200903397 九、發明說明： 【發明所屬之技術領域】 本發明涉及一種導航裝置及導航方法，尤其涉及—種 車輛導航裝置及導航方法。 【先前技術】 隨者社會的發展和技術的進步，車上安裝全球定位系 =GIobaI P〇slti〇ning㈣）導航裝置已經成為 車輛的一個發展趨勢。 ·、·、 通常’駕敬員在車輛上安裝GPS導航裝置來實現車輛 該種GPS導航裝置接收太空中㈣^位衛星 ::生仏虎’亚根據該衛星信號配合電子地圖來實現車輛 ▲ '、、、GPS疋位衛星發射的衛星信號-般為每秒更新— 到、f 有#建梁或者金屬等阻隔物的情況下衛星信號不能 S ¥銳裝置’GPS導航襄置在導航車輛行駛過程中 準確地計算出當前車輛的實際行駛位置。即電子 地圖上顯示的車輛導為 皁輛…駛位置和車輛的實際行駛位置存 f…影響駕駛員控制車輛按照預設行驶路線行 【發明内容】 可提高GPS導航準破度之 有鑒於此，有必要提供—種 導航裝置。 此外’還有必要提供一 航方法。 種可提高GPS導航準確度之導 200903397 —種車輛導航裝置， .組、攝料輯缺導航 冑號&理器、顯示模 由其天線接A GPS ，該⑽信號處理器藉 %_ ^ ψ -j- w -疋佑生發射之衛星信號並根據該衛 車輛導航行駛位置；該顯示模組用於在電子地 圖上緘不車輛導航 你包卞地 像並根據影像得出車缸—像處理模組用於拍攝影 于出車輛貫際行駛位 於根據車輛實際行歇 正核組用 圖上顯示的直紅道旯正卓輛蛉航仃駛位置使電子地 ¥航仃駛位置與車輛實際行駛位置一致。 -種車輛導航方法，其包括如下步驟： 接收衛星信號； 根據衛星信號計算出車車兩導航行驶位置； 拍攝影像； 根據影像計算出車輛實際行駛位置； 根據車輛實際行駛位置更正車輛導航行駛位置。 ^述車輛導航裳置及其導航方法藉由該攝像處理模电 计异車輛實際杆餘&罢 &、廷 m 。邊令航更正模組根據該車輛實際 紅’，曾〜1正車輛導航行敬位置，使電子地圖上顯示的車 =航仃驶位置與車輛實際行驶位置一致，便於駕驶員控 t按知預設行敬路線行敬，提高該Gps導航裝 航準確度。 τ 【實施方式】 明同日寸參閱圖1及圖2 ’車輛導航系統500包括裝配 2;〇〇輛上的‘舭裝置1〇0和位於太空中的GPS定位衛星 200903397 導航裝置100包括藉由匯流排90相互連接的微處理器 -10、GPS信號處理器20、顯示模組3〇、存儲模組4〇、攝 」象處理模組50、導航更正模組6〇及輪入模組7〇。微處理 器10用於控制及協調其他各模組工作。 GPS信號處理器20藉由其GPS接收天線21與GPS 定位衛星200通信，其接收太空巾Gps定位衛星謂中至 =四顆GPS疋位衛生2GG發射的衛星信號，並根據衛星信 號的傳播速度及其傳播時間計算出車輛與⑽定位衛星 細的距離D，再根據已知Gps定位衛星當前位置 ’ Y〇 藉由空間距離計|公式 lζ(>)2得出車輛位置資訊（χ，γ，。 =信號處理器20根據連續兩次接收的衛星 ==行歇的位移來得出車輛的推定行驶速度，並 ==位置資訊(χ，γ，ζ)及推定行爾推出 η 車輛導航行駛位置。同時微處理器10控制顯干 杈組30在電子妯囝μ站_ ± 利...、貝不 mB±r, 圖頒不車輛導航行駛位置，使駕駛員 k %件知車輛是否按昭車 員控制車輛行皱，輛預5又订.驶路線行敬，便於駕馱 平袖仃駛攸而實現車輛導航。 線、：::二4〇用於存儲電子地圖及車輛預設行駛路 車辆仃敬位置、車辅行敬速度等資訊。 實5G料拍攝影隸減影像得出車辅 位置。請同時參閱圖心 單元53、座標編51、影像識別單元52、特徵榻取 學早70 54及座標比較單元55。攝像單元 200903397 51用於持續拍攝車輛實際行駛 .像。影像識別單元52用於根據影像照環境的影 ，像單元5!連續拍攝的兩張照片中的同一二= 峨 像。特徵掏取單元53擷取 ^所對應的影 的位置特徵。座標編譯單元54二::::體所對應影像 座標比較罩开s ς , 置知'彳政編#為座標。 位移，進二2 行比較得出車輛實_ 秒遲而侍出車輛實際行駛位置。 導航更正模組6〇用於根據 輛實際行敬位置更正車輛導航行馱位置。存：二：車 於存放一預定向量，㈣定向m拉組运用 ^輛位置的臨界值。微處理^^還用 =際行敬位置與車辅導航行駛位置間量差了 將该位置向量差盥褚宁—旦a > □里差亚 和角度並中卜二 若該位置向量差的大小 ^大於或寺於該預定向量對應的大小和角 Γ，’ w辆導航行驶位置與車輛實際行驶位置之間誤差較 更正二Γ理器10發出更正指令至導航更正模組60。導航 1柄、、且60回應更正指令根據車輛實際行駿位置更正車 辆¥航行馼位置，传雪早从R _ _ 圖顯不的車輛導航行駛位置 貝…亍、仃駛位置一致，便於駕駛員控制車輛按昭預咬 行敬路線㈣，提高GPS導航裝置⑽的導航準確度預。又 ^ 模、。且7〇用於駕驶員和微處理器10交互。駕驶員 σ 1由輸入模組70輸入資訊至微處理器10。微處理器10 入資訊完成駕驶員的請求。如駕駿員藉由輸入i組 设定車輛的行駛路線，微處理器10控制顯示模組30在 10 200903397 私子地圖上顯示駕驶員所設定的路線，方便駕駛員控制車 輛按照預設行駛路線行駛。 車輛/導航系統500及其導航裝置1〇〇藉由攝像處理模 、且二〇。十才車輛貫際行駿位置。導航更正模組根據該車 輛κ際行‘驗位置更正車輛導航行駛位置，使電子地圖上顯 不，車輛導航行駛位置與車輪實際行驶位置—致，便於駕 皱員控制車輛按知預设行敬路線行敬，提$ 導般裝 置100的導航準確度。 、 如圖/3所不，其為車輛導航方法的流程圖。流程開始， ㈣導航系統工作，同時執行步驟S803及S811。 y驟S803 ’ GPS信號處理器2〇藉由其Gps接收天線 21與GPS疋位衛星2〇〇通信，其接收Gps定位衛星2⑽ 發射的衛星信號。 步驟S805，GPS信號處理器2〇根據衛星信號的傳播 速度及傳播時間計算出車輛肖Gps定位衛星細的㈣ D，再根據已知GPS定位衛星細當前位置（χ〇, γ 藉由空間距離計算公式-----° ° 一 式拉—Z(K —r〇)—+(z-z„)2得出車輛 位置資訊（X，γ，Z)。 兩次發射的 出車辆的推 步驟S807，GPS信號處理器2〇根據連續 衛星信號計算車輛單位時間内行駛的位移來得 定行駛速度。 步驟S809 GPS信號處理器2〇根據車輛位置資訊 、χ’ Υ’ Z)及車輛推定行駛速度計算出行駛過程令的車 輛導航行驶位置。同時微處理器1G_顯示_ 11 200903397 子地圖上顯示車輛導航行駛位置，加 •是否按照車輛預設行駛路線行敬，=二貝奴日守仵知車輛 - 步驟S811，攝像處理模組5〇 輛冷航 拍攝車輛實際行駛路線上路 ° ，攝像單元51 的實際行駛狀況。 ㈣像以監測車輛 步驟S813，影像識別單元52 量識別攝像單元51連續拍攝的^據〜像中的相同資訊 對應的影像。 ^攝的兩張照片中的同-實體所 步驟s815，特徵擷取單元53操取兩張圖 體所對應影像的位置特徵。 同 Λ 步驟S817,座標編譯單元54 的位置特徵編譯為座標。 W射貞取擷取 步驟S 819，座標比動：| <如 出車輛命梦、 5對兩個座標進行比較得 出車輛貝際订駛位移，進而得出車輛實際行敬位置。 步驟S820，微處理器1〇計算車 柄實際行歇位置間的位置向量差。，制τ-立置與車 = S822 ’微處理器1〇比較該位置向量差的大小和 均小於該預定向量對應的大小和角度。若該位置 产里則二大小和角度均小於該預定向量對應的大小和角 車輛位置向量差可I、略，電子地圖顯示的車輛導 不：要2與車輛實際行駛位置-致。導航更正模組60 S82:-電子地圖上更正車輛導航行駛位置，返回步驟 \2〇。右該位置向量差的大小和角度其中之一大於者 於㈣定向量對應的大小和角度’則電子地圖顯示的車輛 12 200903397 位置與車輛實際行驶位置誤差較大，影響駕敬員 I制車輛按照預設行駛路線行駛，進入步驟別μ。、 組。步驟糖，微處理器峨更正指令至導航更正模 實心:::更正導::正模組6〇回應更正指令根據車柄 貝丨不仃,驶位置更正車輛導輪分$占里 .._ 叙仃駛位置，使電子地圖上顯示 的車輛¥航行駛位置與車輛實際行駛位置 員控制車輛按照預設行歇路線行駛， = 100的導航準確度。 年机衣置 上述車輛導航方法藉由攝像處理模組50計算車輛實 =位置。導航更正模組60根據該車輛實際行駛位置更 =駛位置，使電子地圖上顯示的車輛導航行歇 預際行驶位置—致’便於駕駛員控制車輛按照 度。 徒阿GPS導航裝置]_⑽的導航準確 【圖式簡單說明】 圖1為車輛導航系統之實體示意圖。 圖2為車辅導航系統之模㉟示意圖。 圖3為圖2所示攝像處理模組之示意圖。 圖4為車輛導航系統之導航方法流程圖。 導航糸統 GPS定位衛星 GPS信號處理器 主要元件符號說明】 500 200 導航裝置 100 微處理器 10 天線 21 13 20 200903397 顯示模組 30 攝像單元 51 -存儲模組 40 影像識別單元 52 .攝像處理模組 50 特徵擷取單元 53 導航更正模組 60 座標編譯單元 54 輸入模組 70 座標比較單元 55 匯流排 90 步驟 S803-S826 14BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device and a navigation method, and more particularly to a vehicle navigation device and a navigation method. [Prior Art] With the development of the society and the advancement of technology, the installation of the global positioning system on the vehicle = GIobaI P〇slti〇ning (4)) navigation devices have become a development trend of vehicles. ·, ·, usually 'drivers install GPS navigation devices on the vehicle to achieve the vehicle. This kind of GPS navigation device receives space in space. (IV) ^ Satellite:: 仏 仏 ' 亚 亚 亚 based on the satellite signal with the electronic map to achieve the vehicle ▲ ' , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The actual driving position of the current vehicle is accurately calculated. That is to say, the vehicle displayed on the electronic map is guided by the soap... The driving position and the actual driving position of the vehicle are stored. f. Influencing the driver to control the vehicle according to the preset driving route. [Invention] The GPS navigational breaking degree can be improved. It is necessary to provide a navigation device. In addition, it is necessary to provide a method of navigation. A kind of vehicle navigation device that can improve the accuracy of GPS navigation. The vehicle navigation device, the group, the photographing and missing navigation nickname & the display module is connected to the A GPS by its antenna, and the (10) signal processor borrows %_^ ψ -j-w - the satellite signal transmitted by Yu Yousheng and the driving position according to the navigation vehicle; the display module is used to navigate the electronic image on the electronic map and to navigate the image of the vehicle and obtain the cylinder according to the image - image processing The module is used for photographing and shooting. The vehicle is located at the position of the straight red road, which is displayed on the map according to the actual vehicle's actual nuclear group, and the position of the vehicle is actually driven by the vehicle. The position is the same. a vehicle navigation method comprising the steps of: receiving a satellite signal; calculating a two-vehicle driving position of the vehicle according to the satellite signal; capturing an image; calculating an actual driving position of the vehicle according to the image; and correcting the vehicle navigation driving position according to the actual driving position of the vehicle. The vehicle navigation device and its navigation method are used to process the model motor and the actual vehicle balance & The side navigation correction module is based on the actual red' of the vehicle, and the position of the vehicle navigation line is displayed on the electronic map so that the position of the vehicle shown on the electronic map is consistent with the actual driving position of the vehicle, so that the driver can control the t Set the line to respect the route and improve the accuracy of the GPS navigation. τ [Embodiment] Referring to Figures 1 and 2 of the same day, the vehicle navigation system 500 includes the assembly 2; the '舭 device 1〇0 on the vehicle and the GPS positioning satellite 200903397 located in the space. The navigation device 100 includes the convergence The microprocessors 10, the GPS signal processor 20, the display module 3, the storage module 4, the image processing module 50, the navigation correction module 6 and the wheeling module 7 are connected to each other. . Microprocessor 10 is used to control and coordinate the operation of other modules. The GPS signal processor 20 communicates with the GPS positioning satellite 200 by its GPS receiving antenna 21, which receives the satellite signal of the space towel Gps positioning satellite, which is medium to = four GPS clamps, and transmits the satellite signal according to the satellite signal propagation speed and The propagation time calculates the distance D between the vehicle and the (10) positioning satellite, and then obtains the vehicle position information (χ, γ, by the spatial distance meter | formula lζ(>) 2 according to the known position of the known GPS positioning satellite. The signal processor 20 derives the estimated travel speed of the vehicle based on the displacement of the satellites == line breaks received twice in succession, and == position information (χ, γ, ζ) and the estimated y vehicle launch position. At the same time, the microprocessor 10 controls the display unit 30 in the electronic 妯囝μ station _±利..., 别不 mB±r, and the vehicle navigation position is not displayed, so that the driver knows whether the vehicle is in the car or not. The crew controls the wrinkles of the vehicle, and the pre-orders are set in advance. The driving route is respected, so that it is easy to navigate the flat sleeves and navigate to achieve the vehicle navigation. Line, ::: 2〇 is used to store the electronic map and the vehicle preset driving road Information such as the location of the devout, the speed of the car, and the speed of the car. The photographing unit subtracts the image to obtain the auxiliary position of the vehicle. Please also refer to the core unit 53, the coordinate code 51, the image recognition unit 52, the feature couch early 70 54 and the coordinate comparison unit 55. The camera unit 200003397 51 is used for continuous shooting. The image capturing unit 52 is configured to capture the same image in the two photos continuously captured by the image unit 5 according to the image of the image, and the feature capturing unit 53 captures the corresponding image. Position feature. Coordinate compilation unit 54 2:::: The corresponding image coordinates of the body are compared with the cover s ς, knowing that '彳政编# is the coordinate. Displacement, enter the second and second lines to compare the vehicle real _ seconds late The actual driving position of the vehicle is taken out. The navigation correction module 6〇 is used to correct the position of the vehicle navigation lane according to the actual position of the vehicle. The storage: 2: the vehicle stores a predetermined vector, and (4) the orientation of the orientation group Micro-processing ^^ also uses the difference between the position of the line and the position of the car-assisted navigation. The position vector difference is —宁—旦 a > □里差亚和角度和中二二 If the position vector difference The size ^ is greater than or the temple in the predetermined vector Corresponding size and angle Γ, the error between the 'w car navigation position and the actual driving position of the vehicle is corrected. The second processor 10 issues a correction command to the navigation correction module 60. The navigation 1 handle, and the 60 response correction command according to the vehicle The actual position of the squadron corrects the position of the vehicle 馼 馼 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The navigation accuracy of the GPS navigation device (10) is improved, and the driver and the microprocessor 10 are interacted with each other. The driver σ 1 inputs information to the microprocessor 10 from the input module 70. The microprocessor 10 enters the information to complete the driver's request. If the driver sets the driving route of the vehicle by inputting the i group, the microprocessor 10 controls the display module 30 to display the route set by the driver on the 10 200903397 private submap, so that the driver can control the vehicle according to the preset driving route. travel. The vehicle/navigation system 500 and its navigation device 1 are processed by an image capture module. The ten-vehicles are in a continuous position. The navigation correction module corrects the vehicle navigation driving position according to the vehicle's position, so that the electronic map is displayed, and the vehicle navigation driving position and the actual driving position of the vehicle are made, so that the driver can control the vehicle to pre-determine. Take the route and pay attention to the navigation accuracy of the device 100. As shown in Figure /3, it is a flow chart of the vehicle navigation method. The process begins, (4) the navigation system works, and steps S803 and S811 are performed at the same time. The step S803' GPS signal processor 2 communicates with the GPS clamp satellite 2 via its GPS receiving antenna 21, which receives the satellite signal transmitted by the GPS positioning satellite 2 (10). Step S805, the GPS signal processor 2 calculates the fine (4) D of the vehicle's Xiao Gps positioning satellite according to the propagation speed and the propagation time of the satellite signal, and then calculates the current current position of the satellite according to the known GPS (χ〇, γ is calculated by the spatial distance) The formula ----- ° ° pull - Z (K - r 〇 ) - + (zz „ 2) to obtain the vehicle position information (X, γ, Z). The two-shot vehicle push step S807, The GPS signal processor 2 calculates the travel speed based on the continuous satellite signal to calculate the displacement of the vehicle per unit time. Step S809 The GPS signal processor 2〇 calculates the travel based on the vehicle position information, χ' Υ' Z) and the estimated travel speed of the vehicle. The process causes the vehicle to navigate the driving position. At the same time, the microprocessor 1G_display_ 11 200903397 displays the navigation position of the vehicle on the sub-map, plus • whether to follow the pre-set driving route of the vehicle, = second beno slaves know the vehicle - steps S811, the camera processing module 5 detects the actual running condition of the actual driving route of the vehicle, and the actual driving condition of the imaging unit 51. (4) Image monitoring unit step S813, the image recognition unit 52 identifies the image. The image captured by the element 51 is image-corresponding to the same information in the image. In the same-physical step s815 of the two photos taken, the feature capturing unit 53 manipulates the positional features of the images corresponding to the two images. In step S817, the position feature of the coordinate compiling unit 54 is compiled into a coordinate. The W-take extraction step S 819, the coordinate ratio: | < If the vehicle dreams, 5 pairs of two coordinates are compared to obtain the vehicle shell The displacement is determined, and the actual vehicle position is obtained. Step S820, the microprocessor 1 calculates the position vector difference between the actual rest positions of the handle. τ-立立和车= S822 'Microprocessor 1 〇 comparing the size of the position vector difference and the size and the angle corresponding to the predetermined vector. If the position is produced, the size and angle are smaller than the size corresponding to the predetermined vector and the angular position difference of the vehicle may be I, slightly, electronic The vehicle displayed on the map does not: 2 and the actual driving position of the vehicle - navigation correction module 60 S82: - correct the vehicle navigation driving position on the electronic map, return to step \2 〇. Right the position vector difference size and angle If the size and angle corresponding to the (4) fixed vector are greater than the 'fourth, the size and angle corresponding to the fixed vector', the position of the vehicle 12 200903397 displayed on the electronic map is greatly different from the actual driving position of the vehicle, which affects the driving of the driver's I-type vehicle according to the preset driving route, and proceeds to step μ. , group. Step sugar, microprocessor 峨 correction command to navigation correction model solid::: correction guide:: positive module 6 〇 response correction command according to the handle 丨 丨 仃 驶 驶 驶 驶 驶 驶 车辆 车辆 车辆 车辆 车辆 车辆 车辆 车辆.._ Syrian driving position, so that the vehicle driving position displayed on the electronic map and the actual driving position of the vehicle control the vehicle to travel according to the preset break line, = 100 navigation accuracy. The annual vehicle navigation method calculates the vehicle real position by the camera processing module 50. The navigation correction module 60 causes the vehicle to be displayed on the electronic map to stop the pre-event position based on the actual driving position of the vehicle. Accurate navigation of _A GPS navigation device]_(10) [Simple description of the drawing] Fig. 1 is a schematic diagram of the entity of the vehicle navigation system. 2 is a schematic diagram of a mold 35 of a car-assisted navigation system. FIG. 3 is a schematic diagram of the image processing module shown in FIG. 2. 4 is a flow chart of a navigation method of a vehicle navigation system. Navigation system GPS positioning satellite GPS signal processor main component symbol description] 500 200 navigation device 100 microprocessor 10 antenna 21 13 20 200903397 display module 30 camera unit 51 - storage module 40 image recognition unit 52. camera processing module 50 Feature Extraction Unit 53 Navigation Correction Module 60 Coordinate Compilation Unit 54 Input Module 70 Coordinate Comparison Unit 55 Bus Bar 90 Steps S803-S826 14