CN110006442B - Navigation method, apparatus, device and medium - Google Patents
Navigation method, apparatus, device and medium Download PDFInfo
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- CN110006442B CN110006442B CN201910308036.9A CN201910308036A CN110006442B CN 110006442 B CN110006442 B CN 110006442B CN 201910308036 A CN201910308036 A CN 201910308036A CN 110006442 B CN110006442 B CN 110006442B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The embodiment of the invention discloses a navigation method, a navigation device, navigation equipment and a navigation medium, and relates to the technical field of map navigation. The method comprises the following steps: matching the acquired positioning points with road sections in the navigation route to determine the road sections to which the positioning points belong; selecting an effective positioning point from the positioning points according to the road section information and the positioning precision of the positioning points; and synchronizing the navigation information to the monitoring terminal based on the effective positioning point. The navigation method, the navigation device, the navigation equipment and the navigation medium provided by the embodiment of the invention realize accurate judgment of the positioning data of the children and the guidance of the correct advancing direction of the children.
Description
Technical Field
The embodiment of the invention relates to the technical field of map navigation, in particular to a navigation method, a navigation device, navigation equipment and a navigation medium.
Background
At present, many domestic child watches enable parents to check the positioning data of the watches for mobile phone ends of the parents in a synchronous mode, so that the parents can check the current positions of children in real time.
However, while parents can see the child's real-time location, the location data may be inaccurate due to the device or location signal. When the device location data is problematic, the parent may see the child's location, but the child's location as seen by the parent may not be consistent with the child's actual location. That is, parents can not accurately judge whether the seen position of the child is in a problem.
But also has the problems that the children are lost due to poor direction sense, or the walking is safer if the children meet a fork during the walking process.
Disclosure of Invention
The embodiment of the invention provides a navigation method, a navigation device, navigation equipment and a navigation medium, which are used for accurately judging positioning data of a child and guiding the child to a correct traveling direction.
In a first aspect, an embodiment of the present invention provides a navigation method, where the method includes:
in the navigation process, matching the acquired positioning point with a road section in a navigation route to determine the road section to which the positioning point belongs;
selecting an effective positioning point from the positioning points according to the road section information and the positioning precision of the positioning points;
and synchronizing the navigation information to the monitoring terminal based on the effective positioning point.
In a second aspect, an embodiment of the present invention further provides a navigation device, where the navigation device includes:
the road section matching module is used for matching the acquired positioning points with road sections in the navigation route so as to determine the road sections to which the positioning points belong;
the effective filtering module is used for selecting an effective positioning point from the positioning points according to the road section information and the positioning precision of the positioning points;
and the information synchronization module is used for synchronizing the navigation information to the monitoring terminal based on the effective positioning point.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a navigation method as in any one of the embodiments of the invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the navigation method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, the invalid positioning points are filtered according to the road section information and the positioning precision of the positioning points, so that the problem that when the equipment is used for positioning data, parents can see the positions of children, but the positions of the children seen by the parents are possibly inconsistent with the actual positions of the children is solved. Meanwhile, misleading of invalid positioning points to parents is avoided.
In addition, a monitored person (specifically, a child or an old man) can check a correct running route through a navigation route, and the problems that the monitored person is lost due to poor direction sense or the monitored person cannot know which route is safer when the monitored person encounters a fork in the running process are solved.
Drawings
Fig. 1 is a flowchart of a navigation method according to an embodiment of the present invention;
fig. 2 is a flowchart of a navigation method according to a second embodiment of the present invention;
fig. 3 is a flowchart of a navigation method according to a third embodiment of the present invention;
fig. 4 is a flowchart of a navigation method according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a navigation device according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a navigation method according to an embodiment of the present invention. The present embodiment is applicable to a case where a person under guardianship is navigated based on a location point. Typically, the present embodiment is applicable to a case where a child is subjected to route navigation based on real-time positioning data of the child. The method may be performed by a navigation device, which may be implemented in software and/or hardware. Typically, the apparatus may be configured in a smart device that is carried around by the person being monitored. The smart device may be a child smart watch.
Referring to fig. 1, the navigation method provided by the present embodiment includes:
and S110, matching the acquired positioning point with the road section in the navigation route to determine the road section to which the positioning point belongs.
The positioning point is a positioning point for the local navigation device, and the monitored person carries a terminal configured with the local navigation device, so that the positioning point actually reflects the positioning point of the monitored person, and can be obtained through a GPS (global positioning system), a Beidou satellite navigation system and a wireless communication base station.
Navigation refers to route navigation from a navigation start point to a navigation end point. The navigation start point and the navigation end point may be a home or a school.
The navigation route is formed by connecting at least one road section. The navigation route may have 1, 2 or more.
The road section to which the positioning point belongs refers to the road section to which the position of the positioning point is located.
Specifically, matching the acquired positioning point with a road segment in the navigation route includes:
determining the minimum distance from the positioning point to each road section in the navigation route;
judging whether the minimum value in the minimum distances is smaller than a set distance threshold value or not;
and if so, determining that the road section corresponding to the minimum value is the road section of the positioning point.
If not, determining that the positioning point does not belong to the road section.
Wherein the set distance threshold is the maximum value of the distance between the local positioning and the road section to which the positioning point belongs.
Optionally, the acquired location point may be matched with the road segment in the navigation route by using a matching method of any location point and road segment in the prior art. This embodiment does not limit this.
And S120, selecting an effective positioning point from the positioning points according to the road section information and the positioning precision of the positioning points.
Specifically, according to the road section information and the positioning accuracy of the positioning points, selecting effective positioning points from the positioning points comprises the following steps:
and if the positioning point has the road section to which the positioning point belongs and the positioning precision meets the set condition, determining the positioning point as an effective positioning point.
In order to realize accurate judgment of effective positioning points, selecting effective positioning points from the positioning points according to the road section information and the positioning precision of the positioning points comprises the following steps:
if the positioning point has the road section, determining that the positioning point is an effective positioning point;
if the positioning point does not have the road section to which the positioning point belongs, judging whether the positioning precision of the positioning point is smaller than or equal to a set precision threshold value;
if yes, the positioning point is determined to be a valid positioning point.
Wherein the set precision threshold is the maximum value of the positioning precision of the positioning point for accurate positioning. It should be noted that the smaller the positioning accuracy, the higher the positioning accuracy. For example, a positioning accuracy of 5 meters is higher than a positioning accuracy of 15 meters.
Judging whether the positioning precision of the positioning point is less than or equal to a set precision threshold value or not if the positioning point does not have the road section to which the positioning point belongs; if so, determining that the positioning point is an effective positioning point, thereby realizing accurate judgment of the effective positioning point deviating from the navigation route.
And S130, synchronizing the navigation information to the monitoring terminal based on the effective positioning point.
The navigation information refers to navigation-related information, and the specific navigation information may include at least one of a navigation route, navigation guidance information based on the effective positioning point, yaw information, a traveling speed of the monitored person, and signal strength information of the effective positioning point, in addition to the matching position point of the effective positioning point in the road segment to which the effective positioning point belongs.
Optionally, when the navigation information is abnormal, an alarm prompt may be sent to the monitoring terminal, so that the monitor can perform monitoring processing in time.
Specifically, synchronizing navigation information to a monitoring terminal based on the effective positioning point includes:
determining navigation information based on the effective positioning points;
and navigating by using the navigation information, and synchronizing the navigation information to the monitoring terminal for the monitoring terminal to track the position information.
Based on the synchronous navigation information, the guardian can comprehensively monitor the monitored person. Thereby improving the safety of the person under guardianship.
According to the technical scheme of the embodiment of the invention, the invalid positioning points are filtered according to the road section information and the positioning precision of the positioning points, so that the problem that when equipment is used for positioning data, parents can see the positions of children, but the positions of the children seen by the parents are possibly inconsistent with the actual positions of the children is solved. Meanwhile, misleading of invalid positioning points to parents is avoided.
In addition, a monitored person (specifically, a child or an old man) can check a correct running route through a navigation route, and the problems that the monitored person is lost due to poor direction sense or the monitored person cannot know which route is safer when the monitored person encounters a fork in the running process are solved.
In order to realize the travel supervision of the guardian on the monitored person, before the obtained positioning point is matched with the road segment in the navigation route in the navigation process to determine the road segment to which the positioning point belongs, the method further comprises the following steps:
acquiring navigation starting and ending point information sent by a monitoring terminal;
determining a starting point and an end point of navigation according to the navigation starting and end point information;
and navigating according to the determined starting point and the determined end point of the navigation to generate a navigation route.
The navigation route is generated according to the navigation start and end point information sent by the monitoring terminal, so that the following effects can be realized: the guardian can assign a travel plan to the monitored person and monitor the safety of the monitored person to complete the travel plan.
For example, by school time, the parent may make a navigation route for the child to go home from school, and the child goes home according to the navigation route. During the navigation process, parents can check whether children yaw according to the synchronized navigation information so as to monitor the appearance safety of the children.
Specifically, determining a start point and an end point of navigation according to the navigation start and end point information includes:
if the navigation starting and ending point information comprises starting point information, the starting point is used as a navigation starting point, otherwise, the current positioning point of the monitored person is used as the navigation starting point, and the ending point in the navigation starting and ending point information is used as a navigation ending point.
Example two
Fig. 2 is a flowchart of a navigation method according to a second embodiment of the present invention. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 2, the navigation method provided by the present embodiment includes:
s210, matching the acquired positioning points with road sections in the navigation route to determine the road sections to which the positioning points belong.
And S220, determining an outsourcing rectangle of the positioning point according to the road grade or the road width of the road section in the navigation route.
Wherein the outsourcing rectangle of the anchor point is a rectangular area comprising the anchor point.
Specifically, the determining an outsourcing rectangle of the positioning point according to the road grade or the road width of the road segment in the navigation route includes:
determining the drawing direction of each side in the outsourcing rectangle according to the direction of the positioning point;
determining an expandable radius according to the road grade or the road width of a road section in the navigation route;
and respectively drawing straight lines with the projection distance of the positioning points being the expandable radius along the drawing direction of each side, wherein the straight lines are intersected to form an outsourcing rectangle of the positioning points.
Wherein, the direction of the positioning point refers to the traveling direction at the positioning point. Specifically, the positioning module can output the positioning points together when outputting the positioning points.
Determining the drawing direction of each side in the outsourcing rectangle according to the direction of the positioning point comprises the following steps:
and determining the direction of the positioning point as the direction of the long side or the short side in the outsourcing rectangle, and determining the direction of the short side or the long side in the outsourcing rectangle as the direction perpendicular to the direction of the positioning point.
And S230, if the outsourcing rectangle of the positioning point is intersected with the outsourcing rectangle of the road section in the navigation route, taking the road section as a candidate road section.
The outsourcing rectangle of the road section refers to a rectangular area comprising all point sequences in the road section.
S240, determining the weight of the candidate road section according to the minimum distance from the positioning point to the candidate road section, the included angle between the direction of the positioning point and the direction of the candidate road section and the road grade of the candidate road section.
Specifically, an included angle between the direction of the positioning point and the direction of the candidate road segment includes:
and the included angle between the direction of the current positioning point and the direction of the candidate road section and/or the included angle between the connecting line direction of the historical positioning point and the current positioning point and the direction of the candidate road section.
The current locating point refers to a locating point of the monitored person at the current moment, and the historical locating point refers to a locating point of the monitored person at the historical moment.
Specifically, determining the weight of the candidate road segment according to the minimum distance from the anchor point to the candidate road segment, the included angle between the direction of the anchor point and the direction of the candidate road segment, and the road grade of the candidate road segment includes:
the smaller the minimum distance from the positioning point to the candidate road section, the smaller the included angle between the direction of the positioning point and the direction of the candidate road section, and the higher the road grade of the candidate road section, the larger the weight of the candidate road section.
Typically, the determining the weight of the candidate road segment according to the minimum distance from the anchor point to the candidate road segment, the included angle between the direction of the anchor point and the direction of the candidate road segment, and the road grade of the candidate road segment includes:
determining a weight reference value of the candidate road section, a first projection distance weight from the current positioning point to the candidate road section, an included angle weight between the direction of the current positioning point and the direction of the candidate road section, and a second projection distance weight from a connecting line of the historical positioning point and the current positioning point to the candidate road section according to the road grade of the candidate road section;
and determining the weight of the candidate road section according to the minimum distance from the current positioning point to the candidate road section, the included angle between the direction of the current positioning point and the direction of the candidate road section, the included angle between the connecting line direction of the historical positioning point and the current positioning point and the direction of the candidate road section, the weight reference value, the first projection distance weight, the included angle weight and the second projection distance weight.
Determining the weight of the candidate road section according to the minimum distance from the current positioning point to the candidate road section, the included angle between the direction of the current positioning point and the direction of the candidate road section, the included angle between the connecting line direction of the historical positioning point and the current positioning point and the direction of the candidate road section, the weight reference value, the first projection distance weight, the included angle weight and the second projection distance weight, and includes:
determining the weight of the candidate road section according to the following formula:
weight＝(d÷df×pf)+((cos(π÷180×(180-da))+1)×af)+((cos(π÷180×(180-lda))+1)×laf)
wherein d is a minimum distance from the current anchor point to the candidate road segment, df is the weight reference value, pf is the first projection distance weight, da is an included angle between the direction of the current anchor point and the direction of the candidate road segment, af is the included angle weight, lda is an included angle between the connecting line direction of the current anchor point and the historical anchor point and the direction of the candidate road segment, and laf is the second projection distance weight.
And S250, determining the road section to which the positioning point belongs in the candidate road section according to the weight of the candidate road section.
Specifically, the candidate link with the largest weight is determined as the link to which the positioning point belongs.
And S260, synchronizing the navigation information to the monitoring terminal based on the effective positioning point.
According to the technical scheme, the candidate road section is determined according to the intersection condition of the outsourcing rectangle of the positioning point and the outsourcing rectangle of the road section in the navigation route, then the weight of the candidate road section is determined according to the minimum distance from the positioning point to the candidate road section, the included angle between the direction of the positioning point and the direction of the candidate road section and the road grade of the candidate road section, and the road section to which the positioning point belongs is determined in the candidate road section according to the weight of the candidate road section. Therefore, the accurate determination of the road section of the positioning point is realized.
EXAMPLE III
Fig. 3 is a flowchart of a navigation method according to a third embodiment of the present invention. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 3, the navigation method provided by the present embodiment includes:
s310, matching the acquired positioning points with road sections in the navigation route to determine the road sections to which the positioning points belong.
And S320, selecting effective positioning points from the positioning points according to the road section information and the positioning precision of the positioning points.
S330, determining yaw if the effective positioning point is determined not to be matched with the road section to which the effective positioning point belongs according to the road section information of the effective positioning point, and the positioning accuracy of the effective positioning point is smaller than or equal to the set accuracy threshold.
And S340, generating yaw information according to the effective positioning points and the navigation route.
The yaw information refers to information deviating from the navigation route, and the yaw information may include a distance and a direction of deviation from the navigation route.
And S350, synchronizing the yaw information to the monitoring terminal, and sending a yaw alarm prompt to the monitoring terminal for the monitoring terminal to track the position information in time.
Specifically, synchronizing the yaw information to the monitoring terminal includes:
synchronizing at least one of an effective positioning point, navigation guide information and road section information of the effective positioning point and yaw information to a monitoring terminal, wherein the navigation guide information is generated according to the effective positioning point, a navigation route and positioning signal intensity information of the effective positioning point.
Specifically, the generating of the navigation guidance information according to the effective positioning point, the navigation route and the positioning signal strength information of the effective positioning point includes:
determining maneuvering point information according to the effective positioning points and the navigation route;
and generating navigation guidance information according to at least one of maneuvering point information, yaw information and positioning signal strength information of the effective positioning point.
Wherein the maneuvering point refers to a position point in the navigation route where the driving direction needs to be changed. In particular, the maneuvering point may be a fork or a roundabout, etc.
The navigation guidance information guides the direction of the correct traveling of the monitored person, and solves the problems that the direction of the monitored person is possibly poor, the person gets lost, or the person cannot know which path the person goes to be safer when encountering a fork in the traveling process.
According to the technical scheme of the embodiment, the monitored person is subjected to yaw detection according to the road section information of the effective locating point and the locating precision of the effective locating point, and yaw information is synchronized to the monitoring terminal. Therefore, the guardian can find the yaw of the monitored person in time and take measures in the first time to avoid danger.
Example four
Fig. 4 is a flowchart of a navigation method according to a fourth embodiment of the present invention. On the basis of the above embodiment, the embodiment provides an alternative scheme that a monitored person is a child, an execution main body of the method is a smart watch carried by the child, a guardian is a parent, and a monitoring terminal is a mobile phone terminal of the parent. Referring to fig. 4, the navigation method provided by the present embodiment includes:
firstly, parents set the starting and ending point positions of children at a mobile phone end and transmit the set starting and ending point information to a watch end of the children based on a data transmission server end;
then, the child can select the received start and end point information at the watch end to initiate navigation for route planning, and meanwhile, information such as a navigation planning route, child real-time position data and navigation states is synchronized to the mobile phone end of the parent in real time through the data transmission server end for the parent to check. If abnormal conditions such as deviating from a route are met, the watch end sends an alarm in time to remind a parent of the mobile phone end, and therefore safety of children is protected in an all-round mode.
The specific process is as follows:
presetting a navigation starting and ending point and a navigation route planning:
the head of a family sets up appointed start and end point information at the cell-phone end, if: home, school, etc. And after the setting is finished, starting and ending point information is pushed to the watch end to be used as starting and ending point parameters for navigation route planning.
And the watch terminal initiates navigation route planning according to a preset starting and ending point, packages the planned route information after the planning is successful and recalls the planned route information to the watch front end for displaying, wherein the route information comprises route distance, route spending time, route shape point information and the like. And the watch end synchronizes the route information to the parent's mobile phone end by using a long-connection communication mode, and the mobile phone end synchronously displays the route information by using the map covering object drawing capability.
The parents can help the children to plan a driving route in advance by presetting the starting and ending point information, and the condition that the children are lost or do not know which route to choose to go home at a fork is avoided.
Watch end real-time position binding:
the navigation module of the watch end acquires the current real-time position (namely, the positioning point in the embodiment) of the child by using a GPS positioning module or a positioning software package of the device, and transmits the current real-time position to a navigation engine of the watch end, the navigation engine ties up the real-time position data according to the planned route information, and recalls the information such as the position point data, the real-time position point data, the positioning precision of the real-time position point, the positioning time, the moving speed and the like matched with the real-time position data in the route to the navigation module of the watch end, and the navigation module of the watch end filters invalid position points through the information such as the tie-up state (namely, the road section information of.
The navigation module of the watch end synchronizes accurate and effective position data to the mobile phone end of the parent, and the mobile phone end draws the real-time position of the child on the map according to the position data.
Before transmitting the real-time position to the navigation engine, the method further comprises the following steps: and filtering the transmitted real-time position by utilizing a set filtering precision threshold value to filter the drifting positioning data, and ensuring the accuracy of the position data transmitted to the navigation engine so that the navigation engine can accurately bind the route. Wherein, the set filtering precision threshold value is the maximum value of the precision under the condition that the positioning point does not drift. The set filtering precision threshold is greater than the set precision threshold.
Specifically, the method for binding the real-time location data includes the following steps:
determining an outsourcing rectangle of the current positioning point (namely the real-time position data) according to the road grade or the road width of the road section in the navigation route;
obtaining a road section set which possibly exists in the current positioning point by judging whether the outsourcing rectangle of the current positioning point is intersected with the outsourcing rectangle of each road section in the route;
calculating the minimum distance d from the current positioning point to all road sections, the weight reference value df of the road sections and the projection distance weight pf from the current positioning point to the road sections;
calculating an included angle da between the direction of the current positioning point and the direction of the road section and a weight af of the da;
calculating an included angle lda between the direction of the connecting line of the historical positioning point and the current positioning point and the direction of the road section, and a projection distance weight laf from the connecting line of the historical positioning point and the current positioning point to the road;
calculating the matching weight of each road section:
weight＝(d÷df×pf)+((cos(π÷180×(180-da))+1)×af)+((cos(π÷180×(180-lda))+1)×laf)
and selecting the optimal matching road section according to the weight of each road section obtained by calculation, and calling back the position point information after the road binding to a navigation module of the watch end.
The part can solve the problems that positioning data is inaccurate due to some reasons, a guide point of a navigation interface jumps, and parents are misled to judge.
And synchronously displaying navigation state information:
in the navigation process, a navigation engine at the watch end calculates the current navigation state according to the current real-time position information of the child and the planned route information. When the navigation state is changed, the navigation engine calculates the travel time and distance by analyzing the binding result of the current positioning point, and generates a navigation guidance pattern, such as: the navigation module in the watch terminal sends navigation guidance information and voice broadcast text and other information in the generated navigation guidance file to the navigation module in the watch terminal through a message mechanism. The watch end synchronizes navigation guidance information, voice broadcast text and other information to the mobile phone end for synchronous drawing through a long-connection communication mode, and synchronous display of the watch and the mobile phone is achieved. Once the child deviates from the navigation route, the parent receives an alarm prompt such as 'your child has deviated from the route' in time.
The part can accurately inform parents of the current traveling state of children in real time and whether the parents walk on a navigation route. When the child drifts, the child safety guard can also receive alarm reminding in time and comprehensively guard the safety of the child.
According to the technical scheme of the embodiment of the invention, the position information and the walking track of the child watch end are synchronized to the parent mobile phone end in real time, so that parents can check the path of the child going to travel in real time. After the parents select the destination at the mobile phone end, the watch end initiates navigation, clear route guidance and voice navigation prompts can be checked, the traveling route of the child can be displayed on the mobile phone in real time, and therefore the function of tracking the position of the child more clearly and accurately is achieved.
It should be noted that, through the technical teaching of the present embodiment, a person skilled in the art may motivate a combination of any one of the embodiments described in the above embodiments to achieve the determination of the accuracy of the positioning data of the child and the guidance of the child for the correct traveling direction.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a navigation device according to a fifth embodiment of the present invention. Referring to fig. 5, the navigation device provided in the present embodiment includes: a road segment matching module 10, an effective filtering module 20 and an information synchronization module 30.
The road section matching module 10 is configured to match the acquired positioning point with a road section in the navigation route to determine a road section to which the positioning point belongs;
the effective filtering module 20 is used for selecting effective positioning points from the positioning points according to the road section information and the positioning precision of the positioning points;
and the information synchronization module 30 is configured to synchronize the navigation information to the monitoring terminal based on the effective positioning point.
According to the embodiment of the invention, the invalid positioning points are filtered according to the road section information and the positioning precision of the positioning points, so that the problem that when the equipment is used for positioning data, parents can see the positions of children, but the positions of the children seen by the parents are possibly inconsistent with the actual positions of the children is solved. Meanwhile, misleading of invalid positioning points to parents is avoided.
In addition, a monitored person (specifically, a child or an old man) can check a correct running route through a navigation route, and the problems that the monitored person is lost due to poor direction sense or the monitored person cannot know which route is safer when the monitored person encounters a fork in the running process are solved.
Further, the effective filtration module comprises: the device comprises a first validity determining unit, a precision judging unit and a second validity determining unit.
The first effective determining unit is used for determining that the positioning point is an effective positioning point if the positioning point has the road section to which the positioning point belongs;
the accuracy judging unit is used for judging whether the positioning accuracy of the positioning point is less than or equal to a set accuracy threshold value or not if the positioning point does not have the road section to which the positioning point belongs;
and the second effective determination unit is used for determining that the positioning point is an effective positioning point if the positioning point is the effective positioning point.
Further, the road segment matching module includes: the device comprises a rectangle determining unit, a rectangle intersecting unit, a weight determining unit and a belonging road section determining unit.
The rectangle determining unit is used for determining an outsourcing rectangle of the positioning point according to the road grade or the road width of a road section in the navigation route;
the rectangular intersection unit is used for taking the road section as a candidate road section if the outsourcing rectangle of the positioning point is intersected with the outsourcing rectangle of the road section in the navigation route;
the weight determining unit is used for determining the weight of the candidate road section according to the minimum distance from the positioning point to the candidate road section, the included angle between the direction of the positioning point and the direction of the candidate road section and the road grade of the candidate road section;
and the belonging road section determining unit is used for determining the belonging road section of the positioning point in the candidate road section according to the weight of the candidate road section.
Further, the information synchronization module includes: a yaw determining unit, a yaw information determining unit and an information synchronizing unit.
The yaw determining unit is used for determining yaw if the effective positioning points are determined not to be matched with the road sections according to the road section information of the effective positioning points and the positioning accuracy of the effective positioning points is smaller than or equal to the set accuracy threshold;
the yaw information determining unit is used for generating yaw information according to the effective positioning points and the navigation route;
and the information synchronization unit is used for synchronizing the yaw information to the monitoring terminal and sending a yaw alarm prompt to the monitoring terminal so that the monitoring terminal can track the position information in time.
Further, an included angle between the direction of the positioning point and the direction of the candidate road segment includes:
and the included angle between the direction of the current positioning point and the direction of the candidate road section and the included angle between the connecting line direction of the historical positioning point and the current positioning point and the direction of the candidate road section.
Further, the weight determination unit includes:
a parameter determining subunit, configured to determine, according to a road class of the candidate road segment, a weight reference value of the candidate road segment, a first projection distance weight from the current locating point to the candidate road segment, an included angle weight between a direction of the current locating point and a direction of the candidate road segment, and a second projection distance weight from a connection line between the historical locating point and the current locating point to the candidate road segment;
a weight determining subunit, configured to determine a weight of the candidate road segment according to a minimum distance from the current locating point to the candidate road segment, an included angle between a direction of the current locating point and a direction of the candidate road segment, an included angle between a connection direction of the historical locating point and the current locating point and the direction of the candidate road segment, the weight reference value, the first projection distance weight, the included angle weight, and the second projection distance weight.
Further, the weight determining subunit is specifically configured to:
determining the weight of the candidate road section according to the following formula:
weight＝(d÷df×pf)+((cos(π÷180×(180-da))+1)×af)+((cos(π÷180×(180-lda))+1)×laf)
wherein d is a minimum distance from the current anchor point to the candidate road segment, df is the weight reference value, pf is the first projection distance weight, da is an included angle between the direction of the current anchor point and the direction of the candidate road segment, af is the included angle weight, lda is an included angle between the connecting line direction of the current anchor point and the historical anchor point and the direction of the candidate road segment, and laf is the second projection distance weight.
Further, the rectangle determination unit includes: a direction determining subunit, a radius determining subunit, and a rectangle determining subunit.
The direction determining subunit is used for determining the drawing direction of each side in the outsourcing rectangle according to the direction of the positioning point;
the radius determining subunit is used for determining the expandable radius according to the road grade or the road width of the road section in the navigation route;
and the rectangle determining subunit is used for respectively drawing straight lines with the projection distance from the positioning points as the expandable radius along the drawing direction of each side, and the straight lines are intersected to form an outsourcing rectangle of the positioning points.
Further, the information synchronization unit includes: an information synchronization subunit.
And the information synchronization subunit is used for synchronizing at least one of the effective positioning point, the navigation guide information and the road section information of the effective positioning point and the yaw information to the monitoring terminal, wherein the navigation guide information is generated according to the effective positioning point, the navigation route and the positioning signal strength information of the effective positioning point.
Further, the generating the navigation guidance information according to the effective positioning point, the navigation route and the positioning signal strength information of the effective positioning point includes:
determining maneuvering point information according to the effective positioning points and the navigation route;
and generating navigation guidance information according to at least one of maneuvering point information, yaw information and positioning signal strength information of the effective positioning point.
Further, the apparatus further comprises: the navigation device comprises a navigation information setting module, a navigation parameter determining module and a navigation route generating module.
The navigation information setting module is used for matching the acquired positioning point with a road section in a navigation route in the navigation process so as to acquire navigation starting and ending point information sent by the monitoring terminal before determining the road section to which the positioning point belongs;
the navigation parameter determining module is used for determining a starting point and an end point of navigation according to the navigation starting and end point information;
and the navigation route generating module is used for navigating according to the determined starting point and the determined end point of the navigation and generating the navigation route.
The navigation device provided by the embodiment of the invention can execute the navigation method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE six
Fig. 6 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention. Fig. 6 illustrates a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 6 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present invention.
As shown in FIG. 6, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, and commonly referred to as a "hard drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing, such as implementing a navigation method provided by an embodiment of the present invention, by executing programs stored in the system memory 28.
EXAMPLE seven
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a navigation method according to any one of the embodiments of the present invention, where the method includes:
matching the acquired positioning points with road sections in the navigation route to determine the road sections to which the positioning points belong;
selecting an effective positioning point from the positioning points according to the road section information and the positioning precision of the positioning points;
and synchronizing the navigation information to the monitoring terminal based on the effective positioning point.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (13)
1. A navigation method, comprising:
determining the drawing direction of each side in the outsourcing rectangle according to the direction of the positioning point;
determining an expandable radius according to the road grade or the road width of a road section in the navigation route;
respectively drawing straight lines with the projection distance of the positioning points being the expandable radius along the drawing direction of each side, wherein the straight lines are intersected to form an outsourcing rectangle of the positioning points;
if the outsourcing rectangle of the positioning point is intersected with the outsourcing rectangle of the road section in the navigation route, taking the road section as a candidate road section;
determining the weight of the candidate road section according to the minimum distance from the positioning point to the candidate road section, the included angle between the direction of the positioning point and the direction of the candidate road section and the road grade of the candidate road section;
wherein an included angle between the direction of the positioning point and the direction of the candidate road segment comprises:
an included angle between the direction of the current locating point and the direction of the candidate road section and an included angle between the connecting line direction of the historical locating point and the current locating point and the direction of the candidate road section;
determining the road section to which the positioning point belongs in the candidate road section according to the weight of the candidate road section;
the road section to which the positioning point belongs refers to a road section in which the position of the positioning point is located;
selecting an effective positioning point from the positioning points according to the road section information and the positioning precision of the positioning points;
and synchronizing the navigation information to the monitoring terminal based on the effective positioning point.
2. The method of claim 1, wherein the selecting effective positioning points from the positioning points according to the section information and the positioning accuracy of the positioning points comprises:
if the positioning point has the road section, determining that the positioning point is an effective positioning point;
if the positioning point does not have the road section to which the positioning point belongs, judging whether the positioning precision of the positioning point is smaller than or equal to a set precision threshold value;
if yes, the positioning point is determined to be a valid positioning point.
3. The method of claim 1, wherein the determining the weight of the candidate road segment according to the minimum distance from the anchor point to the candidate road segment, the included angle between the direction of the anchor point and the direction of the candidate road segment, and the road grade of the candidate road segment comprises:
determining a weight reference value of the candidate road section, a first projection distance weight from the current positioning point to the candidate road section, an included angle weight between the direction of the current positioning point and the direction of the candidate road section, and a second projection distance weight from a connecting line of the historical positioning point and the current positioning point to the candidate road section according to the road grade of the candidate road section;
and determining the weight of the candidate road section according to the minimum distance from the current positioning point to the candidate road section, the included angle between the direction of the current positioning point and the direction of the candidate road section, the included angle between the connecting line direction of the historical positioning point and the current positioning point and the direction of the candidate road section, the weight reference value, the first projection distance weight, the included angle weight and the second projection distance weight.
4. The method of claim 3, wherein the determining the weight of the candidate road segment according to the minimum distance from the current positioning point to the candidate road segment, the included angle between the direction of the current positioning point and the direction of the candidate road segment, the included angle between the direction of the connection line between the historical positioning point and the current positioning point and the direction of the candidate road segment, the weight reference value, the first projected distance weight, the included angle weight, and the second projected distance weight comprises:
determining the weight of the candidate road section according to the following formula:
wherein d is a minimum distance from the current anchor point to the candidate road segment, df is the weight reference value, pf is the first projection distance weight, da is an included angle between the direction of the current anchor point and the direction of the candidate road segment, af is the included angle weight, lda is an included angle between the connecting line direction of the current anchor point and the historical anchor point and the direction of the candidate road segment, and laf is the second projection distance weight.
5. The method of claim 2, wherein the synchronizing navigation information to the monitoring terminal based on the effective positioning point comprises:
determining yaw if the effective positioning points are determined not to be matched with the road sections to which the effective positioning points belong according to the road section information of the effective positioning points, and the positioning accuracy of the effective positioning points is smaller than or equal to the set accuracy threshold;
generating yaw information according to the effective positioning points and the navigation route;
and synchronizing the yaw information to the monitoring terminal, and sending a yaw alarm prompt to the monitoring terminal for the monitoring terminal to track the position information in time.
6. The method of claim 5, wherein synchronizing yaw information to a monitoring terminal comprises:
synchronizing at least one of an effective positioning point, navigation guide information and road section information of the effective positioning point and yaw information to a monitoring terminal, wherein the navigation guide information is generated according to the effective positioning point, a navigation route and positioning signal intensity information of the effective positioning point.
7. The method of claim 6, wherein generating the navigation guidance information according to the effective positioning point, the navigation route and the positioning signal strength information of the effective positioning point comprises:
determining maneuvering point information according to the effective positioning points and the navigation route;
and generating navigation guidance information according to at least one of maneuvering point information, yaw information and positioning signal strength information of the effective positioning point.
8. The method of claim 1, wherein before determining the drawing direction of each side in the bounding rectangle according to the direction of the anchor point, the method further comprises:
acquiring navigation starting and ending point information sent by a monitoring terminal;
determining a starting point and an end point of navigation according to the navigation starting and end point information;
and navigating according to the determined starting point and the determined end point of the navigation to generate a navigation route.
9. A navigation device, comprising:
the road section matching module is used for matching the acquired positioning points with road sections in the navigation route so as to determine the road sections to which the positioning points belong; the road section to which the positioning point belongs refers to a road section in which the position of the positioning point is located;
the road section matching module comprises:
the rectangle determining unit is used for determining an outsourcing rectangle of the positioning point according to the road grade or the road width of the road section in the navigation route;
the rectangle determination unit includes: a direction determining subunit, a radius determining subunit and a rectangle determining subunit;
the direction determining subunit is used for determining the drawing direction of each side in the outsourcing rectangle according to the direction of the positioning point;
the radius determining subunit is used for determining the expandable radius according to the road grade or the road width of the road section in the navigation route;
the rectangle determining subunit is used for respectively drawing straight lines with the projection distance to the positioning points being the expandable radius along the drawing direction of each side, and the straight lines are intersected to form an outsourcing rectangle of the positioning points;
the rectangular intersection unit is used for taking the road section as a candidate road section if the outsourcing rectangle of the positioning point is intersected with the outsourcing rectangle of the road section in the navigation route;
the weight determining unit is used for determining the weight of the candidate road section according to the minimum distance from the positioning point to the candidate road section, the included angle between the direction of the positioning point and the direction of the candidate road section and the road grade of the candidate road section;
wherein an included angle between the direction of the positioning point and the direction of the candidate road segment comprises:
an included angle between the direction of the current locating point and the direction of the candidate road section and an included angle between the connecting line direction of the historical locating point and the current locating point and the direction of the candidate road section;
the affiliated road section determining unit is used for determining the affiliated road section of the positioning point in the candidate road sections according to the weight of the candidate road sections;
the effective filtering module is used for selecting an effective positioning point from the positioning points according to the road section information and the positioning precision of the positioning points;
and the information synchronization module is used for synchronizing the navigation information to the monitoring terminal based on the effective positioning point.
10. The apparatus of claim 9, wherein the active filtration module comprises:
the first effective determining unit is used for determining that the positioning point is an effective positioning point if the positioning point has the road section to which the positioning point belongs;
the accuracy judging unit is used for judging whether the positioning accuracy of the positioning point is less than or equal to a set accuracy threshold value or not if the positioning point does not have the road section to which the positioning point belongs;
and the second effective determination unit is used for determining that the positioning point is an effective positioning point if the positioning point is the effective positioning point.
11. The apparatus of claim 10, wherein the information synchronization module comprises:
the yaw determining unit is used for determining yaw if the effective positioning points are determined not to be matched with the road sections according to the road section information of the effective positioning points and the positioning accuracy of the effective positioning points is smaller than or equal to the set accuracy threshold;
the yaw information determining unit is used for generating yaw information according to the effective positioning points and the navigation route;
and the information synchronization unit is used for synchronizing the yaw information to the monitoring terminal and sending a yaw alarm prompt to the monitoring terminal so that the monitoring terminal can track the position information in time.
12. An electronic device, characterized in that the device comprises:
one or more processors;
a storage device for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the navigation method of any one of claims 1-8.
13. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the navigation method of any one of claims 1 to 8.
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| CN110401920A (en) * | 2019-08-30 | 2019-11-01 | 王艺锦 | Intelligent navigation device and method for senile dementia crowd |
| CN112050820B (en) * | 2020-09-02 | 2024-05-07 | 平安科技（深圳）有限公司 | Road matching method, device, electronic equipment and readable storage medium |
| CN113362420B (en) * | 2021-06-02 | 2023-08-29 | 北京百度网讯科技有限公司 | Road label generation method, device, equipment and storage medium |
| CN113624247A (en) * | 2021-08-09 | 2021-11-09 | 阿里巴巴新加坡控股有限公司 | Navigation method and computer program product |
| CN113959451A (en) * | 2021-09-22 | 2022-01-21 | 北京连山科技股份有限公司 | Response yaw method based on road network and positioning data trigger mechanism |
| CN114485685A (en) * | 2021-12-31 | 2022-05-13 | 武汉中海庭数据技术有限公司 | Heterogeneous route matching method and system based on road network topology |
| CN117706478B (en) * | 2024-02-02 | 2024-05-03 | 腾讯科技（深圳）有限公司 | Positioning drift identification method, device, equipment and storage medium |
| CN117705141B (en) * | 2024-02-06 | 2024-05-07 | 腾讯科技（深圳）有限公司 | Yaw recognition method, yaw recognition device, computer readable medium and electronic equipment |
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