Summary of the invention
Each embodiment of present general inventive concept provides and determines movement based on GNSS dataThe trustworthy location of object and the system and method for speed.
Can move based on GPS (GNSS) data tracking by providing a kind ofThe equipment of dynamic object realizes each example embodiment of present general inventive concept, and this equipment includes:Motion detector, it does not relies on the motion of the mobile object of GNSS data detection；And it is crediblePosition and speed determining unit, it receives GNSS data and determines the trustworthy location of mobile objectWith credible speed.
Current trustworthy location can be to follow the tracks of system in first trustworthy location and attenuating position difference with positionThe summation of the product of number, wherein attenuating position difference is position attenuation quotient and current GNSS locationWith the product of the difference in first trustworthy location, position attenuation quotient is up-to-date GNSS location sideCase index is believed with GNSS with GNSS signal index and GNSS location scheme index formerlyThe function of number index, and to follow the tracks of coefficient can be that credible speed detects with by motion detector in positionThe function of the motion arrived.
Current credible speed can be the most credible speed and the function of rate of decay estimated value,Rate of decay estimated value is the product of velocity estimation value and velocity attenuation coefficient, and velocity estimation value isAt the function of first velocity estimation value with GNSS velocity estimation value, velocity attenuation coefficient is up-to-dateGNSS speed scheme index and at the function of first GNSS speed scheme index, and velocity attenuationCoefficient can be the function of GNSS signal index.
Marginal testing unit can be provided, with according to mobile object working as relative to predetermined marginWhether front trustworthy location and current credible evaluation of speed cross the border.
Furthermore, it is possible to it is a kind of based on GPS (GNSS) data by providingThe method following the tracks of mobile object realizes each example embodiment of present general inventive concept, the methodIncluding step: do not detect the fortune of mobile object with relying on GNSS data with motion detectorDynamic；And receive GNSS data and determine the trustworthy location of mobile object and credible speed.?In further embodiment, current trustworthy location can be first trustworthy location and attenuating position difference withThe summation of the product of coefficient is followed the tracks of in position, and wherein attenuating position difference is that position attenuation quotient is with currentGNSS location and the product of the difference in first trustworthy location, position attenuation quotient is up-to-dateGNSS location scheme index and GNSS signal index and GNSS location scheme index formerlyWith the function of GNSS signal index, and to follow the tracks of coefficient can be credible speed and by moving in positionThe function of the motion that detector detects.
Current credible speed can be the most credible speed and the function of rate of decay estimated value,Wherein rate of decay estimated value is the product of velocity estimation value and velocity attenuation coefficient, velocity estimationValue is the function in first velocity estimation value with GNSS velocity estimation value, and velocity attenuation coefficient isNewly GNSS speed scheme index and the function in first GNSS speed scheme index, and speed declinesSubtract the function that coefficient is GNSS signal index.Can be according to mobile object relative to predetermined marginCurrent trustworthy location and current credible evaluation of speed whether cross the border.
It is right to be moved based on GPS (GNSS) data tracking by oneThe equipment of elephant realizes each example embodiment of present general inventive concept, and this equipment includes: motion inspectionSurveying device, it does not relies on the motion of the mobile object of GNSS data detection；Trustworthy location and speedDetermining unit, it receives GNSS data and according to GNSS location and speed, motion detectorTesting result, and GNSS scheme index, GNSS signal index and in first trustworthy locationAnd the combination in any of at least one or they in speed, determine the trustworthy location of mobile objectAnd speed；And marginal testing unit, credible relative to predetermined margin of its mobile object of assessmentPosition and speed.
GNSS scheme index can include Horizontal Dilution of Precision, the horizontal position error of estimation,Velocity error, the Horizontal Dilution of Precision estimated are multiplied by the horizontal position error of estimation, horizontal accuracyThe factor is multiplied by the velocity error of estimation, or their combination in any.
GNSS signal index can include representing total Observable GNSS signal to noise ratio amount and/Or representing the amount of total qualified GNSS signal to noise ratio, Observable refers to all for determining GNSSPosition and the GNSS signal of speed, qualified refer to all by the satellite higher than predetermined elevation thresholdThe decodable code GNSS signal sent.
Motion detector can be MEMS (MEMS) device.
Motion detector can be Omnibearing vibrating sensor.
The precalculated position in control area can be used to initiate as the initial of described mobile objectPlace.
It is not detected by the motion of mobile object in response to motion detector, may remain in elder generationTrustworthy location and speed.
GNSS data can include GNSS PVT (position, speed, time) signal, puppetAway from error information, time assistance data, ephemeris assistance data or their combination in any.
Mobile object can be the mankind or animal.
This equipment can be attached to mobile object or by mobile subject wears.
Furthermore, it is possible to by a kind of based on GPS (GNSS) data trackingThe method of mobile object realizes each example embodiment of present general inventive concept, and the method includes stepRapid: do not detect the motion of mobile object with relying on GNSS data with motion detector；With canLetter position and speed determining unit receive GNSS data, and according to GNSS location and speed,The testing result of motion detector, and GNSS scheme index, GNSS signal index andThe combination in any of at least one or they in first trustworthy location and speed determines mobile objectTrustworthy location and speed；And move object relative to predetermined margin with marginal testing unit evaluationTrustworthy location and speed.
GNSS scheme index can include Horizontal Dilution of Precision, the horizontal position error of estimation,Velocity error, the Horizontal Dilution of Precision estimated are multiplied by the horizontal position error of estimation, horizontal accuracyThe factor is multiplied by the velocity error of estimation, or their combination in any.
GNSS signal index can include representing total Observable GNSS signal to noise ratio amount and/Or representing the amount of total qualified GNSS signal to noise ratio, Observable refers to all for determining GNSSPosition and the GNSS signal of speed, qualified refer to all by the satellite higher than predetermined elevation thresholdThe decodable code GNSS signal sent.
The precalculated position in control area can be used to initiate as the initial of described mobile objectPlace.
It is not detected by the motion of mobile object in response to motion detector, may remain in elder generationTrustworthy location and speed.
GNSS data can include GNSS PVT (position, speed, time) signal, puppetAway from error information, time assistance data, ephemeris assistance data or their combination in any.
Mobile object can be the mankind or animal.
Furthermore, it is possible to stored by a kind of computer-readable with record program thereonEach example embodiment of media implementation present general inventive concept, described program makes computer performThe method following the tracks of mobile object, with based on GPS (GNSS) Data DetectionCrossing the border, the method comprising the steps of: detects shifting with not relying on GNSS data with motion detectorThe motion of dynamic object；GNSS data is received with trustworthy location and speed determining unit, and according toGNSS location and speed, the testing result of motion detector, and GNSS scheme index,GNSS signal index and at least one or they in first trustworthy location and speed anyCombination determines trustworthy location and the speed of mobile object；And move with marginal testing unit evaluationObject is relative to the trustworthy location of predetermined margin and speed.
Furthermore, it is possible to it is a kind of based on GPS (GNSS) data by providingThe equipment following the tracks of mobile object realizes each example embodiment of present general inventive concept, this equipmentIncluding: motion detector, it does not relies on the motion of the mobile object of GNSS data detection；CanLetter position and speed determining unit, it receives GNSS data and determines the trusted bit of mobile objectPutting and credible speed, wherein current trustworthy location is poor in first trustworthy location and attenuating position and positionPutting the summation of the product following the tracks of coefficient, attenuating position difference is position attenuation quotient and current GNSSPosition and the product of the difference in first trustworthy location, position attenuation quotient is up-to-date GNSSLocation schemes index and GNSS signal index and GNSS location scheme index formerly andThe function of GNSS signal index, and position follow the tracks of coefficient be credible speed with by motion detectorThe function of the motion detected, and the most current credible speed is the most credible speed and decayThe function of velocity estimation value, rate of decay estimated value is velocity estimation value and velocity attenuation coefficientProduct, velocity estimation value is the function in first velocity estimation value with GNSS velocity estimation value, speedDegree attenuation quotient is up-to-date GNSS speed scheme index and in first GNSS speed scheme indexFunction, and the function that velocity attenuation coefficient is GNSS signal index；And marginal testing unit,It is commented relative to the current trustworthy location of predetermined margin and current credible speed according to mobile objectEstimate and whether cross the border.
Detailed description of the invention
Below with reference to the accompanying drawing and diagram showing embodiment example, the present invention is described overallThe multiple different example embodiment of design.In order to explain present general inventive concept, herein by reference toExample embodiment is illustrated by accompanying drawing.
Provide below detailed description with help reader understand comprehensively various methods described herein,Equipment and/or system.Therefore, will advise to person of ordinary skill in the field described hereinVarious changes, amendment and the equivalence of various methods, equipment and/or system.But, retouchedThe described progress processing operation stated is merely illustrative, and the sequence of operation is not limited to this, and except mustOutside the operation that must carry out according to a definite sequence, can change according to situation known to artBecome operation order.Additionally, for the sake of clear and concise, known function and structure may be eliminatedExplanation.
Fig. 1 shows the difference GNSS system of a kind of routine.Multi-satellite 11-1,11-2 ... 11-N launches GNSS location speed and the time determines signal, and it is by being supplied toThe shift position of mobile object and velocity determination apparatus 12 and auxiliary by the GNSS of fixed positionHelp and receive with pseudorange error device 13.Shift position and velocity determination apparatus 12 are also to fixed bitThe GNSS auxiliary put and pseudorange error device 13 send GNSS auxiliary and pseudorange error numberAccording to request, and described data are correspondingly back to shift position and velocity determination apparatus 12.Assist and pseudorange error device 13 owing to placed the GNSS of fixed position regularly, soThe exception existed by factors such as air and signal path changes can be identified easily so that schoolData after just can be transmitted to shift position and velocity determination apparatus 12 and be used by.
In conventional GNSS fence system, by each summit (that is, latitude, longitude)And the collection of each bar line segment (straightway, circular arc, curve etc.) that connects adjacent vertex is incompatible retouchesState control area.The operation needed due to this system is in closely institute by movement object controlState in the range of control area, therefore provide shift position and velocity determination apparatus to mobile object12.Generally by mobile subject wears device 12, or use suitable means by attached for device 12To mobile object.When mobile object moves, shift position and velocity determination apparatus 12 withMovement, GNSS location and speed determines and determines with discrete time interval, thus reallySurely the new position of object and new speed are moved.For about control area constitute the one crossed the border orMany indexes or condition to determined by position and speed test.Generally, determine position andThe time interval of speed is in the range of 250ms to 1 second.
Fig. 2 shows and utilizes conventional differential GNSS system with discrete time interval to movementThe position of object and the determination of speed.By summit (a1, b1), (a2, b2) and (a3,And connect the line segment on these continuous summits and show a part for control area, described line b3)Section defines the border of this control area.Carry out marginal testing at initial time (t), carry to determineThe position of the mobile device of the mobile object of supply and speed.At moment (t+ Δ t), (t+2 Δ t)(t+3 Δ t) carries out subsequent border test.Such as last border shown in figure 2Test visible, it should be determined that the position of mobile object is outside control area.
Conventional GNSS fence system use one or more about determined by mobile devicePosition and the test of speed, to determine whether crossing the border of control area occurs.A kind of typical caseTest be: only determine the current location of mobile device be in defined control area orOutside defined control area.Another typically tests the beeline being to determine border.Another typical test is: based on unit direction vector and speed, determines and arrives the shortest of borderExpeced time.As in figure 2 it is shown, (the t+2 Δ t) moment is to the position of mobile device and speedDetermination it would be possible to generate a direction vector, it shows i.e. to will appear from crossing the border.
Fig. 3 shows shift position and the velocity determination apparatus 30 of a kind of routine.Signal receives(the GNSS in t+N Δ t) moment is received from a number of GNSS satellite with correction unit 31PVT (position, speed, time) determines signal.Signal receive and correction unit 31 also fromThe GNSS auxiliary of fixed position and pseudorange error device receive pseudorange error data modeGNSS assistance data.The each satellite-signal received according to pseudorange error Data correction itAfter, signal receives and result data is transmitted to PVT engine 32 by correction unit 31.PVTEngine 32 from signal receive and correction unit 31 receive correction after data and the time auxiliary andThe additional GNSS assistance data of ephemeris assistance data form, and determine that shift position and speed are trueDetermine the device 30 Pos (the t+N Δ t) and speed Spd (t+N Δ t) in position in t+N Δ t.PVTBy position Pos, (t+N Δ t) transmits to delay element 33, unit direction vector computer engine 3234 and marginal testing unit 35.Delay element 33 to position Pos (t+N Δ t) introduces time delay d,To produce delay positions Pos, (t+ (N-d) Δ t) also transmits it to unit direction vector computer34.Unit direction vector computer 34 receiving position Pos (t+N Δ t) and delay positionsPos (t+ (N-d) Δ t), and determine and transmit to the unit direction vector of marginal testing unit 35U_vector(t+NΔt).Additionally, marginal testing unit 35 receives speed from PVT engine 32Spd(t+NΔt)。
Additionally, marginal testing unit 35 receives control area from border vertices memory element 36Border vertices (a1, b1), (a2, b2) ... (aN, bN).Marginal testingUnit 35 uses each border vertices, speed Spd (t+N Δ t), position Pos (the t+N Δ t) receivedAnd unit direction vector U_vector (t+N Δ t) determines: shift position and speed determine dressPut whether 30 be currently positioned at control area；From the short distance of device 30 to border, control areaFrom；And arrive the shortest expeced time on border.As it is shown on figure 3, marginal testing unit 35These are determined that result is output as: In/Out_test (t+N Δ t), Distance_test (t+N Δ t) andTime_test(t+NΔt).These consequential signals can be used to trigger the excitation from device 30.
Generally, conventional difference GNSS fence system is the most more regularlyRun: the mobile device receiving GNSS signal works in good GNSS signal environment.But, particularly there is the situation of common signal damage (such as when mobile device has been moved toWhen house or other inside configuration, mobile device is by thicker leaves covering etc.) under, differenceThe determination result of GNSS location and speed still can be containing substantive and insurmountable error.Although the difference GNSS system of routine is the improvement to non-differential GNSS system, but conventionalDifference GNSS system still cannot fully correct these common signals and damage, and its resultIt is often that falseness is crossed the border judgement.
The conventional improvement to typical case's difference GNSS fence system is that " position keeps(pinning) " operation.Position keeps algorithm to there is not enough changes in position and speedTime " holding " GNSS location (make GNSS location keep constant).Development position keeps skillThe purpose of art is to eliminate the drift during GNSS location determines when mobile device is static.Work as detectionDuring to enough change in location or speed, position is made to keep algorithm bypass.
Fig. 4 shows shift position and the velocity determination apparatus 40 of routine, and it includes that position is protectedHold unit 41.As shown in Figure 4, device 40 is similar with the device 30 shown in Fig. 3, withTime with the addition of position holding unit 41.PVT engine 32 controls position holding unit 41, makesMust be bypassed when enough change in location or speed being detected.
As it was previously stated, position holding unit is added to shift position and velocity determination apparatus 40Contribute to being that mobile device maintains nearly constant GNSS location when mobile device does not moves.The erratic position that therefore, it can avoid part potential when mobile device is static determines.SoAnd, this improvement is helpless to when mobile device moves reduce above-mentioned common GNSS signalThe impact damaged.
Fig. 5 A to Fig. 5 B shows the credible of an embodiment according to present general inventive conceptGNSS location and speed determination device 50.Each in Fig. 5 A to Fig. 5 B show byThe each several part of this example apparatus that the line of cut illustrated separates.Trustworthy location and speed determine and setStandby 50 can exchange expression with " mobile device " the most all the time.
It may be noted that the equipment of Fig. 5 A to Fig. 5 B is only an example of present general inventive conceptEmbodiment.Also has the most different possible physiques for the embodiment shown in realization.For example, it is possible to combine two or more unit in single integrated circuit chip, permissibleTwo or more IC chip is combined in one or more chipsets, etc..Furthermore, it is possible to performed by software and/or control the most described operation, and manyKind different described unit, element etc. can be the functional devices of this software.Can be by calculatingIt is such that machine, machine, processor etc. process execution with the input and output of the result described by generationSoftware, can provide described computer, machine, processor etc. to equipment 50, it is also possible to willIt provides as equipment 50.
Mobile device 50 can be supplied to any number in the way of fixedly or removably adhering toThe possible mobile object of amount.Mobile object can be the mankind, animal, machinery etc..Such as,In order to Canis familiaris L. being limited in regulation region (the such as garden of the house that dog owner lives), permissibleMobile device 50 is affixed on the Canis familiaris L. necklace that Canis familiaris L. is worn.This is only how one useThe indefiniteness example of mobile device 50.
Trustworthy location and speed determination device 50 (or mobile device 50) are derived and are moved object" credible " position and speed, it is for following application: such as, GNSS fence, border inspectionSurvey, control (containment) etc..Trustworthy location refers to such position: with individuallyPosition and speed that GNSS derives are compared, and it depends on position and speed more accurately and determines.Trustworthy location and speed are the amounts derived according to following key element, i.e. GNSS location and speed,From the confirmation of the movement to mobile device 50 of separate motion detectors, and GNSS letterIn number index, GNSS scheme index and previously determined credible speed and position one orMultiple.Under good signal environment, trustworthy location and speed can be closely with the most trueThe medium speed recognized follows the tracks of GNSS location and speed.But, when GNSS signal ecological deteriorationOr during the decline of GNSS speed, trustworthy location and speed can follow the tracks of GNSS the most nearlyPosition and speed.It is less than acceptable level at GNSS signal environment and/or GNSS speedIn the case of, credible speed and position can stop following the tracks of GNSS location and speed completely.CredibleThe determination of position and speed make falseness cross the border judge probability much lower.
Additionally, the energy restriction of reality typically requires mobile device any possibility whenSave energy.Such as, if mobile object (and thing followed mobile device 50) is notVery close to any border segment of control area and be in static (self-movement as previously mentionedAs detector is confirmed), then mobile device 50 can be obtained and be led by stopping GNSSNavigate and save the chance of energy.Time point later, when separate motion detectors detects shiftingWhen moving the motion of object, can be initialized as trustworthy location when stopping based on navigation before depositingThe place (location) of condition.If mobile object is in control area or veryPress close to the border of control area, then can be initialized as being positioned at control area by trustworthy locationKnown location (or " reliable starting point ").The owner or the operator of mobile device 50 are permissibleAutonomous judgement determines reliable origin, and it will hereafter be described in more detail.Otherwise,If mobile object is not very close to the border of control area, then can be known with lastTrustworthy location trustworthy location is initialized.When restarting navigation, can utilize and pass throughThe associated auxiliary data that such as RF communication connection provides keeps quickly " when positioning firstBetween ".No matter which kind of navigational state is mobile device 50 be in, and all can there is mobile device 50Available assistance data, because fixed " benchmark " GNSS receiver can maintain following numberAccording to and make its can use, i.e. correct time, pseudo-range corrections, almanac data and ion correctionModel.
It may be noted that comprise separate motion detectors to merely mean that the detection to motion is independent ofIn the process that the GNSS signal receiving mobile device 50 is carried out.According to multiple differentEmbodiment, separate motion detectors can be available to the dress being individually formed of mobile device 50Put, or the device integrated with mobile device 50.
With reference to the example embodiment of the present general inventive concept shown in Fig. 5 A to Fig. 5 B,Credible GNSS location and speed determination device 50 include: signal receive and correction unit 51,PVT engine 52, trustworthy location and speed determining unit the 53, first low pass filter 54-1With the second low pass filter 54-2, separate motion detectors the 55, first delay element 56-1 andSecond delay element 56-2, unit direction vector computing unit 57, marginal testing unit 58 withAnd border vertices memory element 59.Compared with the element shown in the discussion about this example,Other multiple different example embodiment of present general inventive concept can include more or lessElement.Can be performed by software and/or control in described operation is part or all of,And described multiple different unit, element etc. can be the functional devices of this software.
Signal receives and correction unit 51 receives (t+N Δ t) from a number of GNSS satelliteThe GNSS PVT (position, speed, time) in moment determines signal.Signal receives and correctionUnit 51 can have the integrated receiver for directly receiving signal, or can be from additionallyReceptor (not shown) receive signal.Signal receives and correction unit 51 is also from fixed bitGNSS auxiliary and the pseudorange error device or for delivering the similar dress of GNSS assistance data putPut the GNSS assistance data receiving pseudorange error data mode.According to pseudorange error data schoolAfter the satellite-signal (being discussed in more detail further the most after a while) just received, signal receivesWith correction unit 51, result data is transmitted to PVT engine 52.Signal receives and correction is singleSignal after correction is also transmitted to the first low pass filter 54-1 and the second low-pass filtering by unit 51Device 54-2.
PVT engine 52 from signal receive and correction unit 51 receive correction after data andTime auxiliary and the additional GNSS assistance data of ephemeris assistance data form, and produceGNSS location, GNSS speed and some GNSS scheme indexs, it is transferred to trusted bitPut and speed determining unit 53.The process of these some signals will be carried out more the most after a whileDetail discussion.
The GNSS scheme index processed by PVT engine 52 and be transmitted includes: levelDilution of precision (HDOP) Hor_DOP (t+N Δ t), the horizontal position error estimatedEst_Hor_Pos_Err (t+N Δ t) and velocity error Est_Spd_Err (the t+N Δ t) estimated.?In accompanying drawing, with Pos, (t+N Δ t) represents GNSS location, and with Spd, (t+N Δ t) represents GNSS speed.
First low pass filter 54-1 and the second low pass filter 54-2 process receive from signal andThe correction data that receive of unit 51, and it is respectively calculated as follows index and transmit it to canLetter position and speed determining unit 53, i.e. average Observable signal to noise ratio(t+N Δ t), it is the total Observable of representative (all GNSS letters used to Ave_Obs_SNRNumber) the amount of GNSS signal to noise ratio；And average qualified signal to noise ratio Ave_Eli_SNR (t+N Δ t),They are the most qualified (all by the decodable code sent higher than the satellite of predetermined elevation threshold for representativeGNSS signal) the amount of GNSS signal to noise ratio.In each epoch, (that is, Δ t) calculates newAve_Obs_SNR (t+N Δ t) and new Ave_Eli_SNR (t+N Δ t).They are all admitted toOne low pass filter 54-1 and the second low pass filter 54-2.First low pass filter 54-1 andThe effect of the second low pass filter 54-2 be allow each meansigma methods slowly increase and rapidly underFall.The time constant of this growth can have the order of magnitude of 15* Δ t.Average Observable signal to noise ratioIt is referred to as GNSS signal index with average qualified signal to noise ratio.
Trustworthy location and speed determining unit 53 receive the horizontal position of Horizontal Dilution of Precision, estimationPut error, the velocity error of estimation, GNSS location, GNSS speed, average Observable letterMake an uproar ratio, average qualified signal to noise ratio and in first trustworthy location and speed, and to trustworthy location((t+N Δ t) correspondingly processes t+N Δ t) Act_Pos with credible speed Act_Spd.Additionally,Trustworthy location and speed determining unit 53 receive confirmation signal from separate motion detectors 55, withDetermine how process trustworthy location and speed.Process to these data the most after a while is carried out moreDetail discussion.
Trustworthy location is transmitted to the first delay element by trustworthy location and speed determining unit 5356-1, unit direction vector computing unit 57 and marginal testing unit 58.First delay element56-1 introduces time delay d to trustworthy location, to produce the trustworthy location of time delay(t+ (N-d) Δ t) also transmits it to unit direction vector computing unit 57 to Act_Pos.Additionally,The trustworthy location of time delay is returned to trustworthy location and speed determining unit 53.Cell orientation is vowedAmount computing unit 57 receives trustworthy location and the trustworthy location of time delay and produces unit direction vector(t+N Δ t), then transmits it to marginal testing unit 58 to U_Vector.
Credible speed is transmitted to the second delay element by trustworthy location and speed determining unit 5356-2 and marginal testing unit 58.Second delay element 56-2 introduces time delay d to credible speed,With produce time delay credible speed Act_Spd (t+ (N-d) Δ t) and be transmitted back trustworthy location andSpeed determining unit 53.
Marginal testing unit 58 recruiting unit direction vector, trustworthy location, credible speed and tableShow GNSS location and speed location whether can signal.By alignment quality signal from trusted bitPut and speed determining unit 53 transmits to marginal testing unit 58.Marginal testing unit 58 is alsoReceive from border vertices memory element 59 control area border vertices (a1, b1),(a2, b2) ... (aN, bN).Marginal testing unit 58 uses the border receivedSummit, trustworthy location, credible speed, unit direction vector and alignment quality, produce expressionCurrent mobile devices 50 in control area or the data outside control area, from mobile dressPut 50 to border, control area beeline and arrive border the shortest expeced time.As shown in Figure 5 B, marginal testing unit 58 exports these and determines result conductIn/Out_test (t+N Δ t), Distance_test (t+N Δ t) and Time_test (t+N Δ t).Can makeWith these consequential signals trigger excitation (not shown), its be supplied to device 50 or with device 50Communicate.Process to these data the most after a while is described in more details.
The embodiment different to the many according to present general inventive concept performed below is multipleDifferent operations illustrates.
Fig. 6 is to illustrate the entering trustworthy location an of embodiment according to present general inventive conceptThe initialized flow chart of row.After using mobile device 50 to start navigation process first, behaviourMake to be set to by reliable origin in 61 last known trustworthy location.If mobile device50 are experiencing by restarting of causing of the motion detected or are resetting rather than start first, thenLast known trustworthy location is stored.
In operation 62, determine whether last known trustworthy location is positioned at control area adjacentIn near limit threshold value.If it is determined that last known trustworthy location is positioned at neighbouring limiting threshold valueIn, then in operation 63, reliable origin is set to trustworthy location Act_Pos (t).IfDetermine that last known trustworthy location not in neighbouring limiting threshold value, is then operating in 64Last known trustworthy location is set to trustworthy location Act_Pos (t).
Fig. 7 show an embodiment according to present general inventive concept to current GNSSPosition GNSS_Pos (t+N Δ t) and in the first trustworthy location Act_Pos (position between t+ (N-1) Δ t)Put the poor Pos_Dif (calculating of t+N Δ t).Can use as described in operation subsequentlyCalculated alternate position spike Pos_Dif (t+N Δ t) in difference computing unit 71.
Fig. 8 show an embodiment according to present general inventive concept based on HDOP andThe calculating that short-term GNSS scheme index is carried out by the horizontal position error estimated.Can moveThe trustworthy location of device 50 and speed determining unit 53 perform this calculating.As shown in Figure 8,By Horizontal Dilution of Precision (HDOP) Hor_DOP (t+N Δ t) and the horizontal position error estimated(t+N Δ t) error originated from input position units 81, to produce HDOP fault bit for Est_Hor_Pos_ErrPut HDOP_Err_Pos (t+N Δ t).Short-term filter 82 receives HDOP error positionHDOP_Err_Pos (t+N Δ t) and short-term HDOP of time delay sent back to from delay element 84(t+ (N-1) Δ t), produces and exports short-term HDOP error position ST_HDOP_Err_PosError position ST_HDOP_Err_Pos (t+N Δ t).Additionally, received output by delay element 83Short-term HDOP error position ST_HDOP_Err_Pos (t+N Δ t), and use it for produceShort-term HDOP error position ST_HDOP_Err_Pos (t+ (N-1) the Δ t) of time delay.During short-termBetween constant can have the order of magnitude of 3* Δ t.
Fig. 9 is the calculating initial position illustrating an embodiment according to present general inventive conceptDecay factor and the flow chart of long-term GNSS scheme index.In operation 91, determine short-term(whether t+N Δ t) is more than the long-term of time delay to HDOP error position ST_HDOP_Err_PosHDOP error position LT_HDOP_Err_Pos (t+ (N-1) Δ t).If short-term HDOP is by mistakeDifference position more than the long-term HDOP error position of time delay, then performs operation 92, wherein by shortThe long-term HDOP error position of period error position and time delay inputs to Sqrt (LT/ST) unit94, it produces and exports initial position decay factor Pos_Deg (t+N Δ t).Additionally, by producing(long term filter 96 of t+N Δ t) connects long-term HDOP error position LT_HDOP_Err_PosReceive short-term HDOP error position and the long-term HDOP error position of time delayLT_HDOP_Err_Pos(t+(N-1)Δt).Long-term HDOP error position is also fed to postpone unitPart 98, it produces the long-term HDOP error position of time delay(t+ (N-1) Δ t) is also sent to long term filter 96 to LT_HDOP_Err_Pos.Long term timeConstant can have the order of magnitude of 20* Δ t.
If short-term HDOP error position is not more than the long-term HDOP error position of time delay,Then by long-term HDOP error position LT_HDOP_Err_Pos, (t+N Δ t) is equal to short-termHDOP error position, and (t+N Δ t) is equal to by position decay factor Pos_Deg(t+ (N-1) Δ t)+0.5, wherein (t+ (N-1) Δ t) is in operation 93 to Pos_Deg to 0.5*Pos_DegIn the position decay factor of time delay or last position decay factor.
Figure 10 be illustrate an embodiment according to present general inventive concept based on long-term projectIndex and sign continue the constant calculations follow-up location decay of poor long term location error thresholdThe flow chart of the factor.In operation 101, determine long-term HDOP error position(whether t+N Δ t) continues poor long term location error threshold more than characterizing to LT_HDOP_Err_PosThe constant LT_threshold of value.If long-term HDOP error position is more than LT_threshold,(t+N Δ t) is multiplied by then to make follow-up location decay factor Pos_Deg in operation 102LT_threshold is divided by the business of long-term HDOP error position.
Figure 11 is to illustrate believing based on GNSS of an embodiment according to present general inventive conceptThe flow chart of number index calculated for subsequent position decay factor.Determine the most considerable in operation 110(whether t+N Δ t) is more than average qualified signal to noise ratio to survey signal to noise ratio Ave_Obs_SNR(t+N Δ t), wherein average Observable signal to noise ratio is that the total Observable of representative is (all to Ave_Eli_SNRThe GNSS signal used) the amount of GNSS signal to noise ratio, average qualified signal to noise ratio is representativeThe most qualified (all by the decodable code GNSS signal sent higher than the satellite of predetermined elevation threshold)The amount of GNSS signal to noise ratio.If average Observable signal to noise ratio is more than average qualified signal to noise ratio,(it is the most qualified that t+N Δ t) is multiplied by then to make follow-up location decay factor Pos_Deg in operation 120Signal to noise ratio is divided by the business of average Observable signal to noise ratio.
Additionally, determine that in operation 112 whether average Observable signal to noise ratio is less than or equal to lowSNR threshold value.If average Observable signal to noise ratio is less than or equal to low SNR threshold value, then behaviour(t+N Δ t) multiplication by constants k, wherein k is little to make follow-up location decay factor Pos_Deg in 113In the constant of 1.
Figure 12 is the defined position decay illustrating an embodiment according to present general inventive conceptThe flow chart of the factor.In operation 120, determine last known trustworthy location((whether t+ (N-1) Δ t) with last known credible speed Act_Spd for t+ (N-1) Δ t) for Act_PosCause crossing the border.If it is determined that really cross the border, then operation 121 in determine position decay because of(whether t+N Δ t) is less than minimum position decay factor PosDegrade for sub-Pos_Deg.If positionPut decay factor and be less than minimum position decay factor, the most in operation 122 by position decay factorIt is equal to minimum position decay factor.
Figure 13 shows the poor to attenuating position of an embodiment according to present general inventive conceptCalculating.By attenuating position difference computing unit 131 receiving position difference Pos_Dif (t+N Δ t) and position(both t+N Δ t), then attenuating position difference computing unit 131 produces to put decay factor Pos_DegAnd output attenuatoin alternate position spike Deg_Pos_Dif (t+N Δ t).
Figure 14 show an embodiment according to present general inventive concept based on HDOP andThe calculating that short-term GNSS scheme index is carried out by the velocity error estimated.Can be in mobile deviceThe trustworthy location of 50 and speed determining unit 53 perform this calculating.As shown in figure 14,By Horizontal Dilution of Precision (HDOP) Hor_DOP (t+N Δ t) and the velocity error estimated(t+N Δ t) inputs HDOP error speed unit 141 to Est_Spd_Err, to produce HDOP by mistakeDifferential degree HDOP_Err_Spd (t+N Δ t).Short-term filter 142 receives HDOP error speedDegree HDOP_Err_Spd (t+N Δ t) and the short-term of time delay sent back to from delay element 143(t+ (N-1) Δ t), to produce and to export short-term for HDOP error speed ST_HDOP_Err_SpdHDOP error speed ST_HDOP_Err_Spd (t+N Δ t).Additionally, by delay element 143Receive short-term HDOP error speed ST_HDOP_Err_Spd (the t+N Δ t), and by it of outputFor producing short-term HDOP error speed ST_HDOP_Err_Spd (t+ (N-1) the Δ t) of time delay.Short period constant can have the order of magnitude of 3* Δ t.
Figure 15 be illustrate an embodiment according to present general inventive concept based on HDOP andThe velocity error estimated calculates initial velocity decay factor and long-term GNSS scheme indexFlow chart.In operation 151, determine short-term HDOP error speed(whether t+N Δ t) is more than the long-term HDOP error speed of time delay for ST_HDOP_Err_SpdLT_HDOP_Err_Spd(t+(N-1)Δt).If short-term HDOP error speed is more than time delayLong-term HDOP error speed, then perform operation 152, wherein by short-term errors speed and prolongingTime long-term HDOP error speed input Sqrt (LT/ST) unit 153, it produces and exportsVelocity attenuation factor S pd_Deg (t+N Δ t).Additionally, by producing long-term HDOP error speed(long term filter 154 of t+N Δ t) receives short-term HDOP error speed to LT_HDOP_Err_SpdDegree and the long-term HDOP error speed of time delay.Additionally, long-term HDOP error speed is sentBeing back to delay element 155, it produces the long-term HDOP error speed of time delay(t+ (N-1) Δ t) also transmits it to long term filter 154 to LT_HDOP_Err_Spd.Time long-termBetween constant can have the order of magnitude of 20* Δ t.
If short-term HDOP error speed is not more than the long-term HDOP error speed of time delay,Then by long-term HDOP error speed LT_HDOP_Err_Spd (t+N Δ t) in operation 156It is equal to short-term HDOP error speed, and by velocity attenuation factor S pd_Deg (t+N Δ t)(t+ (N-1) Δ t)+0.5, wherein (t+ (N-1) Δ t) is to prolong to Spd_Deg to be equal to 0.5*Spd_DegTime the velocity attenuation factor or a upper velocity attenuation factor.
Figure 16 be illustrate an embodiment according to present general inventive concept based on long-term projectThe constant of index and the lasting poor long-term velocity error threshold value of sign carrys out calculated for subsequent speed and declinesThe flow chart of subtracting coefficient.Long-term HDOP error speed is determined in operation 161(whether t+N Δ t) continues poor long-term velocity error threshold more than characterizing to LT_HDOP_Err_SpdThe constant LT_threshold of value.If long-term HDOP error speed is more than LT_threshold,(t+N Δ t) is multiplied by then to make follow-up velocity attenuation factor S pd_Deg in operation 162LT_threshold is divided by the business of long-term HDOP error speed.
Figure 17 is to illustrate believing based on GNSS of an embodiment according to present general inventive conceptNumber index carrys out the flow chart of the calculated for subsequent velocity attenuation factor.Operation 171 determines and averagely may be used(whether t+N Δ t) is more than average qualified signal to noise ratio for observation signal to noise ratio Ave_Obs_SNR(t+N Δ t), wherein average Observable signal to noise ratio is that the total Observable of representative is (all to Ave_Eli_SNRThe GNSS signal used) the amount of GNSS signal to noise ratio, average qualified signal to noise ratio is representativeThe most qualified (all by the decodable code GNSS signal sent higher than the satellite of predetermined elevation threshold)The amount of GNSS signal to noise ratio.If average Observable signal to noise ratio is more than average qualified signal to noise ratio,(it is the most qualified that t+N Δ t) is multiplied by then to make follow-up velocity attenuation factor S pd_Deg in operation 172Signal to noise ratio is divided by the business of average Observable signal to noise ratio.
Additionally, determine that in operation 173 whether average Observable signal to noise ratio is less than or equal to lowSNR threshold value.If average Observable signal to noise ratio is less than or equal to low SNR threshold value, then behaviourIn work 174, by follow-up velocity attenuation factor S pd_Deg, (t+N Δ t) multiplication by constants k, wherein k isConstant less than 1.
Figure 18 is the restriction velocity attenuation illustrating an embodiment according to present general inventive conceptThe flow chart of the factor.In operation 181, determine last known trustworthy location((whether t+ (N-1) Δ t) with last known credible speed Act_Spd for t+ (N-1) Δ t) for Act_PosCause crossing the border.If it is determined that really cross the border, then operation 182 in determine velocity attenuation because of(whether t+N Δ t) is less than minimum speed decay factor SpeedDegrade for sub-Spd_Deg.IfThe velocity attenuation factor be less than minimum speed decay factor, then operation 183 in by velocity attenuation because ofSon is equal to minimum speed decay factor.
Figure 19 be illustrate an embodiment according to present general inventive concept based on short-termGNSS scheme index determines that GNSS location and speed can be with still disabled flow charts.?In operation 191, determine that (t+N Δ t) is short-term HDOP error position ST_HDOP_Err_PosNo more than maximum acceptable short-term site error ST_Pos_Err.If short-term HDOP errorPosition is not more than maximum acceptable short-term site error, then determine short-term in operation 192(whether t+N Δ t) is more than maximum acceptable short-term for HDOP error speed ST_HDOP_Err_SpdVelocity error ST_Spd_Err.If short-term HDOP error speed is the most maximum acceptableShort-term velocity error, then be defined as can use by GNSS location and speed or location.In operationIndicating above-mentioned behavior in 193, by alignment quality FixQuality, (t+N Δ t) is set in this operationAvailable.
If short-term HDOP error position is more than maximum acceptable short-term site error, orShort-term HDOP error speed is more than maximum acceptable short-term velocity error, then in operation 194In determine that this alignment quality is unavailable.
Figure 20 show an embodiment according to present general inventive concept based on mobile objectThe calculating that velocity estimation value is carried out of each attribute.As shown, by accelerator limiterGNSS speed GNSS_Spd (t+N Δ t) and the velocity estimation value of time delay is received with wave filter 200(t+ (N-1) Δ t), accelerator limiter and wave filter 200 are subsequently according to mobile object for Spd_EstEach attribute produces velocity estimation value Spd_Est (t+N Δ t).Can be by user by defeated for these attributesEnter mobile device 50.Each attribute can include about the most known physical property, mobile rightInformation as type (such as, Canis familiaris L., milch cow, the mankind etc.) etc.
Figure 21 shows the estimating the rate of decay an of embodiment according to present general inventive conceptThe calculating that evaluation is carried out.As shown, rate of decay estimation unit 210 speed is receivedDecay factor Spd_Deg ((t+N Δ t), estimate t+N Δ t) with velocity estimation value Spd_Est by the rate of decayMeter unit 210 correspondingly produces rate of decay estimated value Deg_Spd_Est (t+N Δ t).
Figure 22 be illustrate an embodiment according to present general inventive concept based on GNSSAlignment quality calculates the flow chart of credible speed.In operation 221, determine alignment qualityWhether FixQuality (can use by the value of t+N Δ t).If alignment quality is unavailable, then as behaviourMake as shown in 222, make credible speed to zero attenuation, the most credible speed(t+N Δ t) is set equal to credible speed Act_Spd of time delay, and (t+ (N-1) Δ t) is multiplied by Act_SpdDecay factor.If alignment quality can be used, then in operation 223, determine the trustworthy location of time delay((whether t+ (N-1) Δ t) crosses the border credible speed Act_Spd of t+ (N-1) Δ t) and time delay Act_Pos.As shown, by average Observable signal to noise ratio Ave_Obs_SNR (t+N Δ t), decay speedDegree estimated value Deg_Spd_Est (t+N Δ t), credible speed Act_Spd (t+ (N-1) the Δ t) of time delayAnd whether causing the judgement crossed the border to input extremely last trustworthy location and speed, generation canLetter speed Act_Spd (the credible speed calculation unit 225 of t+N Δ t).Additionally, by credible speedThe credible speed of computing unit 225 output is also sent back to produce the credible speed of time delayAct_Spd (the delay element 226 of t+ (N-1) Δ t).
Figure 23 is illustrate an embodiment according to present general inventive concept credible for minimumThe flow chart that credible speed is tested by the result of rate constant and motion detector.In operationIn 231, (whether t+N Δ t) is more than minimum credible rate constant to determine credible speed Act_Spd.If it is determined that credible speed is more than this constant, determine separate motion detectors the most in operation 232Whether confirm the movement of mobile device.Confirm if it is determined that do not exist by separate motion detectorsMovement, then operation 234 in determine mobile device do not exist reality motion and speed, andThe value of MotionandSpeed is set to vacation.If it is determined that exist true by separate motion detectorsThe movement recognized, then be set to the value of MotionandSpeed very in operation 233.IfOperation 231 determining, (t+N Δ t) is less than minimum credible speed to Act_Spd, then in operation 234The value of MotionandSpeed is set to vacation.
Figure 24 be illustrate an embodiment according to present general inventive concept based on credible speedCalculate new position and follow the tracks of the flow chart of coefficient.In operation 241, determineWhether MotionandSpeed is set to very.In another words, it is determined that the motion of mobile device and speedThe most all exist.If the value of MotionandSpeed is true, then will in operation 242FACTOR P os_Tra_Coe is followed the tracks of in new position, and (t+N Δ t) is equal to m and credible speed(product of the natural logrithm of t+N Δ t) adds b to Act_Spd.Each attribute setup variable according to objectM and b.In this embodiment of present general inventive concept, coefficient is followed the tracks of in positionPos_Tra_Coe ((linearly close for t+N Δ t) and credible speed Act_Spd by the natural logrithm of t+N Δ t)System.If the value of MotionandSpeed is not true, then allow position in operation 243Follow the tracks of coefficient to decay, make position follow the tracks of coefficient in this operation and be multiplied by tracking coefficient attenuationValue.
Furthermore, it is possible to by providing based on GPS (GNSS) data trackingThe equipment of mobile object realizes each example embodiment of present general inventive concept, and this equipment includes fortuneDynamic detector, it does not relies on GNSS data and detects the motion of mobile object；And it is crediblePosition and speed determining unit, it is for receiving GNSS data and determining the credible of mobile objectPosition and credible speed.
Can also be realized this by such various systems, method and computer-readable mediumEach example embodiment of invention general plotting: wherein, current trustworthy location can be the most crediblePosition and attenuating position difference follow the tracks of the summation of the product of coefficient with position, and wherein attenuating position difference isThe product of position attenuation quotient and current GNSS location and the difference in first trustworthy location, positionAttenuation quotient is up-to-date GNSS location scheme index and GNSS signal index and formerlyGNSS location scheme index and the function of GNSS signal index, and position tracking coefficient is permissibleIt it is the function of credible speed and the motion detected by motion detector；Further, current credible speedDegree can be the most credible speed and the function of rate of decay estimated value, and wherein the rate of decay is estimatedValue is velocity estimation value and the product of velocity attenuation coefficient, and velocity estimation value is in first velocity estimationValue and the function of GNSS velocity estimation value, velocity attenuation coefficient is up-to-date GNSS speed schemeIndex and at the function of first GNSS speed scheme index, and velocity attenuation coefficient can beThe function of GNSS signal index.
Marginal testing unit can be provided, with according to mobile object working as relative to predetermined marginWhether front trustworthy location and current credible evaluation of speed cross the border.
Furthermore, it is possible to it is a kind of based on GPS (GNSS) data by providingThe method following the tracks of mobile object realizes each embodiment of present general inventive concept, and the method includes stepRapid: do not rely on the motion of the mobile object of GNSS data detection, Yi Jijie with motion detectorReceive GNSS data and determine the trustworthy location of mobile object and credible speed.In other enforcementIn example, current trustworthy location can be to follow the tracks of system in first trustworthy location and attenuating position difference with positionThe summation of the product of number, wherein attenuating position difference is position attenuation quotient and current GNSS locationWith the product of the difference in first trustworthy location, position attenuation quotient is up-to-date GNSS location sideCase index is believed with GNSS with GNSS signal index and GNSS location scheme index formerlyThe function of number index, and position is followed the tracks of coefficient and can is credible speed and be detected by motion detectorThe function of the motion arrived.
Current credible speed can be the most credible speed and the function of rate of decay estimated value,Wherein rate of decay estimated value is the product of velocity estimation value and velocity attenuation coefficient, velocity estimationValue is the function in first velocity estimation value with GNSS velocity estimation value, and velocity attenuation coefficient isNewly GNSS speed scheme index and the function in first GNSS speed scheme index, and speed declinesSubtract the function that coefficient is GNSS signal index.Can be according to mobile object relative to predetermined marginCurrent trustworthy location and current credible evaluation of speed whether cross the border.
Whether can be determined by causes crossing the border in first trustworthy location and speed arranges position and declinesSubtract the lower limit of coefficient.
In some embodiments, can be determined by whether first trustworthy location and speed causeCross the border and the lower limit of velocity attenuation coefficient is set.Current credible speed can be that GNSS scheme refers toMark and/or whether cause another function crossed the border in first trustworthy location and speed.
Figure 25 is to illustrate determining based on available of an embodiment according to present general inventive conceptThe flow chart of the trustworthy location that position Mass Calculation is new.In operation 251, determine that alignment quality isNo being set as can use.If it is determined that alignment quality is not yet set as can use, then in operation 252It is middle that by trustworthy location Act_Pos, (t+N Δ t) is equal to the trustworthy location of time delayAct_Pos(t+(N-1)Δt).If it is determined that alignment quality is set as can use, then in operation 253In set trustworthy location in new ways.In operation 253, coefficient is followed the tracks of in position((t+N Δ t) is credible with time delay for t+N Δ t), attenuating position difference Deg_Pos_Dif for Pos_Tra_Coe(t+ (N-1) Δ t) input trustworthy location unit 256 is to produce trustworthy location for position Act_Pos(t+N Δ t), it is sent back to delay unit 257 to produce time delay trustworthy location to Act_PosAct_Pos(t+(N-1)Δt)。
Figure 26 to Figure 28 shows that the use present invention compared to only using GNSS signal is totalThe tracking of one embodiment of body design and the experimental result of test of crossing the border.
Figure 26 shows that mobile device passes the control area in GNSS fence is appliedActual known paths.By connecting variably spaced each summit 262 and around illustrating houseSolid line 261 represents fence.The mobile device configured according to one embodiment of present invention is along illustratingHeavy line 263 move back and forth, and record GNSS location and credible under same environment simultaneouslyBoth positions.This test the most about five minutes, have recorded more than 400 GNSS location and canLetter position.Reliable origin is represented by the S of cincture.During this test, mobile deviceStop for several times and restart navigation.
Figure 27 show moved along the path shown in Figure 26 by mobile device and capture eachGNSS location.Representing each GNSS location with small circle 272, continuous part therein is with thinDotted line 271 connects.Owing to many positions can be stacked with, for clarity sake, it is shown without completePortion is more than 400 catch positions, but maintains the general direction of catch position.Such as Figure 27Shown in, when mobile device is when house is internal, and GNSS location error dramatically increases.In trackCrossing the border of the end is true, but on the right side of fence district and crossing the border of bottom is false.
Figure 28 show moved along the path shown in Figure 26 by mobile device and capture eachTrustworthy location.Note Tong Bu with each GNSS location shown in Figure 27 is represented with blockage 282Each trustworthy location of record, continuous part therein is connect by fine dotted line 281.Due to many positionsCan be stacked with, for clarity sake, be shown without all more than 400 catch positions, butMaintain the general direction of catch position.As shown in figure 28, the path of trustworthy location illustrates itAnd the error between the path that mobile device is walked is minimum, and does not occur falseness to cross the border.
The embodiment that many according to present general inventive concept is different, is used for following the tracks of mobile objectThus the mobile device being defined in control area may determine that the trustworthy location of mobile objectAnd speed, GNSS location and speed that it is derived than routine are relatively reliable.Trustworthy location andSpeed be by GNSS location and speed, from the mobile confirmation of separate motion detectors and thisOne or more amounts derived in the value of sample: can include GNSS signal index,GNSS scheme index, in first trustworthy location and speed, and their any combination.GoodUnder good signal environment, trustworthy location and speed can be closely with the middle constant speed having verified thatDegree follows the tracks of GNSS location and speed.When under GNSS signal ecological deterioration or GNSS speedDuring fall, trustworthy location and speed can follow the tracks of GNSS location and speed the most nearly.IfGNSS signal environment or GNSS speed are less than minimum acceptable level, credible speed and positionCan stop completely following the tracks of GNSS location and speed.May indicate when additionally, due to have employedThe separate motion detectors of trustworthy location and speed need to be determined so that being permitted of present general inventive conceptThe most different embodiments saves energy.
Concepts disclosed herein and technology are not limited to any certain types of mobile object, andAnd many can be applied in the case of without departing from the spirit and scope of present general inventive conceptOther different application and objects.Such as, although there is discussed herein the Canis familiaris L. necklace that Canis familiaris L. is worn,But present general inventive concept is not limited to any certain types of animal, and also can be by the mankindOr Mechanical Moving object uses.
It may be noted that simplification diagram and accompanying drawing do not show that all different connection of different partsWith combination, but based on the parts illustrated, accompanying drawing and explanation provided herein, affiliated technologyArtisans will understand how of field utilizes reliable engineering judgement power to realize such connectionAnd combination.
Computer-readable present general inventive concept can being embodied as on computer-readable mediumCode.Computer-readable medium can include that computer readable recording medium storing program for performing and computer-readable passDefeated medium.Computer readable recording medium storing program for performing is to store data as by computer system at itAny data storage device of the program of rear reading.The example of computer readable recording medium storing program for performing includesRead only memory (ROM), random access memory (RAM), CD-ROM, DVD,Tape, floppy disk and optical data storage devices.Computer readable recording medium storing program for performing can also be distributed in netThe computer system that network couples, so that storing in a distributed fashion and performing computer-readableCode.Computer-readable transmission medium can transmit carrier wave and signal (such as, passes through the InternetWired or wireless data transmission).Additionally, the journey of present general inventive concept artSequence person can easily understand for realizing the functional programs of present general inventive concept, code and generationChip segment.
Many changes, amendment and other various embodiments are possible, the most all thisThe change of sample, amendment and embodiment are considered in the spirit and scope of present general inventive concept.Such as, the no matter any part of present invention, specify, otherwise without at this unless clearBright or any claim of the statement any priority of the present invention comprises any description or illustratesSpecific behavior or element, any certain order of above-mentioned behavior or any spy of said elementsFixed mutual relation.Furthermore, it is possible to repeat any behavior, can realize any by multiple entitiesBehavior, and/or any element can be replicated.
Although showing present general inventive concept by the explanation of several example embodiment,But the present invention is not intended to the range constraint of present inventive concept or is defined in by any waySuch description and explanation.On the contrary, explanation, drawings and claims herein are considered at thisIt is schematic rather than determinate in matter, and after reading described above and accompanying drawing, affiliated skillThe technical staff in art field will readily recognize that further embodiment.