CN116518980B - Navigation method, navigation device, electronic equipment and computer readable storage medium - Google Patents
Navigation method, navigation device, electronic equipment and computer readable storage medium Download PDFInfo
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- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The embodiment of the application provides a navigation method, a navigation device, electronic equipment and a computer readable storage medium, and relates to the technical field of navigation. The method comprises the following steps: acquiring a starting position and an ending position of an object to be navigated in a target site; determining a starting navigation point and an ending navigation point from preset navigation points based on the starting position and the ending position; wherein the navigation point is determined from a plurality of traffic segments in the target site based on navigation accuracy corresponding to the target site; the starting navigation point is the navigation point closest to the starting position in the navigation points, and the ending navigation point is the navigation point closest to the ending position in the navigation points; a navigation path is created that includes a plurality of target navigation points based on the start navigation point and the end navigation point. According to the embodiment of the application, the navigation points are determined from the plurality of traffic road sections in the target site through the navigation precision corresponding to the target site, so that the efficient navigation for different sites is realized.
Description
Technical Field
The present application relates to the field of navigation technologies, and in particular, to a navigation method, a navigation device, an electronic apparatus, and a computer readable storage medium.
Background
Navigation systems are a collection of basic functions including "positioning", "destination selection", "path calculation", and "path guidance", while color map display, road map storage, etc. are also commonly provided in higher performance navigation systems. Unlike outdoor navigation, when the navigation system is applied to an indoor site, higher navigation accuracy is often required to complete path planning and guidance more in line with the indoor site.
In the prior art, in order to improve the accuracy of indoor navigation, a road map is generally designed and planned based on an indoor site, and road nodes (i.e. navigation points) in the road map need to be manually marked and designed, so that the problems that the road map design workload is large, the navigation requirements cannot be met quickly, and the navigation efficiency is low exist.
Disclosure of Invention
The embodiment of the application provides a navigation method, a navigation device, electronic equipment and a computer readable storage medium, which can solve the problem of navigation efficiency. The technical scheme is as follows:
according to an aspect of an embodiment of the present application, there is provided a navigation method including:
acquiring a starting position and an ending position of an object to be navigated in a target site;
Determining a starting navigation point and an ending navigation point from preset navigation points based on the starting position and the ending position; wherein the navigation point is determined from a plurality of traffic segments in the target site based on navigation accuracy corresponding to the target site; the starting navigation point is the navigation point closest to the starting position in the navigation points, and the ending navigation point is the navigation point closest to the ending position in the navigation points;
a navigation path is created that includes a plurality of target navigation points based on the start navigation point and the end navigation point.
In one possible implementation manner, the acquiring the starting position of the object to be navigated in the target site includes:
determining a positioning signal of an object to be navigated;
determining the distances between the object to be navigated and a plurality of positioning points with different directions based on the positioning signals respectively;
and acquiring the initial position of the object to be navigated according to the distance and the coordinate information of the corresponding positioning point.
In one possible implementation, the navigation point is set based on the following manner:
acquiring a plurality of traffic road sections of a target site;
determining navigation precision corresponding to a target site;
determining, for each traffic segment, a number of segments based on a ratio of a total length of the traffic segment to the determined navigation accuracy; calculating coordinate information of each navigation point according to the number of the segments to determine a plurality of navigation points corresponding to the passing road section; wherein the number of segments represents the number of road segment units into which the traffic road segment is divided.
In yet another possible implementation, when the number of segments is greater than or equal to the ratio, calculating the coordinate information of each navigation point according to the number of segments includes:
and dividing the total length of the traffic road section according to the number of the segments, and calculating a plurality of navigation points in the divided traffic road section.
In yet another possible implementation, when the number of segments is smaller than the ratio, calculating the coordinate information of each navigation point according to the number of segments includes:
updating the terminal information of the traffic road section based on the number of segments;
determining the segment total length of the traffic road section according to the starting point information and the updated ending point information of the traffic road section;
and dividing the total length of the sections of the traffic road section evenly according to the number of the sections, and calculating a plurality of navigation points in the evenly divided traffic road section.
In another possible implementation manner, the creating a navigation path including a plurality of target navigation points based on the start navigation point and the end navigation point includes:
determining an unreachable area from the target site, and determining a target navigation area of the target site excluding the unreachable area;
taking the navigation point in the target navigation area as a target navigation point;
sequentially traversing adjacent target navigation points from the starting navigation point to the ending navigation point until reaching the ending navigation point;
Creating at least one candidate path based on the start navigation point, the target navigation point, and the end navigation point;
and selecting the candidate path with the shortest path length as the navigation path.
In another possible implementation manner, the method further includes:
when the current position of the object to be navigated deviates from the navigation path, taking the navigation point closest to the current position as the updated initial navigation point;
and constructing an updated navigation path based on the updated starting navigation point and the updated ending navigation point.
According to another aspect of an embodiment of the present application, there is provided a navigation device including:
the acquisition module is used for acquiring the starting position and the ending position of the object to be navigated in the target site;
the determining module is used for determining a starting navigation point and an ending navigation point from preset navigation points based on the starting position and the ending position; wherein the navigation point is determined from a plurality of traffic segments in the target site based on navigation accuracy corresponding to the target site; the starting navigation point is the navigation point closest to the starting position in the navigation points, and the ending navigation point is the navigation point closest to the ending position in the navigation points;
the creation module is used for creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point.
In one possible implementation manner, the acquiring module is configured to, when acquiring a starting position of an object to be navigated in a target site:
determining a positioning signal of an object to be navigated;
determining the distances between the object to be navigated and a plurality of positioning points with different directions based on the positioning signals respectively;
and acquiring the initial position of the object to be navigated according to the distance and the coordinate information of the corresponding positioning point.
In one possible implementation, the navigation point is set based on the following manner:
acquiring a plurality of traffic road sections of a target site;
determining navigation precision corresponding to a target site;
determining, for each traffic segment, a number of segments based on a ratio of a total length of the traffic segment to the determined navigation accuracy; calculating coordinate information of each navigation point according to the number of the segments to determine a plurality of navigation points corresponding to the passing road section; wherein the number of segments represents the number of road segment units into which the traffic road segment is divided.
In yet another possible implementation, when the number of segments is greater than or equal to the ratio, calculating the coordinate information of each navigation point according to the number of segments includes:
and dividing the total length of the traffic road section according to the number of the segments, and calculating a plurality of navigation points in the divided traffic road section.
In yet another possible implementation, when the number of segments is smaller than the ratio, calculating the coordinate information of each navigation point according to the number of segments includes:
updating the terminal information of the traffic road section based on the number of segments;
determining the segment total length of the traffic road section according to the starting point information and the updated ending point information of the traffic road section;
and dividing the total length of the sections of the traffic road section evenly according to the number of the sections, and calculating a plurality of navigation points in the evenly divided traffic road section.
In another possible implementation manner, the creating module is configured to, when creating a navigation path including a plurality of target navigation points based on a start navigation point and an end navigation point:
determining an unreachable area from the target site, and determining a target navigation area of the target site excluding the unreachable area;
taking the navigation point in the target navigation area as a target navigation point;
sequentially traversing adjacent target navigation points from the starting navigation point to the ending navigation point until reaching the ending navigation point;
creating at least one candidate path based on the start navigation point, the target navigation point, and the end navigation point;
and selecting the candidate path with the shortest path length as the navigation path.
In another possible implementation manner, the apparatus further includes an update module, configured to:
When the current position of the object to be navigated deviates from the navigation path, taking the navigation point closest to the current position as the updated initial navigation point;
and constructing an updated navigation path based on the updated starting navigation point and the updated ending navigation point.
According to another aspect of an embodiment of the present application, there is provided an electronic apparatus including: a memory, a processor and a computer program stored on the memory, the processor executing the computer program to perform the steps of the method according to the first aspect of the embodiment of the application.
According to a further aspect of embodiments of the present application there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of the first aspect of embodiments of the present application.
According to an aspect of an embodiment of the present application, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of the first aspect of the embodiment of the present application.
The technical scheme provided by the embodiment of the application has the beneficial effects that:
according to the embodiment of the application, the starting navigation point and the ending navigation point are determined from the preset navigation points through the starting position and the ending position of the object to be navigated in the target site; creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point so as to complete path planning and navigation based on preset navigation points; meanwhile, the navigation points in the embodiment of the application are determined from a plurality of traffic road sections in the target site based on the navigation precision corresponding to the target site; the navigation point closest to the initial position can be used as the initial navigation point, and the navigation point closest to the end position can be used as the end navigation point, so that targeted navigation according to different navigation precision corresponding to different target sites is realized. In addition, the navigation points can be determined from a plurality of passing road sections in the target site based on the navigation precision corresponding to the target site, so that the navigation efficiency and the navigation precision are effectively improved, and the requirement of high-efficiency navigation of a user is met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required to be used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic view of an application scenario of a navigation method according to an embodiment of the present application;
FIG. 2 is a flow chart of a navigation method according to an embodiment of the present application;
fig. 3 is a schematic flow chart of acquiring a starting position in a navigation method according to an embodiment of the present application;
fig. 4 is a schematic flow chart of creating a navigation path in a navigation method according to an embodiment of the present application;
FIG. 5 is a flow chart of an exemplary navigation method provided by an embodiment of the present application;
fig. 6 is a schematic structural diagram of a navigation device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a navigation electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described below with reference to the drawings in the present application. It should be understood that the embodiments described below with reference to the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application, and the technical solutions of the embodiments of the present application are not limited.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and "comprising," when used in this specification, specify the presence of stated features, information, data, steps, operations, elements, and/or components, but do not preclude the presence or addition of other features, information, data, steps, operations, elements, components, and/or groups thereof, all of which may be included in the present specification. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein indicates that at least one of the items defined by the term, e.g., "a and/or B" may be implemented as "a", or as "B", or as "a and B".
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
The existing navigation scheme is single in positioning precision, and cannot be generally suitable for indoor navigation with high-precision requirements. The inventor finds that the accuracy of the starting point of the path planning depends on the navigation path diagram, setting the navigation points meeting the ideal accuracy in the path diagram consumes a great deal of labor cost, and along with the upgrading of the accuracy requirement, especially for the target sites with specific navigation requirements, the redesigned path diagram is needed to meet the path planning requirement. For example, when an electronic fence area exists in a target place, a road map needs to manually design very dense navigation points so that a planned path can effectively avoid dangerous or sensitive electronic fence areas, and the workload of manually setting the navigation points is quite complex, which is not beneficial to the rapid implementation and application of navigation requirements.
The application provides a navigation method, a navigation device, electronic equipment and a computer readable storage medium, and aims to solve the technical problems in the prior art.
The technical solutions of the embodiments of the present application and technical effects produced by the technical solutions of the present application are described below by describing several exemplary embodiments. It should be noted that the following embodiments may be referred to, or combined with each other, and the description will not be repeated for the same terms, similar features, similar implementation steps, and the like in different embodiments.
As shown in fig. 1, the navigation method of the present application may be applied to the scenario shown in fig. 1, specifically, the server 102 obtains a start position and an end position of an object to be navigated in a target site from the terminal 101, and determines a start navigation point and an end navigation point from preset navigation points based on the start position and the end position; then creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point; then, the server 102 sends the navigation path to the terminal 101, and the terminal 101 displays the navigation path in a preset display screen, so that a user can conveniently view the navigation path.
In the scenario shown in fig. 1, the navigation method may be performed in a server, or in other scenarios, may be performed in a terminal.
As will be appreciated by those skilled in the art, a "terminal" as used herein may be a cell phone, tablet computer, PDA (Personal Digital Assistant ), MID (Mobile Internet Device, mobile internet device), etc.; the "server" may be implemented as a stand-alone server or as a server cluster composed of a plurality of servers.
The embodiment of the application provides a navigation method, as shown in fig. 2, which can be applied to a server or a terminal for navigation, and comprises the following steps:
S201, acquiring the starting position and the ending position of the object to be navigated in the target site.
Wherein the object to be navigated may be a person or a vehicle moving according to the navigation path. The start position and the end position may be determined according to an input operation of a user, and the start position may be determined according to a positioning signal of an object to be navigated.
Specifically, the server or the terminal for performing navigation may acquire, from the client, a start position and an end position of the object to be navigated in the target site, and may also directly acquire, based on the user operation, the start position and the end position of the object to be navigated in the target site.
In the embodiment of the application, a server or a terminal for navigation can acquire a positioning signal of an object to be navigated and determine a starting position based on the positioning signal; meanwhile, the user can input an end position based on a preset touch screen to determine the end position; the touch screen may be integrated in a server or a terminal for navigation, or may be part of a client, where the client may be communicatively connected to the server or the terminal for navigation based on a wireless or wired network.
S202, determining a starting navigation point and an ending navigation point from preset navigation points based on the starting position and the ending position.
Wherein the navigation point is determined from a plurality of traffic segments in the target site based on navigation accuracy corresponding to the target site; the start navigation point is the navigation point closest to the start position among the navigation points, and the end navigation point is the navigation point closest to the end position among the navigation points.
Specifically, the target site may be a navigation activity site of an object to be navigated, for example, may be a large business district, or may be an industrial park or a building, which is not specifically limited in the embodiment of the present application.
Further, the navigation precision can be set according to the navigation requirement of the user, for example, when the target site is a large scale merchant and the navigation precision corresponding to the target site is lower precision; when the target site is an industrial park area with a dangerous electronic fence area, the corresponding navigation precision can be higher.
S203, creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point.
Specifically, the server or the terminal for performing navigation may sequentially connect adjacent target navigation points from the initial navigation point until reaching the end navigation point, so as to complete the creation of the navigation path; when there are multiple navigation paths, the navigation path with the shortest length can be selected as the final navigation path of the user.
According to the embodiment of the application, the starting navigation point and the ending navigation point are determined from the preset navigation points through the starting position and the ending position of the object to be navigated in the target site; creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point so as to complete path planning and navigation based on preset navigation points; meanwhile, the navigation points in the embodiment of the application are determined from a plurality of traffic road sections in the target site based on the navigation precision corresponding to the target site; the navigation point closest to the initial position can be used as the initial navigation point, and the navigation point closest to the end position can be used as the end navigation point, so that targeted navigation according to different navigation precision corresponding to different target sites is realized. In addition, the navigation points can be determined from a plurality of passing road sections in the target site based on the navigation precision corresponding to the target site, so that the navigation efficiency and the navigation precision are effectively improved, and the requirement of high-efficiency navigation of a user is met.
In an embodiment of the present application, as shown in fig. 3, the obtaining the starting position of the object to be navigated in the target site includes:
S301, determining a positioning signal of an object to be navigated.
The positioning signal may be sent by a positioning tag carried or configured by the object to be navigated, and may be pulse information with a certain frequency.
In the embodiment of the application, four UWB (Ultra Wide Band) base stations with known coordinates can be preset in a target site, a target to be navigated carries a preset positioning tag, and the positioning tag can transmit pulse information according to a certain frequency so that the UWB base stations can receive the pulse information.
S302, determining the distances between the object to be navigated and positioning points in a plurality of different directions based on the positioning signals.
The positioning points can be coordinate points of different preset UWB base stations.
Specifically, a TDOA (Time Difference of Arrival arrival time difference) positioning algorithm can be used to determine the distances of the object to be navigated relative to a plurality of different positioning points by measuring the transmission delay differences between different UWB base stations and the positioning tags.
S303, acquiring the initial position of the object to be navigated according to the distance and the coordinate information of the corresponding positioning point.
Specifically, positioning calculation can be performed according to the distance between the object to be navigated and each positioning point and the coordinate information of each positioning point, so as to obtain the current coordinate information, namely the starting position, of the object to be navigated.
According to the embodiment of the application, the initial position of the object to be navigated is calculated through the positioning signals of the object to be navigated and a plurality of positioning points with different directions, so that the real-time positioning of the object to be navigated is realized, and the navigation precision and efficiency are further improved.
The embodiment of the application provides a possible implementation manner, and the navigation points are set based on the following manner:
s401, a plurality of traffic road sections of a target site are acquired.
The traffic road section is an accessible path of the target site; for example, when the target site is a mall, a passage between the malls may be taken as a traffic section.
S402, determining navigation accuracy corresponding to the target site.
The navigation accuracy may be preset according to the navigation requirement of the user; for example, the navigation accuracy may include three accuracy levels of high, medium and low, and when the target site is a mall, the corresponding navigation accuracy may be a low accuracy level; when the target site is inside a sensitive or dangerous building, the corresponding navigation accuracy may be of a high level of accuracy.
Optionally, the higher the navigation precision is, the smaller the distance between the corresponding navigation points is; the lower the navigation accuracy, the larger the distance between the corresponding navigation points.
S403, for each passing road section, determining the number of segments based on the ratio of the total length of the passing road section to the determined navigation precision; and calculating the coordinate information of each navigation point according to the number of the segments to determine a plurality of navigation points corresponding to the passing road section.
Wherein the number of segments represents the number of road segment units into which the traffic road segment is divided.
According to the embodiment of the application, each passing road section in the target site is divided through the navigation precision, so that the coordinate information of the corresponding navigation point is determined according to the number of the segments of the passing road section, the rationality of setting the navigation point is effectively improved, and a good foundation is laid for the subsequent path planning based on the navigation point.
The embodiment of the application provides a possible implementation manner, when the number of the segments is greater than or equal to the ratio, the coordinate information of each navigation point is calculated according to the number of the segments, which comprises the following steps:
and dividing the total length of the traffic road section according to the number of the segments, and calculating a plurality of navigation points in the divided traffic road section.
In the embodiment of the application, when the total length of the passing road section is L and the navigation precision is M, the ratio of the total length to the navigation precision is N=L/M; the segment number avgCount may take a minimum integer greater than or equal to N. In some embodiments, two-dimensional coordinates (from. X, from. Y), (to. X, to. Y) of the starting point of the current traffic segment may be set, and then:
v.x = from.x + i * (to.x - from.x) / avgCount（1）
v.y = from.y + i * (to.y - from.y) / avgCount（2）
Wherein, (v.x, v.y) is the coordinate information of the i-th navigation point in the passing road section, i e [1, avgcount ].
In other embodiments, three-dimensional coordinates (from. X, from. Y, from. Z), (to. X, to. Y, to. Z) of the starting point of the current traffic segment may be set, and then:
v.x = from.x + i * (to.x - from.x) / avgCount（3）
v.y = from.y + i * (to.y - from.y) / avgCount（4）
v.z = from.z + i * (to.z - from.z) / avgCount（5）
wherein, (v.x, v.y, v.z) is the coordinate information of the i-th navigation point in the passing road section, i e [1, avgcount ].
The embodiment of the application provides a possible implementation manner, when the number of the segments is smaller than the ratio, the coordinate information of each navigation point is calculated according to the number of the segments, which comprises the following steps:
s501, updating the terminal information of the traffic road section based on the number of segments; determining the segment total length of the traffic road section according to the starting point information and the updated ending point information of the traffic road section;
s502, dividing the total segment length of the traffic road section uniformly according to the segment number, and calculating a plurality of navigation points in the traffic road section after dividing uniformly.
In the embodiment of the application, when the total length of the passing road section is L and the navigation precision is M, the ratio of the total length to the navigation precision is N=L/M; the segment number avgCount may take a maximum integer less than N.
In some embodiments, two-dimensional coordinates (from. X, from. Y), (to. X, to. Y) of the starting point of the current traffic segment may be set, and then:
newto.x = from.x + avgCount * (to.x - from.x) / N（6）
newto.y = from.y + avgCount * (to.y - from.y) / N（7）
Wherein, (newto.x, newto.y) can be the new endpoint coordinates of equal-value equipartition of the traffic road section;
v.x = from.x + i * (newto.x - from.x) / avgCount（8）
v.y = from.y + i * (newto.y - from.y) / avgCount（9）
(v.x, v.y) is the coordinate information of the ith navigation point in the passing road section, i E [1, avgCount ].
In other embodiments, three-dimensional coordinates (from. X, from. Y, from. Z), (to. X, to. Y, to. Z) of the starting point of the current traffic segment may be set, and then:
newto.x = from.x + avgCount* (to.x - from.x) / N（10）
newto.y = from.y + avgCount* (to.y - from.y) / N（11）
newto.z = from.z + avgCount* (to.z - from.z) / N（12）
wherein, (newto.x, newto.y, newto.z) can be the new endpoint coordinates of equal-value equipartition of the traffic road section;
v.x = from.x + i * (newto.x - from.x) / avgCount（13）
v.y = from.y + i * (newto.y - from.y) / avgCount（14）
v.z = from.z + i * (newto.z - from.z) / avgCount（15）
wherein, (v.x, v.y, v.z) is the coordinate information of the i-th navigation point in the passing road section, i e [1, avgcount ].
According to the embodiment of the application, the segmentation number of the passing road section is determined through the ratio of the total length of the passing road section to the navigation precision, and the navigation point corresponding to the passing road section is determined based on the segmentation number, so that the setting efficiency and precision of the navigation point are effectively improved. Meanwhile, the navigation precision is inversely related to the number of segments, that is, the greater the navigation precision is, the smaller the number of segments of the passing road section is, the smaller the number of corresponding navigation points is, the corresponding navigation precision can be determined based on the actual application condition of the target site, and the setting efficiency of the navigation points is effectively improved.
In one possible implementation manner provided in the embodiment of the present application, as shown in fig. 4, the creating a navigation path including a plurality of target navigation points based on the start navigation point and the end navigation point includes:
S601, determining an unreachable area from the target site, and determining a target navigation area of the target site excluding the unreachable area.
Wherein the unreachable area may be an unreachable area in the target site; for example, when the target site is a mall, the mall and the traffic road section in the decorated state may be regarded as an unreachable area; dangerous or sensitive electronic fences can be expected to be inaccessible areas when the target site is a large power generation industrial park.
S602, taking the navigation point in the target navigation area as a target navigation point.
In the embodiment of the application, the navigation points in the inaccessible area can be removed to ensure that the navigation path bypasses the inaccessible area and ensure the safety of route planning.
S603, starting from the initial navigation point, traversing the adjacent target navigation points in sequence towards the direction of the ending navigation point until the ending navigation point is reached.
S604, creating at least one candidate path based on the initial navigation point, the target navigation point and the end navigation point, and selecting the candidate path with the shortest path length as the navigation path.
According to the embodiment of the application, the target navigation area of the target site is defined by the unreachable area, and the navigation points in the target navigation area are used as the target navigation points, so that the navigation path planning based on the target navigation points is realized, the effective avoidance of the unreachable area of the navigation path is ensured, and the safe and efficient navigation is realized.
The embodiment of the application provides a possible implementation manner, and the method further comprises the following steps:
when the current position of the object to be navigated deviates from the navigation path, taking the navigation point closest to the current position as the updated initial navigation point. And constructing an updated navigation path based on the updated starting navigation point and the updated ending navigation point.
In some implementations, when the user travels in accordance with the planned navigation path, a departure cue may be made if the user's real-time location deviates from the navigation path; if the real-time position of the user deviates from the navigation path by a preset distance, the user can be prompted whether to re-plan the navigation path, i.e. whether to reconstruct a new navigation path from the current position to the navigation end point.
Meanwhile, in the navigation process, the real-time position of the user can be acquired without interval of preset time, and when the real-time position of the user approaches to special places such as an elevator or stairs, corresponding position reminding can be performed; when the real-time location of the user approaches an unreachable area, i.e., a dangerous area or an electronic fence area, a dangerous warning can be issued to alert the user to get away from the unreachable area as soon as possible.
In order to better understand the above navigation method, an example of the navigation method of the present application is described in detail below with reference to fig. 5, and the method includes the following steps:
S701, the navigation server 5001 determines a positioning signal of the object to be navigated.
S702, determining the distances between the object to be navigated and a plurality of positioning points with different directions based on the positioning signals.
S703, acquiring the initial position of the object to be navigated according to the distance and the coordinate information of the corresponding positioning point.
S704, the user may input the end position based on the touch screen of the navigation client 5002, and the navigation server acquires the end position from the navigation client.
S705, the navigation server 5001 determines a start navigation point and an end navigation point from among the preset navigation points based on the start position and the end position.
Wherein the navigation point is determined from a plurality of traffic segments in the target site based on navigation accuracy corresponding to the target site; the start navigation point is the navigation point closest to the start position among the navigation points, and the end navigation point is the navigation point closest to the end position among the navigation points.
S706, determining an unreachable area from the target site, and determining a target navigation area after the target site excludes the unreachable area.
S707, the navigation point located in the target navigation area is set as the target navigation point. And traversing the adjacent target navigation points from the starting navigation point to the ending navigation point in sequence until the ending navigation point is reached.
S708, at least one candidate path is created based on the initial navigation point, the target navigation point and the end navigation point, and the candidate path with the shortest path length is selected as the navigation path.
S709, the navigation server 5001 sends the navigation path to the navigation client 5002, and the navigation client 5002 displays the navigation path on a preset display screen to guide the object to be navigated to advance.
According to the embodiment of the application, the starting navigation point and the ending navigation point are determined from the preset navigation points through the starting position and the ending position of the object to be navigated in the target site; creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point so as to complete path planning and navigation based on preset navigation points; meanwhile, the navigation points in the embodiment of the application are determined from a plurality of traffic road sections in the target site based on the navigation precision corresponding to the target site; the navigation point closest to the initial position can be used as the initial navigation point, and the navigation point closest to the end position can be used as the end navigation point, so that targeted navigation according to different navigation precision corresponding to different target sites is realized. In addition, the navigation points can be determined from a plurality of passing road sections in the target site based on the navigation precision corresponding to the target site, so that the navigation efficiency and the navigation precision are effectively improved, and the requirement of high-efficiency navigation of a user is met.
An embodiment of the present application provides a navigation device, as shown in fig. 6, the navigation device 60 may include: an acquisition module 601, a determination module 602, and a creation module 603;
the acquisition module 601 is configured to acquire a start position and an end position of an object to be navigated in a target site;
a determining module 602, configured to determine a start navigation point and an end navigation point from preset navigation points based on the start position and the end position; wherein the navigation point is determined from a plurality of traffic segments in the target site based on navigation accuracy corresponding to the target site; the starting navigation point is the navigation point closest to the starting position in the navigation points, and the ending navigation point is the navigation point closest to the ending position in the navigation points;
a creation module 603 for creating a navigation path comprising a plurality of target navigation points based on the start navigation point and the end navigation point.
In an embodiment of the present application, a possible implementation manner is provided, where the acquiring module 601 is configured to, when acquiring a starting position of an object to be navigated in a target site:
determining a positioning signal of an object to be navigated;
determining the distances between the object to be navigated and a plurality of positioning points with different directions based on the positioning signals respectively;
And acquiring the initial position of the object to be navigated according to the distance and the coordinate information of the corresponding positioning point.
The embodiment of the application provides a possible implementation manner, and the navigation points are set based on the following manner:
acquiring a plurality of traffic road sections of a target site;
determining navigation precision corresponding to a target site;
determining, for each traffic segment, a number of segments based on a ratio of a total length of the traffic segment to the determined navigation accuracy; calculating coordinate information of each navigation point according to the number of the segments to determine a plurality of navigation points corresponding to the passing road section; wherein the number of segments represents the number of road segment units into which the traffic road segment is divided.
The embodiment of the application provides a possible implementation manner, when the number of the segments is greater than or equal to the ratio, the coordinate information of each navigation point is calculated according to the number of the segments, which comprises the following steps:
and dividing the total length of the traffic road section according to the number of the segments, and calculating a plurality of navigation points in the divided traffic road section.
The embodiment of the application provides a possible implementation manner, when the number of the segments is smaller than the ratio, the coordinate information of each navigation point is calculated according to the number of the segments, which comprises the following steps:
updating the terminal information of the traffic road section based on the number of segments;
Determining the segment total length of the traffic road section according to the starting point information and the updated ending point information of the traffic road section;
and dividing the total length of the sections of the traffic road section evenly according to the number of the sections, and calculating a plurality of navigation points in the evenly divided traffic road section.
In one possible implementation manner provided in the embodiment of the present application, the creating module 603 is configured to, when creating a navigation path including a plurality of target navigation points based on a start navigation point and an end navigation point:
determining an unreachable area from the target site, and determining a target navigation area of the target site excluding the unreachable area;
taking the navigation point in the target navigation area as a target navigation point;
sequentially traversing adjacent target navigation points from the starting navigation point to the ending navigation point until reaching the ending navigation point;
creating at least one candidate path based on the start navigation point, the target navigation point, and the end navigation point;
and selecting the candidate path with the shortest path length as the navigation path.
The embodiment of the application provides a possible implementation manner, and the device further comprises an updating module, configured to:
when the current position of the object to be navigated deviates from the navigation path, taking the navigation point closest to the current position as the updated initial navigation point;
And constructing an updated navigation path based on the updated starting navigation point and the updated ending navigation point.
The device of the embodiment of the present application may perform the method provided by the embodiment of the present application, and its implementation principle is similar, and actions performed by each module in the device of the embodiment of the present application correspond to steps in the method of the embodiment of the present application, and detailed functional descriptions of each module of the device may be referred to the descriptions in the corresponding methods shown in the foregoing, which are not repeated herein.
According to the embodiment of the application, the starting navigation point and the ending navigation point are determined from the preset navigation points through the starting position and the ending position of the object to be navigated in the target site; creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point so as to complete path planning and navigation based on preset navigation points; meanwhile, the navigation points in the embodiment of the application are determined from a plurality of traffic road sections in the target site based on the navigation precision corresponding to the target site; the navigation point closest to the initial position can be used as the initial navigation point, and the navigation point closest to the end position can be used as the end navigation point, so that targeted navigation according to different navigation precision corresponding to different target sites is realized. In addition, the navigation points can be determined from a plurality of passing road sections in the target site based on the navigation precision corresponding to the target site, so that the navigation efficiency and the navigation precision are effectively improved, and the requirement of high-efficiency navigation of a user is met.
The embodiment of the application provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to realize the steps of a navigation method, and compared with the related technology, the method can realize the steps of the navigation method: according to the embodiment of the application, the starting navigation point and the ending navigation point are determined from the preset navigation points through the starting position and the ending position of the object to be navigated in the target site; creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point so as to complete path planning and navigation based on preset navigation points; meanwhile, the navigation points in the embodiment of the application are determined from a plurality of traffic road sections in the target site based on the navigation precision corresponding to the target site; the navigation point closest to the initial position can be used as the initial navigation point, and the navigation point closest to the end position can be used as the end navigation point, so that targeted navigation according to different navigation precision corresponding to different target sites is realized. In addition, the navigation points can be determined from a plurality of passing road sections in the target site based on the navigation precision corresponding to the target site, so that the navigation efficiency and the navigation precision are effectively improved, and the requirement of high-efficiency navigation of a user is met.
In an alternative embodiment, an electronic device is provided, as shown in fig. 7, the electronic device 70 shown in fig. 7 comprising: a processor 701 and a memory 703. The processor 701 is coupled to a memory 703, such as via a bus 702. Optionally, the electronic device 70 may further comprise a transceiver 704, the transceiver 704 may be used for data interaction between the electronic device and other electronic devices, such as transmission of data and/or reception of data, etc. It should be noted that, in practical applications, the transceiver 704 is not limited to one, and the structure of the electronic device 70 is not limited to the embodiment of the present application.
The processor 701 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. The processor 701 may also be a combination that performs computing functions, such as including one or more microprocessors, a combination of a DSP and a microprocessor, or the like.
Bus 702 may include a path to transfer information between the components. Bus 702 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect Standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. Bus 702 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.
The Memory 703 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory ), a CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store a computer program and that can be Read by a computer, without limitation.
The memory 703 is used for storing a computer program for executing an embodiment of the present application and is controlled to be executed by the processor 701. The processor 701 is arranged to execute a computer program stored in the memory 703 for carrying out the steps shown in the foregoing method embodiments.
Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, notebook computers, PADs, etc., and stationary terminals such as digital TVs, desktop computers, etc.
Embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the foregoing method embodiments and corresponding content.
Embodiments of the present application provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions such that the computer device performs:
acquiring a starting position and an ending position of an object to be navigated in a target site;
Determining a starting navigation point and an ending navigation point from preset navigation points based on the starting position and the ending position; wherein the navigation point is determined from a plurality of traffic segments in the target site based on navigation accuracy corresponding to the target site; the starting navigation point is the navigation point closest to the starting position in the navigation points, and the ending navigation point is the navigation point closest to the ending position in the navigation points;
a navigation path is created that includes a plurality of target navigation points based on the start navigation point and the end navigation point.
The terms "first," "second," "third," "fourth," "1," "2," and the like in the description and in the claims and in the above figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate, such that the embodiments of the application described herein may be implemented in other sequences than those illustrated or otherwise described.
It should be understood that, although various operation steps are indicated by arrows in the flowcharts of the embodiments of the present application, the order in which these steps are implemented is not limited to the order indicated by the arrows. In some implementations of embodiments of the application, the implementation steps in the flowcharts may be performed in other orders as desired, unless explicitly stated herein. Furthermore, some or all of the steps in the flowcharts may include multiple sub-steps or multiple stages based on the actual implementation scenario. Some or all of these sub-steps or phases may be performed at the same time, or each of these sub-steps or phases may be performed at different times, respectively. In the case of different execution time, the execution sequence of the sub-steps or stages can be flexibly configured according to the requirement, which is not limited by the embodiment of the present application.
The foregoing is merely an optional implementation manner of some of the implementation scenarios of the present application, and it should be noted that, for those skilled in the art, other similar implementation manners based on the technical ideas of the present application are adopted without departing from the technical ideas of the scheme of the present application, and the implementation manner is also within the protection scope of the embodiments of the present application.
Claims (8)
1. A navigation method, comprising:
acquiring a starting position and an ending position of an object to be navigated in a target site;
determining a starting navigation point and an ending navigation point from preset navigation points based on the starting position and the ending position; wherein the navigation point is determined from a plurality of traffic segments in the target venue based on navigation accuracy corresponding to the target venue; the starting navigation point is the navigation point closest to the starting position in the navigation points, and the ending navigation point is the navigation point closest to the ending position in the navigation points;
creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point;
wherein, the navigation point is set based on the following mode:
acquiring a plurality of traffic road sections of the target site; determining navigation accuracy corresponding to the target site; determining, for each traffic segment, a number of segments based on a ratio of a total length of the traffic segment to the determined navigation accuracy; calculating coordinate information of each navigation point according to the number of segments to determine a plurality of navigation points corresponding to the passing road section; wherein the number of segments represents the number of road segment units obtained by dividing the traffic road segment;
When the number of segments is smaller than the ratio, the calculating the coordinate information of each navigation point according to the number of segments includes:
updating the terminal information of the passing road section based on the segmentation number; determining the segment total length of the traffic road section according to the starting point information and the updated ending point information of the traffic road section; and dividing the total segment length of the traffic road section according to the segment number, and calculating a plurality of navigation points in the traffic road section after dividing equally.
2. The method of claim 1, wherein the obtaining a starting position of the object to be navigated in the target venue comprises:
determining a positioning signal of the object to be navigated;
determining the distances between the object to be navigated and a plurality of positioning points with different directions based on the positioning signals respectively;
and acquiring the initial position of the object to be navigated according to the distance and the coordinate information of the corresponding positioning point.
3. The method of claim 1, wherein when the number of segments is greater than or equal to the ratio, the calculating the coordinate information of each navigation point according to the number of segments comprises:
and dividing the total length of the traffic road section uniformly according to the number of the segments, and calculating a plurality of navigation points in the uniformly divided traffic road section.
4. The method of claim 1, wherein the creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point comprises:
determining an unreachable area from the target site, and determining a target navigation area of the target site excluding the unreachable area;
taking the navigation point in the target navigation area as a target navigation point;
sequentially traversing adjacent target navigation points from the initial navigation point to the ending navigation point direction until the ending navigation point is reached;
creating at least one candidate path based on the start navigation point, the target navigation point, and the end navigation point;
and selecting the candidate path with the shortest path length as the navigation path.
5. The method according to claim 1, wherein the method further comprises:
when the current position of the object to be navigated deviates from the navigation path, taking the navigation point closest to the current position as an updated initial navigation point;
and constructing an updated navigation path based on the updated starting navigation point and the updated ending navigation point.
6. A navigation device, comprising:
The acquisition module is used for acquiring the starting position and the ending position of the object to be navigated in the target site;
the determining module is used for determining a starting navigation point and an ending navigation point from preset navigation points based on the starting position and the ending position; wherein the navigation point is determined from a plurality of traffic segments in the target venue based on navigation accuracy corresponding to the target venue; the starting navigation point is the navigation point closest to the starting position in the navigation points, and the ending navigation point is the navigation point closest to the ending position in the navigation points;
wherein, the navigation point is set based on the following mode:
acquiring a plurality of traffic road sections of the target site; determining navigation accuracy corresponding to the target site; determining, for each traffic segment, a number of segments based on a ratio of a total length of the traffic segment to the determined navigation accuracy; calculating coordinate information of each navigation point according to the number of segments to determine a plurality of navigation points corresponding to the passing road section; wherein the number of segments represents the number of road segment units obtained by dividing the traffic road segment;
when the number of segments is smaller than the ratio, the calculating the coordinate information of each navigation point according to the number of segments includes:
Updating the terminal information of the passing road section based on the segmentation number; determining the segment total length of the traffic road section according to the starting point information and the updated ending point information of the traffic road section; dividing the total segment length of the traffic road section according to the segment number, and calculating a plurality of navigation points in the traffic road section after dividing equally;
and the creation module is used for creating a navigation path comprising a plurality of target navigation points based on the starting navigation point and the ending navigation point.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to carry out the steps of the method according to any one of claims 1 to 5.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 5.
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