CN110006442A - Air navigation aid, device, equipment and medium - Google Patents
Air navigation aid, device, equipment and medium Download PDFInfo
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- CN110006442A CN110006442A CN201910308036.9A CN201910308036A CN110006442A CN 110006442 A CN110006442 A CN 110006442A CN 201910308036 A CN201910308036 A CN 201910308036A CN 110006442 A CN110006442 A CN 110006442A
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- Prior art keywords
- anchor point
- section
- road section
- information
- point
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The embodiment of the invention discloses a kind of air navigation aid, device, equipment and media, are related to digital map navigation technical field.This method comprises: the anchor point that will acquire is matched with the section in navigation routine, to determine the affiliated section of anchor point；According to the road section information and positioning accuracy of anchor point, effective position point is selected from the anchor point；Based on the effective position point, navigation information is synchronized to monitoring terminal.A kind of air navigation aid, device, equipment and medium provided in an embodiment of the present invention realize the guidance for judging children's location data accuracy and children being carried out with correct direction of travel.
Description
Technical field
The present embodiments relate to digital map navigation technical field more particularly to a kind of air navigation aid, device, equipment and Jie
Matter.
Background technique
Domestic many children's wrist-watches are that the location data of wrist-watch is synchronized to family's mobile phone terminal to look into for parent at present
It sees, to allow parent can the real time inspection position current to children.
Although location data may be because equipment or positioning signal however, parent can see the real time position of children
There is inaccurate problem in reason.When petroleum technology equipment goes wrong, although parent can see child position, parent sees
Child position may be not consistent with children's physical location.Namely parent is unable to judge accurately the children position seen and is
It is no problematic.
And there is also since children's sense of direction may be poor, there is a situation where to meet in lost or traveling process
Arrived fork in the road, it is not known that should which way to go can more security problems.
Summary of the invention
The embodiment of the present invention provides a kind of air navigation aid, device, equipment and medium, quasi- to the location data of children to realize
Judge and carry out to children to true property the guidance of correct direction of travel.
In a first aspect, the embodiment of the invention provides a kind of air navigation aids, this method comprises:
During the navigation process, the anchor point that will acquire is matched with the section in navigation routine, to determine anchor point institute
Belong to section；
According to the road section information and positioning accuracy of anchor point, effective position point is selected from the anchor point；
Based on the effective position point, navigation information is synchronized to monitoring terminal.
Second aspect, the embodiment of the invention also provides a kind of navigation device, which includes:
Section matching module, the anchor point for will acquire are matched with the section in navigation routine, to determine positioning
Section belonging to point；
Effective filtering module selects to have from the anchor point for the road section information and positioning accuracy according to anchor point
Imitate anchor point；
Navigation information is synchronized to monitoring terminal for being based on the effective position point by synchronizing information module.
The third aspect, the embodiment of the invention also provides a kind of electronic equipment, the equipment includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the air navigation aid as described in any one of embodiment of the present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the air navigation aid as described in any one of embodiment of the present invention when the program is executed by processor.
The embodiment of the present invention carries out invalid anchor point by the road section information and positioning accuracy according to anchor point, to anchor point
Filter out, thus solve when petroleum technology equipment goes wrong, although parent can see child position, the youngster that parent sees
Virgin position may be not consistent with children's physical location problem.Misleading of the invalid anchor point to parent is avoided simultaneously.
In addition, custodial person (but specifically children or old man) can check correct travel route by navigation routine, solve
Determined due to custodial person's sense of direction difference is lost or traveling process in encounter fork in the road, it is not known that should which way to go can more
Add security problems.
Detailed description of the invention
Fig. 1 is the flow chart for the air navigation aid that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of air navigation aid provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of flow chart for air navigation aid that the embodiment of the present invention three provides；
Fig. 4 is a kind of flow chart for air navigation aid that the embodiment of the present invention four provides；
Fig. 5 is a kind of structural schematic diagram for navigation device that the embodiment of the present invention five provides；
Fig. 6 is a kind of structural schematic diagram for equipment that the embodiment of the present invention six provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is the flow chart for the air navigation aid that the embodiment of the present invention one provides.The present embodiment is applicable to based on anchor point
The case where navigating to custodial person.Typically, the present embodiment is applicable to the real time positioning data based on children to children
The case where carrying out route guidance.This method can be executed by a kind of navigation device, which can be by software and/or hardware
Mode is realized.Typically, which can be configured in the portable smart machine of custodial person.The smart machine can be
Child intelligence wrist-watch.
Referring to Fig. 1, air navigation aid provided in this embodiment includes:
S110, the anchor point that will acquire are matched with the section in navigation routine, to determine the affiliated section of anchor point.
Wherein, anchor point is the anchor point to local navigation device, because custodial person carries configured with local navigation dress
The terminal set, thus anchor point it is practical reflect be custodial person anchor point, can specifically be obtained, can also be led to by GPS
Beidou satellite navigation system acquisition is crossed, can also be obtained base station by wireless communication.
Navigation refers to the route guidance from navigation starting point to navigation terminal.Navigation starting point and navigation terminal can be family or
School.
Navigation routine is formed by connecting by least one section.Navigation routine can have 1,2 or a plurality of.
The affiliated section of anchor point refers to section where the position of anchor point.
Specifically, the anchor point that will acquire match with the section in navigation routine
Determine the minimum range in anchor point each section into navigation routine；
Judge whether the minimum value in minimum range is less than set distance threshold value；
If so, determining that the corresponding section of the minimum value is the affiliated section of anchor point.
If not, it is determined that anchor point does not have affiliated section.
Wherein set distance threshold value is that the maximum value of the distance between the affiliated section of anchor point is locally-located.
Optionally, the matching process of any anchor point and section in the prior art, the positioning that will acquire can also be utilized
Point is matched with the section in navigation routine.The present embodiment is to this and without any restriction.
S120, road section information and positioning accuracy according to anchor point select effective position point from the anchor point.
Specifically, according to the road section information of anchor point and positioning accuracy, effective position point packet is selected from the anchor point
It includes:
If there are affiliated sections for anchor point, and positioning accuracy meets setting condition, it is determined that the anchor point is effective position
Point.
To realize the accurate judgement to effective position point, the road section information and positioning accuracy according to anchor point, from institute
State selection effective position point in anchor point, comprising:
If there are affiliated sections for anchor point, it is determined that the anchor point is effective position point；
If affiliated section is not present in anchor point, judge whether the positioning accuracy of the anchor point is less than or equal to setting accuracy threshold
Value；
If so, determining that the anchor point is effective position point.
Wherein, setting accuracy threshold value is the maximum value of the positioning accuracy for the anchor point being accurately positioned.It should prompt, it is fixed
The position smaller positioning accuracy of precision is higher.For example, positioning accuracy is 5 meters higher than the positioning accuracy that positioning accuracy is 15 meters.
If affiliated section is not present by anchor point, judge whether the positioning accuracy of the anchor point is less than or equal to set
Precision threshold；If so, determining that the anchor point is effective position point, to realize to the effective position point for deviateing navigation routine
Accurate judgement.
S130, it is based on the effective position point, navigation information is synchronized to monitoring terminal.
Wherein, navigation information refers to the relevant information of navigation, and it includes effective anchor point on affiliated road that specific navigation information, which removes,
It can also include navigation routine, the navigational guidance information based on effective position point, yaw letter other than matching position point in section
At least one of breath, the travel speed of custodial person and signal strength information of effective position point.
Optionally, when navigation information is deposited when abnormal, warning note can be transmitted to monitoring terminal so that guardian in time into
Row monitoring processing.
Specifically, it is based on the effective position point, navigation information is synchronized to monitoring terminal, comprising:
Navigation information is determined based on the effective position point；
It is navigated using navigation information, and navigation information is synchronized to monitoring terminal, believed for monitoring terminal trace location
Breath.
Based on synchronous above-mentioned navigation information, guardian can be made comprehensively to guard custodial person.And then it mentions
The safety of high custodial person.
The technical solution of the embodiment of the present invention clicks through positioning by the road section information and positioning accuracy according to anchor point
The invalid anchor point of row filters out, thus solve when petroleum technology equipment goes wrong, although parent can see child position,
The child position that parent sees may be not consistent with children's physical location problem.Invalid anchor point is avoided to parent simultaneously
Misleading.
In addition, custodial person (but specifically children or old man) can check correct travel route by navigation routine, solve
Determined due to custodial person's sense of direction difference is lost or traveling process in encounter fork in the road, it is not known that should which way to go can more
Add security problems.
To realize that guardian supervises the trip of custodial person, the anchor point that during the navigation process, will acquire with lead
Section in the line of air route is matched, before determining the affiliated section of anchor point, the method also includes:
Obtain the navigation terminus information that monitoring terminal is sent；
The beginning and end of navigation is determined according to the navigation terminus information；
It is navigated according to the beginning and end of determining navigation, generates navigation routine.
Navigation routine is generated by the navigation terminus information sent according to monitoring terminal, following effect may be implemented:
Guardian can specify plan of travel to custodial person, and guard custodial person and complete plan of travel safely.
For example, parent formulates the navigation routine gone home from school to child to classes are over time, child returns according to navigation routine
Family.Parent can check whether child yaws according to synchronous navigation information during the navigation process, to guard pacifying for child
Entirely.
Specifically, the beginning and end of navigation is determined according to the navigation terminus information, comprising:
Using the starting point as navigation starting point if including origin information in terminus information of navigating surely, otherwise by custodial person
Current anchor point is used as navigation starting point, and using the terminal in terminus information of navigating as navigation terminal.
Embodiment two
Fig. 2 is a kind of flow chart of air navigation aid provided by Embodiment 2 of the present invention.The present embodiment is in above-described embodiment
On the basis of a kind of optinal plan for proposing.Referring to fig. 2, air navigation aid provided in this embodiment includes:
S210, the anchor point that will acquire are matched with the section in navigation routine, to determine the affiliated section of anchor point.
S220, category of roads or road width according to section in navigation routine, determine the outsourcing rectangle of anchor point.
Wherein, the outsourcing rectangle of anchor point is the rectangular area for including anchor point.
Specifically, the category of roads or road width according to section in navigation routine, determines the outsourcing square of anchor point
Shape, comprising:
According to the direction of anchor point, the drafting direction on each side in outsourcing rectangle is determined；
Expansible radius is determined according to the category of roads in section in navigation routine or road width；
The straight line with the projector distance of anchor point for the expansible radius is drawn in the drafting direction along each side respectively, described
The outsourcing rectangle of straight line intersection composition anchor point.
Wherein, the direction of anchor point refers to the direction of travel at anchor point.It can specifically be positioned by locating module in output
It is exported together when point.
According to the direction of anchor point, determine that the drafting direction on each side in outsourcing rectangle includes:
The direction of anchor point is determined as the direction of long side or short side in outsourcing rectangle, by short side or long side in outsourcing rectangle
Direction be determined as the direction vertical with the direction of anchor point.
If the outsourcing rectangle intersection in section in the outsourcing rectangle of S230, the anchor point and navigation routine, by the section
As candidate road section.
Wherein, the outsourcing rectangle in section refers to the rectangular area including point sequences all in section.
S240, the minimum range according to the anchor point to the candidate road section, direction and the time of the anchor point
The category of roads of angle and the candidate road section between the direction of routing section, determines the weight of the candidate road section.
Specifically, the angle between the direction of the anchor point and the direction of the candidate road section, comprising:
Angle and/or history anchor point between the direction of current anchor point and the direction of the candidate road section and current fixed
Angle between the line direction in site and the direction of the candidate road section.
Wherein, current anchor point refers to the anchor point that custodial person occurs at current time, and history anchor point, which refers to, is supervised
The anchor point that shield person occurs in the historical juncture.
Specifically, according to the minimum range of the anchor point to the candidate road section, the anchor point direction with it is described
The category of roads of angle and the candidate road section between the direction of candidate road section, determines the weight packet of the candidate road section
It includes:
The direction of smaller, the described anchor point of the minimum range of the anchor point to the candidate road section and the candidate road section
Direction between angle is smaller and the category of roads of the candidate road section is higher, the weight of the candidate road section is bigger.
Typically, the minimum range according to the anchor point to the candidate road section, the anchor point direction with
The category of roads of angle and the candidate road section between the direction of the candidate road section, determines the power of the candidate road section
Weight, comprising:
The weight a reference value of the candidate road section, the current anchor point are determined according to the category of roads of the candidate road section
To between the first projector distance weight of the candidate road section, the direction of the current anchor point and the direction of the candidate road section
Angle weight and the history anchor point and the current anchor point the second projection for being wired to the candidate road section away from
From weight；
According to the minimum range of the current anchor point to the candidate road section, the current anchor point direction with it is described
The line direction of angle, the history anchor point and the current anchor point between the direction of candidate road section and the candidate road
Angle, the weight a reference value, the first projector distance weight, the angle weight and described the between the direction of section
Two projector distance weights, determine the weight of the candidate road section.
The minimum range according to the current anchor point to the candidate road section, the current anchor point direction with
The line direction of angle, the history anchor point and the current anchor point between the direction of the candidate road section and the time
Angle, the weight a reference value, the first projector distance weight, the angle weight and institute between the direction of routing section
The second projector distance weight is stated, determines the weight of the candidate road section, comprising:
The weight weight of the candidate road section is determined according to following formula:
Weight=(d ÷ df × pf)+((cos (π ÷ 180 × (180-da))+1) × af)+((cos (π ÷ 180 ×
(180-lda))+1)×laf)
Wherein, d is minimum range of the current anchor point to the candidate road section, and df is the weight a reference value, pf
It is the first projector distance weight, da is the folder between the direction of the current anchor point and the direction of the candidate road section
Angle, af are the angle weights, and lda is the line direction and the candidate road of the current anchor point and the history anchor point
Angle between the direction of section, laf is the second projector distance weight.
S250, according to the weight of the candidate road section, the affiliated section of the anchor point is determined in the candidate road section.
Specifically, the maximum candidate road section of weight is determined as to the affiliated section of the anchor point.
S260, it is based on the effective position point, navigation information is synchronized to monitoring terminal.
The technical solution of this implementation passes through the intersection of the outsourcing rectangle in section in the outsourcing rectangle and navigation routine of anchor point
Situation determines candidate road section, then according to the minimum range of the anchor point to the candidate road section, the direction of the anchor point
The category of roads of angle and the candidate road section between the direction of the candidate road section, determines the power of the candidate road section
Weight determines the affiliated section of the anchor point according to the weight of the candidate road section in the candidate road section.It is fixed to realize
The accurate determination in section described in site.
Embodiment three
Fig. 3 is a kind of flow chart for air navigation aid that the embodiment of the present invention three provides.The present embodiment is in above-described embodiment
On the basis of a kind of optinal plan for proposing.Referring to Fig. 3, air navigation aid provided in this embodiment includes:
S310, the anchor point that will acquire are matched with the section in navigation routine, to determine the affiliated section of anchor point.
S320, road section information and positioning accuracy according to anchor point select effective position point from the anchor point.
If S330, determining that effective fixed point is not matched to affiliated section, and institute according to the road section information of effective position point
The positioning accuracy for stating effective position point is less than or equal to the setting accuracy threshold value, it is determined that yaw.
S340, yaw information is generated according to effective position point and navigation routine.
Wherein yaw information refers to the information for deviateing navigation routine, and yaw information may include the distance for deviateing navigation routine
And offset direction.
S350, synchronous yaw information to monitoring terminal, and send yaw warning note to monitoring terminal, for monitoring terminal and
When trace location information.
Specifically, the synchronous yaw information is to monitoring terminal, comprising:
At least one of road section information by effective position point, navigational guidance information and effective position point and yaw letter
Breath is synchronized to monitoring terminal, wherein the navigational guidance information is determined according to effective position point, navigation routine and effective position point
Position signal strength information generates.
Specifically, according to the generation of the positioning signal strength information of effective position point, navigation routine and effective position point
Navigational guidance information, comprising:
Maneuver point information is determined according to effective position point and navigation routine；
It is raw according at least one of maneuver point information, yaw information and positioning signal strength information of effective position point
At navigational guidance information.
Wherein maneuver point refers to the location point for needing to change driving direction in navigation routine.Specifically, maneuver point can be
Fork in the road or rotary island etc..
Navigational guidance information carries out the guidance of correct direction of travel to custodial person, and solving custodial person's sense of direction may ratio
It is poor, there is a situation where to encounter fork in the road in lost or traveling process, it is not known that should which way to go safer etc. to ask
Topic.
The technical solution of the present embodiment passes through the positioning according to the road section information and effective position point of effective position point
Precision carries out yaw detection to custodial person, and yaw information is synchronized to monitoring terminal.So that guardian can be timely
It was found that custodial person yaws, and takes measures at the first time, dangerous generation is avoided.
Example IV
Fig. 4 is a kind of flow chart for air navigation aid that the embodiment of the present invention four provides.The present embodiment is in above-described embodiment
On the basis of, it is children with custodial person, the executing subject of method is the smartwatch that children carry, and guardian is parent, prison
Shield terminal is a kind of optinal plan of proposition for the mobile phone terminal of parent.Referring to fig. 4, air navigation aid packet provided in this embodiment
It includes:
Parent terminus position that children are set in mobile phone terminal first, and the terminus information set is based on data
The server-side of transmission is transmitted to the wrist-watch end of children；
Then children can select received terminus information to initiate navigation and carry out route planning at wrist-watch end, while will lead
The server-side real-time synchronization that the information such as boat programme path, children's real time position data and navigational state are transmitted by data arrives
Family's mobile phone terminal is checked for parent.Deviation route abnormal conditions are such as encountered, wrist-watch end sends warning reminding to family in time
Long mobile phone terminal, thus the comprehensive safety for guarding children.
Specific process is as follows:
Pre-set navigational terminus and navigation route planning:
Parent's terminus information specified in mobile phone terminal setting, such as: family, school.By terminus information after being provided with
It is pushed to terminus parameter of the wrist-watch end as navigation route planning.
Navigation route planning is initiated according to default terminus in wrist-watch end, seals the route information of planning after planning successfully
It fills and adjusts back and shown to wrist-watch front end, wherein route information includes route distance, the cost duration of route and route shape
Point information etc..Also, route information is synchronized to the mobile phone terminal of parent using the communication mode of long connection by wrist-watch end, by mobile phone terminal
Displaying is synchronized to route information using map covering drawing ability.
Wherein, by presetting terminus information, parent can help child to plan travel route in advance, avoid it is lost or
Which road does not know in fork in the road selects go home.
Wrist-watch end real time position ties up road:
The navigation module at wrist-watch end obtains the current reality of children using the GPS positioning module or positioning software packet of equipment itself
When position (namely anchor point in above-described embodiment) be transmitted to the navigation engine at wrist-watch end, navigation engine is believed according to the route of planning
Breath tie up road to real time position data, at the same by route with the matched position point data of real time position data, real time position
The information such as point data, positioning accuracy, positioning time, the movement speed of real time position point are adjusted back to the navigation module at wrist-watch end, hand
The navigation module at table end is by tying up the information filterings inoperative positions such as line state (namely road section information of anchor point) and positioning accuracy
Point.
Accurately and effectively position data is synchronized to the mobile phone terminal of parent by the navigation module at wrist-watch end, and mobile phone terminal is according to position
Data draw the real time position of children on map.
Before real time position is transmitted to navigation engine, further includes: using setting filtering accuracy threshold value to the real-time of transmission
Position is filtered, and to filter out the location data for occurring drifting about, guarantees the accuracy for being transmitted to the position data of navigation engine, with
Just navigation engine can precisely tie up road.Wherein, setting filtering accuracy threshold value is precision in the case that anchor point does not drift about
Maximum value.It sets filtering accuracy threshold value and is greater than above-mentioned setting accuracy threshold value.
Specifically, the method for tie up road to real time position data is as follows:
According to the category of roads or road width in section in navigation routine, current anchor point (namely above-mentioned real-time position is determined
Set data) outsourcing rectangle；
By judging whether the outsourcing rectangle of current anchor point intersects with the outsourcing rectangle in section each in route, obtain current
All section set that may be present of anchor point；
Calculate current anchor point to all sections minimum range d and section weight a reference value df and work as prelocalization
Point arrives the projector distance weight pf in section；
Calculate the weight af of the angle da and da between the direction of current anchor point and the direction in section；
Calculate the angle lda, Yi Jili between the line direction of history anchor point and current anchor point and the direction in section
The projector distance weight laf for being wired to road of history anchor point and current anchor point；
Calculate the matching weight w eight in each section:
Weight=(d ÷ df × pf)+((cos (π ÷ 180 × (180-da))+1) × af)+((cos (π ÷ 180 ×
(180-lda))+1)×laf)
According to the weight that each section is calculated, optimal matching section is selected, the location point information behind the road Bing Jiangbang is returned
Assign the navigation module at wrist-watch end.
The part is able to solve because certain reasons cause location data inaccurate, and navigation interface pilot point is caused to be beated,
And mislead the problem of parent judges.
Navigational state information simultaneous display:
In navigation procedure, the navigation engine positioned at wrist-watch end is according to the real-time position information of current child and the route of planning
Information calculates current navigational state.When navigational state change, navigation engine is by tying up road result point to current anchor point
Analysis calculates traveling time and distance, generates navigation directions official documents and correspondence, such as: front turns left, 100 meters of straight trip, GPS signal are weak, you are inclined
The information such as the navigation induction information in navigation directions official documents and correspondence and voice broadcast text will be generated from route etc., and by message mechanism
The navigation module being sent in wrist-watch end.It wrist-watch end will navigation induction information and voice broadcast text by the communication mode of long connection
This grade synchronizing information synchronizes drafting to mobile phone terminal, realizes the simultaneous display of wrist-watch and mobile phone both ends.Once children deviate from
Navigation routine, parent will receive such as " your child has deviated from route " warning reminding in time.
Whether the part can accurately inform the current travel condition of parent oneself child in real time, and in navigation routine
Walking.Warning reminding, the comprehensive safety for guarding child can also be received in time when yawing.
The technical solution of the embodiment of the present invention, by by the location information at children's wrist-watch end and run trace real-time synchronization extremely
Family's mobile phone terminal, the route that parent can will be advanced with real time inspection child.When parent is after mobile phone terminal selectes destination, wrist-watch
Navigation is initiated at end, can check clearly route guiding and Voice Navigation prompt, and the travelling route of child also can be real on mobile phone
When show, thus realize be more clear accurate child position tracking function.
It should be noted that by the technical teaching of the present embodiment, those skilled in the art have motivation by above-described embodiment
Described in any embodiment carry out the combination of scheme, to judge and to children with realizing children's location data accuracy
Carry out the guidance of correct direction of travel.
Embodiment five
Fig. 5 is a kind of structural schematic diagram for navigation device that the embodiment of the present invention five provides.Referring to Fig. 5, the present embodiment is mentioned
The navigation device of confession includes: section matching module 10, effective filtering module 20 and synchronizing information module 30.
Wherein, section matching module 10, the anchor point for will acquire is matched with the section in navigation routine, with true
Determine the affiliated section of anchor point；
Effective filtering module 20 is selected from the anchor point for the road section information and positioning accuracy according to anchor point
Effective position point；
Navigation information is synchronized to monitoring terminal for being based on the effective position point by synchronizing information module 30.
The embodiment of the present invention carries out invalid anchor point by the road section information and positioning accuracy according to anchor point, to anchor point
Filter out, thus solve when petroleum technology equipment goes wrong, although parent can see child position, the youngster that parent sees
Virgin position may be not consistent with children's physical location problem.Misleading of the invalid anchor point to parent is avoided simultaneously.
In addition, custodial person (but specifically children or old man) can check correct travel route by navigation routine, solve
Determined due to custodial person's sense of direction difference is lost or traveling process in encounter fork in the road, it is not known that should which way to go can more
Add security problems.
Further, effective filtering module, comprising: first effective determination unit, precision judging unit and second have
Imitate determination unit.
Wherein, first effective determination unit, if there are affiliated sections for anchor point, it is determined that the anchor point is effectively fixed
Site；
Precision judging unit, if for anchor point be not present affiliated section, judge the anchor point positioning accuracy whether
Less than or equal to setting accuracy threshold value；
Second effective determination unit, for if so, determining that the anchor point is effective position point.
Further, the section matching module, comprising: rectangle determination unit, rectangle intersection unit, weight determining unit
With affiliated section determination unit.
Wherein, rectangle determination unit determines positioning for the category of roads or road width according to section in navigation routine
The outsourcing rectangle of point；
Rectangle intersection unit, if outsourcing rectangle and the outsourcing rectangle phase in section in navigation routine for the anchor point
It hands over, then using the section as candidate road section；
Weight determining unit, for according to the minimum range of the anchor point to the candidate road section, the anchor point
The category of roads of angle and the candidate road section between direction and the direction of the candidate road section, determines the candidate road section
Weight；
Affiliated section determination unit, for the weight according to the candidate road section, in the candidate road section described in determination
The affiliated section of anchor point.
Further, the synchronizing information module, comprising: yaw determination unit, yaw information determination unit and information are same
Walk unit.
Wherein, determination unit is yawed, if for not determining effective fixed point not according to the road section information of effective position point
It is fitted on affiliated section, and the positioning accuracy of effective position point is less than or equal to the setting accuracy threshold value, it is determined that yaw；
Yaw information determination unit, for generating yaw information according to effective position point and navigation routine；
Information synchronizing unit sends yaw warning note for synchronizing yaw information to monitoring terminal, and to monitoring terminal,
For the timely trace location information of monitoring terminal.
Further, the angle between the direction of the anchor point and the direction of the candidate road section, comprising:
Angle and history anchor point between the direction of current anchor point and the direction of the candidate road section and current fixed
Angle between the line direction in site and the direction of the candidate road section.
Further, the weight determining unit, comprising:
Parameter determines subelement, for determining the weight base of the candidate road section according to the category of roads of the candidate road section
Quasi- value, the first projector distance weight of the current anchor point to the candidate road section, the direction of the current anchor point and institute
It is described to state being wired to for the angle weight between the direction of candidate road section and the history anchor point and the current anchor point
Second projector distance weight of candidate road section；
Weight determines subelement, for according to the minimum range of the current anchor point to the candidate road section, described work as
Angle, the history anchor point and the current anchor point between the direction of prelocalization point and the direction of the candidate road section
Angle, the weight a reference value, the first projector distance weight, institute between line direction and the direction of the candidate road section
Angle weight and the second projector distance weight are stated, determines the weight of the candidate road section.
Further, the weight determines that subelement is specifically used for:
The weight weight of the candidate road section is determined according to following formula:
Weight=(d ÷ df × pf)+((cos (π ÷ 180 × (180-da))+1) × af)+((cos (π ÷ 180 ×
(180-lda))+1)×laf)
Wherein, d is minimum range of the current anchor point to the candidate road section, and df is the weight a reference value, pf
It is the first projector distance weight, da is the folder between the direction of the current anchor point and the direction of the candidate road section
Angle, af are the angle weights, and lda is the line direction and the candidate road of the current anchor point and the history anchor point
Angle between the direction of section, laf is the second projector distance weight.
Further, the rectangle determination unit, comprising: direction determines that subelement, radius determine that subelement and rectangle are true
Stator unit.
Wherein, direction determines subelement, for the direction according to anchor point, determines the drafting side on each side in outsourcing rectangle
To；
Radius determines subelement, determines expansible half for the category of roads or road width according to section in navigation routine
Diameter；
Rectangle determines subelement, can for described in the projector distance of anchor point for drawing respectively along the drafting direction on each side
Extend the straight line of radius, the outsourcing rectangle of the straight line intersection composition anchor point.
Further, the information synchronizing unit, comprising: synchronizing information subelement.
Synchronizing information subelement, for will be in the road section information of effective position point, navigational guidance information and effective position point
At least one and yaw information be synchronized to monitoring terminal, wherein the navigational guidance information according to effective position point, navigation
The positioning signal strength information of route and effective position point generates.
Further, institute is generated according to the positioning signal strength information of effective position point, navigation routine and effective position point
State navigational guidance information, comprising:
Maneuver point information is determined according to effective position point and navigation routine；
It is raw according at least one of maneuver point information, yaw information and positioning signal strength information of effective position point
At navigational guidance information.
Further, described device further include: navigation information setting module, navigational parameter determining module and navigation routine are raw
At module.
Wherein, navigation information setting module, for described in during the navigation process, in the anchor point and navigation routine that will acquire
Section matched, before determining the affiliated section of anchor point, obtain monitoring terminal send navigation terminus information；
Navigational parameter determining module, for determining the beginning and end of navigation according to the navigation terminus information；
Navigation routine generation module generates navigation routine for navigating according to the beginning and end of determining navigation.
Air navigation aid provided by any embodiment of the invention can be performed in navigation device provided by the embodiment of the present invention, tool
The standby corresponding functional module of execution method and beneficial effect.
Embodiment six
Fig. 6 is a kind of structural schematic diagram for equipment that the embodiment of the present invention six provides.Fig. 6, which is shown, to be suitable for being used to realizing this
The block diagram of the example devices 12 of invention embodiment.The equipment 12 that Fig. 6 is shown is only an example, should not be to of the invention real
The function and use scope for applying example bring any restrictions.
As shown in fig. 6, equipment 12 is showed in the form of universal computing device.The component of equipment 12 may include but unlimited
In one or more processor or processing unit 16, system storage 28, connecting different system components, (including system is deposited
Reservoir 28 and processing unit 16) bus 18.
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be by equipment 12
The usable medium of access, including volatile and non-volatile media, moveable and immovable medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Equipment 12 may further include it is other it is removable/nonremovable,
Volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for reading and writing irremovable
, non-volatile magnetic media (Fig. 6 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 6, use can be provided
In the disc driver read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to removable anonvolatile optical disk
The CD drive of (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver can
To be connected by one or more data media interfaces with bus 18.Memory 28 may include at least one program product,
The program product has one group of (for example, at least one) program module, these program modules are configured to perform each implementation of the invention
The function of example.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and
It may include the realization of network environment in program data, each of these examples or certain combination.Program module 42 is usual
Execute the function and/or method in embodiment described in the invention.
Equipment 12 can also be communicated with one or more external equipments 14 (such as keyboard, sensing equipment, display 24 etc.),
Can also be enabled a user to one or more equipment interacted with the equipment 12 communication, and/or with enable the equipment 12 with
One or more of the other any equipment (such as network interface card, modem etc.) communication for calculating equipment and being communicated.It is this logical
Letter can be carried out by input/output (I/O) interface 22.Also, equipment 12 can also by network adapter 20 and one or
The multiple networks of person (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.As shown,
Network adapter 20 is communicated by bus 18 with other modules of equipment 12.It should be understood that although not shown in the drawings, can combine
Equipment 12 use other hardware and/or software module, including but not limited to: microcode, device driver, redundant processing unit,
External disk drive array, RAID system, tape drive and data backup storage system etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize air navigation aid provided by the embodiment of the present invention.
Embodiment seven
The embodiment of the present invention seven additionally provides a kind of computer readable storage medium, is stored thereon with computer program, should
The air navigation aid as described in any one of embodiment of the present invention is realized when program is executed by processor, this method comprises:
The anchor point that will acquire is matched with the section in navigation routine, to determine the affiliated section of anchor point；
According to the road section information and positioning accuracy of anchor point, effective position point is selected from the anchor point；
Based on the effective position point, navigation information is synchronized to monitoring terminal.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (17)
1. a kind of air navigation aid characterized by comprising
The anchor point that will acquire is matched with the section in navigation routine, to determine the affiliated section of anchor point；
According to the road section information and positioning accuracy of anchor point, effective position point is selected from the anchor point；
Based on the effective position point, navigation information is synchronized to monitoring terminal.
2. the method according to claim 1, wherein the road section information and positioning accuracy according to anchor point,
Effective position point is selected from the anchor point, comprising:
If there are affiliated sections for anchor point, it is determined that the anchor point is effective position point；
If affiliated section is not present in anchor point, judge whether the positioning accuracy of the anchor point is less than or equal to setting accuracy threshold value；
If so, determining that the anchor point is effective position point.
3. the method according to claim 1, wherein the section in the anchor point and navigation routine that will acquire
It is matched, to determine the affiliated section of anchor point, comprising:
According to the category of roads or road width in section in navigation routine, the outsourcing rectangle of anchor point is determined；
If the outsourcing rectangle intersection in section in the outsourcing rectangle of the anchor point and navigation routine, using the section as candidate road
Section；
According to the minimum range of the anchor point to the candidate road section, the side in the direction of the anchor point and the candidate road section
The category of roads of angle and the candidate road section between, determines the weight of the candidate road section；
According to the weight of the candidate road section, the affiliated section of the anchor point is determined in the candidate road section.
4. according to the method described in claim 3, it is characterized in that, the direction in the direction of the anchor point and the candidate road section
Between angle, comprising:
Angle and history anchor point and current anchor point between the direction of current anchor point and the direction of the candidate road section
Line direction and the candidate road section direction between angle.
5. according to the method described in claim 4, it is characterized in that, it is described according to the anchor point to the candidate road section most
Angle and the road of the candidate road section between small distance, the direction of the anchor point and the direction of the candidate road section etc.
Grade, determines the weight of the candidate road section, comprising:
Weight a reference value, the current anchor point to institute of the candidate road section are determined according to the category of roads of the candidate road section
State the folder between the first projector distance weight, the direction of the current anchor point and the direction of the candidate road section of candidate road section
The the second projector distance power for being wired to the candidate road section of angle weight and the history anchor point and the current anchor point
Value；
According to the minimum range of the current anchor point to the candidate road section, the direction of the current anchor point and the candidate
The line direction of angle, the history anchor point and the current anchor point between the direction in section and the candidate road section
Angle, the weight a reference value, the first projector distance weight, the angle weight and described second between direction are thrown
Shadow determines the weight of the candidate road section apart from weight.
6. according to the method described in claim 5, it is characterized in that, described according to the current anchor point to the candidate road section
Minimum range, the angle between the direction of the current anchor point and the direction of the candidate road section, the history anchor point
And the current anchor point line direction and the candidate road section direction between angle, the weight a reference value, described
First projector distance weight, the angle weight and the second projector distance weight, determine the weight of the candidate road section,
Include:
The weight weight of the candidate road section is determined according to following formula:
Weight=(d ÷ df × pf)+((cos (π ÷ 180 × (180-da))+1) × af)
+((cos(π÷180×(180-lda))+1)×laf)
Wherein, d is minimum range of the current anchor point to the candidate road section, and df is the weight a reference value, and pf is institute
The first projector distance weight is stated, da is the angle between the direction of the current anchor point and the direction of the candidate road section, af
The angle weight, lda be the current anchor point and the history anchor point line direction and the candidate road section
Angle between direction, laf are the second projector distance weights.
7. according to the method described in claim 3, it is characterized in that, the category of roads or road according to section in navigation routine
Degree of having a lot of social connections determines the outsourcing rectangle of anchor point, comprising:
According to the direction of anchor point, the drafting direction on each side in outsourcing rectangle is determined；
Expansible radius is determined according to the category of roads in section in navigation routine or road width；
The straight line with the projector distance of anchor point for the expansible radius, the straight line are drawn in the drafting direction along each side respectively
The outsourcing rectangle of intersection composition anchor point.
8. the method according to claim 1, wherein it is described be based on the effective position point, navigation information is same
It walks to monitoring terminal, comprising:
If determining that effective fixed point is not matched to affiliated section, and the effective position according to the road section information of effective position point
The positioning accuracy of point is less than or equal to the setting accuracy threshold value, it is determined that yaw；
Yaw information is generated according to effective position point and navigation routine；
Synchronous yaw information sends yaw warning note to monitoring terminal to monitoring terminal, tracks position in time for monitoring terminal
Confidence breath.
9. according to the method described in claim 8, it is characterized in that, the synchronous yaw information is to monitoring terminal, comprising:
At least one of road section information by effective position point, navigational guidance information and effective position point and yaw information are same
Step is to monitoring terminal, wherein the navigational guidance information is believed according to the positioning of effective position point, navigation routine and effective position point
Number strength information generates.
10. according to the method described in claim 9, it is characterized in that, according to effective position point, navigation routine and effective position point
Positioning signal strength information generate the navigational guidance information, comprising:
Maneuver point information is determined according to effective position point and navigation routine；
According at least one of maneuver point information, yaw information and positioning signal strength information of effective position point, generation is led
Navigate guidance information.
11. the method according to claim 1, wherein the road in the anchor point and navigation routine that will acquire
Duan Jinhang matching, before determining the affiliated section of anchor point, the method also includes:
Obtain the navigation terminus information that monitoring terminal is sent；
The beginning and end of navigation is determined according to the navigation terminus information；
It is navigated according to the beginning and end of determining navigation, generates navigation routine.
12. a kind of navigation device characterized by comprising
Section matching module, the anchor point for will acquire are matched with the section in navigation routine, to determine anchor point institute
Belong to section；
Effective filtering module, for the road section information and positioning accuracy according to anchor point, it is effectively fixed to select from the anchor point
Site；
Navigation information is synchronized to monitoring terminal for being based on the effective position point by synchronizing information module.
13. device according to claim 12, which is characterized in that effective filtering module, comprising:
First effective determination unit, if there are affiliated sections for anchor point, it is determined that the anchor point is effective position point；
Precision judging unit judges whether the positioning accuracy of the anchor point is less than if affiliated section is not present for anchor point
Equal to setting accuracy threshold value；
Second effective determination unit, for if so, determining that the anchor point is effective position point.
14. device according to claim 12, which is characterized in that the section matching module, comprising:
Rectangle determination unit determines the outsourcing of anchor point for the category of roads or road width according to section in navigation routine
Rectangle；
Rectangle intersection unit should if the outsourcing rectangle intersection for section in the outsourcing rectangle and navigation routine of anchor point
Section is as candidate road section；
Weight determining unit, for the direction according to the minimum range of the anchor point to the candidate road section, the anchor point
The category of roads of angle and the candidate road section between the direction of the candidate road section, determines the power of the candidate road section
Weight；
Affiliated section determination unit determines the positioning for the weight according to the candidate road section in the candidate road section
The affiliated section of point.
15. device according to claim 12, which is characterized in that the synchronizing information module, comprising:
Determination unit is yawed, if for determining that effective fixed point is not matched to affiliated road according to the road section information of effective position point
Section, and the positioning accuracy of effective position point is less than or equal to the setting accuracy threshold value, it is determined that yaw；
Yaw information determination unit, for generating yaw information according to effective position point and navigation routine；
Information synchronizing unit sends yaw warning note for synchronizing yaw information to monitoring terminal, and to monitoring terminal, for prison
Protect the timely trace location information of terminal.
16. a kind of electronic equipment, which is characterized in that the equipment includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as air navigation aid of any of claims 1-11.
17. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Such as air navigation aid of any of claims 1-11 is realized when execution.
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| CN117706478B (en) * | 2024-02-02 | 2024-05-03 | 腾讯科技（深圳）有限公司 | Positioning drift identification method, device, equipment and storage medium |
| CN117705141A (en) * | 2024-02-06 | 2024-03-15 | 腾讯科技（深圳）有限公司 | Yaw recognition method, yaw recognition device, computer readable medium and electronic equipment |
| CN117705141B (en) * | 2024-02-06 | 2024-05-07 | 腾讯科技（深圳）有限公司 | Yaw recognition method, yaw recognition device, computer readable medium and electronic equipment |
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