CN113624247A

CN113624247A - Navigation method and computer program product

Info

Publication number: CN113624247A
Application number: CN202110910215.7A
Authority: CN
Inventors: 王顺程; 方燕瑜; 林作鹏; 李磊云
Original assignee: Alibaba Singapore Holdings Pte Ltd
Current assignee: Alibaba Innovation Co
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2021-11-09

Abstract

The embodiment of the application provides a navigation method and a computer program product, wherein the navigation method comprises the following steps: acquiring a network positioning point of a navigated object in the process of navigation guidance based on a navigation route planned for the navigated object in advance; and judging whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning points and the navigation route or the matching relationship between the network positioning points. The embodiment of the application can improve the accuracy of navigation yaw judgment.

Description

Navigation method and computer program product

Technical Field

The embodiment of the application relates to the technical field of navigation, in particular to a navigation method and a computer program product.

Background

At present, application software supporting a map navigation function provides convenience for traveling of a navigated object, but is affected by hardware, environmental shielding (such as high buildings and viaducts) and other factors in a navigation process, and a navigation device installed with the application software can have a phenomenon that a GPS (Global Positioning System) signal or other navigation System (such as the beidou) satellite signal cannot be normally received for a long time, which can cause that the position of the navigated object cannot be located based on the GPS signal, and finally cause that a navigation service cannot normally work.

In order to enable the navigated object to continue using the navigation service when the navigation device cannot perform positioning by GPS, the prior art may enable the navigated object to enjoy a more precise navigation service in an area without GPS signals or with weak GPS signals by using a network positioning point (i.e., a location point of the navigated object obtained by the network positioning service). However, limited to the operation principle of navigating based on the network positioning point, if the navigated object does not travel according to the predetermined navigation route, if the navigated object deviates from the predetermined navigation route by a certain distance, the car logo on the navigation interface for indicating the position of the navigated object is stuck (fixed), and therefore, the navigation route planned for the navigated object based on the network positioning point during the yawing may not play an effective navigation role, resulting in poor experience of the navigated object using the application software with the navigation function.

Disclosure of Invention

In view of the above, embodiments of the present application provide a navigation solution to at least partially solve the above problems.

According to a first aspect of embodiments of the present application, there is provided a navigation method including: acquiring a network positioning point of a navigated object in the process of navigating and guiding based on a point navigation route planned for the navigated object in advance; and judging whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning points and the navigation route or the matching relationship between the network positioning points.

According to a second aspect of embodiments of the present application, there is provided a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the navigation method according to the first aspect.

According to a third aspect of embodiments of the present application, there is provided a computer program product including computer instructions for instructing a computing device to perform operations corresponding to the navigation method according to the first aspect.

According to the navigation scheme provided by the embodiment of the application, in a scene needing navigation guidance according to the network positioning points, whether the navigated object deviates from the navigation route or not is judged based on the matching relationship between the network positioning points and the pre-planned navigation route or the matching relationship between the network positioning points. In the solution of the embodiment of the application, the navigation route that is predetermined for the navigated object may include a plurality of navigation routes determined based on the network positioning point, and compared with a case that once the navigated object generates a certain distance with respect to the current route in the conventional solution, the car logo on the navigation interface for indicating the position of the navigated object is stuck (immobilized), a relatively accurate conclusion whether the navigated object is yawing can be obtained according to the related data of the navigated object through the solution of the embodiment of the application. Furthermore, under the condition that the yaw of the navigated object can be accurately judged, a new network positioning point-based navigation route can be planned for the navigated object in the following process, the car logo is positioned in the new navigation route, and corresponding navigation information is updated, so that an effective navigation route and navigation guidance are provided for the navigated object, and the experience of the navigated object using application software with a navigation function is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings can be obtained by those skilled in the art according to the drawings.

FIG. 1 is a flow chart of a navigation method in an embodiment of the present application;

FIG. 2 is a schematic diagram of an application scenario of a navigation method in an embodiment of the present application;

FIG. 3 is a flow chart of a navigation method in an embodiment of the present application;

FIG. 4 is a flowchart of a yaw determination based on a first strategy in an embodiment of the present application;

FIG. 5 is a flowchart of a yaw determination based on a second strategy in an embodiment of the present application;

FIG. 6 is a flowchart of a yaw determination based on a third strategy in an embodiment of the present application;

FIG. 7 is a graph of confidence distance as a function of radius of accuracy in an embodiment of the present application;

FIG. 8 is a flowchart of a yaw determination based on a fourth strategy in an embodiment of the present application;

FIG. 9 is a flowchart of a yaw determination based on a fifth strategy in an embodiment of the present application;

FIG. 10 is a flowchart illustrating a yaw determination based on a fifth strategy in an embodiment of the present application;

FIG. 11 is a flowchart illustrating a yaw determination based on still another strategy according to an embodiment of the present application;

FIG. 12 is a schematic structural diagram of a navigation device according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of an electronic device in an embodiment of the present application.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application shall fall within the scope of the protection of the embodiments in the present application.

The following further describes specific implementations of embodiments of the present application with reference to the drawings of the embodiments of the present application.

The application software supporting the map navigation function provides the network point positioning navigation function in order to solve the problem that navigation cannot be performed under the condition that GPS signals are lost in the driving navigation process of a navigated object. Namely, a network positioning point is obtained by combining wifi, base station and other information scanned by the navigation equipment with big data training, and navigation guidance is carried out through the network positioning point.

In the network point navigation process, if the navigated object does not travel according to the navigation planning route, but deviates from the navigation route to travel other routes, the problem that the car logo is stuck and normal navigation cannot be performed subsequently occurs. In order to solve the above problem, the embodiments of the present application provide a navigation function under the yaw condition of the nexus navigation on the basis of the nexus navigation. The navigation function in case of yaw relies on an accurate determination of whether the object being navigated is yawing. Therefore, the embodiment of the application provides a navigation scheme, which can improve the accuracy of yaw judgment under the network point navigation condition, and further improve the accuracy of network point navigation.

The following first describes the navigation method provided in the embodiments of the present application in detail.

Referring to fig. 1, fig. 1 is a flowchart of a navigation method in an embodiment of the present application, which is applied to a network point navigation scenario, and includes the following steps:

step S110, acquiring a network positioning point of the navigated object in the process of navigation guidance based on the navigation route planned for the navigated object in advance.

In the embodiment of the application, under the condition that the navigated object has navigation requirements, a navigation starting point and a navigation end point can be input in application software supporting a map navigation function, and a navigation route is planned for the navigated object according to the navigation starting point and the navigation end point. In the embodiment of the present application, the navigation route includes a plurality of (two or more) navigation routes based on network point positioning. Different from the conventional situation that only one navigation route based on network point positioning can be provided under the condition of losing the GPS signal, the navigation method and the navigation device in the embodiment of the application can provide a basis for the rescale navigation route of the navigated object and the effective navigation guidance under the condition that the navigated object deviates from a certain navigation route based on network point positioning. However, it should be noted that the navigation scheme of the embodiment of the present application is also applicable to yaw determination in the case of only a single navigation route based on network point positioning, so as to provide a more accurate conclusion whether to yaw.

The number of the network positioning point-based navigation routes planned for the navigated object (hereinafter, for convenience of description, the network positioning point-based navigation routes are simply referred to as network point navigation routes) may also be different according to different navigation starting points and navigation end points, for example, the number of the network point navigation routes planned for the navigated object may be generally 2 or 3, and the navigated object may navigate according to any one of the network point navigation routes.

In the process of navigating and driving the navigated object according to the network point navigation route, the navigation equipment can calculate the network location point according to the scanned information of wifi, base station and the like. The information such as the scanned wifi and the base station is continuously updated, so the network positioning point obtained by calculation is also continuously updated. Based on this, in the embodiment of the application, the current network positioning point is used to describe the network positioning point obtained by calculation according to the currently scanned wifi, base station and other information, and the current position of the navigated object can be determined according to the current network positioning point. Of course, the network anchor point that precedes the current network anchor point may be referred to as a historical network anchor point.

Step S120, judging whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning points and the navigation route or the matching relationship between the network positioning points.

In the embodiment of the application, in order to accurately judge whether the navigated object deviates from the navigation route at present, that is, yaw, the navigation method can judge whether the navigated object yaws based on the matching relationship between the network positioning points, for example, based on the matching relationship between the current network positioning point and the historical network positioning point; alternatively, whether the navigated object is yawing can be determined based on a matching relationship between the network positioning points and the network point navigation routes.

In a scene needing to be navigated and guided according to the network positioning points, the navigation method of the embodiment of the application judges whether the navigated object deviates from the navigation route or not based on the matching relationship between the network positioning points and the pre-planned navigation route or the matching relationship between the network positioning points. In the solution of the embodiment of the application, the navigation route that is predetermined for the navigated object may include a plurality of navigation routes determined based on the network positioning point, and compared with a case that once the navigated object generates a certain distance with respect to the current route in the conventional solution, the car logo on the navigation interface for indicating the position of the navigated object is stuck (immobilized), a relatively accurate conclusion whether the navigated object is yawing can be obtained according to the related data of the navigated object through the solution of the embodiment of the application. Furthermore, under the condition that the yaw of the navigated object can be accurately judged, a new network positioning point-based navigation route can be planned for the navigated object in the following process, the car logo is positioned in the new navigation route, and corresponding navigation information is updated, so that an effective navigation route and navigation guidance are provided for the navigated object, and the experience of the navigated object using application software with a navigation function is improved.

Referring to fig. 2, fig. 2 is a schematic view of an application scenario of the navigation method in the embodiment of the present application. The above process is exemplified below with reference to fig. 2.

In the process of navigating the navigated object through the navigation application, there may be a situation that the GPS signal is missing, and at this time, the navigation application may provide the navigation service for the navigated object based on the network positioning point. According to the navigation starting point and the navigation end point input by the navigated object, a plurality of network point navigation routes (such as route 1, route 2 and route 3) can be planned for the navigated object to be selected.

Assuming that the navigated object selects the route 1 and travels according to the route 1, the route 1 is the current network point navigation route. During the driving process of the navigated object, wifi, a base station and the like may exist on the route, the mobile terminal may scan the wifi and the base station, and calculate a network location point according to the scanned wifi and the base station, where the network location point may be a point outside the route 1. And determining the current position of the navigated object according to the network positioning point and the route 1, and displaying the car logo at the position.

It can be understood that the navigated object may have yaw behavior due to various reasons during the driving process, and in order to accurately determine whether the navigated object has yaw behavior, the matching relationship between the network positioning points may be used, for example, the yaw determination may be performed based on the relationship between the current network positioning point and the historical network positioning point; alternatively, yaw determination and the like may be performed based on a matching relationship between the network positioning point and the network point navigation route. Therefore, more scenes can be covered as much as possible, the accuracy of yaw judgment is improved, and a basis is provided for the rules of subsequent navigation routes and navigation guidance.

Referring to fig. 3, fig. 3 is a flowchart of a navigation method in an embodiment of the present application, which may include the following steps:

step S310, in the process of navigation guidance based on the navigation route planned for the navigated object in advance, the network positioning point of the navigated object is obtained.

It should be noted that this step is the same as step S110 in the embodiment of fig. 1, and specific reference may be made to the description in the embodiment of fig. 1, which is not repeated herein.

Step S320, obtaining a yaw judgment result according to the network positioning point and/or the navigation route and the ith yaw judgment strategy of the plurality of yaw judgment strategies.

For convenience of explanation, the yaw determination strategy is divided into a plurality of types in the present embodiment, including: the first policy for performing the determination according to the matching relationship between the network anchor points may be, for example, implemented as: and carrying out yaw judgment based on the position relation between the current network positioning point and the historical network positioning point. Dividing the yaw judgment based on the matching relation between the network positioning point and the navigation route into: a second strategy of performing yaw judgment based on the distance between the network positioning point and the corresponding matching point on the navigation route; a third strategy of performing yaw judgment based on the distance between the network positioning point and the corresponding matching point on the navigation route and the reliability distance of the network positioning point; a fourth strategy of performing yaw judgment based on the distances between the current network positioning point and the historical network positioning point and the corresponding matching points on the navigation route respectively; and carrying out a fifth strategy of yaw judgment based on the distance between the current network positioning point and the corresponding matching point in the navigation route, the type of the current network positioning point and the type of the historical network positioning point.

The network positioning points comprise current network positioning points and historical network positioning points which are calculated according to scanned wifi, base station and other information; the matching point is determined according to a projection point of the network positioning point on the navigation route, and can be a projection point of the network positioning point on the navigation route, or other points near the projection point, and the like, and can be determined according to the actual situation of the navigation route; the credibility distance of the network locating point represents the maximum distance between the network locating point and the corresponding matching point, and the smaller the credibility distance is, the smaller the maximum distance between the network locating point and the corresponding matching point is; the greater the confidence distance, the greater the maximum distance between the network location point and the corresponding matching point. The type of the network positioning point can represent the precision grade of the network positioning point, and the precision of the obtained network positioning point is usually different by using different positioning algorithms. Therefore, the network positioning points can be divided into different accuracy levels according to the accuracy of the network positioning points. Therefore, the yaw judgment method and the device can preferentially use the network positioning point with higher precision to judge the yaw so as to improve the accuracy of the yaw judgment.

In an optional implementation manner, a plurality of yaw determination strategies may be sorted in advance, and then, according to a network positioning point and a navigation route, whether a navigated object is currently yawing is determined according to priorities of the plurality of yaw determination strategies. In one alternative, the priority may be, in order from high to low: the policy management system comprises a first policy, a second policy, a third policy, a fourth policy and a fifth policy. But not limited thereto, in practical applications, the priority order can be set as appropriate by those skilled in the art according to actual needs. Of course, only some of the strategies may be selected for use, or a combination of additional strategies based on these strategies may be used within the scope of the present application. Based on this, the initial value of i may be set to 1, sequentially incremented, until the last policy.

As shown in fig. 3, a yaw determination may be performed through a first strategy, and if the yaw determination result is that the navigated object is yawing, step S330 is performed; alternatively, if the yaw determination result is that the navigated object is not yawing, step S340 is performed. It should be noted that, in the yaw judgment in the embodiment of the present application, the yaw judgment result obtained based on each yaw judgment policy may also be in other situations, that is, whether the navigated object is yawing cannot be determined, at this time, it may be judged whether the currently used yaw judgment policy is the last one, that is, step S350 is executed, and if the currently used yaw judgment policy is not the last one, step S360 is executed, that is, the yaw judgment is continued through the next yaw judgment policy; if the currently used yaw determination strategy is the last one, the process ends.

In step S330, the navigated object yaw is determined. And ending the judging process.

In step S340, it is determined that the navigated object is not yawing. And ending the judging process.

In this example, the flow is terminated when the target to be navigated is determined to be yawing or not yawing, but in some cases, the accuracy of the previous determination may be ensured by re-determination, and in such cases, the determination may be further made based on another yawing determination strategy. The judgment result is determined as in the case where both of the judgments in two (or more) consecutive times are both off-course or both are not off-course.

In step S350, it is determined whether the value of the yaw determination policy i is equal to Z.

Wherein i represents a serial number of a yaw judgment strategy, an initial value is 1, and the first strategy corresponds to the first strategy; z represents the total number of yaw decision strategies. For example, the yaw determination strategy of the embodiment of the present application includes: the first strategy, the second strategy, the third strategy, the fourth strategy and the fifth strategy are five strategies in total, correspondingly, the value of Z is 5, and i is sequentially assigned to 1, 2, 3, 4 and 5.

Step S360, the value of i is added by 1. And returns to step S320 for execution.

By the method, the yaw judging process can be sequentially executed by the plurality of yaw judging strategies, so that whether the navigated object is currently yawed or not can be judged in a plurality of different dimensions, and the accuracy of yaw judging is improved. For example, if the yaw determination result obtained according to the first strategy is other conditions, that is, it cannot be determined whether the navigated object is currently yawing, the determination may be continued through the second strategy, and if it cannot be determined whether the navigated object is currently yawing according to the second strategy, the determination may be continued through the third strategy, and so on, to finally determine whether the navigated object is yawing. Note that the following may be present: and determining whether the navigated object is yawing currently by the last strategy, wherein at the moment, the next network positioning point can be obtained, and the process is continuously executed by the next network positioning point to judge whether the navigated object is yawing.

Hereinafter, a method of performing yaw determination based on the above-described yaw determination strategy will be described in detail in order.

Referring to fig. 4, fig. 4 is a flowchart illustrating a yaw determination based on a first strategy according to an embodiment of the present application, which may include the following steps:

step S410, in the process of navigation guidance based on the navigation route planned for the navigated object in advance, the current network positioning point and the historical network positioning point of the navigated object are obtained.

When implemented in detail, can include: acquiring a current network positioning point; and acquiring historical network positioning points within a set time length from the time difference of the positioning time of the current network positioning point. The number of the historical network anchor points can be one or more.

Wherein, the set time length can be set by the person skilled in the art according to the actual requirement. It will be appreciated that the shorter the set time period, the more referential the historical network anchor points are, but if the set time period is too short, the repetitive network anchor points may not be filtered, and if the set time period is too long, the navigated object may have traveled a nearby road. Therefore, the set time period may be set to a relatively moderate value, for example, 1 minute or the like. Of course, the set time period may be set to other suitable values, and is not limited herein.

Step S420, judging whether the position of the current network positioning point is matched with the position of the historical network positioning point, and if at least one position is matched, determining that the navigated object does not deviate from the navigation route.

In this embodiment, based on the first policy, whether the navigated object is yawing is determined through the matching relationship between the network positioning points. Specifically, the present embodiment compares the position of the current network anchor point of the navigated object with the position of the historical network anchor points, and if there is at least one identical position, it may be determined that the navigated object is not yawing. Of course, the term "identical" is also to be understood as meaning within a relatively close range of positions, i.e. with relatively small differences in position, such as within 0.1M or 0.2M, etc., and does not necessarily mean exactly equal.

It should be noted that if the position of the current network anchor point is the same as the position of the historical network anchor point, it indicates that the navigated object may not be traveling forward. If the position of the current network positioning point is the same as the position of the previous or previous two historical network positioning points, the navigation object does not move currently. If the position of the current network positioning point is different from the position of the previous historical network positioning point but is the same as the position of the previous historical network positioning point, the navigation object may be returned currently. The above situations all indicate that the navigated object is still on the current network point navigation route, i.e. the navigated object is not currently yawing.

And if the position of the current network positioning point is different from the position of the historical network positioning point, the navigated object may be drifted currently.

Of course, in order to further confirm the judgment to ensure the judgment accuracy, the yaw judgment can be continued according to other yaw judgment strategies.

The judgment mode based on the relation between the network positioning points is simple in judgment and low in realization cost besides effective yaw judgment.

Referring to fig. 5, fig. 5 is a flowchart illustrating a yaw determination based on a second strategy according to an embodiment of the present application, which may include the following steps:

step S510, acquiring a network positioning point of the navigated object during the process of navigation guidance based on the navigation route planned for the navigated object in advance.

When the yaw determination is performed based on the second policy, the current network localization point of the navigated object may be mainly acquired.

Step S520, acquiring a matching point of the current network positioning point on the navigation route; and judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route.

In the second strategy of making a yaw determination based on the distance between the network location point and the matching point on the navigation route, the number of the navigation routes includes a plurality.

In one possible approach, the plurality of navigation routes includes a main navigation route (nexus navigation route) and at least one alternative navigation route (nexus navigation route), and the main navigation route is a navigation route currently used by the navigated object. Judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route comprises: acquiring a main distance between a current network positioning point and a matching point on a main navigation route; acquiring an alternative distance between a current network positioning point and a matching point on an alternative navigation route; if all the alternative distances are greater than the main distance and the alternative distances are greater than a preset first distance threshold value, determining that the navigated object does not yaw relative to the main navigation route; otherwise, it is determined that the navigated object is yawing relative to the primary navigation route. The first distance threshold value can be set by a person skilled in the art according to practical situations, so as to effectively distinguish whether the distance of the navigated object relative to a certain navigation route is enough to indicate that the object is yawing. In this way, it can be efficiently determined whether the navigated object is yawing relative to the primary navigation route.

In some cases, however, the navigated object may have yawed relative to a network point navigation route, and may have been rescaled and moved into another network point navigation route, but may still have yawed again relative to the newly moved-in network point navigation route. For this purpose, in another possible manner, determining whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route may include: obtaining the distances between the current network positioning point and the corresponding matching points on the navigation route to obtain a plurality of distances; taking a navigation route corresponding to the maximum distance value in the multiple distances as a target network point navigation route; determining that the navigated object is yawing relative to the target navigation route. Thereby, the navigation route can be re-planned for the re-drifted navigated object, and the alternative navigation route can be updated based thereon. Of course, the navigation route of the target network point can also be the main route, and the effect of determining whether the navigated object deviates from the main navigation route can also be achieved by the method.

For example, assume that the nexus navigation route includes: route 1, route 2 and route 3, if route 1 is a main route, route 2 and route 3 are alternative routes, if the distance between the current network positioning point and the matching point of route 1 is maximum, the navigated object can be determined to yaw with respect to the main route; if the current network location point is the greatest distance from the matching point of route 2 or 3, it may be determined that the navigated object is yawing for the alternative route. Of course, instead of comparing the plurality of distances, the plurality of distances may be compared with a preset distance (e.g., 100 meters, etc.), respectively. If greater than the preset distance, it may be determined that the navigated object is yawing for the route.

Therefore, by the method, the yaw condition of the navigated object aiming at different network point navigation routes can be determined.

Referring to fig. 6, fig. 6 is a flowchart illustrating a yaw determination based on a third strategy according to an embodiment of the present application, which may include the following steps:

step S610, in the process of navigation guidance based on the navigation route planned for the navigated object in advance, acquiring the network positioning point of the navigated object.

When the yaw determination is performed based on the third policy, the current network localization point of the navigated object may be mainly acquired.

Step S620, acquiring a matching point of the current network positioning point on the navigation route; and judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route and the reliability distance of the current network positioning point.

During implementation, a matching point of a current network locating point on a navigation route can be obtained, and a reliability distance of the current network locating point is obtained, wherein the reliability distance is determined according to the precision radius of the current network locating point; acquiring the distance between the current network positioning point and a matching point on a navigation route; and if the distance is greater than the credibility distance of the current network positioning point, determining that the navigated object is yawing.

And the credibility distance represents the maximum distance between the current network positioning point and the corresponding matching point. And if the distance between the current network positioning point and the corresponding matching point of the current network positioning point in the network point navigation route is greater than the reliability distance of the current network positioning point, indicating that the navigated object is currently drifted.

In an alternative embodiment, the confidence distance may be determined by: and if the precision radius of the current network positioning point is smaller than or equal to the first precision radius a (such as 200 meters and the like), taking the first preset credibility distance A (such as 200 meters) as the credibility distance of the current network positioning point. And if the precision radius of the current network positioning point is greater than the first precision radius and is less than or equal to the second precision radius b (such as 2000 meters and the like), determining the credibility distance of the current network positioning point according to a preset algorithm. And if the precision radius of the current network positioning point is larger than a second precision radius, taking a second preset credibility distance B (for example, 500 meters) as the credibility distance of the current network positioning point, wherein the second credibility distance is larger than the first credibility distance.

An optional preset algorithm can be expressed as the following formula:

accordingly, the confidence distance may be expressed as:

wherein d represents the precision radius of the current network locating point, the smaller the precision radius is, the more accurate the position of the current network locating point is, f (d) represents the reliability distance, a represents the first preset reliability distance, and B represents the second preset reliability distance. For example, when a has a value of 200, B has a value of 2000, a has a value of 200, and B has a value of 500, a graph of the confidence distance as a function of the radius of accuracy may be seen in fig. 7. It can be seen that the reliability distance is in a limited range and cannot be too large or too small along with the change of the precision radius, so that the accuracy of yaw judgment can be improved.

Referring to fig. 8, fig. 8 is a flowchart illustrating a yaw determination based on a fourth strategy according to an embodiment of the present application, which may include the following steps:

step S810, in the process of navigation guidance based on the navigation route planned for the navigated object in advance, acquiring the network positioning point of the navigated object.

When the yaw judgment is carried out according to the fourth strategy, the current network positioning point can be obtained; and acquiring historical network positioning points within a set time length from the time difference of the positioning time of the current network positioning point. The set time period can be set by a person skilled in the art according to actual needs, and may be, for example, 1 minute.

Step S820, acquiring matching points of the current network point and the historical network point on the navigation route; and judging whether the navigated object deviates from the navigation route according to the distances between the current network positioning point and the historical network positioning point and the corresponding matching points on the navigation route.

In the embodiment of the present application, if the distance between the current network positioning point and the corresponding matching point in the network point navigation route is larger, for example, larger than the first distance threshold (which may be 50 meters, etc.), it indicates that the navigated object may currently yaw, and therefore, the yaw determination may be further performed in combination with the historical network positioning point.

In a feasible manner, the determining whether the navigated object deviates from the navigation route according to the distances between the current network positioning point and the historical network positioning point and the corresponding matching points on the navigation route may be implemented as follows: obtaining the distance between the current network positioning point and the corresponding matching point on the navigation route; if the distance is larger than a first distance threshold value, determining a historical network positioning point sequence according to the time sequence of a plurality of historical network positioning points; determining the distance between each historical network positioning point in the historical network positioning point sequence and a corresponding matching point on the navigation route to obtain a distance sequence; and if the number of the distances in the distance sequence which are greater than the first distance threshold value is greater than a first preset number and the distance values are sequentially increased, determining that the navigated object is yawing. The first distance threshold and the first preset number can be set by those skilled in the art according to actual situations.

In one possible approach, determining a sequence of historical network anchor points from a timing of a plurality of historical network anchor points may include: determining the distance between each historical network positioning point in the plurality of historical network positioning points and the corresponding matching point in the navigation route; determining a distance larger than a first distance threshold value and a historical network positioning point corresponding to the distance from the plurality of historical network positioning points; and determining a historical network positioning point sequence according to the determined time sequence of the historical network positioning points which are larger than the first distance threshold. The obtained historical network positioning point sequence can better represent the historical positioning data and the situation of the navigated object.

Based on this, as described above, when the distance between the current network positioning point and the corresponding matching point in the network point navigation route is greater than the first distance threshold, it indicates that the navigated object may yaw currently, and further, the yaw determination may be performed by further combining with the historical network positioning points. For each historical network anchor point, a distance between the historical network anchor point and its corresponding matching point in the network point navigation route may be determined. And the distances corresponding to the historical network positioning point sequence are sequenced according to time to form a distance sequence.

If more of the distances in the distance sequence are greater than a first distance threshold (e.g., may be 50 meters, etc.), indicating that the historical network locations are farther from the waypoint navigation route, the navigated object may not be traveling on the waypoint navigation route. Further, if a plurality of distances greater than the first distance threshold are sequentially incremented, indicating that the navigated object is currently further from the waypoint navigation route, the navigated object may be determined to be currently off-course. The first preset number may be set according to actual situations, and may be 4, 5, or 6, for example.

As can be seen, in this embodiment, the yaw determination is performed according to the distance between the current network positioning point and the corresponding matching point in the network point navigation route, and the distance between the historical network positioning point and the corresponding matching point in the network point navigation route, that is, the yaw determination may be performed based on the dimensionality of the network positioning point sequence, so as to improve the accuracy of the yaw determination.

Referring to fig. 9, fig. 9 is a flowchart of a yaw determination based on a fifth strategy in the embodiment of the present application. It should be noted that the fifth strategy includes multiple sub-determination rules, but the multiple sub-determination rules all perform yaw determination based on the distance between the current network positioning point and the corresponding matching point in the navigation route, the type of the current network positioning point, and the type of the historical network positioning point. In this embodiment, first, one of the sub-determination rules is described, and the yaw determination based on the sub-determination rule may include the following steps:

step S910, in the process of navigation guidance based on the navigation route planned for the navigated object in advance, the network positioning point of the navigated object is obtained.

In this embodiment, a current network location point may be obtained; and acquiring historical network positioning points within a set time length from the time difference of the positioning time of the current network positioning point. The set time period can be set by a person skilled in the art according to actual needs, and may be, for example, 1 minute.

Step S920, judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, the type of the current network positioning point and the type of the historical network positioning point and the first sub-judgment rule.

Wherein, judging whether the navigated object deviates from the navigation route according to the first sub-judgment rule can be realized as follows: if the type of the current network positioning point is the target type, determining the distance between the current network positioning point and a corresponding matching point on the navigation route; if the distance is larger than a second distance threshold value, determining the distance between the historical network positioning point and a corresponding matching point on the navigation route to obtain a plurality of distances; and if the number of the historical network positioning points with the types of targets in the historical network positioning points corresponding to the distances greater than the second distance threshold value in the plurality of distances is greater than a second preset number, determining that the navigated object is yawing. Wherein, the second distance threshold and the second preset number can be set properly by those skilled in the art according to actual requirements.

The target type may be set by a person skilled in the art according to actual requirements, but in order to improve the yaw determination accuracy, the target type may be a network anchor point type with higher positioning accuracy, for example, a network anchor point determined based on an LM algorithm, and the like. As mentioned above, the accuracy radiuses corresponding to different network positioning points may be different, and the network positioning points may be classified according to their accuracy. The accuracy radius of the network point obtained based on the positioning algorithm corresponding to the target type is smaller than the accuracy radius threshold (for example, may be 5 meters, 10 meters, etc.). That is, the accuracy of the network anchor point of the target type is high. In addition, because the coverage range of wifi is smaller, the coverage range of the base station is larger, and therefore, the network positioning point calculated based on wifi information is higher in precision compared with the network positioning point calculated based on base station information. And a network positioning point with higher precision is used to improve the accuracy of yaw judgment.

Similar to the embodiment of fig. 8, if the distance between the current network positioning point with higher precision and the corresponding matching point in the network point navigation route is larger, for example, larger than the second distance threshold (which may be 50 meters, etc.), it indicates that the navigated object may be currently yawing, and therefore, the yawing determination may be further performed in combination with the historical network positioning points.

For each historical network anchor point, the distance between the historical network anchor point and the corresponding matching point of the historical network anchor point in the network point navigation route can be determined, so that a plurality of distances can be obtained.

And if the number of the target types in the historical network positioning points corresponding to the distances greater than the second distance threshold value in the plurality of distances is greater than a second preset number, determining the current yaw of the navigated object.

In this embodiment, if there are a second preset number (for example, 4, 5, or 6, etc.) of historical network positioning points, and the distances corresponding to the second preset number of historical network positioning points are greater than a second distance threshold (for example, 50 meters), it indicates that the historical network positioning points are farther from the network point navigation route, and the navigated object may not travel on the network point navigation route. Further, if the types of the second preset number of historical network positioning points are target types, it indicates that the accuracy of the historical network positioning points is higher, that is, it is determined by the network positioning points with higher accuracy that the navigated object may not currently drive on the network point navigation route, so that the current yaw of the navigated object can be determined.

Therefore, the yaw judgment is carried out by using the network positioning points with higher precision, and the accuracy of the yaw judgment can be improved.

Referring to fig. 10, fig. 10 is a flowchart illustrating a yaw determination based on a fifth strategy according to an embodiment of the present application. In this embodiment, another sub-determination rule in the fifth strategy is described, and the yaw determination based on the sub-determination rule may include the following steps:

step S1010, acquiring a network positioning point of the navigated object in the process of navigation guidance based on the navigation route planned for the navigated object in advance.

In this embodiment, a current network location point may be obtained; and acquiring historical network positioning points within a set time length from the time difference of the positioning time of the current network positioning point. The set time length is a time length corresponding to the effective time range of the network positioning signal, that is, the time range of using the network positioning point, which may be, for example, 90 seconds, 2 minutes, and the like.

Step S1020, determining whether the navigated object deviates from the navigation route according to the second sub-determination rule, according to the distance between the current network positioning point and the corresponding matching point on the navigation route, the type of the current network positioning point and the type of the historical network positioning point.

Wherein, judging whether the navigated object deviates from the navigation route according to the second sub-judgment rule can be realized as follows: if the types of continuous M historical network positioning points in the plurality of historical network positioning points are target types, determining the distances between the M historical network positioning points and corresponding matching points on the current navigation route to obtain M first distances, wherein M is an integer greater than 1; determining the distances between the M historical network positioning points and corresponding matching points on other navigation routes except the current navigation route to obtain M second distances; and determining whether the navigated object is off-course relative to the current navigation route according to the M first distances and the M second distances.

In the embodiment of the application, if the types of the continuous M historical network positioning points in the plurality of historical network positioning points are target types, the fact that the precision of the continuous M historical network positioning points is high is shown. At this time, the yaw determination may be performed based on the M historical network anchor points with higher accuracy. Similar to the method shown in fig. 5, a comprehensive judgment can be made based on a plurality of network point navigation routes to determine whether the navigated object is currently yawing. That is, the yaw determination may be performed according to the distance between the historical network positioning point and its corresponding matching point in each network point navigation route.

The first distance represents the distance between the historical network positioning point and the corresponding matching point of the historical network positioning point in the current network point navigation route, and the second distance represents the distance between the historical network positioning point and the corresponding matching point of the historical network positioning point in other network point navigation routes. It is understood that the smaller the first distance and the second distance, the less likely the navigated object is to yaw, and the larger the first distance and the second distance, the more likely the navigated object is to yaw. Here, the first distance and the second distance may be compared, and if the first distance is larger and the second distance is smaller, it may be determined that the navigated object navigates the course off course for the current network point.

In an alternative embodiment, if the M first distances are each greater than N times the corresponding second distance, it may be determined that the first distance is greater and the second distance is less. Or, if the M first distances are all greater than N times the corresponding second distances, and the first distances are greater than the preset lowest distance, it may be determined that the first distances are greater and the second distances are smaller. Wherein N is an integer greater than 2.

In yet another alternative embodiment, if the M first distances are all greater than the third distance threshold (e.g., may be 100 meters, 120 meters, etc.), and the M second distances are all less than the fourth distance threshold (e.g., may be 10 meters, 15 meters, etc.), it may also be determined that the first distances are greater, and the second distances are smaller. It is determined that the navigated object is yawing the current network point navigation route, wherein the third distance threshold is greater than the fourth distance threshold.

Therefore, the yaw judgment method and the device have the advantages that the network positioning points with high precision are used, and the yaw judgment is carried out by combining the navigation routes of the network points, so that the accuracy of the yaw judgment can be improved.

Referring to fig. 11, fig. 11 is a flowchart illustrating a yaw determination based on a fifth strategy in the embodiment of the present application, and in this embodiment, a description is given of a sub-determination rule in the fifth strategy, and the yaw determination based on the sub-determination rule may include the following steps:

step S1110, in the process of performing navigation guidance based on the navigation route planned for the navigated object in advance, acquiring a network positioning point of the navigated object.

Step S1020, according to the distance between the current network positioning point and the corresponding matching point on the navigation route, the type of the current network positioning point and the type of the historical network positioning point, determining whether the navigated object deviates from the navigation route according to a third sub-determination rule.

Wherein, judging whether the navigated object deviates from the navigation route according to the third sub-judgment rule can be realized as follows: if the plurality of historical network positioning points comprise preset type historical network positioning points, determining the distance between the preset type historical network positioning points and the matching points of the navigation route, wherein the preset type historical network positioning points are positioning points determined through one or more positioning algorithms, and the algorithm accuracy of the positioning algorithms meets the set standard; and if the distance is greater than a fifth distance threshold value, and S continuous historical network positioning points exist in the historical network positioning points of the preset type, and the correlation coefficient between the S target historical network positioning points is greater than or equal to a preset correlation value, determining that the navigated object yaws, wherein S is an integer greater than 1.

In the embodiment of the present application, the preset type may include one or more types, each type may correspond to a different positioning algorithm, and of course, the preset type may also include the aforementioned target type. Therefore, the yaw judgment method and the device can be used for judging the yaw based on more types of network positioning points.

It is assumed that the preset type includes three types, the aforementioned target type, the first type and the second type, and the accuracy is sequentially reduced. And if the historical network positioning point is of any type, selecting the historical network positioning point for yaw judgment.

The number of the history network positioning points which are usually selected can be multiple, and the distance between each history network positioning point and the matching point of the network point navigation route is calculated, and the larger the distance is, the more likely the navigated object is to yaw.

If the distance is greater than a fifth distance threshold (e.g., may be 150, etc.), it indicates that the navigated object may be yawing. Further, if there are S consecutive historical network anchor points, a correlation coefficient between the S historical network anchor points may be calculated, for example, a pearson correlation coefficient between the S historical network anchor points may be calculated, and the like. If the correlation coefficient between the S historical network anchor points is greater than or equal to a preset correlation value (for example, may be 0.8, 0.9, etc.), it indicates that the correlation between the S historical network anchor points is high. It can be understood that if the distances between the S historical network positioning points and the matching points of the navigation routes of the network points are larger, and the correlations of the S historical network positioning points are higher, the yaw of the navigated object can be determined at this time.

According to the method, whether the navigated object is currently in yaw or not is judged through various different yaw judging strategies, most scenes can be covered, and therefore the yaw judging accuracy is improved.

However, since the accuracy of the network location point is unstable, the deviation may be several tens of meters or several kilometers. Typically, there will be a ten second or so interval between sampled adjacent network anchor points during which the navigated object may move within the range of 100M-200M. If the accuracy of the sampled network positioning points is good, the position variation range of the navigated object should also be in the range of 100M-200M or near this range. However, if the position variation range of the navigated object greatly exceeds the range, it indicates that the accuracy of the network positioning point sampled once is very poor in the two sampling, and the network positioning point needs to be filtered in order to further improve the accuracy of yaw judgment.

For this reason, in an alternative embodiment, after determining the current yaw of the navigated object, the yaw determination result may be further modified to reduce the possibility of erroneous determination. Specifically, if it is determined that the navigated object is yawing, it is further determined whether a distance between the current network anchor point and the previous historical network anchor point adjacent thereto is greater than a network point jump distance (e.g., 350 meters, 400 meters, etc.), or whether an angle between a connection line between the current network anchor point and the previous historical network anchor point adjacent thereto and the network point navigation route is greater than a signal movement angle (e.g., 60 °, 70 °, etc.). If the judgment result is yes, the network positioning point with poor precision exists, so that the network positioning point has overlarge jumping performance, and the situation that the network positioning point jumps may occur. Subsequently, the judgment can be continued based on one or more of the judgment strategies to obtain an accurate result, so that the accuracy of the yaw judgment can be improved.

The navigation method of the present embodiment may be performed by any suitable electronic device having data processing capabilities, including but not limited to: server, mobile terminal (such as mobile phone, PAD, etc.), PC, etc.

Corresponding to the above method embodiment, an embodiment of the present application further provides a navigation device, which is applied to a network point navigation scenario, and referring to fig. 12, the navigation device includes:

the data acquisition module 1210 is used for acquiring a network positioning point of a navigated object in the process of navigation guidance based on a navigation route planned for the navigated object in advance; the yaw determining module 1220 is configured to determine whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning points and the navigation route, or the matching relationship between the network positioning points.

In an optional embodiment, the data obtaining module 1210 is configured to obtain a current network location point during a process of performing navigation guidance based on a navigation route planned for a navigated object in advance; and acquiring historical network positioning points of which the time difference with the positioning time of the current network positioning point is within a set time length.

In an alternative embodiment, the yaw determining module 1220, according to the matching relationship between the network positioning points, determining whether the navigated object deviates from the navigation route includes: and judging whether the position of the current network positioning point is matched with the position of the historical network positioning point, and if at least one position is matched, determining that the navigated object does not deviate from the navigation route.

In an optional implementation manner, the network positioning point includes a current network positioning point, and the determining, by the yaw determining module 1220, whether the navigated object deviates from the navigation route according to a matching relationship between the network positioning point and the navigation route includes: acquiring a matching point of the current network positioning point on the navigation route; and judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route.

In an alternative embodiment, the navigation route includes a main navigation route and at least one alternative navigation route, the main navigation route is a navigation route currently used by the navigated object; the yaw determining module 1220, according to the distance between the current network positioning point and the corresponding matching point on the navigation route, determining whether the navigated object deviates from the navigation route includes: acquiring a main distance between the current network positioning point and a matching point on the main navigation route; acquiring an alternative distance between the current network positioning point and a matching point on the alternative navigation route; if all the alternative distances are greater than the main distance and the alternative distances are greater than a preset first distance threshold value, determining that the navigated object does not yaw relative to the main navigation route; otherwise, determining that the navigated object is yawing relative to the primary navigation route.

In an alternative embodiment, the yaw determining module 1220, determining whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, includes: obtaining the distances between the current network positioning point and the corresponding matching points on the navigation route to obtain a plurality of distances; taking a navigation route corresponding to the maximum distance value in the multiple distances as a target network point navigation route; determining that the navigated object is yawing relative to the target navigation route.

In an alternative embodiment, the yaw determining module 1220, determining whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, includes: obtaining a reliability distance of the current network positioning point, wherein the reliability distance is determined according to the precision radius of the current network positioning point; acquiring the distance between the current network positioning point and a matching point on a navigation route; and if the distance is greater than the reliability distance of the current network positioning point, determining that the navigated object is yawing.

In an alternative embodiment, the yaw determining module 1220, according to the matching relationship between the network positioning point and the navigation route, determining whether the navigated object deviates from the navigation route includes: acquiring matching points of the current network point and the historical network point on the navigation route; and judging whether the navigated object deviates from the navigation route according to the distances between the current network positioning point and the historical network positioning point and corresponding matching points on the navigation route.

In an optional implementation manner, the determining, by the yaw determining module 1220, whether the navigated object deviates from the navigation route according to the distances between the current network positioning point and the historical network positioning point and the corresponding matching points on the navigation route respectively includes: acquiring the distance between the current network positioning point and a corresponding matching point on a navigation route; if the distance is larger than a first distance threshold value, determining a historical network positioning point sequence according to the time sequence of a plurality of historical network positioning points; determining the distance between each historical network positioning point in the historical network positioning point sequence and a corresponding matching point on a navigation route to obtain a distance sequence; and if the number of the distances in the distance sequence which are greater than the first distance threshold value is greater than a first preset number and the distance values are sequentially increased, determining that the navigated object is yawing.

In an optional implementation, the determining, by the yaw determining module 1220, a historical network anchor point sequence according to a time sequence of a plurality of historical network anchor points includes: determining the distance between each historical network positioning point in the plurality of historical network positioning points and the corresponding matching point in the navigation route; determining a distance larger than the first distance threshold value and a historical network positioning point corresponding to the distance from the distances corresponding to the historical network positioning points; and determining a historical network positioning point sequence according to the determined time sequence of the historical network positioning points which are greater than the first distance threshold.

In an optional implementation manner, the network positioning point includes a current network positioning point, and the determining, by the yaw determining module 1220, whether the navigated object deviates from the navigation route according to a matching relationship between the network positioning point and the navigation route includes: acquiring a matching point of the current network positioning point on the navigation route; and judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, the type of the current network positioning point and the type of the historical network positioning point.

In an optional implementation manner, the determining, by the yaw determining module 1220, whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, the type of the current network positioning point and the type of the historical network positioning points includes: if the type of the current network positioning point is a target type, determining the distance between the current network positioning point and a corresponding matching point on a navigation route; if the distance is larger than a second distance threshold value, determining the distance between the historical network positioning point and a corresponding matching point on a navigation route to obtain a plurality of distances; and if the number of the historical network positioning points with the type of the target type in the historical network positioning points corresponding to the distance greater than the second distance threshold value in the plurality of distances is greater than a second preset number, determining that the navigated object is yawing.

In an optional implementation manner, the set time length is a time length corresponding to a valid time range of the network positioning signal; the yaw determining module 1220, according to the distance between the current network positioning point and the corresponding matching point on the navigation route, the type of the current network positioning point and the type of the historical network positioning point, determining whether the navigated object deviates from the navigation route includes: if the types of continuous M historical network positioning points in the plurality of historical network positioning points are target types, determining the distances between the M historical network positioning points and corresponding matching points on the current navigation route to obtain M first distances, wherein M is an integer greater than 1; determining the distance between M historical network positioning points and corresponding matching points on other navigation routes except the current navigation route to obtain M second distances; and determining whether the navigated object is off course relative to the current navigation route according to the M first distances and the M second distances.

In an alternative embodiment, the yaw determining module 1220 determining whether the navigated object is yawing relative to the current navigation route according to M of the first distances and M of the second distances includes: determining that the navigated object is yawing relative to the current navigation route if the M first distances are all greater than N times the corresponding second distances, where N is an integer greater than 2, or if the M first distances are all greater than a third distance threshold and the M second distances are all less than a fourth distance threshold, where the third distance threshold is greater than the fourth distance threshold.

In an optional implementation manner, the set time length is a time length corresponding to a valid time range of the network positioning signal; the yaw determining module 1220, according to the distance between the current network positioning point and the corresponding matching point on the navigation route, the type of the current network positioning point and the type of the historical network positioning point, determining whether the navigated object deviates from the navigation route includes: if the plurality of historical network positioning points comprise preset type historical network positioning points, determining the distance between the preset type historical network positioning points and the matching points of the navigation route, wherein the preset type historical network positioning points are positioning points determined through one or more positioning algorithms, and the algorithm accuracy of the positioning algorithms meets the set standard; and if the distance is greater than a fifth distance threshold value, and S continuous historical network positioning points exist in the historical network positioning points of the preset type, and the correlation coefficient between the S target historical network positioning points is greater than or equal to a preset correlation value, determining that the navigated object yaws, wherein S is an integer greater than 1.

In an optional implementation manner, the navigation device of this embodiment further includes: the correction module is used for determining whether the distance between the current network positioning point and the previous history network positioning point adjacent to the current network positioning point is greater than the network point jumping distance if the navigated object is determined to yaw; or, determining whether the angle between the connecting line between the current network positioning point and the previous historical network positioning point adjacent to the current network positioning point and the navigation route is greater than a signal movement angle; if so, determining that the current network positioning point is a jumping network point, and correcting the yaw state of the navigated object to be non-yaw.

The navigation device of this embodiment is used to implement the corresponding navigation method in the foregoing method embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described herein again. In addition, the functional implementation of each module in the navigation device of this embodiment can refer to the description of the corresponding part in the foregoing method embodiment, and is not repeated herein.

Referring to fig. 13, fig. 13 is a schematic structural diagram of an electronic device in an embodiment of the present application, and the specific embodiment of the present application does not limit a specific implementation of the electronic device.

As shown in fig. 13, the electronic device may include: a processor (processor)1302, a communication Interface (Communications Interface)1304, a memory (memory)1306, and a communication bus 1308.

Wherein:

the processor 1302, communication interface 1304, and memory 1306 communicate with each other via a communication bus 1308.

A communication interface 1304 for communicating with other electronic devices or servers.

The processor 1302 is configured to execute the program 1310, and may specifically execute the relevant steps in the above navigation method embodiment.

In particular, the program 1310 may include program code that includes computer operating instructions.

The processor 1302 may be a central processing unit CPU or an application Specific Integrated circuit asic or one or more Integrated circuits configured to implement embodiments of the present application. The intelligent device comprises one or more processors which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.

A memory 1306 for storing a program 1310. Memory 1306 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

For specific implementation of each step in the program 1310, reference may be made to corresponding steps and corresponding descriptions in units in the foregoing navigation method embodiments, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.

It should be noted that, according to the implementation requirement, each component/step described in the embodiment of the present application may be divided into more components/steps, and two or more components/steps or partial operations of the components/steps may also be combined into a new component/step to achieve the purpose of the embodiment of the present application.

The above-described methods according to embodiments of the present application may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the methods described herein may be stored in such software processes on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware such as an ASIC or FPGA. It will be appreciated that the computer, processor, microprocessor controller or programmable hardware includes memory components (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the navigation methods described herein. Further, when a general-purpose computer accesses code for implementing the navigation methods shown herein, execution of the code transforms the general-purpose computer into a special-purpose computer for performing the navigation methods shown herein.

Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.

The above embodiments are only used for illustrating the embodiments of the present application, and not for limiting the embodiments of the present application, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.

Claims

1. A navigation method, wherein the method comprises:

acquiring a network positioning point of a navigated object in the process of navigation guidance based on a navigation route planned for the navigated object in advance;

and judging whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning points and the navigation route or the matching relationship between the network positioning points.

2. The method of claim 1, wherein the network anchor points comprise a current network anchor point and a historical network anchor point, and acquiring the network anchor point of the navigated object comprises:

acquiring a current network positioning point;

and acquiring historical network positioning points of which the time difference with the positioning time of the current network positioning point is within a set time length.

3. The method of claim 2, wherein said determining whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning points comprises:

and judging whether the position of the current network positioning point is matched with the position of the historical network positioning point, and if at least one position is matched, determining that the navigated object does not deviate from the navigation route.

4. The method of claim 1, wherein the network positioning point comprises a current network positioning point, and the determining whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning point and the navigation route comprises:

acquiring a matching point of the current network positioning point on the navigation route;

and judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route.

5. The method of claim 4, wherein the navigation route comprises a main navigation route and at least one alternative navigation route, the main navigation route being a navigation route currently used by the navigated object;

the judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route includes:

acquiring a main distance between the current network positioning point and a matching point on the main navigation route;

acquiring an alternative distance between the current network positioning point and a matching point on the alternative navigation route;

if all the alternative distances are greater than the main distance and the alternative distances are greater than a preset first distance threshold value, determining that the navigated object does not yaw relative to the main navigation route;

otherwise, determining that the navigated object is yawing relative to the primary navigation route.

6. The method of claim 4, wherein said determining whether the navigated object deviates from the navigation route based on the distance between the current network location point and the corresponding match point on the navigation route comprises:

obtaining the distances between the current network positioning point and the corresponding matching points on the navigation route to obtain a plurality of distances;

taking a navigation route corresponding to the maximum distance value in the plurality of distances as a target navigation route;

determining that the navigated object is yawing relative to the target navigation route.

7. The method of claim 4, wherein determining whether the navigated object deviates from a navigation route based on a distance between the current network location point and a corresponding match point on the navigation route comprises:

obtaining a reliability distance of the current network positioning point, wherein the reliability distance is determined according to the precision radius of the current network positioning point;

acquiring the distance between the current network positioning point and a matching point on a navigation route;

and if the distance is greater than the reliability distance of the current network positioning point, determining that the navigated object is yawing.

8. The method according to claim 2, wherein said determining whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning point and the navigation route comprises:

acquiring matching points of the current network point and the historical network point on the navigation route;

and judging whether the navigated object deviates from the navigation route according to the distances between the current network positioning point and the historical network positioning point and corresponding matching points on the navigation route.

9. The method of claim 8, wherein the determining whether the navigated object deviates from the navigation route according to the distances between the current network positioning point and the historical network positioning point and the corresponding matching points on the navigation route respectively comprises:

acquiring the distance between the current network positioning point and a corresponding matching point on a navigation route;

if the distance is larger than a first distance threshold value, determining a historical network positioning point sequence according to the time sequence of a plurality of historical network positioning points;

determining the distance between each historical network positioning point in the historical network positioning point sequence and a corresponding matching point on a navigation route to obtain a distance sequence;

and if the number of the distances in the distance sequence which are greater than the first distance threshold value is greater than a first preset number and the distance values are sequentially increased, determining that the navigated object is yawing.

10. The method of claim 9, wherein determining a sequence of historical network anchor points from a timing of a plurality of historical network anchor points comprises:

determining the distance between each historical network positioning point in the plurality of historical network positioning points and the corresponding matching point in the navigation route;

determining a distance larger than the first distance threshold value and a historical network positioning point corresponding to the distance from the distances corresponding to the historical network positioning points;

and determining a historical network positioning point sequence according to the determined time sequence of the historical network positioning points which are greater than the first distance threshold.

11. The method of claim 2, wherein the network positioning point comprises a current network positioning point, and the determining whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning point and the navigation route comprises:

and judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, the type of the current network positioning point and the type of the historical network positioning point.

12. The method of claim 11, wherein said determining whether the navigated object deviates from the navigation route according to the distance between the current network position point and the corresponding matching point on the navigation route, and the type of the current network position point and the type of the historical network position points comprises:

if the type of the current network positioning point is a target type, determining the distance between the current network positioning point and a corresponding matching point on a navigation route;

if the distance is larger than a second distance threshold value, determining the distance between the historical network positioning point and a corresponding matching point on a navigation route to obtain a plurality of distances;

and if the number of the historical network positioning points with the type of the target type in the historical network positioning points corresponding to the distance greater than the second distance threshold value in the plurality of distances is greater than a second preset number, determining that the navigated object is yawing.

13. The method of claim 11, wherein the set duration is a duration corresponding to a network positioning signal valid time range;

the judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, the type of the current network positioning point and the type of the historical network positioning point comprises:

if the types of continuous M historical network positioning points in the plurality of historical network positioning points are target types, determining the distances between the M historical network positioning points and corresponding matching points on the current navigation route to obtain M first distances, wherein M is an integer greater than 1;

determining the distance between M historical network positioning points and corresponding matching points on other navigation routes except the current navigation route to obtain M second distances;

and determining whether the navigated object is off course relative to the current navigation route according to the M first distances and the M second distances.

14. The method of claim 13, wherein said determining whether said navigated object is yawing relative to said current navigation route according to M of said first distances and M of said second distances comprises:

if M of the first distances are each greater than N times the corresponding second distance, where N is an integer greater than 2, or,

determining that the navigated object is yawing relative to the current navigation route if all of the M first distances are greater than a third distance threshold and all of the M second distances are less than a fourth distance threshold, wherein the third distance threshold is greater than the fourth distance threshold.

15. The method of claim 11, wherein the set duration is a duration corresponding to a network positioning signal valid time range;

if the plurality of historical network positioning points comprise preset type historical network positioning points, determining the distance between the preset type historical network positioning points and the matching points of the navigation route, wherein the preset type historical network positioning points are positioning points determined through one or more positioning algorithms, and the algorithm accuracy of the positioning algorithms meets the set standard;

and if the distance is greater than a fifth distance threshold value, and S continuous historical network positioning points exist in the historical network positioning points of the preset type, and the correlation coefficient between the S target historical network positioning points is greater than or equal to a preset correlation value, determining that the navigated object yaws, wherein S is an integer greater than 1.

16. The method of claim 2, wherein the method further comprises:

if the navigated object is determined to yaw, determining whether the distance between the current network positioning point and the previous historical network positioning point adjacent to the current network positioning point is greater than a network point jumping distance;

or, determining whether the angle between the connecting line between the current network positioning point and the previous historical network positioning point adjacent to the current network positioning point and the navigation route is greater than a signal movement angle;

if so, determining that the current network positioning point is a jumping network point, and correcting the yaw state of the navigated object to be non-yaw.

17. A computer program product comprising computer instructions that instruct a computing device to perform operations corresponding to the navigation method of any of claims 1-16.