CN103900605A - Detection method and device of navigation path planning and calculating reliability - Google Patents
Detection method and device of navigation path planning and calculating reliability Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries
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Abstract
The invention relates to a detection method and a device of navigation path planning and calculating reliability. The detection method includes: acquiring a navigation path and the distance of the navigation path by a navigation path planning method, comparing the obtained navigation path with a standard navigation path, and determining whether the difference between the distance of the obtained navigation path and the distance of the standard navigation path is less than a threshold or not. If the difference is less than the threshold, the obtained navigation path is accurate. The device comprises: a navigation path planning module used for acquiring the navigation path and the distance of the navigation path by the navigation path planning method; a storage module used for storing the standard navigation path; and a determination module used for comparing the obtained navigation path with the standard navigation path and determining whether the difference between the distance of the obtained navigation path and the distance of the standard navigation path is less than the threshold or not. If the difference is less than the threshold, the obtained navigation path is accurate. The detection method and the device can avoid miscalculation in navigation path planning and calculating.
Description
Technical field
The present invention relates to auto navigation technical field, particularly relate to a kind of navigation path planning computed reliability detection method and device.
Background technology
GPS (Global Positioning System, GPS) has been to be built in the most basic function of personal navigation apparatus in known to society, and is widely used in personal navigation apparatus in car.The common function of personal navigation apparatus is just to provide a map datum analysis and produces 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 kind conventionally.
A kind of device that can guide user to go to intended destination of personal navigation apparatus general reference.This class device is the built-in one group of system that can accept locator data conventionally, and for example GPS receiver may be also only with one to have the receiver communication link that receives locator data function.The method of these class device analysis data has several, one for can from row operation through the data of route, it is two for linking to the far-end server that path data calculation function can be provided, by this server operation and provide navigation data or this device not only has calculation function voluntarily, also can be connected to far-end server and receive the operational data of this server simultaneously.Hand held GPS personal navigation apparatus does not need to be completely fixed in transport facility, but allows user's installation or removal easily.This class personal navigation apparatus conventionally has global positioning system antenna, navigation software and map in (but non-inevitable), also can draw voluntarily, show map, almost can be the device of a completely independent running.
In prior art, navigation path planning computing method are varied, new navigation path planning computing method emerge in an endless stream, but in prior art, not having its accuracy of guidance path that a kind of method obtains new navigation path planning computing method identifies, when the guidance path accuracy that provides when new navigation path planning computing method is not high, may cause misleading to user, make user waste a large amount of time.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of navigation path planning computed reliability detection method and device, can avoid the generation of navigation path planning miscount situation.
The technical solution adopted for the present invention to solve the technical problems is: a kind of navigation path planning computed reliability detection method is provided, comprises the following steps:
(1) obtain the distance of guidance path and this guidance path by navigation path planning method;
(2) by the described guidance path obtaining compared with standard navigation path, whether the difference that judges the distance of described guidance path and the distance in described standard navigation path is less than threshold value, if be less than described threshold value, represent that the guidance path obtaining is accurate, otherwise represent guidance path mistake.
Described threshold value is 0.3-1 kilometer.
Described standard navigation path is the fixed route setting in advance.
Described standard navigation path obtains by existing navigation path planning method.
The technical solution adopted for the present invention to solve the technical problems is: a kind of navigation path planning computed reliability pick-up unit is provided, comprise: navigation path planning module, for obtain the distance of guidance path and this guidance path by navigation path planning method; Memory module, for storage standards guidance path; Judge module, be used for the described guidance path obtaining compared with standard navigation path, whether the difference that judges the distance of described guidance path and the distance in described standard navigation path is less than threshold value, if be less than described threshold value, represent that the guidance path obtaining is accurate, otherwise represent navigation path planning mistake.
Described threshold value is 0.3-1 kilometer.
The standard navigation path of storing in described memory module is the fixed route setting in advance.
The standard navigation path of storing in described memory module obtains by existing navigation path planning method.
Beneficial effect
Owing to having adopted above-mentioned technical scheme, the present invention compared with prior art, there is following advantage and good effect: the present invention compares the guidance path obtaining and standard navigation path, judge the length of two guidance paths, in the time that the length variation of two guidance paths is very large, represent the guidance path mistake obtaining, be path planning computing method mistakes, thereby avoided the generation of navigation path planning miscount situation, can not cause misleading to user.Wherein, standard navigation path obtains by existing navigation path planning method, so can compare various guidance paths, thereby guarantee the accuracy of navigation programming method.
Brief description of the drawings
Fig. 1 is the process flow diagram of the first embodiment of the present invention;
Fig. 2 is the block diagram of the 3rd embodiment of the present invention.
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment are only not used in and limit the scope of the invention for the present invention is described.In addition should be understood that those skilled in the art can make various changes or modifications the present invention after having read the content of the present invention's instruction, these equivalent form of values fall within the application's appended claims limited range equally.
The first embodiment of the present invention relates to a kind of navigation path planning computed reliability detection method, comprises the following steps: obtain guidance path by navigation path planning method; By the described guidance path obtaining compared with standard navigation path, whether the difference that judges the distance of described guidance path and the distance in described standard navigation path is less than threshold value, if be less than described threshold value, represent that the guidance path obtaining is accurate, otherwise represent guidance path mistake.After navigation path planning algorithm completes, need to can use the method to verify to calculating when whether guidance path is accurately verified of this algorithm, as shown in Figure 1, concrete steps are as follows:
For example, determine that start position is " master craftsman of the Spring and Autumn period road, Xujiahui road ", final position is " Xujiahui " (start position and final position are fixed in advance), calculate the guidance path of " starting point-Xujiahui road-Zhao Jiabang road-terminal " by guidance path algorithm, and calculate the distance of this guidance path, the distance that obtains this guidance path is 4.2 kilometers.By the guidance path obtaining compared with the fixed route setting in advance " starting point-Xujiahui road-Zhao Jiabang road-terminal ", the distance of the fixed route setting in advance is 4.1 kilometers, both differences are 0.1 kilometer, and 0.1 kilometer is less than the threshold value of setting, and therefore guidance path algorithm is accurate.
The present invention compares the guidance path obtaining and standard navigation path, judge the length of two guidance paths, in the time that the length variation of two guidance paths is very large, represent the guidance path mistake obtaining, be path planning computing method mistakes, thereby avoid the generation of navigation path planning miscount situation, can not cause misleading to user.
The second embodiment of the present invention relates to a kind of navigation path planning computed reliability detection method equally, present embodiment and the first embodiment are roughly the same, its difference is, in present embodiment, accepted standard guidance path obtains by existing navigation path planning method.
For example: determine that start position is " master craftsman of the Spring and Autumn period road, Xujiahui road ", final position is " Xujiahui ", calculate the guidance path of " starting point-master craftsman of the Spring and Autumn period road-Li Yuan road-Xujiahui road-Zhao Jiabang road-terminal " by guidance path algorithm, and calculate the distance of this guidance path, the distance that obtains this guidance path is 5.3 kilometers.By existing navigation path planning algorithm (as Di Jiesitela algorithm) taking " master craftsman of the Spring and Autumn period road, Xujiahui road " as starting point, " Xujiahui " is terminal, carry out navigation path planning, the guidance path that obtains one " starting point-Xujiahui road-Zhao Jiabang road-terminal ", the distance that calculates this bar navigation path is 4.1 kilometers.The difference of the distance in the standard navigation path that the distance of the guidance path that navigation path planning algorithm calculates and existing navigation path planning algorithm obtain is 1.1 kilometers, 1.1 kilometers are greater than predefined threshold value, therefore there is mistake in guidance path algorithm, need to re-start debugging.
Be not difficult to find, standard navigation path obtains by existing navigation path planning method, so can compare various guidance paths, thereby guarantee the accuracy of navigation programming method.
The 3rd embodiment of the present invention relates to a kind of navigation path planning computed reliability pick-up unit, as shown in Figure 2, comprising: navigation path planning module 201, for obtain the distance of guidance path and this guidance path by navigation path planning method; Memory module 202, for storage standards guidance path; Judge module 203, be used for by the guidance path obtaining, compared with standard navigation path, judging whether the difference of the distance of guidance path and the distance in standard navigation path is less than threshold value, if be less than threshold value, represent that the guidance path obtaining is accurate, otherwise represent guidance path mistake.Wherein, described threshold value is 0.3-1 kilometer.
In described memory module 202, the standard navigation path of storage is the fixed route setting in advance.For example, navigation path planning module adopts navigation path planning method taking " master craftsman of the Spring and Autumn period road, Xujiahui road " as starting point, " Xujiahui " carries out path planning (start position and terminal are put in advance and fixed) for terminal, obtain a bar navigation path and calculate the distance of this guidance path, the distance that obtains this guidance path is 4.2 kilometers.The guidance path that judge module obtains navigation path planning module is compared with the fixed route in memory module " starting point-Xujiahui road-Zhao Jiabang road-terminal ", the distance of the fixed route setting in advance is 4.1 kilometers, both differences are 0.1 kilometer, 0.1 kilometer is less than the threshold value of setting, and therefore guidance path algorithm is accurate.
In described memory module 202, the standard navigation path of storage obtains by existing navigation path planning method.For example, navigation path planning module adopts navigation path planning algorithm taking " master craftsman of the Spring and Autumn period road, Xujiahui road " as start position, carry out path planning taking " Xujiahui " as final position, obtain the guidance path of " starting point-master craftsman of the Spring and Autumn period Lu-Li Yuanlu-Xujiahui Lu-Zhao Jia creek road-terminal ", and calculate the distance of this guidance path, the distance that obtains this guidance path is 5.3 kilometers.In memory module, store by existing navigation path planning algorithm (as Di Jiesitela algorithm) taking " master craftsman of the Spring and Autumn period road, Xujiahui road " as starting point, " Xujiahui " is terminal, carry out navigation path planning, the guidance path that obtains one " starting point-Xujiahui Lu-Zhao Jia creek road-terminal ", the distance that calculates this bar navigation path is 4.1 kilometers.The standard navigation path that the existing navigation path planning algorithm of storing in the guidance path that judge module 203 calculates navigation path planning module employing navigation path planning algorithm and memory module obtains contrasts, the difference of both distances is 1.1 kilometers, 1.1 kilometers are greater than predefined threshold value, therefore there is mistake in guidance path algorithm, need to re-start debugging.
Be not difficult to find, the present invention compares the guidance path obtaining and standard navigation path, judge the length of two guidance paths, in the time that the length variation of two guidance paths is very large, represent the guidance path mistake obtaining, be path planning computing method mistakes, thereby avoid the generation of navigation path planning miscount situation, can not cause misleading to user.Wherein, standard navigation path obtains by existing navigation path planning method, so can compare various guidance paths, thereby guarantee the accuracy of navigation programming method.
Claims (8)
1. a navigation path planning computed reliability detection method, is characterized in that, comprises the following steps:
(1) obtain the distance of guidance path and this guidance path by navigation path planning method;
(2) by the described guidance path obtaining compared with standard navigation path, whether the difference that judges the distance of described guidance path and the distance in described standard navigation path is less than threshold value, if be less than described threshold value, represent that the described guidance path obtaining is accurate, otherwise represent described guidance path mistake.
2. navigation path planning computed reliability detection method according to claim 1, is characterized in that, described threshold value is 0.3-1 kilometer.
3. navigation path planning computed reliability detection method according to claim 1, is characterized in that, described standard navigation path is the fixed route setting in advance.
4. navigation path planning computed reliability detection method according to claim 1, is characterized in that, described standard navigation path obtains by existing navigation path planning method.
5. a navigation path planning computed reliability pick-up unit, is characterized in that, comprising: navigation path planning module, for obtain the distance of guidance path and this guidance path by navigation path planning method; Memory module, for storage standards guidance path; Judge module, be used for the described guidance path obtaining compared with standard navigation path, whether the difference that judges the distance of described guidance path and the distance in described standard navigation path is less than threshold value, if be less than described threshold value, represent that the guidance path obtaining is accurate, otherwise represent navigation path planning mistake.
6. navigation path planning computed reliability pick-up unit according to claim 5, is characterized in that, described threshold value is 0.3-1 kilometer.
7. navigation path planning computed reliability pick-up unit according to claim 5, is characterized in that, the standard navigation path of storing in described memory module is the fixed route setting in advance.
8. navigation path planning computed reliability pick-up unit according to claim 5, is characterized in that, the standard navigation path of storing in described memory module obtains by existing navigation path planning method.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112945238A (en) * | 2021-02-24 | 2021-06-11 | 博雅工道（北京）机器人科技有限公司 | Method and device for quantitatively calculating AUV water surface navigation endpoint radius threshold |
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- 2012-12-25 CN CN201210572346.XA patent/CN103900605A/en active Pending
Patent Citations (5)
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| CN101688784A (en) * | 2007-07-10 | 2010-03-31 | 本田技研工业株式会社 | Navigation device, navigation server and navigation system |
| CN102007377A (en) * | 2008-05-02 | 2011-04-06 | 通腾科技股份有限公司 | A navigation device and method for emphasising a map route |
| CN102128630A (en) * | 2010-01-14 | 2011-07-20 | 歌乐株式会社 | Navigation method and navigator |
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Cited By (1)
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| CN112945238A (en) * | 2021-02-24 | 2021-06-11 | 博雅工道（北京）机器人科技有限公司 | Method and device for quantitatively calculating AUV water surface navigation endpoint radius threshold |
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