Map matching device, system and method

• US 9,435,648 B2
• Filed: 06/24/2013
• Issued: 09/06/2016
• 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
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): Wiltey, Nicholas K
• Application Number:
  US13/925,722
• Publication Number:
  US 20140172293A1
• Time in Patent Office: 1,170 Days
• Field of Search: None
• US Class Current: 1/1
• 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 information of an environment where the positioning device is located; and

a matching module, progressing a particles initialization process for the location information by a particles filter, adding white noise into the location information by a Gaussian distribution method for measuring the distribution of each particle at a next time interval, matching the location information with the information of the environment for performing map matching processes, and providing a positioning coordinate, wherein the positioning device classifies and sets the environment where a user of the positioning device walks to generate the information of the environment in advance according to a plurality of types of map feature information wherein the matching module analyzes an estimated coordinate of a particle and determines whether the estimated coordinate is located in the range of a room feature type of the plurality of types of map feature information, wherein if the estimated coordinate of the particle is located in the range of the room feature type of the plurality of types of map feature information, the matching module maintains an original weighted value to reserve the estimated coordinate of the particle, and if the estimated coordinate of the particle is located on the outside of the range of the room feature type of the plurality of types of map feature information, the matching module analyzes the estimated coordinate and determines whether the estimated coordinate passed the range of a passage feature type of the plurality of types of map feature information,

wherein the plurality of types of map feature information comprises;

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

the 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.

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 matching module matches the location information with the information of the environment 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 information of the environment.

13. The device of claim 1, wherein if the estimated coordinate passed the range of the passage feature type, the matching module reserves the estimated coordinate and an orientation angle of the particle and adjusts the estimated coordinate and the orientation angle according to matching point coordinates and orientation angles of the passage feature type of the plurality of types of map feature information.

14. The device of claim 1, wherein when the estimated coordinate of the particle is located in the range of the room feature type of the plurality of types of map feature information, the matching module further analyzes the estimated coordinate analyzed and determines whether the estimated coordinate is located near the range of a route feature type of the plurality of types of map feature information, wherein if the estimated coordinate is located near to the range of the route feature type, the matching module adjusts the estimated coordinate and orientation angle of the particle to accord with route and orientation angle of the route feature type.

15. The device of claim 1, wherein when the estimated coordinate of the particle is located in the range of the room feature type of the plurality of types of map feature information, the matching module further analyzes the estimated coordinate and determines whether the estimated coordinate is located in the range of an obstacle feature type of the plurality of types of map feature information, wherein if the estimated coordinate is located in the range of the obstacle feature type, the matching module eliminates the estimated coordinate.

5. 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;

classifying and setting an environment where a user of the positioning device walks to generate information of the environment according to a plurality of types of map feature information;

storing the information of the environment by a map data storage module;

progressing a particles initialization process for the location information by a particles filter;

adding white noise into the location information by a Gaussian distribution method for measuring the distribution of each particle at a next time interval; and

matching the location information with the information of the environment for performing map matching processes, and providing a positioning coordinate by a matching module wherein in the step of matching the location information with the information of the environment, further comprising the steps of;

analyzing an estimated coordinate of a particle and determining whether the estimated coordinate is located in the range of a room feature type of the plurality of types of map feature information, wherein if the estimated coordinate of the particle is located in the range of the room feature type of the plurality of types of map feature information, maintaining an original weighted value to reserve the estimated coordinate of the particle, and if the estimated coordinate of the particle is located on the outside of the range of the room feature type of the plurality of types of map feature information, analyzing the estimated coordinate and determining whether the estimated coordinate passed the range of a passage feature type of the plurality of types of map feature information;

wherein the plurality of types of map feature information comprises;

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

the 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.

6. The method of claim 5, wherein the moving signal comprises acceleration and angular velocity of the positioning device.

7. The method of claim 5, wherein the plurality of types of map feature information comprise a plurality of geometry shape information and coordinate information.

8. The method of claim 5, wherein the matching module matches the location information with the information of the environment 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 information of the environment.

16. The method of claim 5, wherein if the estimated coordinate passed the range of the passage feature type, the estimated coordinate and an orientation angle of the particle are reserved and the coordinate and the orientation angle are adjusted according to matching point coordinates and orientation angles of the passage feature type of the plurality of types of map feature information.

17. The method of claim 5, wherein when the estimated coordinate of the particle is located in the range of the room feature type of the plurality of types of map feature information, the estimated coordinate is further analyzed and determined whether the estimated coordinate is located near the range of a route feature type of the plurality of types of map feature information, wherein if the estimated coordinate is located near to the range of the route feature type, the estimated coordinate and an orientation angle of the particle are adjusted to accord with the route and orientation angle of the route feature type.

18. The method of claim 5, wherein when the estimated coordinate of the particle is located in the range of the room feature type of the plurality of types of map feature information, the estimated coordinate is further analyzed and determined whether the estimated coordinate is located in the range of an obstacle feature type of the plurality of types of map feature information, wherein if the estimated coordinate is located in the range of the obstacle feature type, the estimated coordinate is eliminated.

9. 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 information of an environment where the positioning device is located; and

a matching module, progressing a particles initialization process for the location information by a particles filter, adding white noise into the location information by a Gaussian distribution method for measuring the distribution of each particle at a next time interval, matching the location information with the information of the environment 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, wherein the positioning device classifies and sets the environment where a user of the positioning device walks to generate the information of the environment in advance according to a plurality of types of map feature information wherein the matching module analyzes an estimated coordinate of a particle and determines whether the estimated coordinate is located in the range of a room feature type of the plurality of types of map feature information, wherein if the estimated coordinate of the particle is located in the range of the room feature type of the plurality of types of map feature information, the matching module maintains the original weighted value to reserve the estimated coordinate of the particle, and if the estimated coordinate of the particle is located on the outside of the range of the room feature type of the plurality of types of map feature information, the matching module analyzes the estimated coordinate and determines whether the estimated coordinate passed the range of a passage feature type of the plurality of types of map feature information,

wherein the plurality of types of map feature information comprises;

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

the 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.

10. The system of claim 9, wherein the moving signal comprises acceleration and angular velocity of the positioning device.

11. The system of claim 9, wherein the plurality of types of map feature information comprises a plurality of geometry shape information and coordinate information.

12. The system of claim 9, wherein the matching module matches the location information with the information of the environment 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 information of the environment.

19. The system of claim 9, wherein if the estimated coordinate passed the range of the passage feature type, the matching module reserves the estimated coordinate and an orientation angle of the particle and adjusts the estimated coordinate and the orientation angle according to matching point coordinates and orientation angles of the passage feature type of the plurality of types of map feature information.

20. The system of claim 9, wherein when the estimated coordinate of the particle is located in the range of the room feature type of the plurality of types of map feature information, the matching module further analyzes the estimated coordinate analyzed and determines whether the estimated coordinate is located near the range of a route feature type of the plurality of types of map feature information, wherein if the estimated coordinate is located near to the range of the route feature type, the matching module adjusts the estimated coordinate and orientation angle of the particle to accord with route and orientation angle of the route feature type.

21. The system of claim 9, wherein when the estimated coordinate of the particle is located in the range of the room feature type of the plurality of types of map feature information, the matching module further analyzes the estimated coordinate and determines whether the estimated coordinate is located in the range of an obstacle feature type of the plurality of types of map feature information, wherein if the estimated coordinate is located in the range of the obstacle feature type, the matching module eliminates the estimated coordinate.