201037272 六、發明說明： 【發明所屬之技術領域】 ' 本發明係提供一種使用一個人導航裝置去執行地圖比對與推算 又位技術之方法與相關個人導航裝置，尤指一種使用可辨識道路路 標之一已知位置輔助全球定位系統座標數據以計算一個人導航敦置 Q 位置之一更精確位置。 【先前技術】 全球定位系統（Global Positioning System，GPS)已是社會大眾 所知内建_人導航裝置的最基本功能，且廣泛細峨車型個人 導航4置。個人導航裝置常見的功能就是提供—地圖資料庫分析以 產生適當的導航指令’並將該指令顯示於個人導航裝置的螢幕上。 吳類型的個人導航裝置通常以吸盤或其他種類的固定元件固定在交 通運輸工具的前儀表板上。 個人導航裝置，泛指一種能引導使用者前往預定目的地的裝 置。這類褒置通常内建一組可接收定位數據的系統，例如全球定位 二、接收H也可％讀和—有接收定錄據魏雜收器通訊連 貞裝置分析數據的方法有數種，其—為可自行運算所經路線 、 其二為連線至可提供路徑數據運算功能的遠端伺服器，由 201037272 該祠服器運算並提供導航資料；或者是該裝置不但有自行運算功 能，同時也能連線到遠端伺服器接收該伺服器的運算數據。手持式 全球定位系統個人導航裝置不需完全固定在交通運輸工具内，而要 讓使用者能輕易拆裂。這類個人導航裝置通常（但非必然）内建有 ^ 全球定位系統天線、導航軟體與地圖，並可自行繪製、顯示地圖， 幾可為一完全獨立運作的裝置。 ❹ 推算定位法是一種分析先前已知位置來估算所在位置的一項技 術’並能依據已知逮度、耗費時間與路徑方向進—步分析而得到更 精準的定位座標。在全球定位系統導航震置上，應用推算定位法可 在收不到全球定位系統的衛星訊號時，或當全球定位系統的定位導 航能力失效時，持續保持導航功能。舉例來說，當開車經過某些無 法接收大氣中無線電波的區域時，個人導航裝置將無法與衛星連線 下，數據’例倾勒；或當開車通過人口補的都市叢林時；全 =位系統接收器也可能因受干擾而計算出錯誤的導航訊息 w 在大都市中。 =_以上麵全球定㈣統衛星接收品質失_狀況外， 鮮HI缺全較位純鍊數躺鮮度从靖識個人導 ’几裝置所經路途中的某此精確位詈 置的-輛交·工I::: 例緑’配備有個人導織 上，兩條糊_平行道路的其中一條 取彳u人導舢裝置無法精準判定此輛交 5201037272 VI. Description of the invention: [Technical field to which the invention pertains] The present invention provides a method and a related personal navigation device for performing a map comparison and calculation technique using a personal navigation device, and more particularly to using a identifiable road sign A known location assists the global positioning system coordinate data to calculate a more precise location of one of the person's navigational Q positions. [Prior Art] The Global Positioning System (GPS) is the most basic function of the built-in _ human navigation device known to the public, and it is widely used for personal navigation. A common function of personal navigation devices is to provide a map database analysis to generate appropriate navigation commands' and display the instructions on the screen of the personal navigation device. The Wu type personal navigation device is usually fixed to the front instrument panel of the transportation vehicle by a suction cup or other kind of fixing member. A personal navigation device generally refers to a device that can guide a user to a predetermined destination. Such devices usually have a set of systems that can receive positioning data, such as global positioning 2, receiving H, and % reading. There are several methods for receiving and analyzing data according to the Weichao communication communication device. - for the remotely traversable route that can be self-operated, and the second is to connect to the remote server that can provide the path data computing function, the server can calculate and provide navigation data by 201037272; or the device not only has its own computing function, but also It can also be wired to the remote server to receive the operational data of the server. The handheld GPS personal navigation device does not need to be completely fixed in the vehicle, but can be easily disassembled by the user. Such personal navigation devices typically (but not necessarily) have built-in GPS antennas, navigation software and maps, and can draw and display maps themselves, which can be a completely independent device.推 The estimated positioning method is a technique for analyzing the previously known position to estimate the position and can obtain more accurate positioning coordinates based on the known catch, time-consuming and path-oriented analysis. In the global positioning system navigation, the application of the estimated positioning method can maintain the navigation function when the satellite signal of the global positioning system is not received, or when the positioning and navigation capability of the global positioning system fails. For example, when driving through some areas that are unable to receive radio waves in the atmosphere, the personal navigation device will not be able to connect to the satellite, the data will be 'examples'; or when driving through the urban jungle of the population; The system receiver may also calculate the wrong navigation message w in the metropolis due to interference. =_ With the above-mentioned global (four) unified satellite receiving quality loss _ status, fresh HI lacks the full position of the pure chain number of lying fresh from the Jingzhi personal guide 'several device in the way through a certain precise position - the car ·Working I::: Example Green' is equipped with a personal guide, two pastes _ one of the parallel roads is not able to accurately determine the delivery of the vehicle.
❹ 201037272 通運輪工具位於哪條道路上。 =克服全球定㈣顧標數據在上述朗缺乏可靠度的情況 下’亟需發展—種可使用其域綱以執行麵_與推算定位的 【發明内容】 的八抹^提供—種伽已知位置之路標去獅個人導航系統内建 二讀系統接收器所接收的全球定位系統座標數據，藉以計算 上述之=置之所纽置的方法以及相義人導織置，藉以解決 ^ 、路路私辅助全球疋位系統座標數據以計 航裝置^ ^ 。财法包含有侧該個人導 ===麵；細個人導航裝置 豆週遭讀’柄彡像係為該個人導航裝置所經一道路與 广以及影像執行影像處理，以辨識該影像上之一路 才示，以及依據該路標之_ρ 數壚射物A it ’置収該最狀全球粒系統座標 數據判疋該個人導航U之1際位置。 本發明另提供一種 以計算一個人導航裝置 使用道路路標輔助一全球定位系 之一所在位置之該個人導航裝置 統座標數據 。該個人導 6 201037272 有一全球定位系統接收器’用來接收該最新之全球定位 ί Π ; 一_，_個人導繼行進—道路之週邊 内之-及-處理器，對行影像處理以辨識影像 统座俨數2 ’並依獅轉之-6知位賴助該最新之全球定位系 、、私數據簡定該個人導航裝置之-實際位置。 實施方式】 Ο 置 、開始’為了以二角測量法計算出個人導航裝置的所在位 置只能仰繼全球定㈣統_星接收全球定位系统座 ==隨著個人導航細銷售量不斷增加後，也開始增加越 夕的新功能。在本發財，個人導航裝置將配備—台攝 侍個人導織置不但能分析自衛星τ_數據，還能分析自 2、所擷取的赠峨，提高職人導航裝置觸所在位置的定位能 0 -請參閲第1圖’第！圖為本發明一個人導航裝置1〇的功能 丁 w圖。個人導航裝置ω包含有—全球定位系統接收^ 12，其係 全較㈣統之魅訊號並計算侧座標數軸後估算個 人導航裝置H)之所在位置。個人導織置1Q 固 輿一摇般-— -貝不态14 、鈿U，讓使用者能藉由視覺影像與聲音訊號讀取 的婁=。個人導航裝置1G另包含有_攝像機，用糊取影像並 判讀影像内之路標。舉例來說，像是數位照相機或錄影機。當交通 7 201037272 運輸工具安賴個人導航裝置料，攝 交通運輸工具射所經道路 _攝的影像會將 _心 關4_之纽擷取仙，因祕 18 , 18 ^ 疋月匕於特定時間點或預定時間拍攝影像的數位,昭相 从 連續攝錄功能的數位錄影機。個人導 ^ wj^有 7Π，甘平观衣直1ϋ另包合有一處理器 ❹ Ο 不但可絲控·人導航裝置1Q之内部操作，而且也用來裔 攝=機18職取之影像執行潍處理。纽器Μ可 付合功能規格的處理器，例如數位信號處理器（琴祕_何❹ 201037272 Which way the traffic wheel tool is located. = Overcoming the global (4) Gub data in the absence of reliability of the above-mentioned Lang's need for development - the use of its domain to perform the surface _ and the calculation of the positioning of the [suggested content] eight wipes ^ provide - known The location road sign goes to the global positioning system coordinate data received by the lion personal navigation system built-in second-read system receiver, in order to calculate the above-mentioned method of setting the location and the relative person guide weaving, so as to solve the ^, road private Auxiliary global clamp system coordinate data for the flight control device ^ ^. The financial method includes the side of the personal guide === face; the fine personal navigation device is read around the bean handle image for the personal navigation device through a road and the image and image processing to identify one of the images on the image And determining, according to the _ρ number of the road sign, the object A it's the maximum global grain system coordinate data to determine the position of the personal navigation U. The present invention further provides a personal navigation device coordinate data for calculating a location of a global navigation system using a road sign to assist a person navigation device. The personal guide 6 201037272 has a global positioning system receiver 'to receive the latest global positioning ί Π ; a _, _ personal guide to travel - in the periphery of the road - and - processor, line image processing to identify images The total number of seats is 2 'and the lion's turn to the -6 position to help the latest global positioning system, private data to simplify the personal navigation device - the actual location. The implementation method] Ο, start 'in order to calculate the position of the personal navigation device by the two-angle measurement method can only be determined globally (four) system _ star receiving global positioning system seat == as the personal navigation volume continues to increase Also began to increase the new features of the New Year's Eve. In this fortune, the personal navigation device will be equipped with a personal camera, which can not only analyze the data from the satellite τ_, but also analyze the gift from the 2, and improve the positioning of the position of the person's navigation device. - Please refer to Figure 1 'No! The figure shows the function of the one-person navigation device of the present invention. The personal navigation device ω includes a global positioning system receiving unit 12, which is the position of the personal navigation device H) after calculating the side coordinate number of the system. The personal guide weave is set to 1Q, and it is swayed by the visual image and the sound signal. The personal navigation device 1G further includes a camera, which captures the image and interprets the road sign in the image. For example, like a digital camera or video recorder. When Traffic 7 201037272 Transportation Tools An Lai personal navigation device materials, photo traffic vehicles shooting through the road _ photo of the image will be _ heart off 4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The digital position of the image is taken at a point or a predetermined time, and the digital video recorder from the continuous recording function is shown. Personal guide ^ wj^ has 7 Π, Gan Ping Guan Yi straight 1 ϋ another package with a processor ❹ Ο Not only can the internal control of the human navigation device 1Q, but also used for the image of the camera deal with. A device that can be used for functional specifications, such as a digital signal processor.
Processor) (Central Processing Unit) # , 夕核心處理H取代單核心處理^。個人導航健iq射在内 ，體内儲存-路標資料庫22。路標資料庫22内儲存複數筆路標與 八姆應位置資訊與特徵資訊，而且每—個路標的位置都可以· 度座標表示。而在路標資料庫22_存了每—個路標騎有特徵= 含有路標圖案、路標外形、路標顏色、路標文字、或是路標 箭號等。&些特徵資訊和已知位置之路標都可被個人導航裝置1〇 用來與路標資料庫22内儲存之路標作比對。 4參閱第2圖’第2圖為本發明一交通運輸工具32行經一道路 30且-路標34設置於道路3〇旁之示意圖。在交通運輸卫具^靠 近别擔風玻璃之處可絲個人導航裝置1G，故個人導縫置扣配 備之攝錄機18可拍攝到道路3G與其週邊環_縣。當交通運輸 工具32接近路標34 ef，攝錄機18會拍攝到含有路標34之影像， 每當攝錄機18拍攝影像時，處理器2()會對每__^影像作即時的影 201037272 像處理運算，並運用辨峨術去分析影像 請再參閱第2圖，當處難2G判定出 有⑽胁何路標。 路標3鄉歧㈣會糾賴=:^=_影像含有 料庫22 _存之複數料標作崎。如^ 標資 =,Γ:供：，來說路標34之外形: Ο Ο 概’都會被用來與路標資料庫22内儲存:概筆白= 一貝訊作比對；路標34之圖案可能為小心落石、钱風立τ顏色 等圖案，都會被用來__庫22 _ == = ；； 訊作比對；路標34還有其他如 =數麵“之除貝 庫22之儲存資料—比對。子^賴极，都將與路標資料 資料3=細咖人導繼1G输所在位置與路標 運^且置路標喊鱗識。舉例來說，假如交通 ，輪工具32所經之道路3〇是一條穿越農地的高速公路 只有—個（或更少）路標。當_ ^拍攝 標數據有正蝴提供之峨位系統座 本發明中另-項有用的功能是執行推算定位計算法。請參閱第 201037272 2圖’假設父通運輸工具32 4亍馱於隨道内且個人導航裝置内建之全 球定位系統触H 12絲狐任何全球定㈣、狀魅訊號，此時 歧㈣關時賴自全球定L接收ϋ 12接收之最新之全球 ^位系統座標數據無過韻路標34所取得之定位資訊去執行推 -算。舉例來說，假設有-長兩公里的隨道且路標34恰位於正中央 處’當路標34之資訊已儲存在路標資料庫22内時，個人導航裝置 即可藉由掃描路標資料庫22❿取得路標34之正確位置。因此，、即 〇使在__人導航裝置1G無法概全球定位緣座標數據，仍可 藉由即時辨識路標34而取得交通運輸工具32之所在位置資訊。 除了執行推算定位法外’本發明亦運關形轉技術。圖形比 對_之功能在於當最初計算之結果有數種可能位置時，圖形比對 技術能幫助個人導航裝置1G判定所在之正確位置。請參閱第3圖， 第3圖為本發明一路標⑻座料棋盤狀道路上的示意圖，其中路標 ⑼即是用來幫助辨識交通運輸工具％之所在位置。在約圖中， 道路50、52、54為東西向道路且實質上為一彼此平行之道路，而與 之交又的道路56、58則為南北向道路，並假設交通運輸工具％在 j路52上向東彳了駛。由於全球定位㈣的座標數據並不精確，使得 文裝於交賴輸工具32上之個人導航裝置1()無法欺是位於道路 P或疋56上’尤其當這些可能道路彼此平行又互相接近時， 誤判的可能性更是大幅提高。因此，當交通運輪工具^行敬接 匕向道路56之交又點P2時，個人導航裝置1〇無法判讀交通運 U2疋位於父又點ρι、p2、或p3上，·由此可知，個人導航裝 201037272 置將會提供一錯誤的導航指令給交通運輸工具32。假設交通運輸工 具32行駛在道路52上持續向東行進，交通運輸工具32會經過一座 就點Η附近的路標60。因此，當個人導航裝置1G拍攝到含有路 之影像並透過比對路標資料庫内儲存之複數筆路標後，就 ==路標㈣取得触，訊。更重是，這項技術能讓個 =導航4置〗〇辨識交通運輸工具32是位於道路％，而非道路54、 Ο Ο 58 ΐ Γ後，當交通運輸工具％接近位於蚊點P6之南北向道路 個人人導航裝置1G就會給予駕駛人適當之導航齡。因此， =妓㈣__標_辦卩雜狀蚊點為 P6而非父又點P5或交叉點P7。 ’ 請參閱第4圖，第4圖為本發 道高逑公路70上方的亍㈣‘8()、82、84_一多線 兀上且接近路㈣、82、84時，不速公路 2= 1 純灯1G正销辦喊公路^上之正確 位置而且也能藉由路標82、82、84去八卜 確 於高速公路70上_—條線^。運紅具32是位 分叉出數個支鄉物能就公路财某路段 確的路徑以達其目的地。舉例來說，具亍驶在正 A，中線道74是通往目的地B 又=友道乃是通往目的地 錄機18拍攝到-含有路標⑽目的地〇而當攝 就能藉由比對路標8〇 〜像4 ’個人導航裝置10 是位於高迷公路7。的那—二:二置以判定交通運輸工具32Processor) (Central Processing Unit) # , 夕 core processing H replaces single core processing ^. Personal navigation Jian iq shot inside, body storage - road sign database 22. The road sign database 22 stores a plurality of road signs and eight-position information and feature information, and the position of each road sign can be expressed by degrees. In the road sign database 22_, there are features for each road sign = road sign pattern, road sign shape, road sign color, road sign text, or road sign arrow. & some feature information and landmarks of known locations can be used by the personal navigation device to compare with the landmarks stored in the landmark database 22. 4, Fig. 2, Fig. 2 is a schematic view showing a transportation tool 32 passing through a road 30 and a road sign 34 being disposed beside the road 3. In the transportation aids ^ close to the wind-bearing glass, you can wire the personal navigation device 1G, so the camcorder 18 equipped with the personal guide stitch can capture the road 3G and its surrounding ring_county. When the vehicle 32 approaches the road sign 34 ef, the camcorder 18 will capture an image containing the road sign 34. When the camcorder 18 takes an image, the processor 2() will make an instant photo for each __^ image 201037272 For example, if you want to process the calculations and use the identification technique to analyze the images, please refer to Figure 2, and it is difficult to determine whether there are (10) threat signs. Road sign 3 Xiangqi (four) will be blamed =: ^ = _ image contains the library 22 _ deposit of multiple materials for the standard. Such as ^ standard capital =, Γ: for:, for the road sign 34 shape: Ο 概 will be used to store with the road sign database 22: general white = one Bei for comparison; road sign 34 pattern may In order to be careful of falling stones, money and τ color, etc., will be used for __库22 _ == = ;; News comparison; road sign 34 and other such as = number of "in addition to Beku 22 storage data - Comparing. The child ^ Laiji, will be with the road sign data 3 = fine coffee people follow the 1G loss location and road signs and set the road sign to call the scale. For example, if traffic, the road of the wheel tool 32 3〇 is a highway (cross-section) with only one (or less) road sign. When the _ ^ shooting data has a system provided by the butterfly system, another useful function of the present invention is to perform the calculation of the positioning calculation method. Please refer to the picture of 201037272 2 'Assumes that the parent transport vehicle 32 4 亍驮 in the squat and the personal navigation device built in the global positioning system touches the H 12 silk fox any global (four), the charm signal, at this time (four) off time Received from the global fixed L ϋ 12 received the latest global system coordinate data without the rhyme road sign 34 The positioning information is used to perform the push-calculation. For example, suppose that there is a two-kilometre track and the road sign 34 is just in the center. When the information of the road sign 34 is stored in the road sign database 22, the personal navigation device is The correct location of the road sign 34 can be obtained by scanning the road sign database 22. Therefore, even if the __person navigation device 1G cannot globally locate the edge coordinate data, the traffic vehicle 32 can still be obtained by instantly recognizing the road sign 34. Location information. In addition to performing the calculation of the positioning method, the present invention also functions as a transformation technique. The function of the graphic comparison is that the graphic comparison technique can help the personal navigation device to determine 1G when the initial calculation results have several possible positions. In the correct position, please refer to Figure 3, which is a schematic diagram of a road sign (8) on a checkerboard road of the present invention, wherein the road sign (9) is used to help identify the location of the transportation vehicle. Roads 50, 52, and 54 are east-west roads and are essentially parallel roads, while roads 56 and 58 are north-south roads, and transportation is assumed. The tool % slammed east on j road 52. Since the coordinate data of global positioning (4) is not accurate, the personal navigation device 1() installed on the communication tool 32 cannot be deceived on the road P or 疋56. 'Especially when these possible roads are parallel to each other and close to each other, the possibility of misjudgment is greatly increased. Therefore, when the traffic wheel tool is connected to the road 56 and the point P2 is reached, the personal navigation device cannot The interpretation traffic U2疋 is located on the parent point, p1, p2, or p3. It can be seen that the personal navigation device 201037272 will provide a wrong navigation command to the transportation tool 32. It is assumed that the transportation vehicle 32 is driving on the road 52. On the east, the traffic vehicle 32 will pass through a road sign 60 near the point. Therefore, when the personal navigation device 1G captures the image containing the road and transmits the plurality of road signs stored in the comparison sign database, the == road sign (4) is touched. More importantly, this technology allows a = navigation 4 to set the traffic 32 is located on the road %, not the road 54, Ο Ο 58 ΐ ,, when the transportation tool is close to the north and south of the mosquito point P6 The road individual navigation device 1G gives the driver an appropriate navigation age. Therefore, =妓(四)__标_ Doyza mosquito point is P6 instead of parent and point P5 or intersection point P7. 'Please refer to Figure 4, Figure 4 is the top of the sorghum highway 70 above the 亍 (4) '8 (), 82, 84 _ a multi-line 且 and close to the road (four), 82, 84, the speed of the road 2 = 1 Pure light 1G is selling the correct position on the road ^ and can also go to the highway 70 by the road signs 82, 82, 84 to _ - line ^. The red box 32 is a bit of a branch that can be used to get to the destination of a road section. For example, if you are driving in positive A, the middle lane 74 is to the destination B and the friend road is the destination to the deck 18 and the road sign (10) is included. On the road sign 8 〇 ~ like 4 'personal navigation device 10 is located on the highway 7. That - two: two to determine the means of transport 32
…假如使用者的目的地是A 201037272 但部仃驶在線道74時’個人導航裝置就會發出轉換線道且移至線道 72的指令提醒駕駛人。為了讓這些功能運作更為順暢，個人導航裝 的女衣位置必須確保攝錄機18位於交通運輸工具Μ正前方， 且有一正向無偏差的收訊視角。 ’”所逆本發明於個人導航裝置上安裝攝錄機以取得所經道 路之週邊影像，朗哺助已接收之全球定位系統座標數據，使得 〇個人導織置能更精準摘定所在位置。本發财_人導航裝置 =但使用路標影像分析以判定個人導航裝置之實際位置，也同時能 提醒駕駛人行駛正確的路線而不致迷路。 以上所述僅林㈣之難實關’凡縣發明申請專利範圍 所做之均等變化與修飾，皆應屬本發明之涵蓋範圍。 【圖式簡單說明】...if the user's destination is A 201037272, but when the department drives on the line 74, the personal navigation device will issue a conversion lane and move to the lane 72 to alert the driver. In order to make these functions work more smoothly, the position of the women's clothing in the personal navigation device must ensure that the camcorder 18 is located directly in front of the transportation vehicle and has a positive unbiased viewing angle. In contrast, the present invention installs a camcorder on a personal navigation device to obtain peripheral images of the roads it passes, and assists the received global positioning system coordinate data so that the personal guide weaving can more accurately determine the location. This is a fortune _ human navigation device = but using road sign image analysis to determine the actual location of the personal navigation device, but also can remind the driver to drive the correct route without getting lost. The above mentioned only the forest (four) is difficult to turn off the 'van County invention Equivalent changes and modifications made to the scope of patent application shall fall within the scope of the present invention.
D 第1圖為本發_人導航裝置的功能方塊示意圖。 第2圖為本發日収通運輸工具行經道路且路標設置在道路旁的示意 圖。 第3圖為本發明路標座落在棋盤狀道路上的示意圖。 第4圖為本發明路標設置於多線道高速公路上方的示意圖。 【主要元件符號說明】 12 201037272D Figure 1 is a functional block diagram of the _ human navigation device. Figure 2 is a schematic diagram of the day when the transportation vehicle passes through the road and the road sign is placed next to the road. Figure 3 is a schematic view of the road sign of the present invention seated on a checkerboard path. Figure 4 is a schematic view of the road sign of the present invention placed above the multi-lane highway. [Main component symbol description] 12 201037272
10 個人導航裝置 34 路標 12 全球定位系統接收 50、52、 道路 器 54 14 顯示器 56、58 南北向道路 16 揚聲器 60 路標 18 攝像機 P1、 交叉點 P2 > P3、 P5 ' P6、 P7、 20 處理器 P4 定點 22 路標資料庫 70 高速公路 30 道路 72、74、 線道 76 32 交通運輸工具 80、82、 路標 84 1310 Personal Navigation Devices 34 Road Signs 12 Global Positioning System Receivers 50, 52, Roads 54 14 Display 56, 58 North-South Road 16 Speakers 60 Road Signs 18 Camera P1, Intersection P2 > P3, P5 ' P6, P7, 20 Processor P4 Fixed point 22 Signpost database 70 Highway 30 Road 72, 74, Lane 76 32 Transportation vehicles 80, 82, road signs 84 13