computer readable storage medium for live-action navigation |
| CN104977011A (en) * | 2014-04-09 | 2015-10-14 | 广东融讯信息科技有限公司 | Positioning method and positioning device based on street-photographing image in electronic map |
| TWI668464B (en) * | 2018-09-10 | 2019-08-11 | 和碩聯合科技股份有限公司 | Positioning method for mobile electronic apparatus and positioning system |
| CN110887469A (en) * | 2018-09-10 | 2020-03-17 | 和硕联合科技股份有限公司 | Positioning method and positioning system of mobile electronic device |
| CN109579867A (en) * | 2018-11-30 | 2019-04-05 | 惠州市德赛西威汽车电子股份有限公司 | A kind of air navigation aid and its system with marker prompt |
| TWI676812B (en) * | 2019-03-15 | 2019-11-11 | 東元電機股份有限公司 | Two-stage navigating system |
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Application publication date: 20101229 |