Positioning deviation correction method and positioning deviation correction system

Abstract

A positioning deviation correction method comprises: a processing unit sequentially generates a plurality of positioning results respectively related to different time points in a signal-free period according to a GPS positioning result, a dynamic sensing record including a plurality of dynamic sensing data, and a vehicle image record, wherein the step of generating an nth (n≧2) positioning result comprises: generating an inertial positioning result related to the time point of the nth positioning result according to an n-1th positioning result and the dynamic sensing data at the same time point; determining whether the distance between the inertial positioning result and the n-1th positioning result is greater than an upper distance limit; if so, generating an image positioning result related to the time point of the nth positioning result according to the n-1th positioning result and the vehicle image record; and treating the image positioning result as the nth positioning result.

Description

[Technical field]

[0001] The present invention relates to a positioning deviation correction method, and in particular to a positioning deviation correction method and a positioning deviation correction system using a driving image. [Background technology]

[0002] Using GPS satellite signals to calculate geographic location is a common positioning method. GPS satellite signals are easily shielded in certain sections of the road (such as in tunnels or under viaducts). When the aforementioned shielding condition occurs, the field has developed a technology that uses the sensing results of gyroscopes / accelerometers for inertial positioning. However, the inertial positioning calculation of each positioning point is based on the position of the previous positioning point. Therefore, when inertial positioning is used continuously, the offset error of each inertial positioning result will gradually accumulate and intensify over time. Sometimes, the vehicle may even vibrate or shake due to road conditions, resulting in a large deviation in the calculation. How to develop a positioning deviation correction method that can improve the shortcomings of the aforementioned prior art is a subject to be further explored in the present invention. [Summary of the invention]

[0003] The technical problem to be solved by the present invention is to provide a positioning deviation correction method and a positioning deviation correction system which can correct the offset of inertial positioning.

[0004] In order to solve the above technical problems, the positioning deviation correction method of the present invention is implemented by a storage unit and a processing unit, the storage unit stores a GPS positioning record, a dynamic sensing record and a driving image record related to a recording period, the GPS positioning record is generated by a GPS positioning unit set on a vehicle according to GPS satellite signals, the dynamic sensing record is generated by a dynamic sensing unit set on the vehicle, the driving image record is generated by a driving recording unit set on the vehicle, there is no GPS positioning result in a no-signal period within the recording period in the GPS positioning record, the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period, the dynamic sensing record includes a plurality of dynamic sensing data respectively related to different time points in the recording period, the method comprises: the processing The processing unit sequentially generates a plurality of positioning results respectively related to different time points within the signal-free period, wherein the step of generating the nth (n≧2) positioning result comprises: the processing unit generates an inertial positioning result related to the time point of the nth positioning result according to the n-1th positioning result and the dynamic sensing data at the same time point; the processing unit determines whether the distance between the inertial positioning result and the n-1th positioning result is greater than an upper distance limit; when the processing unit determines that the distance between the inertial positioning result and the n-1th positioning result is greater than the upper distance limit, the processing unit generates an image positioning result related to the time point of the nth positioning result according to the n-1th positioning result and the driving image record; and the processing unit regards the image positioning result related to the time point of the nth positioning result as the nth positioning result.

[0005] Preferably, the step of generating the first positioning result related to the signal-free period includes: the processing unit generates an inertial positioning result related to the time point of the first positioning result based on the GPS positioning result of the GPS positioning record and the dynamic sensing data at the same time point; the processing unit determines whether the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than an upper distance limit; when the processing unit determines that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the upper distance limit, the processing unit generates an image positioning result related to the time point of the first positioning result based on the GPS positioning result of the GPS positioning record and the driving image record; and the processing unit regards the image positioning result related to the time point of the first positioning result as the first positioning result.

[0006] Preferably, when the processing unit determines that the distance between the inertial positioning result and the n-1th positioning result is not greater than the distance upper limit, the processing unit regards the inertial positioning result as the nth positioning result.

[0007] Preferably, when the processing unit determines that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the upper limit of the distance, the processing unit regards the inertial positioning result as the first positioning result.

[0008] In order to solve the above technical problems, the positioning deviation correction method of the present invention is implemented by a storage unit and a processing unit, the storage unit stores a GPS positioning record, a dynamic sensing record and a driving image record related to a recording period, the GPS positioning record is generated by a GPS positioning unit set on a vehicle according to GPS satellite signals, the dynamic sensing record is generated by a dynamic sensing unit set on the vehicle, the driving image record is generated by a driving recording unit set on the vehicle, there is no GPS positioning result in a no-signal period within the recording period in the GPS positioning record, the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period, the method includes: the processing unit processes the GPS positioning result of the GPS positioning record and the dynamic sensing record according to the GPS positioning result of the GPS positioning record and the dynamic sensing record , sequentially generating a plurality of inertial positioning results respectively related to different time points in the no-signal period; the processing unit determines whether the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than an upper distance limit after generating the mth (m≧2)th inertial positioning result and before generating the m+1th inertial positioning result; and when the processing unit determines that the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than the upper distance limit, the processing unit stops generating subsequent inertial positioning results, and sequentially generates a plurality of image positioning results respectively related to different time points in the no-signal period according to the GPS positioning result of the GPS positioning record and the driving image record, and regards the image positioning results as a plurality of positioning results respectively related to different time points in the no-signal period.

[0009] Preferably, the positioning deviation correction method further includes: the processing unit determines whether the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is greater than an upper distance limit after generating the first inertial positioning result and before generating the second inertial positioning result; and when the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the upper distance limit, the processing unit stops continuing to generate subsequent inertial positioning results, and sequentially generates the image positioning results respectively related to different time points in the no-signal period according to the GPS positioning result of the GPS positioning record and the driving image record, and regards the image positioning results respectively as the positioning results respectively related to different time points in the no-signal period.

[0010] Preferably, when the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the distance upper limit, and the distance between each inertial positioning result and the previous inertial positioning result is not greater than the distance upper limit, the processing unit regards these inertial positioning results as the positioning results respectively related to different time points in the no-signal period.

[0011] To solve the above technical problems, the positioning deviation correction system of the present invention includes a GPS positioning unit, a dynamic sensing unit, a vehicle recording unit, a storage unit and a processing unit.

[0012] The GPS positioning unit is suitable for being arranged on a vehicle and generating a GPS positioning record related to a recording period according to GPS satellite signals.

[0013] The dynamic sensing unit is suitable for being arranged on the vehicle and generating a dynamic sensing record related to the recording period. The dynamic sensing record includes a plurality of dynamic sensing data respectively related to different time points in the recording period.

[0014] The driving record unit is suitable for being arranged on the vehicle and generating a driving image record related to the recording period.

[0015] The storage unit stores the GPS positioning record, the dynamic sensing record and the driving image record related to the recording period. The GPS positioning record has no GPS positioning result during a no-signal period within the recording period, and the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period.

[0016] The processing unit sequentially generates a plurality of positioning results respectively related to different time points within the signal-free period, wherein the step of generating the nth (n≧2) positioning result comprises: the processing unit generates an inertial positioning result related to the time point of the nth positioning result according to the n-1th positioning result and the dynamic sensing data at the same time point; the processing unit determines whether the distance between the inertial positioning result and the n-1th positioning result is greater than an upper distance limit; when the processing unit determines that the distance between the inertial positioning result and the n-1th positioning result is greater than the upper distance limit, the processing unit generates an image positioning result related to the time point of the nth positioning result according to the n-1th positioning result and the driving image record; and the processing unit regards the image positioning result related to the time point of the nth positioning result as the nth positioning result.

[0017] To solve the above technical problems, the positioning deviation correction system of the present invention includes a GPS positioning unit, a dynamic sensing unit, a vehicle recording unit, a storage unit and a processing unit.

[0018] The GPS positioning unit is suitable for being arranged on a vehicle and generating a GPS positioning record related to a recording period according to GPS satellite signals.

[0019] The dynamic sensing unit is suitable for being disposed on the vehicle and generating a dynamic sensing record related to the recording period.

[0020] The driving record unit is suitable for being arranged on the vehicle and generating a driving image record related to the recording period.

[0021] The storage unit stores the GPS positioning record, the dynamic sensing record and the driving image record related to the recording period. The GPS positioning record has no GPS positioning result during a no-signal period within the recording period, and the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period.

[0022] The processing unit sequentially generates a plurality of inertial positioning results respectively related to different time points in the no-signal period according to the GPS positioning result of the GPS positioning record and the dynamic sensing record.

[0023] The processing unit determines whether a distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than a distance upper limit after generating the mth (m≧2)th inertial positioning result and before generating the m+1th inertial positioning result.

[0024] When the processing unit determines that the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than the distance upper limit, the processing unit stops generating subsequent inertial positioning results, and sequentially generates a plurality of image positioning results respectively related to different time points within the no-signal period based on the GPS positioning result of the GPS positioning record and the driving image record, and respectively regards the image positioning results as a plurality of positioning results respectively related to different time points within the no-signal period.

[0025] Compared with the prior art, the positioning deviation correction system of the present invention generates the image positioning result at the time point related to the nth positioning result according to the n-1th positioning result and the driving image record when the distance between the inertial positioning result and the n-1th positioning result is greater than the upper limit of the distance, and regards the image positioning result at the time point related to the nth positioning result as the nth positioning result, so that the image positioning result can be replaced when a large deviation occurs in the inertial positioning result. Similarly, the positioning deviation correction system of the present invention stops generating subsequent inertial positioning results when the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than the upper limit of the distance, and sequentially generates the image positioning results respectively related to different time points in the no-signal period according to the GPS positioning result and the driving image record, and regards the image positioning results respectively as multiple positioning results respectively related to different time points in the no-signal period, so that the image positioning result can be replaced when a large deviation occurs in the inertial positioning result.

Brief Description of the Drawings

[0026] Other features and effects of the present invention will be clearly presented in the embodiments with reference to the accompanying drawings, in which:

[0027] Figure 1 is a schematic diagram of hardware connection relationship of a first embodiment of the present invention;

[0028] Figure 2 is a flow chart of the first embodiment, illustrating the steps of generating a first positioning result;

[0029] Figure 3 is another flow chart of the first embodiment, illustrating the steps of generating the nth (n≧2) positioning result; and

[0030] Figure 4 is a flow chart of a second embodiment of the present invention, illustrating the steps of generating a plurality of positioning results. [Specific implementation method]

[0031] Before the present invention is described in detail, it should be noted that similar components are denoted by the same reference numerals in the following description.

[0032] See also Figure 1 A first embodiment of the positioning deviation correction system 100 of the present invention includes a GPS positioning unit 1, a dynamic sensing unit 2, a vehicle recording unit 3, a storage unit 4 and a processing unit 5.

[0033] The GPS positioning unit 1 is suitable for being installed on a vehicle and generating a GPS positioning record related to a recording period according to GPS satellite signals.

[0034] The dynamic sensing unit 2 is suitable for being arranged on the vehicle and generating a dynamic sensing record related to the recording period. The dynamic sensing record includes a plurality of dynamic sensing data respectively related to different time points in the recording period. The dynamic sensing unit 2 includes, for example, a gyroscope and an accelerometer.

[0035] The driving recording unit 3 is suitable for being installed on the vehicle and generating a driving image record related to the recording period. The driving recording unit 3 is, for example, a driving recorder.

[0036] The storage unit 4 stores the GPS positioning record, the dynamic sensing record and the driving image record related to the recording period. There is no GPS positioning result in the GPS positioning record during a no-signal period within the recording period, and the GPS positioning record includes a GPS positioning result related to the time point before the no-signal period. The driving scenario in which the GPS positioning record is generated is exemplified as follows: the vehicle first drives on a road section where the GPS satellite signal is not blocked, and then drives into a road section where the satellite signal is blocked (such as a tunnel) during the no-signal period. The GPS positioning unit 1 cannot calculate the GPS positioning result during the no-signal period due to the lack of GPS satellite signals, so that the generated GPS positioning record does not include any GPS positioning result during the no-signal period. The GPS positioning result in this embodiment is the last GPS positioning data generated by the GPS positioning unit 1 before the vehicle enters the aforementioned blocked road section. The storage unit 4 can be implemented using a non-volatile storage medium such as a hard disk, a flash memory, etc.

[0037] The processing unit 5 is electrically connected to the GPS positioning unit 1, the dynamic sensing unit 2, the driving recorder unit 3 and the storage unit 4. The processing unit 5 may include (but is not limited to) at least one of a single-core processor, a multi-core processor, a dual-core mobile phone processor, a microprocessor, a microcontroller, a digital signal processor (DSP), a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC) and a radio frequency integrated circuit (RFIC).

[0038] The processing unit 5 sequentially generates a plurality of positioning results respectively related to different time points in the no-signal period. Figure 1 and Figure 2 The steps of generating the first positioning result related to the no-signal period are described.

[0039] First, as shown in step S01, the processing unit 5 generates an inertial positioning result at a time point related to the first positioning result based on the GPS positioning result of the GPS positioning record (the last GPS positioning data generated by the GPS positioning unit 1 before the no-signal period) and the dynamic sensing data at the same time point.

[0040] Next, as shown in step S02, the processing unit 5 determines whether the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record (the last GPS positioning data generated by the GPS positioning unit 1 before the no-signal period) is greater than a distance upper limit. If not, step S03 is executed. If yes, steps S04 and S05 are executed. In step S02, the present invention determines whether the distance between the inertial positioning result and the GPS positioning result is greater than the distance upper limit to infer whether a large deviation has occurred in the inertial positioning. For example, the speed of most vehicles driving on the road does not exceed 80 kilometers per hour. Even on highways, the average speed of vehicles is about 120 kilometers per hour. The vehicle speed before the GPS signal is lost can be calculated by the GPS positioning result, and the change of the vehicle speed can be continuously known by the inertial positioning calculation. Therefore, it can be further determined whether the distance between the inertial positioning result and the GPS positioning result is reasonable. For example, under normal reasonable circumstances, the distance between the inertial positioning result and the GPS positioning result will be less than the displacement corresponding to the time difference between the inertial positioning result and the GPS positioning result at a speed of 150 kilometers per hour. When the value of the upper limit of the distance is set to the aforementioned displacement, it can be determined whether the distance between the inertial positioning result and the GPS positioning result is greater than the upper limit of the distance to infer whether the vehicle has a large deviation in the inertial positioning result. Similarly, if the distance between each subsequent inertial positioning result corresponding to the previous inertial positioning result is greater than the upper limit of the distance, it can be inferred that a large deviation has occurred between the inertial positioning results.

[0041] In step S03, when the processing unit 5 determines that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the upper limit of the distance (no significant deviation occurs in the inertial positioning), the processing unit 5 regards the inertial positioning result as the first positioning result.

[0042] Step S04 is when the processing unit 5 determines that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the distance upper limit (a large deviation has occurred in the inertial positioning), the processing unit 5 generates an image positioning result at a time point related to the first positioning result based on the GPS positioning result of the GPS positioning record and the driving image record.

[0043] More specifically, the processing unit 5 analyzes the position change of the vehicle relative to the lane line and the relative position and distance change between the vehicle and other vehicles in the driving image record, thereby calculating whether there is a significant change between the vehicle and the driving environment, and thereby calculating and generating an image positioning result. The algorithms used are, for example, but not limited to, the "front vehicle distance estimation algorithm" and the "contour size similarity algorithm (CSS)" based on the fuzzy logic algorithm.

[0044] It is to be supplemented that both the inertial positioning calculation in step S01 and the image positioning calculation in step S04 are based on the GPS positioning result of the GPS positioning record (the last GPS positioning data generated by the GPS positioning unit 1 before the no-signal period), and by using the specific coordinate information known from the navigation map before entering the section without GPS signals (for example, but not limited to: the tunnel entrance) (for example: the coordinates of the tunnel entrance), and the vehicle speed data obtained through the GPS positioning data, the real-time position and speed of the vehicle when the GPS positioning data is last received can be accurately grasped before the vehicle enters the section without GPS signals. In other words, the GPS positioning result, together with the above-mentioned specific coordinate information, the vehicle speed data, etc., can be used as an accurate basis for subsequent inertial positioning calculations or image positioning calculations.

[0045] Next, as shown in step S05 , the processing unit 5 regards the image positioning result at the time point related to the first positioning result as the first positioning result.

[0046] The following match Figure 1 and Figure 3 The steps of generating the nth positioning result are described, where n≧2, and n is less than or equal to the number of data items of the dynamic sensing data during the no-signal period, but the upper limit of n is not limited to this. First, as shown in step S11, the processing unit 5 generates an inertial positioning result at a time point related to the nth positioning result based on the n-1th positioning result and the dynamic sensing data at the same time point.

[0047] Next, as shown in step S12, the processing unit 5 determines whether the distance between the inertial positioning result and the n-1th positioning result is greater than an upper limit of the distance. If not, step S13 is executed. If yes, steps S14 and S15 are executed. In step S12, the present invention determines whether the distance between the inertial positioning result and the n-1th positioning result is greater than the upper limit of the distance to infer whether a large deviation has occurred in the inertial positioning.

[0048] In step S13, when the processing unit 5 determines that the distance between the inertial positioning result and the n-1th positioning result is not greater than the upper limit of the distance (no significant deviation occurs in the inertial positioning), the processing unit 5 regards the inertial positioning result as the nth positioning result.

[0049] Step S14 is when the processing unit 5 determines that the distance between the inertial positioning result and the n-1th positioning result is greater than the distance upper limit (a large deviation has occurred in the inertial positioning), the processing unit 5 generates an image positioning result at a time point related to the nth positioning result based on the n-1th positioning result and the driving image record.

[0050] Next, as shown in step S15 , the processing unit 5 regards the image positioning result at the time point related to the nth positioning result as the nth positioning result.

[0051] See also Figure 1 and Figure 4 , the following describes the steps of generating the first positioning result and the mth positioning result at different time points in the no-signal period in a second embodiment of the positioning deviation correction system 100 of the present invention, M≧m≧2, and M is the number of data items of the dynamic sensing data in the no-signal period, but the upper limit M of m is not limited to this.

[0052] First, as shown in step S21 , the processing unit 5 generates an inertial positioning result at a time point related to the first positioning result according to the GPS positioning result of the GPS positioning record and the dynamic sensing data at the same time point.

[0053] Next, as shown in step S22, the processing unit 5 determines whether the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is greater than an upper limit of the distance after generating the first inertial positioning result and before generating the second inertial positioning result. If so, then steps S23 and S24 are executed. If not, then step S25 is executed. In step S22, the present invention determines whether the distance between the first inertial positioning result and the GPS positioning result is greater than the upper limit of the distance to infer whether a large deviation has occurred in the inertial positioning.

[0054] Step S23 is that (when a large deviation occurs in the inertial positioning) the processing unit 5 stops generating subsequent inertial positioning results, and sequentially generates the image positioning results respectively related to different time points in the no-signal period according to the GPS positioning results of the GPS positioning record and the driving image record.

[0055] Next, as shown in step S24 , the processing unit 5 regards the image positioning results as positioning results respectively associated with different time points in the no-signal period.

[0056] On the other hand, in step S25, when the processing unit 5 determines that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the upper limit of the distance (inertial positioning has not significantly deviated), the processing unit 5 sets the parameter m=2.

[0057] Next, as shown in step S26 , the processing unit 5 generates an inertial positioning result at a time point related to the m-1 th positioning result according to the dynamic sensing data at the same time point.

[0058] Next, as shown in step S27, the processing unit 5 determines whether the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than an upper limit of the distance after generating the mth inertial positioning result and before generating the m+1th inertial positioning result. If so, then steps S23 and S24 are executed. If not, then step S28 is executed. In step S27, the present invention determines whether the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than the upper limit of the distance to infer whether a large deviation has occurred between the inertial positioning results.

[0059] Step S28 is (when the inertial positioning does not have a significant deviation) the processing unit 5 determines whether the value of the parameter m has reached M. If the determination result of step S28 is no, then step S29 is executed, that is, the value of the parameter m is increased by 1, and then step S26 is executed again. If the determination result of step S28 is yes, then step S30 is executed.

[0060] Step S30 is when the processing unit 5 determines that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the upper limit of the distance, and the distance between each subsequent inertial positioning result and the previous inertial positioning result is not greater than the upper limit of the distance, the processing unit 5 regards the inertial positioning results (the second inertial positioning results to the Mth inertial positioning results) as the positioning results respectively related to different time points in the no-signal period.

[0061] In summary, the positioning deviation correction system 100 of the present invention generates the image positioning result at the time point related to the nth positioning result according to the n-1th positioning result and the driving image record when the distance between the inertial positioning result at the time point related to the nth positioning result and the n-1th positioning result is greater than the upper limit of the distance, and the image positioning result at the time point related to the nth positioning result is used as the nth positioning result, so that the image positioning result can be replaced when a large deviation occurs in the inertial positioning result. Similarly, the positioning deviation correction system 100 of the present invention stops generating the image positioning result when the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than the upper limit of the distance, and the processing unit 5 stops generating the image positioning result. The continuous inertial positioning results are obtained, and the image positioning results respectively related to different time points in the no-signal period are generated in sequence according to the GPS positioning results and the driving image records, and the image positioning results are respectively used as a plurality of positioning results respectively related to different time points in the no-signal period. That is to say, when the vehicle is in a road section without GPS signals, the inertial positioning information that can directly sense the state of the vehicle itself is first used as a means of continuous and accurate positioning. When the inertial positioning accumulates calculation errors or the vehicle driving is affected by the road surface, the relative positioning results between vehicles between images are further used to maintain the stability and accuracy of the overall positioning to the greatest extent, and the offset of the inertial positioning is corrected, so that the purpose of the present invention can be achieved.

[0062] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A positioning deviation correction method, implemented by a storage unit and a processing unit, wherein the storage unit stores a GPS positioning record, a dynamic sensing record and a driving image record related to a recording period, wherein the GPS positioning record is generated by a GPS positioning unit installed on a vehicle according to GPS satellite signals, the dynamic sensing record is generated by a dynamic sensing unit installed on the vehicle, and the driving image record is generated by a driving recording unit installed on the vehicle, wherein the GPS positioning record has no GPS positioning result during a no-signal period within the recording period, the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period, and the dynamic sensing record includes a plurality of dynamic sensing data respectively related to different time points in the recording period, characterized in that: The method includes: The processing unit sequentially generates a plurality of positioning results respectively related to different time points in the no-signal period, wherein the step of generating the nth positioning result (n≧2) comprises: The processing unit generates an inertial positioning result at a time point related to the n-1th positioning result according to the dynamic sensing data at the same time point; The processing unit determines whether the distance between the inertial positioning result and the n-1th positioning result is greater than an upper distance limit; When the processing unit determines that the distance between the inertial positioning result and the n-1th positioning result is greater than the upper limit of the distance, the processing unit generates an image positioning result at a time point related to the nth positioning result according to the n-1th positioning result and the driving image record; and The processing unit regards the image positioning result at a time point related to the nth positioning result as the nth positioning result.

2. The positioning deviation correction method according to claim 1, characterized in that: The step of generating a first positioning result related to the no-signal period comprises: The processing unit generates an inertial positioning result at a time point related to the first positioning result according to the GPS positioning result of the GPS positioning record and the dynamic sensing data at the same time point; The processing unit determines whether the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than an upper distance limit; When the processing unit determines that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the upper limit of the distance, the processing unit generates an image positioning result at a time point related to the first positioning result according to the GPS positioning result of the GPS positioning record and the driving image record; and The processing unit regards the image positioning result at a time point related to the first positioning result as the first positioning result.

3. The positioning deviation correction method according to claim 1, characterized in that: When the processing unit determines that the distance between the inertial positioning result and the (n-1)th positioning result is not greater than the upper distance limit, the processing unit regards the inertial positioning result as the nth positioning result.

4. The positioning deviation correction method according to claim 2, characterized in that: When the processing unit determines that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the upper limit of the distance, the processing unit regards the inertial positioning result as the first positioning result.

5. A positioning deviation correction method, implemented by a storage unit and a processing unit, wherein the storage unit stores a GPS positioning record, a dynamic sensing record and a driving image record related to a recording period, the GPS positioning record is generated by a GPS positioning unit installed on a vehicle according to GPS satellite signals, the dynamic sensing record is generated by a dynamic sensing unit installed on the vehicle, and the driving image record is generated by a driving recording unit installed on the vehicle. There is no GPS positioning result in a no-signal period in the recording period in the GPS positioning record, and the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period, characterized in that: The method includes: The processing unit sequentially generates a plurality of inertial positioning results respectively related to different time points in the no-signal period according to the GPS positioning result of the GPS positioning record and the dynamic sensing record; The processing unit determines whether the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than an upper distance limit after generating the mth inertial positioning result (m≧2) and before generating the m+1th inertial positioning result; and When the processing unit determines that the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than the distance upper limit, the processing unit stops generating subsequent inertial positioning results, and sequentially generates a plurality of image positioning results respectively related to different time points within the no-signal period based on the GPS positioning result of the GPS positioning record and the driving image record, and respectively regards the image positioning results as a plurality of positioning results respectively related to different time points within the no-signal period.

6. The positioning deviation correction method according to claim 5, characterized in that: Also includes: The processing unit determines whether the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is greater than an upper distance limit after generating the first inertial positioning result and before generating the second inertial positioning result; and When the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the distance upper limit, the processing unit stops generating subsequent inertial positioning results, and sequentially generates the image positioning results respectively related to different time points within the no-signal period based on the GPS positioning result of the GPS positioning record and the driving image record, and regards the image positioning results respectively as the positioning results respectively related to different time points within the no-signal period.

7. The positioning deviation correction method according to claim 6, characterized in that: When the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the distance upper limit, and the distance between each inertial positioning result and the previous inertial positioning result is not greater than the distance upper limit, the processing unit regards these inertial positioning results as the positioning results respectively related to different time points in the no-signal period.

8. A positioning deviation correction system, characterized in that: Include: A GPS positioning unit, adapted to be mounted on a vehicle and generating a GPS positioning record associated with a recording period according to GPS satellite signals; a dynamic sensing unit, adapted to be disposed on the vehicle and generating a dynamic sensing record related to the recording period, the dynamic sensing record comprising a plurality of dynamic sensing data respectively related to different time points in the recording period; A vehicle recording unit, adapted to be disposed on the vehicle and generating a vehicle image record related to the recording period; a storage unit storing the GPS positioning record, the dynamic sensing record and the driving image record related to the recording period, wherein the GPS positioning record has no GPS positioning result during a no-signal period within the recording period, and the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period; and a processing unit; The processing unit sequentially generates a plurality of positioning results respectively related to different time points in the no-signal period, wherein the step of generating the nth positioning result (n≧2) comprises: The processing unit generates an inertial positioning result at a time point related to the n-1th positioning result according to the dynamic sensing data at the same time point; The processing unit determines whether the distance between the inertial positioning result and the n-1th positioning result is greater than an upper distance limit; When the processing unit determines that the distance between the inertial positioning result and the n-1th positioning result is greater than the upper limit of the distance, the processing unit generates an image positioning result at a time point related to the nth positioning result according to the n-1th positioning result and the driving image record; and The processing unit regards the image positioning result at a time point related to the nth positioning result as the nth positioning result.

9. The positioning deviation correction system according to claim 8, characterized in that: The step of generating a first positioning result related to the no-signal period comprises: The processing unit generates an inertial positioning result at a time point related to the first positioning result according to the GPS positioning result of the GPS positioning record and the dynamic sensing data at the same time point; The processing unit determines whether the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than an upper distance limit; When the processing unit determines that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the upper limit of the distance, the processing unit generates an image positioning result at a time point related to the first positioning result according to the GPS positioning result of the GPS positioning record and the driving image record; and The processing unit regards the image positioning result at a time point related to the first positioning result as the first positioning result.

10. The positioning deviation correction system according to claim 8, characterized in that: When the processing unit determines that the distance between the inertial positioning result and the (n-1)th positioning result is not greater than the upper distance limit, the processing unit regards the inertial positioning result as the nth positioning result.

11. The positioning deviation correction system according to claim 9, characterized in that: When the processing unit determines that the distance between the inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the upper limit of the distance, the processing unit regards the inertial positioning result as the first positioning result.

12. A positioning deviation correction system, characterized in that: Include: A GPS positioning unit, adapted to be mounted on a vehicle and generating a GPS positioning record associated with a recording period according to GPS satellite signals; a motion sensing unit, adapted to be disposed on the vehicle and to generate a motion sensing record associated with the recording period; A vehicle recording unit, adapted to be disposed on the vehicle and generating a vehicle image record related to the recording period; a storage unit storing the GPS positioning record, the dynamic sensing record and the driving image record related to the recording period, wherein the GPS positioning record has no GPS positioning result during a no-signal period within the recording period, and the GPS positioning record includes a GPS positioning result related to a time point before the no-signal period; and a processing unit; The processing unit sequentially generates a plurality of inertial positioning results respectively related to different time points in the no-signal period according to the GPS positioning result of the GPS positioning record and the dynamic sensing record; The processing unit determines whether the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than an upper distance limit after generating the mth inertial positioning result (m≧2) and before generating the m+1th inertial positioning result; When the processing unit determines that the distance between the mth inertial positioning result and the m-1th inertial positioning result is greater than the distance upper limit, the processing unit stops generating subsequent inertial positioning results, and sequentially generates a plurality of image positioning results respectively related to different time points within the no-signal period based on the GPS positioning result of the GPS positioning record and the driving image record, and respectively regards the image positioning results as a plurality of positioning results respectively related to different time points within the no-signal period.

13. The positioning deviation correction system according to claim 12, characterized in that: The processing unit determines whether the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is greater than an upper distance limit after generating the first inertial positioning result and before generating the second inertial positioning result; When the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is greater than the distance upper limit, the processing unit stops generating subsequent inertial positioning results, and sequentially generates the image positioning results respectively related to different time points within the no-signal period based on the GPS positioning result of the GPS positioning record and the driving image record, and regards the image positioning results respectively as the positioning results respectively related to different time points within the no-signal period.

14. The positioning deviation correction system according to claim 13, characterized in that: When the processing unit determines that the distance between the first inertial positioning result and the GPS positioning result of the GPS positioning record is not greater than the distance upper limit, and the distance between each inertial positioning result and the previous inertial positioning result is not greater than the distance upper limit, the processing unit regards these inertial positioning results as the positioning results respectively related to different time points in the no-signal period.

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