MAP MATCHING DEVICE, SYSTEM AND METHOD

• US 20140172293A1
• Filed: 06/24/2013
• Published: 06/19/2014
• Est. Priority Date: 12/17/2012
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Chang, Chin-Chia, Huang, Shih-Ching, Tsai, Chia-Ming
• Granted Patent: US 9,435,648 B2
• Time in Patent Office: Days
• US Class Current: 701/446
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation

Abstract

A map matching device for a positioning device includes an inertial detect module, measuring a moving signal generated from the positioning device, a movement estimation module, estimating location information of the positioning device according to the moving signal, a map data storage module, storing a plurality of types of map feature information of an environment where the positioning device is located, and a matching module, matching the location information with the plurality of types of map feature information for performing map matching processes, and providing a positioning coordinate.

Claims

1. A map matching device for a positioning device, comprising:

an inertial detect module, measuring a moving signal generated from the positioning device;

a movement estimation module, estimating location information of the positioning device according to the moving signal;

a map data storage module, storing a plurality of types of map feature information of an environment where the positioning device is located; and

a matching module, matching the location information with the plurality of types of map feature information for performing map matching processes, and providing a positioning coordinate.

2. The device of claim 1, wherein the moving signal comprises acceleration and angular velocity of the positioning device.

3. The device of claim 1, wherein the plurality of types of map feature information comprise a plurality of geometry shape information and coordinate information.

4. The device of claim 1, wherein the plurality of types of map feature information comprises:

a room feature type, recorded by a polygon geometry and configured to determine area ranges of enclosed spaces;

a passage feature type, recorded by a line geometry and configured to determine entrances/exits between the area ranges of the enclosed spaces and determine matching point coordinates and orientation angles of the entrances/exits;

a route feature type, recorded by the line geometry and configured to determine a location of a route and orientation angles of the route in a passable area range; and

an obstacle feature type, recorded by the polygon geometry and configured to determine obstacle area ranges of the obstacles.

5. The device of claim 1, wherein the matching module matches the location information with the plurality of types of map feature information for performing map matching processes by adjusting a weighted value corresponding to the location information according to a matching result generated by matching the location information with the plurality of types of map feature information.

6. A map matching method, comprising:

measuring a moving signal generated from a positioning device by an inertial detect module;

estimating location information of the positioning device according to the moving signal by a movement estimation module;

storing a plurality of types of map feature information of an environment where the positioning device is located by a map data storage module; and

matching the location information with the plurality of types of map feature information for performing map matching processes, and providing a positioning coordinate by a matching module.

7. The method of claim 6, wherein the moving signal comprises acceleration and angular velocity of the positioning device.

8. The method of claim 6, wherein the plurality of types of map feature information comprise a plurality of geometry shape information and coordinate information.

9. The method of claim 6, wherein the plurality of types of map feature information comprises:

a room feature type, recorded by a polygon geometry and configured to determine area ranges of enclosed spaces;

a passage feature type, recorded by a line geometry and configured to determine entrances/exits between the area ranges of enclosed spaces and determine the matching point coordinates and orientation angles of the entrances/exits;

a route feature type, recorded by the line geometry and configured to determine a location of a route and orientation angles of the route in a passable area range; and

an obstacle feature type, recorded by the polygon geometry and configured to determine obstacle area ranges of the obstacles.

10. The method of claim 6, wherein the matching module matches the location information with the plurality of types of map feature information for performing map matching processes by adjusting a weighted value corresponding to the location information according to a matching result generated by matching the location information with the plurality of types of map feature information.

11. A map matching system, comprising:

a positioning device, wherein the positioning device comprises

an inertial detect module, measuring a moving signal generated from the positioning device;

a movement estimation module, estimating location information of the positioning device according to the moving signal;

a map data storage module, storing a plurality of types of map feature information of an environment where the positioning device is located; and

a matching module, matching the location information with the plurality of types of map feature information for performing map matching processes, and providing a positioning coordinate; and

a display device, receiving the positioning coordinate and displaying a location of the positioning device.

12. The system of claim 11, wherein the moving signal comprises acceleration and angular velocity of the positioning device.

13. The system of claim 11, wherein the plurality of types of map feature information comprises a plurality of geometry shape information and coordinate information.

14. The system of claim 11, wherein the plurality of types of map feature information comprises:

a room feature type, recorded by a polygon geometry and configured to determine area ranges of enclosed spaces;

a passage feature type, recorded by a line geometry and configured to determine entrances/exits between the area ranges of the enclosed spaces and determine matching point coordinates and orientation angles of the entrances/exits;

a route feature type, recorded by the line geometry and configured to determine a location of a route and orientation angles of the route in a passable area range; and

an obstacle feature type, recorded by the polygon geometry and configured to determine obstacle area ranges of the obstacles.

15. The system of claim 11, wherein the matching module matches the location information with the plurality of types of map feature information for performing map matching processes by adjusting a weighted value corresponding to the location information according to a matching result generated by matching the location information with the plurality of types of map feature information.