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EP2286266A1 - Procédé et système de navigation pour géolocalisation - Google Patents

Procédé et système de navigation pour géolocalisation

Info

Publication number
EP2286266A1
EP2286266A1 EP09753542A EP09753542A EP2286266A1 EP 2286266 A1 EP2286266 A1 EP 2286266A1 EP 09753542 A EP09753542 A EP 09753542A EP 09753542 A EP09753542 A EP 09753542A EP 2286266 A1 EP2286266 A1 EP 2286266A1
Authority
EP
European Patent Office
Prior art keywords
road
pedestrian
navigation
current
corridor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP09753542A
Other languages
German (de)
English (en)
Inventor
Jochen Katzer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Garmin Wurzburg GmbH
Original Assignee
Navigon AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Navigon AG filed Critical Navigon AG
Publication of EP2286266A1 publication Critical patent/EP2286266A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

Definitions

  • the invention relates to a method for determining the geographical position of a pedestrian relative to a road element on a digital road map, according to the preamble of claim 1.
  • the invention further relates to an associated computer program product and a digital storage medium and a navigation device.
  • GPS position measurements are inherently subject to inaccuracies.
  • Sources of inaccuracy of GPS position detection include the limited number or visibility of the satellites used to determine the position of the GPS receiver, the angular position of the visible satellites relative to the location of the GPS receiver (triangulation). lation), in atmospheric disturbances, which can falsify the direction and thus the transit time of the satellite signals, in the multipath reception due to reflections on buildings, for example, as well as errors in the accuracy of the time required for GPS measurement time.
  • the comparatively high accuracy of GPS receivers in the movement or direction detection is used in the prior art to the GPS system mostly erroneously measured absolute location of the receiver - based on the road map taken additional information about possible or probable directions of movement of the receiver - Correct permanently or periodically, and thus under the term when determining the position "Map Matching" methods known to significantly improve the fuzzy absolute position determination.
  • the GPS receiver compensates by means of access to the digital road map its respectively determined instantaneous direction of movement or trajectory with the road vectors located in the immediate vicinity of the location (which is approximately determined by absolute measurement). If a receiver movement is detected, which runs parallel to a road located in the immediate vicinity of the current location (or whose current trajectory largely coincides with the respective road vector), it is assumed that the receiver is located on the associated road and along moves this road, which is why then a corresponding correction of the absolute position displayed to the user takes place.
  • the inherently inaccurate GPS absolute measurement can thus be corrected, and the instantaneous sum of the GPS error sources can largely be eliminated on the basis of the additional information taken from the map.
  • the instantaneous direction of movement or movement path of the GPS receiver the latter is automatically "locked in” to the nearest road, which best matches the detected movement direction or trajectory, thus enabling accuracy even in the case of absolute position determination and position display in FIG Generally down to a few meters.
  • the described principle (map matching) of checking and possibly correcting the current GPS absolute measurement based on the current orientation, direction of movement or trajectory is less suitable in determining the current position of a pedestrian in a road map.
  • This is related to the fact that the relationship between the direction of movement and the direction of the current road vector in the case of a pedestrian is much less sharp than in a motor vehicle, since the movement of a pedestrian much more often includes components of movement transverse to the road. This is especially true for pedestrians moving, for example, in the inner city, and especially for pedestrian areas and similar areas where, when walking, very often e.g. the road side is changed.
  • a crossing of the street by a pedestrian would, however, often already be regarded as an indication that the current absolute position is faulty in positioning methods known from the prior art, which are designed primarily for the exact position determination of motor vehicles, and that the GPS Receiver or the pedestrian is actually already on a different road from the one currently assumed.
  • positioning methods known from the prior art which are designed primarily for the exact position determination of motor vehicles, and that the GPS Receiver or the pedestrian is actually already on a different road from the one currently assumed.
  • map matching a correction of the position determination and -ausgäbe instead
  • the invention is intended to reduce the susceptibility to error of the known methods or devices in transient movements transverse to the road direction, and thus improve the accuracy of positioning in pedestrian navigation, especially, but not exclusively in inner cities.
  • This object is achieved by a method according to claim 1.
  • the inventive solution of the task further comprises a computer program product according to claim 8, a digital, computer-readable storage medium according to claim 9 and a navigation device according to claim 10.
  • the method for determining the geographical position of a pedestrian is carried out - in itself initially known manner - by means of a navigation device with a position detection device, further with processor, memory, mass storage and with a display or output device.
  • the current position of the navigation device or of the pedestrian is assigned to a position marking on the display device in a likewise known manner, and a check and possibly correction of the measured position of the pedestrian is carried out (permanently or regularly) on the basis of a comparison of measured trajectories of the pedestrian with the map data, so with the street vectors in the immediate vicinity of the current position.
  • the method is characterized in that a virtual corridor is defined along at least the road element assigned to the current position.
  • corridor map matching is used (ie when checking and, if necessary, correcting the absolute GPS position measurement on the basis of several
  • GPS measurement points certain current direction of movement or trajectory, as well as on the basis of their comparison with the surrounding road vectors) detected motion components of the pedestrian across the road vector of the current road element and / or ignored information on the current orientation of the pedestrian.
  • a map matching that is to say a checking and, if necessary, correction of the current GPS absolute position on the basis of a comparison of the current trajectory of the user with the vectors of the surrounding streets, thus does not take place according to the invention or if the continuous GPS measurements show that the navigation device or the pedestrian has left the virtual corridor around the current road. Only then is the current direction of movement aligned with the directions of the vectors of the surrounding roads, and possibly a correction of the absolute position or a locking takes place on the new, most consistent with the current direction of movement road.
  • Offboard navigation are stored in the map data and / or navigation software on a central server or be executed.
  • the offboard navigation can be advantageously provided in particular for simple devices with low computing power to even with devices that do not have the possibility of route calculation or storage of a map database, to be able to offer a corresponding position display or corresponding navigation functions.
  • a preferred embodiment of the invention provides that when checking and possibly correcting the current position within the corridor around the current road element at least individual detected movements of the pedestrian not only across the current road element, but also - along the current road vector - in the opposite direction previously determined running direction are ignored. In this case, a change of direction of the pedestrian by the navigation device is only then considered as done and used for map matching or output on the display device if at least two individual movements of the pedestrian in the opposite direction to the previous direction have been determined by the navigation device in succession.
  • the error rate in the position display can be further reduced in this way by hysteresis is provided with respect to the direction change in the opposite direction.
  • hysteresis is provided with respect to the direction change in the opposite direction.
  • short-term changes of direction of the pedestrian are consequently not only in the lateral direction but also in the opposite direction of the previous one Direction of travel - as can often happen with a pedestrian, especially when walking - initially ignored in relation to map matching.
  • An actual change of direction in the opposite direction is only taken into account by the system during map matching or converted into a corresponding change of the position marking on the display, if it is determined in successive measurements, but at least two successive measurements, that the pedestrian is walking along of the current road vector has moved in the opposite direction.
  • the error rate in the position determination and output is further reduced, in particular by considering a change to a crossing road as less likely than continuing along the previous direction. Accordingly, the navigation device initially at least tends to suppress the change in position determination to a crossing road for a longer period, if any transverse movements of the user should be registered in the crossing area.
  • the invention is further realized regardless of whether the mood of the current position in the context of navigation along a Route is made, or if only a determination and display of the current position of the pedestrian takes place.
  • the concept of the invention is applied in particular also to the position determination in the context of navigation along a route.
  • the virtual corridor is defined along at least one road element of the navigation route, and - as part of the map matching - any detected motion components across the road vector of the road element of the navigation route and / or information about the current orientation of the pedestrian are ignored.
  • the corridor according to the invention is thus applied not only in the general position determination along roads, but in particular in the position determination in the case of Abschidung- a navigation route.
  • the virtual corridor along the route is defined, and thus only motion components of the pedestrian parallel to the current route vector are taken into account during map matching, ie when checking the current position based on the map data, as long as the corridor does not leave becomes.
  • the corridor laid around a navigation route can in particular also be chosen to be wider than the corridor (in the case of pure positioning without navigation) around a road currently being traveled, since the probability that a planned navigation route deviates is less than the probability of that is diverted without navigation from the current road.
  • This embodiment takes into account the finding that, in the case of current route navigation, also branches with statistically higher probability are followed by that route or road which agrees with the course of the navigation route, while branches not matching the route each with a statistically lower probability to be selected.
  • the map matching or the change of the position determination and output to a direction other than that proposed by the navigation initially also remains for a certain time, even if in the crossing area movements of the user in another than with the route should be registered in the same direction. This means in other words that the pedestrian remains active on the route with active routing, even with any lateral movements, as if no routing was active.
  • a further preferred embodiment of the invention provides that the virtual corridor in the immediate area of intersections is narrowed by a certain factor. This embodiment is based on the fact that when determining the position in the area of road or intersections, the virtual corridors overlap, which according to the invention are respectively laid around the intersecting paths or roads for improving the position determination. Errors in the position determination can again arise in the overlapping area of the corridors, since it is no longer possible to distinguish between longitudinal movements and (to be ignored) transverse movements of the pedestrian in the area of overlap of the virtual corridors in the absence of a clear corridor device.
  • the virtual corridors in the crossing area are each narrowed by a certain factor, so that the pedestrian correspondingly faster leaves the ambiguous, but now smaller overlapping area again and again into the overlap-free and so that unique corridor area of one of the intersections of the intersection occurs.
  • the corridor is narrowed to the maximum extent so that the width of the road is not undershot in order to prevent incorrect positioning by movements within the road width.
  • This embodiment of the invention on the one hand has the background that the width of the corridor with the different actual widths of different roads or
  • Paths should correspond.
  • a pedestrian zone also for the reason generally a wider corridor should be chosen than for a normal road with traffic, as in the pedestrian zone compared to the normal road with particularly many or particularly extensive movements of the pedestrian across the road vector, until to short side trips or movements of the Pedestrian in small cross streets, passages and the like can be expected.
  • the invention further relates to a computer program product associated with the method according to the invention, to an associated digital storage medium and also to a navigation device according to the invention.
  • the computer program product according to the invention comprises program steps stored on a machine-readable carrier for carrying out the method according to the invention described above, when these are executed by a programmable processor device.
  • the digital storage medium according to the invention contains electronically readable control signals which, after being read by a programmable processor device, can interact with the processor device such that the described inventive method is executed by the processor device.
  • the navigation device according to the invention finally serves for
  • Determining a current position of a pedestrian relative to a road element and comprising a position detection device, a programmable processor device with mass storage and a display device for outputting the current position.
  • the processor device is set up for executing the above-described computer program product, for reading out said digital storage medium, or for carrying out the above-described inventive method.
  • 1 is a schematic representation of a displayed on the display device of a navigation device Kar- section with road segments, GPS measurement points and virtual corridors;
  • FIG. 2 shows a representation and view corresponding to FIG. 1 of the map detail according to FIG. 1 with additional navigation route;
  • FIG. 3 shows a representation and view corresponding to FIG. 1 and FIG. 2 of the map detail according to FIG. 1 and FIG. 2, with a branching navigation route;
  • FIG. 4 in a Fig. 1 to Fig. 3 corresponding representation and view the map detail of FIG. 1 with narrowed virtual corridors in the crossing area.
  • Fig. 1 shows a schematic representation of a first cutout 1 from a road map, as it can be displayed on the display device 2, for example, a portable navigation device.
  • Two intersecting roads 3, 4 as well as dotted symbolized GPS measuring points 5 of the movement of a pedestrian along the road 4 can be seen. Also visible are the virtual corridors 6, 7 laid around the streets 3, 4 according to the invention.
  • the pedestrian moves - in accordance with the above-described, characteristic for pedestrians movement pattern - by no means parallel along each committed road 3, but often changes the road side (for example, 8, 9, 10).
  • the movement of the pedestrian when crossing the street from the left to the right in the drawing) even has a component for a short time, contrary to the principal direction of movement, which points upwards in the direction of the drawing.
  • the GPS measuring points 5 shown in FIG. 1 do not necessarily correspond exactly to the actual locations of the pedestrian. Rather, the GPS measurement points 5 are initially, as in the beginning described, with the inherent inaccuracies inherent in the GPS system, in particular as regards the inaccuracy of the absolute measurement in the range of about 10 to 15 m.
  • a GPS system - as described above - must always endeavor not only to perform absolute measurements, but also to determine the current direction of movement or trajectory of the measuring point (in this case of the pedestrian).
  • a map matching that is, a check and possibly correct the erroneous absolute position determination, such that the measuring point (in this case the on the display 2 respectively indicated location of the pedestrian) is corrected to that road vector of the environment or locked on this road vector, which represents the best compromise between the (faulty) absolute measurement and the (can be detected with high accuracy) trajectory.
  • the virtual corridors 6, 7 (which are not actually displayed to the user on the screen 2) are placed around the currently considered road vectors 3, 4, and for the map matching movements of the pedestrian transversely to the respective road vector 3, 4 ignored as long as the corresponding measuring points 5 are still within the respective corridor 6.
  • FIG. 2 essentially corresponds to the representation of FIG. 1, with the difference that the position display on the screen 2 of the navigation device is additionally based on navigation along a route, whereas in the illustration according to FIG. 1 only a pure position determination was carried out.
  • the route is symbolized in FIG. 2 in the form of the dashed arrow 12 along the road 3.
  • the position determination (as in FIG. 2) is additionally based on navigation along a route 12, detected lateral movements 8, 9, 10 of the pedestrian are suppressed even more strongly by the system, particularly in crossing regions (for example at 1 1) or during map matching even less weighted. This is related to the fact that, when navigation is enabled along a route 12, there is a statistically greater likelihood that the user will continue to follow the route at intersections and not branch off to other roads that do not coincide with the route.
  • a navigation system operating according to the invention in the case of a straight route as shown in FIG. 2 - would continue to interpret the movement of the pedestrian indicated by the arrow 1 1 as movement along the straight leading road 3 also in the crossing region and thus the transverse movement at 1 1 for the ignore map matching at least as long as the width of the corridor 6 is not exceeded by the transverse movement.
  • FIG. 3 corresponds to the illustration in FIG. 2, with the difference that in FIG. 3 the navigation route as well as the recorded path 5 of the pedestrian in the crossing area take a course branching off to the left into the transverse street 4.
  • the navigation system would indicate the movement of the pedestrian, which is indicated by the arrow 1 1 (identical to FIG. 2), already in the crossing area, however, as a change of direction from the straight ahead
  • FIG. 4 shows an embodiment of the method according to the invention, in which the virtual corridors 6 and 7 laid around the road segments 3, 4 are intentionally narrowed in the crossing area.
  • a method or device for determining the geographical position of a pedestrian on a road map is created, with which the accuracy of map matching or GPS positioning can be significantly improved, especially in the case of pedestrian navigation.
  • the susceptibility of known navigation methods or navigation devices to movements of a pedestrian transversely to the road direction is considerably reduced.
  • the invention thus provides a fundamental contribution to improving the reliability of positioning in pedestrian navigation, in particular for use in the field of compact, portable navigation devices.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de géolocalisation (5) d'un piéton par rapport à un élément routier (3, 4) sur une carte routière numérique. L'invention concerne en outre un produit programme informatique correspondant ainsi qu'un support d'enregistrement numérique et un système de navigation correspondant. L'invention est caractérisée en ce qu'un corridor virtuel (6) est défini le long d'un élément routier (3) associé à la position réelle (5). Des composantes de mouvement déterminées du piéton, perpendiculaires au vecteur routier de l'élément routier réel (6), et/ou des informations sur l'orientation momentanée du piéton sont ignorées à l'intérieur du corridor (6) lors de la mise en correspondance avec la carte, c'est-à-dire lors du contrôle de la position réelle du piéton au moyen de données de la carte. L'invention permet d'accroître la précision de la localisation au moyen d'un GPS en particulier dans le cas d'une navigation piétonne. La sensibilité aux erreurs du procédé et du système selon l'invention est considérablement réduite par rapport aux procédés et appareils de navigation connus, dans le cas de déplacement d'un piéton perpendiculairement à l'orientation de la route, notamment lors de la navigation en centre-ville.
EP09753542A 2008-05-28 2009-05-27 Procédé et système de navigation pour géolocalisation Withdrawn EP2286266A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008025638 2008-05-28
PCT/DE2009/000742 WO2009143826A1 (fr) 2008-05-28 2009-05-27 Procédé et système de navigation pour géolocalisation

Publications (1)

Publication Number Publication Date
EP2286266A1 true EP2286266A1 (fr) 2011-02-23

Family

ID=40957699

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09753542A Withdrawn EP2286266A1 (fr) 2008-05-28 2009-05-27 Procédé et système de navigation pour géolocalisation

Country Status (3)

Country Link
EP (1) EP2286266A1 (fr)
DE (1) DE102009022881A1 (fr)
WO (1) WO2009143826A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012207610B4 (de) * 2012-05-08 2024-06-06 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Verbessern der Positionierung eines Fußgängers unter Verarbeitung einer Fußgänger-Route
CN103809194B (zh) * 2014-02-13 2017-01-11 一诺仪器（中国）有限公司 一种gps轨迹曲线的显示方法及装置
US10921133B2 (en) * 2017-12-07 2021-02-16 International Business Machines Corporation Location calibration based on movement path and map objects
CN110948479B (zh) * 2018-09-26 2022-12-30 上海云绅智能科技有限公司 一种坐标校准方法及系统、机器人
DE102018220379A1 (de) * 2018-11-27 2020-05-28 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines automatisierten Fahrzeugs
KR20210057393A (ko) * 2019-11-12 2021-05-21 삼성전자주식회사 정밀 항법 장치 및 그 장치의 동작 방법

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
DE19945123C2 (de) * 1999-09-21 2001-12-13 Mannesmann Vdo Ag Verfahren zum Navigieren eines Fahrzeugs
JP4746794B2 (ja) * 2001-08-21 2011-08-10 クラリオン株式会社 カーナビゲーション装置、カーナビゲーション用制御プログラムを記録した記録媒体
KR100522932B1 (ko) * 2003-10-01 2005-10-24 팅크웨어(주) 맵 매칭 강제 이탈 명령에 의해 경로 재 탐색을 가능하게하는 네비게이션용 지도 표시 방법 및 지도 표시 시스템

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Title
See references of WO2009143826A1 *

Also Published As

Publication number Publication date
DE102009022881A1 (de) 2009-12-03
WO2009143826A1 (fr) 2009-12-03

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