CN110779520B

CN110779520B - Navigation method and device, electronic equipment and computer readable storage medium

Info

Publication number: CN110779520B
Application number: CN201911000766.9A
Authority: CN
Inventors: 张琳
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2019-10-21
Filing date: 2019-10-21
Publication date: 2022-08-23
Anticipated expiration: 2039-10-21
Also published as: CN110779520A

Abstract

The embodiment of the disclosure provides a navigation method and device, electronic equipment and a computer readable storage medium, and belongs to the technical field of computers and communication. The method comprises the following steps: determining a starting point and an end point of the current navigation of the target object, wherein the starting point is located in a first space, and the end point is located in a second space; planning the navigation route of the current navigation according to the starting point and the end point; determining a transition area on the navigation route from the first space into the second space; and generating inertial navigation guidance information of the conversion area according to the navigation route in the conversion area. The technical scheme of the embodiment of the disclosure provides a navigation method, which can guide a user by adopting inertial navigation in a conversion area and improve the accuracy of navigation.

Description

Navigation method and device, electronic equipment and computer readable storage medium

Technical Field

The present disclosure relates to the field of computer and communication technologies, and in particular, to a navigation method and apparatus, an electronic device, and a computer-readable storage medium.

Background

A navigation scenario exists, for example, a user initiates navigation from outdoors, takes an indoor address as a destination, and then a navigation System plans a navigation route from outdoors to indoors, and usually adopts a Global Positioning System (GPS) navigation mode in an outdoor space; in the indoor space, a beacon (Bluetooth) navigation mode is adopted.

However, when a user enters a room from the outside, the GPS signal and beacon signal at the connection point, for example, at a certain entrance in the room, are weak, which results in low navigation accuracy at the entrance and gives the user wrong navigation directions or even no navigation directions.

Therefore, a new navigation method and apparatus, an electronic device, and a computer-readable storage medium are needed.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The embodiment of the disclosure provides a navigation method and device, an electronic device and a computer-readable storage medium, which can improve the accuracy and consistency of navigation.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

The embodiment of the disclosure provides a navigation method, which comprises the following steps: determining a starting point and an end point of a current navigation of a target object, wherein the starting point is located in a first space and the end point is located in a second space; planning the navigation route of the current navigation according to the starting point and the end point; determining a transition area on the navigation route from the first space into the second space; and generating inertial navigation guidance information of the conversion area according to the navigation route in the conversion area.

The disclosed embodiment provides a navigation device, the device includes: the starting and ending determination module is configured to determine a starting point and an ending point of current navigation of the target object, wherein the starting point is located in a first space, and the ending point is located in a second space; a route planning module configured to plan the currently navigated navigation route according to the start point and end point; a transition determination module configured to determine a transition area on the navigation route from the first space into the second space; and the navigation guiding module is configured to generate inertial navigation guiding information of the conversion area according to the navigation route in the conversion area.

The disclosed embodiments provide a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements a navigation method as described in the above embodiments.

An embodiment of the present disclosure provides an electronic device, including: one or more processors; a storage device configured to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the navigation method as described in the above embodiments.

In the technical solutions provided in some embodiments of the present disclosure, on one hand, when a target object (e.g., a certain user) initiates a current navigation, a starting point and an end point of the current navigation are first determined, where it is assumed that the starting point is located in a first space (e.g., indoor or outdoor) and the end point is located in a second space (e.g., outdoor or indoor), and a navigation route of the current navigation is planned according to the starting point and the end point to implement integrated navigation, that is, performing penetration navigation indoors and outdoors, if the target object uses different transportation manners in the first space and the second space respectively, for example, one is driving and the other is walking, then driving and walking can be simultaneously performed without interruption for navigation guidance; on the other hand, by determining the transition area on the navigation route from the first space to the second space, after the target object enters the transition area, the navigation route in the transition area can be directly adopted to generate inertial navigation guidance information of the transition area, that is, inertial navigation guidance is adopted in the transition area for navigation guidance, so that navigation suspension caused by loss of a positioning signal can be prevented, or wrong guidance caused by weak positioning signal can be prevented, and the navigation precision of the transition area is improved, so that the in-and-out experience of the transition area during navigation of a user can be improved, and the user can smoothly enter the room from the outside or exit/exit the room from the inside to the outside to continue navigation guidance.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It should be apparent that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived by those of ordinary skill in the art without inventive effort. In the drawings:

fig. 1 shows a schematic diagram of an exemplary system architecture of a navigation method or a navigation apparatus to which an embodiment of the present disclosure may be applied;

FIG. 2 illustrates a schematic structural diagram of a computer system suitable for use with the electronic device used to implement embodiments of the present disclosure;

FIG. 3 schematically illustrates a flow diagram of a navigation method according to an embodiment of the present disclosure;

FIG. 4 schematically shows a flow chart of a navigation method according to another embodiment of the present disclosure;

FIG. 5 is a diagram illustrating a processing procedure of step S330 shown in FIG. 3 in one embodiment;

FIG. 6 is a diagram illustrating a processing procedure of step S340 illustrated in FIG. 3 in one embodiment;

FIG. 7 is a schematic diagram illustrating a processing procedure of step S340 illustrated in FIG. 3 in another embodiment;

FIG. 8 is a diagram illustrating the processing of step S345 shown in FIG. 7 in one embodiment;

FIG. 9 schematically shows a flow chart of a navigation method according to a further embodiment of the present disclosure;

FIG. 10 schematically illustrates a schematic diagram of a navigation route according to an embodiment of the present disclosure;

FIG. 11 schematically illustrates a schematic diagram of a first navigation area, an indoor-outdoor transition area and a second navigation area based on FIG. 10;

FIG. 12 schematically illustrates a schematic diagram of determining indoor and outdoor conversion areas based on FIG. 10;

FIG. 13 schematically illustrates a schematic view of integrated navigation based on the indoor and outdoor transition regions determined in FIG. 12;

FIG. 14 schematically illustrates a flow chart of a navigation method according to yet another embodiment of the present disclosure;

fig. 15 schematically shows a block diagram of a navigation device according to an embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Fig. 1 shows a schematic diagram of an exemplary system architecture 100 to which the navigation method or navigation device of the embodiments of the present disclosure may be applied.

As shown in fig. 1, the system architecture 100 may include one or more of

terminal devices

101, 102, 103, a network 104, and a server 105. The network 104 serves as a medium for providing communication links between the

terminal devices

101, 102, 103 and the server 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation. For example, server 105 may be a server cluster comprised of multiple servers, and the like.

The user may use the

terminal devices

101, 102, 103 to interact with the server 105 via the network 104 to receive or send messages or the like. The

terminal devices

101, 102, 103 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablets, laptop portable computers, desktop computers, wearable devices, smart homes, and the like.

The server 105 may be a server that provides various services. For example, the user opens the navigation client using the terminal device 103 (or the terminal device 101 or 102), initiates a current navigation on the navigation client, determines the start point and the end point of the current navigation, and sends a request to the server 105. The server 105 may obtain a navigation route in response to the request and determine a transition area on the navigation route from the first space to the second space to the terminal device 103 based on the start point and end point information carried in the request, so that the user may view the displayed navigation route on the terminal device 103 and receive inertial navigation guidance information of the transition area generated using data on the navigation route in the transition area.

Also for example, the terminal device 103 (which may also be the terminal device 101 or 102) may be a smart tv, a VR (Virtual Reality)/AR (Augmented Reality) helmet display, or a mobile terminal such as a smart phone, a tablet computer, etc. on which an instant messaging, a navigation, a video Application (APP) and the like are installed, and the user may send various requests to the server 105 through the smart tv, the VR/AR helmet display or the instant messaging, the video APP. The server 105 may obtain, based on the request, feedback information in response to the request, and return the feedback information to the smart television, the VR/AR head mounted display, or the instant messaging and video APP, and then display the returned feedback information through the smart television, the VR/AR head mounted display, or the instant messaging and video APP.

FIG. 2 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present disclosure.

It should be noted that the computer system 200 of the electronic device shown in fig. 2 is only an example, and should not bring any limitation to the functions and the scope of the application of the embodiments of the present disclosure.

As shown in fig. 2, the computer system 200 includes a Central Processing Unit (CPU)201 that can perform various appropriate actions and processes in accordance with a program stored in a Read-Only Memory (ROM) 202 or a program loaded from a storage section 208 into a Random Access Memory (RAM) 203. In the RAM 203, various programs and data necessary for system operation are also stored. The CPU201, ROM 202, and RAM 203 are connected to each other via a bus 204. An input/output (I/O) interface 205 is also connected to bus 204.

The following components are connected to the I/O interface 205: an input portion 206 including a keyboard, a mouse, and the like; an output section 207 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 208 including a hard disk and the like; and a communication section 209 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 209 performs communication processing via a network such as the internet. A drive 210 is also connected to the I/O interface 205 as needed. A removable medium 211 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 210 as necessary, so that the computer program read out therefrom is mounted into the storage section 208 as necessary.

In particular, the processes described below with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 209 and/or installed from the removable medium 211. When executed by a Central Processing Unit (CPU)201, performs various functions defined in the methods and/or apparatus of the present application.

It should be noted that the computer readable storage medium shown in the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM) or flash Memory), an optical fiber, a portable compact disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF (Radio Frequency), etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, apparatus, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules and/or units and/or sub-units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware, and the described modules and/or units and/or sub-units may also be disposed in a processor. Wherein the names of such modules and/or units and/or sub-units in some cases do not constitute a limitation on the modules and/or units and/or sub-units themselves.

As another aspect, the present application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer-readable storage medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method as described in the embodiments below. For example, the electronic device may implement the steps shown in fig. 3, 4, 5, 6, 7, 8, 9, and 14.

Under the scenes of a market, a supermarket, a hospital and the like, the indoor scene is complex, when a user arrives indoors from outdoors, for example, the entrance of the market is many, the destination the user wants to go to may be a certain shop in the market, how to quickly guide the user to arrive at the shop is provided, the travel solution of the user for the last kilometer is provided, the problem caused by indoor and outdoor positioning switching is avoided, the user is smoothly guided to carry out indoor and outdoor navigation switching, and the technical problem to be solved at present is urgently needed.

Since the problem that the navigation demand of the user is the last kilometer is solved, and the situation that the indoor position is not found well often occurs in indoor scenes such as shopping malls and supermarkets, there is a solution for providing the user with an integrated navigation solution. The positioning technology plays an important role in navigation, and in the integrated navigation in the related technology, a GPS positioning mode is generally adopted in an outdoor part, and beacon or Wi-Fi (Wireless Fidelity) is generally adopted in an indoor part for positioning. The switching of the positioning mode is needed when the door is accessed.

Although the solution provided by the above related art can solve the requirement of indoor and outdoor integrated navigation of the user, there are at least the following problems:

firstly, in navigation, the requirements on the strength and accuracy of a positioning signal are very high, and the quality of navigation depends greatly on the quality of positioning. The integrated navigation can be split into an indoor part, an outdoor part and an indoor and outdoor connecting part, the indoor positioning problem is usually solved indoors by adopting beacon or Wi-Fi, the position updating problem is solved outdoors by adopting GPS positioning, but the indoor and outdoor connecting part is usually a place with more problems in navigation. Because the indoor and outdoor connection part is usually a doorway with unstable indoor and outdoor signals, especially many buildings only deploy Wi-Fi to provide indoor positioning and do not deploy beacon to provide indoor positioning, Wi-Fi positioning signals at the doorway are poor, and the situation that positioning information is not updated or returned completely occurs frequently, so that a navigation client is at the doorway and a user is not prompted to navigate and guide information. When the user always walks a long distance outdoors from the door, namely after the GPS signal is stable; or, when the user walks a long distance from the door to the room, namely the Wi-Fi signal is stable, the navigation can resume the guidance. Thus, the navigation guidance experience in the entry and exit area is poor, and the user cannot be guided with a correct route.

Secondly, in the door access area, in addition to the above-mentioned case where the positioning signal is lost, there is also a case where a large error in the positioning accuracy often occurs. Because the junction of the doorway is the intersection of the GPS and Wi-Fi/beacon signals, outdoor GPS signals appear in the indoor part of the doorway, and indoor positioning information appears in the outdoor part just after the user leaves the doorway, so that the navigation client frequently generates yaw prompts to the user, and the yaw information belongs to wrong yaw under the condition that the user does not walk wrong routes, thereby causing great trouble to the user.

If the problems are solved by optimizing GPS, Wi-Fi and/or beacon positioning signals at the connection position of the access door, the difficulty of optimizing the GPS positioning effect is high for the GPS outdoor positioning part due to the influence of buildings on the GPS; for the indoor part, a large number of beacons need to be deployed or Wi-Fi signals need to be optimized, so that the time, labor and capital costs involved are large.

Fig. 3 schematically shows a flow chart of a navigation method according to an embodiment of the present disclosure. The method provided by the embodiment of the present disclosure may be executed by any electronic device with computing processing capability, for example, one or more of the

terminal devices

101, 102, 103 and/or the server 105 in fig. 1. In the following description, a terminal device is exemplified as an execution subject.

As shown in fig. 3, a navigation method provided by an embodiment of the present disclosure may include the following steps.

In step S310, a start point and an end point of the current navigation of the target object are determined, wherein the start point is located in the first space and the end point is located in the second space.

In the embodiment of the present disclosure, the target object may be any determined user, and it is assumed that the user installs some navigation software or Application (APP) on a terminal device, such as a smart phone, as a navigation client, and the navigation client is referred to as an "XX map" hereinafter; or the website of the navigation client can be opened in a certain browser installed on the smart phone. The user starts the smart phone, opens the navigation client, can manually input the starting point and the end point in the navigation client, and then clicks the virtual buttons expressing similar meanings such as 'start navigation' or 'navigation', and the like, so that a navigation request can be initiated. The starting point may be manually input by a user, or the navigation client may select to automatically locate the current actual position of the user, and the present disclosure does not limit how to determine the starting point and the ending point of the current navigation.

In the embodiment of the present disclosure, in response to the requirement of the integrated navigation proposed above, it is assumed that the starting point is located in a first space, and the ending point is located in a second space, and a transition area exists in a position of the first space adjacent to the second space, where the navigation modes used in the first space and the second space cannot work normally. Wherein the first space may be indoor and the second space may be outdoor; alternatively, the first space may be outdoors and the second space may be indoors. It should be noted that the first space and the second space proposed in the embodiment of the present disclosure are not limited to the above-mentioned exemplary cases, and may refer to that, during a complete navigation process from the starting point to the end point, a transition area exists at a position from the first space to the second space, and in the transition area, the navigation manner from the starting point to the position before entering the transition area and/or the navigation manner from the position after exiting the transition area to the end point cannot continue to adopt the original navigation manner due to various reasons, such as weak real-time positioning signals. In some embodiments, the first space may be indoor, and the second space may also be indoor, for example, when a user enters another indoor space from one indoor space of a mall, if a transition area exists between the two indoor spaces, which results in that beacon and/or Wi-Fi signals in the indoor space are weak and real-time positioning cannot be performed, navigation may be performed in the transition area by inertial navigation, and when the user exits from the transition area, the user enters the other indoor space, and real-time navigation may be performed by using beacon and/or Wi-Fi signals again. In other embodiments, the first space may be outdoors, and the second space may also be outdoors, for example, when a user starts from one city and turns to another city over a mountain, in the mountain area, the GPS signal is weak, inertial navigation may be adopted, and when entering the two cities, the GPS navigation mode is adopted. In the following description, the first space is taken as an outdoor space and the second space is taken as an indoor space, but the present disclosure is not limited thereto.

When the user is indoors, walking is usually used (this includes the user walking with both feet, and may also include the user with some other auxiliary equipment, such as a scooter, wheelchair, cart, etc.); when the user is outdoors, the user can drive or walk. In the embodiment of the disclosure, whether the user uses the same travel mode indoors or outdoors, indoor and outdoor through navigation can be provided, and navigation guidance is performed without interruption during driving and walking.

In step S320, the navigation route of the current navigation is planned according to the starting point and the end point.

Specifically, after receiving the start point and the end point, the navigation client may initiate a navigation request to a server, where the navigation request carries the start point and the end point, and after receiving the navigation request, the server may automatically plan a navigation route from the start point to the end point according to the start point and the end point. Or, map data may be stored locally in the terminal device corresponding to the navigation client in advance, and when a user initiates a navigation request, the navigation client itself may plan the navigation route from the start point to the end point according to the stored map data.

In the embodiment of the present disclosure, the number of the navigation routes returned according to the start point and the end point may be one or more, for example, scheme 1 with the shortest time, scheme 2 with the closest distance, other schemes 3, and the like are provided at the same time. By default, scenario 1 may be taken as the determined navigation route. The user may also click to select any of the scenarios as the determined navigation route.

In step S330, a transition area from the first space to the second space on the navigation route is determined.

In the embodiment of the disclosure, the first space is taken as an outdoor space, the second space is taken as an indoor space, and the indoor and outdoor connection positions of the access door are independently processed and optimized. Due to the weak positioning signal at the junction, a transition area (referred to herein as an indoor-outdoor transition area), also referred to as an access door area, is defined at the junction of the access door.

It should be noted that, the "door" mentioned in the embodiments of the present disclosure is not limited to a door generally understood, and may be any door that can enter from the indoor to the outdoor or enter from the outdoor to the indoor.

In step S340, inertial navigation guidance information of the transition area is generated according to the navigation route in the transition area.

In the embodiment of the present disclosure, inertial navigation (hereinafter, referred to as inertial navigation) is a self-service navigation mode that does not depend on external real-time positioning information (such as GPS and Wi-Fi/beacon positioning signals), and generates navigation guidance information directly using a navigation route. For example, it may implement inertial navigation using sensor information collected by a sensor such as an accelerometer, a gyroscope, or the like mounted on the terminal device, or determine navigation guidance information on a navigation route within a transition area from data of the navigation route and historical track information before entering the transition area from a starting point.

In the navigation method provided by the embodiments of the present disclosure, on one hand, when a target object (e.g., a certain user) initiates a current navigation, a starting point and an end point of the current navigation are first determined, where it is assumed that the starting point is located in a first space (e.g., indoor or outdoor) and the end point is located in a second space (e.g., outdoor or indoor), and a navigation route of the current navigation is planned according to the starting point and the end point to implement integrated navigation, that is, performing through navigation indoors and outdoors, if the target object adopts different transportation manners in the first space and the second space, respectively, for example, one is driving and the other is walking, then driving and walking can be simultaneously implemented to perform navigation guidance; on the other hand, by determining the transition area from the first space to the second space on the navigation route, after the target object enters the transition area, the inertial navigation guidance information of the transition area can be generated directly according to the data on the navigation route in the transition area, that is, the inertial navigation guidance is adopted in the transition area for navigation guidance, so that navigation suspension caused by loss of the positioning signal can be prevented, or wrong guidance caused by weak positioning signal can be prevented, and the navigation precision of the transition area is improved, thereby improving the in-and-out experience of the transition area during navigation of the user, and enabling the user to smoothly enter the room from the outside or exit/exit the room from the inside to the outside, and continuing navigation guidance.

Fig. 4 schematically shows a flow chart of a navigation method according to another embodiment of the present disclosure.

As shown in fig. 4, the navigation method provided by the embodiment of the present disclosure may further include the following steps, which are different from the above-described embodiments.

In step S410, a first navigation area from the start point to the transition area on the navigation route is determined.

In the embodiment of the present disclosure, after the navigation route of the current navigation is obtained, the navigation client may first guide the user to move from the starting point to the transition area, where a section of the navigation route before entering the transition area is referred to as a first navigation area.

In step S420, in the first navigation area, first real-time positioning information of the target object is obtained through a first positioning manner.

For example, if the first space is indoor, the first positioning manner may include wireless communication positioning (e.g., Wi-Fi or beacon). For another example, if the first space is outdoors, the first positioning manner may include satellite communication positioning (e.g., GPS or beidou navigation system, galileo navigation system, etc.). First real-time positioning information of the target object can be obtained through the first positioning mode.

In step S430, a first projection point in the first navigation area is determined according to the first real-time positioning information and the coordinate point on the first navigation area.

In the embodiment of the disclosure, in an actual traveling process, a user may travel near a navigation route instead of traveling exactly along a route planned by the navigation route, and to ensure smoothness of navigation, the first real-time positioning information of the target object may be projected onto a coordinate point of the first navigation area closest to the first real-time positioning information, and the first real-time positioning information is used as a first projection point of the first navigation area. During the traveling process, the first real-time positioning information is changed in real time according to the actual positioning position of the target object, and therefore, the first projection point is also changed according to the change of the first real-time positioning information.

In step S440, the first projected point movement indicator is used as the real-time navigation guidance information of the first navigation area.

After the first proxel is determined, the signpost on the navigation client may be moved according to the first proxel. If the user selects the driving mode, the indicator can be a car logo displayed on the navigation route; if the user selects the walking mode, the indicator may be a pedestrian indicator. Or, no matter what travel mode is selected by the user, an arrow is used as an indicator, and the direction of the arrow is approximately consistent with the advancing direction of the user.

In addition to moving the indicator according to the first real-time positioning information of the user, the real-time navigation guidance information of the first navigation area may further include any textual and/or audio and/or video and/or picture guidance information, for example, when the user deviates from the navigation route, the user is reminded by voice that "you have drifted away and are planning a route for you again", or when the user is about to approach a congested road segment, different congestion degrees are displayed by different degrees of colors, and the like.

Fig. 5 is a schematic diagram illustrating a processing procedure of step S330 shown in fig. 3 in an embodiment. In the process of improving the integrated navigation experience, the fluency of the transition area, such as the entrance and exit door area, is mainly considered. Taking the door access area as an example for explanation, since the quality of the positioning signal near the door access area is poor, a stable and accurate position signal cannot be provided for the navigation engine to calculate the position of the user on the line. Therefore, the unstable area is calculated first, and then navigation optimization is performed in the entrance and exit area.

As shown in fig. 5, the step S330 in the embodiment of the present disclosure may further include the following steps.

In step S331, information of each node on the navigation route is acquired.

In the embodiment of the present disclosure, the node information may include the start point and the end point, and information of all inflection points on the navigation route, for example, position information such as going upstairs, turning left, and turning right.

In step S332, position coordinates of a connection point from the first space into the second space are determined from the respective node information.

In the embodiment of the present disclosure, the connection point may be any entrance or exit on the navigation route, for example, a north gate of a certain shopping mall. The location coordinates of the connection may be its latitude and longitude.

In step S333, a coordinate system including a first axis and a second axis is established with the position coordinates of the connection point as a center point, and the first predetermined distance and the second predetermined distance extend from the center point to the front and back directions of the first axis and the second predetermined distance to the front and back directions of the second axis, respectively, so as to determine the indoor and outdoor conversion areas.

In the embodiment of the present disclosure, a coordinate system is established with the position coordinates of the connection as a central point (origin), where the coordinate system includes a first axis (for example, an X axis) and a second axis (for example, a Y axis), the first axis includes a positive direction and a negative direction, for example, the positive direction of the X axis is a positive direction, and the negative direction of the X axis is a negative direction; the positive Y-axis direction is the positive direction, and the negative Y-axis direction is the negative direction. The indoor-outdoor conversion region may be determined by extending a first predetermined distance (e.g., 2.5 m, one coordinate point is determined to be (2.5,0)) from the center point to the positive direction of the first axis while extending the first predetermined distance (e.g., one coordinate point is determined to be (-2.5,0)) to the negative direction of the first axis, extending a second predetermined distance (e.g., 5m, one coordinate point is determined to be (0,5)) to the positive direction of the second axis while extending the second predetermined distance (e.g., one coordinate point is determined to be (0, -5)) to the negative direction of the second axis, and connecting the four coordinate points to form a rectangle, for example.

In the embodiment of the present disclosure, the first predetermined distance and the second predetermined distance may be equal or unequal. The values of the first predetermined distance and the second predetermined distance may be determined according to the strength of the positioning signal at the location of the connection. For example, if the positioning signal is strong, the first predetermined distance and the second predetermined distance may be smaller, that is, the finally determined area of the indoor and outdoor conversion region is smaller; if the positioning signal is weak, the first predetermined distance and the second predetermined distance may be greater, that is, the finally determined indoor and outdoor conversion areas are larger in area.

In the embodiment of the present disclosure, the first axis and the second axis may be orthogonal, i.e., perpendicular to each other, but the present disclosure is not limited thereto as long as a stable coordinate system is established.

It should be noted that the present disclosure does not limit the shape of the indoor and outdoor transition area to the rectangle illustrated above, but may also be, for example, a circle, an ellipse, a square, a triangle, or other irregular shapes (for example, there may be saw-tooth shapes, wave shapes, etc. on the sides), and the manner of determining the indoor and outdoor transition area is not limited to the above-illustrated manner. For example, the indoor and outdoor conversion areas may be determined by drawing a circle with a predetermined radius around the position coordinates of the connection point. As long as the finally determined indoor and outdoor conversion area covers part of the outdoor space and part of the indoor space of the connection, because the GPS signal of the outdoor space close to the connection is weaker, and the Wi-Fi/beacon signal of the indoor space close to the connection is weaker, the indoor and outdoor conversion area simultaneously comprises the two parts of space, an inertial navigation mode can be adopted in the two parts of space, and the problem caused by adopting real-time positioning navigation is avoided.

In the embodiment of the disclosure, the indoor and outdoor conversion area may be calculated after the navigation route is planned. In other embodiments, the indoor and outdoor transition areas of the plurality of junctions may be pre-stored. In consideration of the actual situation, the number of the inlets which enter indoor spaces such as a certain market, a supermarket, an indoor parking lot and the like from the outside is limited and fixed, and the positioning signal conditions of the inlets can be collected or detected, so that indoor and outdoor conversion areas of all the joints are planned in advance, when a certain user needs to enter a certain market from a certain inlet at present, the indoor and outdoor conversion areas can be directly extracted from stored data, the response timeliness can be improved, and the calculated amount is reduced.

Fig. 6 is a schematic diagram illustrating a processing procedure of step S340 illustrated in fig. 3 in an embodiment. As shown in fig. 6, the step S340 in the embodiment of the present disclosure may further include the following steps.

In step S341, history trajectory information before the target object enters the conversion area from the start point is acquired.

In step S342, the traveling direction and the traveling speed of the target object are predicted from the history track information.

In the embodiment of the disclosure, the future navigation path route of the user can be calculated by utilizing the previous behavior attribute of the user. For example, if the user walks from the starting point to an entrance of a certain shopping mall according to the navigation route, the behavior track before the user walks from the starting point to the entrance of the shopping mall may be referred to as the historical track information of the user, and based on the historical track information, the direction and the traveling speed of the user can be calculated, and then the behavior of the user near the entrance can be calculated, that is, whether the user wants to enter the entrance or exit the entrance can be predicted. Typically, the user is walking near the conversion area, and therefore it may be assumed that the user will continue to use the previous walking speed in the conversion area, or the walking speed in the conversion area will be slightly less than the previous walking speed, for example, a predetermined percentage (e.g., 80%) of the previous walking speed is taken as the walking speed of the conversion area, and the indicator is moved according to the determined direction and walking speed of the conversion area.

In step S343, a navigation projection point on the navigation route within the transition area is determined according to the predicted traveling direction and traveling speed of the target object.

In step S344, the navigation proxel movement indicator is used as the inertial navigation guidance information.

In the embodiment of the present disclosure, when a user enters the conversion area from the first navigation area, which coordinate points on a navigation route are used as navigation projection points may be determined according to a traveling direction and a traveling speed of the user, the navigation route and the conversion area have two intersection points, the intersection point entering the conversion area may be determined as the first navigation projection point according to the traveling direction of the user, and then a subsequent navigation projection point may be determined according to the traveling speed, for example, assuming that the traveling speed of the user is predicted to be 1m/s, if it is preset that an indicator is moved every 1s, on the navigation route of the conversion area, a longitude and latitude of one coordinate point is taken every 1m as a navigation projection point, and then a navigation projection point is moved forward every 1s according to the traveling direction. For another example, assuming that the predicted traveling speed of the user is 0.5m/s, the longitude and latitude of one coordinate point may be taken as one navigation projection point every 0.5m on the navigation route of the conversion area. In other words, in the conversion area, the coordinate point on the navigation route in the conversion area is directly used as the navigation projection point, and the indicator on the navigation route is moved according to the navigation projection point, so that the user is not required to collect the real-time positioning information, or the indicator is moved according to the navigation projection point regardless of the collected real-time positioning information. Navigation guidance is carried out by using inertial navigation in the door access area, the problem of navigation suspension caused by loss of positioning signals can be prevented, and the problem of mistaken yaw prompt caused by crossing of indoor and outdoor positioning signals can be avoided.

Fig. 7 is a schematic diagram illustrating a processing procedure of step S340 illustrated in fig. 3 in another embodiment. As shown in fig. 7, the step S340 in the embodiment of the present disclosure may further include the following steps.

In step S345, the travel information of the target object is received at regular time in the transition area.

In step S346, a navigation projection point on the navigation route within the transition area is determined according to the travel information of the target object.

In this disclosure, the travel information may include a travel speed of the target object in the conversion area, and according to the travel speed, a navigation projection point on the navigation route may be determined, that is, the real-time location information of the user at this time is not considered, and the longitude and latitude of some coordinate points on the navigation route are directly used as the navigation projection point, and specifically which coordinate points on the navigation route are selected as the navigation projection point may be determined by the travel information of the target object. For example, at the current moment, the traveling speed of the user is 1m/s, and the distance between two adjacent navigation projection points at the current moment is 1 m; and if the traveling speed of the user at the next moment becomes 0.5m/s, the distance between two adjacent navigation projection points at the next moment is 0.5 m. Therefore, the distance between two adjacent navigation projection points can be adjusted according to the real-time traveling speed of the user.

In step S347, the navigation projected point movement indicator is used as the inertial navigation guidance information.

In an exemplary embodiment, the step S347 may further include: and if the traveling information of the target object is not received in the current time interval, stopping moving the indicator in the current time interval.

Still regard as the first space outdoor, the second space is indoor for the example, in the area of business turn over, adopt and be used to lead to navigate and guide, can promote the smooth experience in this area greatly like this. However, since the inertial navigation does not use the real positioning information of the user but directly uses the data on the navigation route, there is some deviation from the real travel path of the user. For example, if the user stands still at a certain position in the door access area, but the navigation still continues to guide the user, moving the indicator on the navigation route, and because the actual location of the user is not obtained, such a similar error occurs.

In order to avoid the influence of such errors on the user and improve the authenticity of inertial navigation, in the embodiment of the disclosure, when the inertial navigation is performed in the indoor and outdoor conversion area, a positioning SDK (Software Development Kit) on the terminal device may be exposed to the navigation client, so that the navigation experience of the user may be provided by using a manner of combining the sensor information of the terminal device and the navigation client.

It is assumed here that the terminal device of the user has a positioning SDK, and the positioning SDK may determine the traveling information of the user in the indoor and outdoor conversion area (for example, how many steps the user has taken within one second, how large the step is per step) by using sensor information such as an acceleration signal and an angular velocity signal detected by an IMU (Inertial measurement unit, IMU may include three single-axis accelerometers and three single-axis gyroscopes) in the terminal device, and determine the real walking speed or the number of steps (data of steps) of the user in the indoor and outdoor conversion area according to the traveling information, for example, the positioning SDK may be set to return the number of the user's traveling steps to the navigation client every 1 second (although the present disclosure is not limited thereto), and the navigation client judges the real walking speed of the user and whether the user stops at present or not according to the acquired steps. And (4) utilizing the auxiliary information of steps to guide the calculation of inertial navigation. For example, if the data of this step is not returned, which means that the user does not move, the estimated navigation projection point may be stopped, and then if the data of the next step is received, the estimation may be continued.

By utilizing the optimization, a user can be guided to initiate navigation from an indoor/outdoor starting point, and the user is continuously guided to walk out of a building gate to the outdoor from the indoor or walk into the building gate to the indoor from the outdoor until the navigation is finished, so that the navigation smoothness and continuity are greatly improved, and the navigation engine can be effectively helped to guide the user to pass through an entrance area and an exit area in the range of an indoor-outdoor switching area.

Fig. 8 is a schematic diagram illustrating a processing procedure of step S345 illustrated in fig. 7 in an embodiment.

As shown in fig. 8, the step S345 in the embodiment of the present disclosure may further include the following steps.

In step S3451, in the conversion area, sensor information is acquired.

In the embodiment of the present disclosure, if the user selects to open the navigation APP on the terminal device, the navigation APP may directly acquire sensor information such as acceleration information and angular velocity information acquired by an accelerometer, a gyroscope, and the like installed on the terminal device.

In step S3452, travel information of the target object is obtained from the sensor information.

Travel information such as the travel speed of the user can be calculated and obtained from the sensor information.

Fig. 9 schematically shows a flow chart of a navigation method according to a further embodiment of the present disclosure. As shown in fig. 9, the difference from the above-mentioned embodiment is that the navigation method provided by the embodiment of the present disclosure may further include the following steps.

In step S910, a second navigation area from the transition area to the end point on the navigation route is determined.

In the embodiment of the present disclosure, after the user passes through the transition area, the navigation route that continues to navigate to the end point is referred to as a second navigation area.

In step S920, in the second navigation area, second real-time positioning information of the target object is obtained through a second positioning method.

For example, if the second space is indoor, the second positioning manner may include wireless communication positioning (e.g., Wi-Fi or beacon). For another example, if the second space is outdoors, the second positioning manner may include satellite communication positioning (e.g., GPS or beidou navigation system, galileo navigation system, etc.). And second real-time positioning information of the target object can be acquired through the second positioning mode.

In step S930, a second projection point in the second navigation area is determined according to the second real-time positioning information and the coordinate point on the second navigation area.

Similar to the first navigation area, in the actual traveling process, the user may travel near the navigation route instead of traveling exactly along the planned route of the navigation route, and in order to ensure the smoothness of navigation, the second real-time positioning information of the target object may be projected onto a coordinate point of the second navigation area closest to the second real-time positioning information, and the second real-time positioning information may be used as a second projection point of the second navigation area. During the traveling process, the second real-time positioning information is changed in real time according to the actual positioning position of the target object, and therefore, the second projection point is also changed according to the change of the second real-time positioning information.

In step S940, the second projected point movement indicator is used as the real-time navigation guidance information of the second navigation area.

In the embodiment of the present disclosure, in addition to moving the indicator according to the second real-time positioning information of the user, the real-time navigation guidance information of the second navigation area may further include arbitrary text guidance information and/or voice guidance information and/or video guidance information and/or picture guidance information.

The method provided by the above embodiment is exemplified below by taking the example that the navigation scene is navigated on a line from the starting point outdoors to the end point indoors, wherein the navigation method from the starting point indoors to the end point outdoors is similar here.

FIG. 10 schematically shows a schematic diagram of a navigation route according to an embodiment of the present disclosure.

As shown in fig. 10, it is assumed that the user first opens the XX map application on the terminal device and then initiates a navigation request from the XX technical trading building (starting point outdoors) to the E08 passenger elevator (terminal point indoors) in the XX shopping mall, and it is assumed that the system automatically locates the current actual position of the user as the starting point, that is, corresponding to "my position" in fig. 10, in this scenario, it is more suitable to use integrated navigation. In response to the navigation request, route planning is performed, where scenario 1, scenario 2, and scenario 3 are returned, and default scenario 1 is selected as the navigation route.

In the embodiment of the present disclosure, the navigation engine knows the indoor structure of the mall in advance, such as how many entrances are in total in the mall, where each entrance is located, what kind of facilities are in the mall and where each facility is located, and the like, such as where each passenger ladder is located, and where each stair and escalator are located. The user may enter the name of the mall, an indoor map of the mall may be displayed on the navigation client, and the user may then select a location as the destination he wants to go to.

In the process of planning the navigation route, the indoor map of the mall may also be referred to, and the starting point position, the entrance layout of the mall, the position of the selected destination in the mall, and the positions of the facilities such as stairs and stairs in the mall are comprehensively considered, so that the user can enter the mall from the north gate of the mall and can reach the passenger elevator number E08 most quickly. Of course, the optimal time is not necessarily the shortest, and factors such as distance, congestion, whether to take an escalator and the like can be considered.

Fig. 11 schematically shows a schematic diagram of the first navigation area, the indoor-outdoor transition area and the second navigation area based on fig. 10.

As shown in fig. 11, a rectangular frame is determined as an indoor and outdoor transition area by taking the north gate of the mall as a central point, the positioning signal on the entering and exiting route of the north gate is weak, a dotted line from the outdoor starting point to the indoor and outdoor transition area is a first navigation area, and a dotted line from the indoor and outdoor transition area to the end point is a second navigation area.

It is assumed here that the user is first guided by the driving navigation to get to the parking lot at the entrance of the mall from the XX technical trading building to park and then continues to guide the user to enter the room of the mall from the north door of the mall.

Fig. 12 schematically shows a schematic diagram of determining an indoor-outdoor transition area based on fig. 10.

As shown in fig. 12, first, information of each node on the route is acquired from data of the original navigation route, and position coordinates of a north gate on the route are found, for example, assuming that coordinates of the north gate are (X0, Y0), where X0 is longitude of the north gate and Y0 is latitude of the north gate, and (X0, Y0) is a central point, bidirectional expansion is performed to the X axis and the Y axis, respectively, and it is assumed that the X axis extends for 5 meters in a bidirectional manner and the Y axis extends for 10 meters in a bidirectional manner, so that coordinates of two points (X1, Y1) and (X2, Y2) can be determined, and thus, an indoor and outdoor conversion area in a dashed box can be determined.

In this area, the navigation client no longer triggers real-time navigation, using inertial navigation to guide the user. Namely, the user is guided to travel in the area according to the data of the planned navigation route instead of being guided according to the real-time positioning information.

Fig. 13 schematically shows a schematic view of integrated navigation of the indoor-outdoor transition area determined based on fig. 12.

As shown in fig. 13, the transition area from the start point (a) to the indoor and outdoor is the first navigation area, the transition area from the dotted line frame to the indoor and outdoor is the indoor and outdoor transition area, the solid black dot is the north gate, and the transition area from the indoor and outdoor to the end point (B) is the second navigation area. In the navigation process, the real-time positioning information of the user generally jumps around the navigation route, such as the circular dots (positioning real points) corresponding to the first real-time positioning information and the second real-time positioning information in fig. 13, in order to provide a smooth navigation experience and not to make the indicator jump, the navigation engine may project the positioning real points onto the navigation route, for example, project the circular dots corresponding to the first real-time positioning information and the second real-time positioning information onto the circular dots (e.g., the first projected point and the second projected point in the drawing) on the nearest navigation route. And in the navigation process, the first projection point and the second projection point are used as coordinates smooth moving indicators in the process of traveling.

In the indoor and outdoor conversion area in the dotted line frame, because the deviation between the coordinate point corresponding to the real-time positioning information and the coordinate point of the navigation route is large, or the real-time positioning information is often absent, in the door access area, the real positioning point is not used as a projection point, and then the indicator is moved. And inertial navigation is adopted, namely coordinate points on a navigation route are directly adopted as navigation projection points, and then the navigation projection points are used for moving the indicator to guide the user to move forwards. Therefore, in the door entering and exiting area, the condition of yaw and navigation suspension can not occur, and the process that a user enters the indoor space from the outdoor space can be ensured to be smooth and continuous.

Fig. 14 schematically shows a flow chart of a navigation method according to a further embodiment of the present disclosure.

As shown in fig. 14, a navigation method provided by the embodiment of the present disclosure includes the following steps.

In step S1401, a start point and an end point of the current navigation are set. And determining a navigation route and an access area on the navigation route according to the set starting point and the set end point, and determining a first navigation area and a second navigation area.

In step S1402, when the user is in the first navigation area, the position of the user is updated in real time by using the first real-time positioning information.

In step S1403, the inducement information is updated according to the location updated by the user in real time. The guidance information refers to information for providing user route guidance and text or voice description of the next travel path.

In step S1404, it is determined whether the user enters the entry/exit area; if yes, go to step S1405; otherwise, the process returns to step S1402.

In step S1405, if the user enters the entry/exit area, the real-time location update is terminated.

In step S1406, after the user enters the door access area, the user is guided to proceed by inertial navigation.

In step S1407, it is determined whether the user has walked out of the entry/exit area; if yes, go to step S1408; otherwise, the process goes back to step S1406.

In step S1408, after the user enters the second navigation area, the second real-time positioning information of the user is obtained, and the location of the user is updated in real time according to the second real-time positioning information.

In step S1409, the guidance information is updated according to the location of the user.

In step S1410, it is determined whether the user has reached the end point; if yes, go to step S1411; otherwise, the process goes back to step S1408.

In step S1411, the navigation is ended.

According to the navigation method provided by the embodiment of the disclosure, inertial navigation is introduced into the door access area of integrated navigation, so that a user can be guided to perform integrated navigation experience more smoothly, navigation suspension of the door access area is prevented, or a prompt message of error yaw frequently appears to misguide the user, and the navigation method can be applied to application scenes of accessing an underground parking lot, accessing a market, a supermarket and the like. In addition, on a smooth basis, real/predicted user travel information can be integrated into the navigation directions of the entry and exit areas, and a more real navigation experience is provided.

As shown in fig. 15, a navigation device 1500 provided in the embodiment of the present disclosure may include: a start and end determination module 1510, a route planning module 1520, a conversion determination module 1530, and a navigation directions module 1540.

Wherein the start and end determination module 1510 may be configured to determine a start point and an end point of a current navigation of the target object, wherein the start point is located in a first space and the end point is located in a second space. The route planning module 1520 may be configured to plan the currently navigated navigation route according to the start point and end point. The transition determination module 1530 may be configured to determine a transition region on the navigation route from the first space into the second space. The navigation directions module 1540 may be configured to generate inertial navigation directions information for the transition region based on the navigation route within the transition region.

In an exemplary embodiment, the conversion determination module 1530 may include: a node information acquisition unit that may be configured to acquire each node information on the navigation route; a joint position determination unit configured to determine position coordinates of a joint entering the second space from the first space based on the respective node information; the conversion region determining unit may be configured to establish a coordinate system including a first axis and a second axis with the position coordinates of the connection point as a center point, and extend a first predetermined distance from the center point to a front and back direction of the first axis and a second predetermined distance to the front and back direction of the second axis, respectively, to determine the conversion region.

In an exemplary embodiment, the navigation directions module 1540 may include: a history track acquisition unit configured to acquire history track information before the target object enters the conversion area from the starting point; a travel speed prediction unit that may be configured to predict a travel direction and a travel speed of the target object from the history track information; a first navigation projection point determining unit configured to determine a navigation projection point on a navigation route within the transition area according to the predicted traveling direction and traveling speed of the target object; the first inertial navigation unit may be configured to move the indicator according to the navigation projected point, as the inertial navigation guidance information.

In an exemplary embodiment, the navigation directions module 1540 may include: a travel information receiving unit that may be configured to receive travel information of the target object at a timing in the transition area; a second navigation proxel determining unit configured to determine a navigation proxel on the navigation route within the transition area according to the traveling information of the target object; and the second inertial navigation unit can be configured to move the indicator according to the navigation projection point as the inertial navigation guidance information.

In an exemplary embodiment, the travel information receiving unit may include: a sensor information acquisition subunit that may be configured to acquire sensor information in the conversion area; a traveling information obtaining subunit that may be configured to obtain traveling information of the target object from the sensor information.

In an exemplary embodiment, the second inertial navigation unit may further include: and the indicator stop moving subunit may be configured to stop moving the indicator within the current time interval if the travel information of the target object is not received within the current time interval.

In an exemplary embodiment, the navigation apparatus 1500 may further include: a first navigation area determination module configured to determine a first navigation area from the start point to the transition area on the navigation route; the first real-time positioning information acquisition module can be configured to acquire first real-time positioning information of the target object in the first navigation area in a first positioning mode; a first projection point determination module configured to determine a first projection point in the first navigation area according to the first real-time positioning information and the coordinate point on the first navigation area; and the first real-time navigation module can be configured to serve as the real-time navigation guide information of the first navigation area according to the first projected point movement indicator.

In an exemplary embodiment, the first space may be outdoors, and the first positioning manner may include satellite communication positioning.

In an exemplary embodiment, the navigation apparatus 1500 may further include: a second navigation area determination module that may be configured to determine a second navigation area on the navigation route from the transition area to the end point; the second real-time positioning information acquisition module can be configured to acquire second real-time positioning information of the target object in a second positioning mode in the second navigation area; a second projection point determination module configured to determine a second projection point in the second navigation area according to the second real-time positioning information and the coordinate point on the second navigation area; and the second real-time navigation module can be configured to move the indicator according to the second projection point as the real-time navigation guide information of the second navigation area.

In an exemplary embodiment, the second space may be indoors, and the second positioning manner may include wireless communication positioning.

The specific implementation of each module, unit and subunit in the navigation apparatus provided in the embodiment of the present disclosure may refer to the content in the navigation method, and is not described herein again.

It should be noted that although several modules, units and sub-units of the apparatus for action execution are mentioned in the above detailed description, such division is not mandatory. Indeed, the features and functions of two or more modules, units and sub-units described above may be embodied in one module, unit and sub-unit, in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module, unit and sub-unit described above may be further divided into embodiments by a plurality of modules, units and sub-units.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of navigation, comprising:

determining a starting point and an end point of a current navigation of a target object, wherein the starting point is located in a first space and the end point is located in a second space;

planning the navigation route of the current navigation according to the starting point and the end point;

determining a transition area on the navigation route from the first space into the second space, the transition area covering a portion of the first space and a portion of the second space at a junction from the first space into the second space;

generating inertial navigation guidance information of the conversion area according to the navigation route in the conversion area;

generating inertial navigation guidance information for the transition area according to the navigation route in the transition area, including:

acquiring historical track information of the target object before the target object enters the conversion area from the starting point;

predicting the traveling direction and the traveling speed of the target object according to the historical track information;

determining a navigation projection point on a navigation route in the conversion area according to the predicted traveling direction and traveling speed of the target object;

and taking the navigation projection point moving indicator as the inertial navigation guiding information.

2. The method of claim 1, wherein determining a transition area on the navigation route from the first space into the second space comprises:

acquiring information of each node on the navigation route;

determining position coordinates of a connection part from the first space to the second space according to the information of each node;

and establishing a coordinate system comprising a first shaft and a second shaft by taking the position coordinates of the connecting part as a central point, and respectively extending a first preset distance to the positive and negative directions of the first shaft and a second preset distance to the positive and negative directions of the second shaft from the central point to determine the conversion area.

3. The method of claim 1, further comprising:

determining a first navigation area from the starting point to the transition area on the navigation route;

in the first navigation area, acquiring first real-time positioning information of the target object in a first positioning mode;

determining a first projection point in the first navigation area according to the first real-time positioning information and the coordinate point on the first navigation area;

and taking the first projection point moving indicator as real-time navigation guide information of the first navigation area.

4. The method of claim 3, wherein the first space is outdoors and the first positioning mode comprises satellite communication positioning.

5. The method of claim 1, further comprising:

determining a second navigation area on the navigation route from the transition area to the end point;

in the second navigation area, second real-time positioning information of the target object is obtained in a second positioning mode;

determining a second projection point in the second navigation area according to the second real-time positioning information and the coordinate point on the second navigation area;

and taking the second projection point moving indicator as real-time navigation guide information of the second navigation area.

6. The method of claim 5, wherein the second space is indoors and the second location comprises a wireless communication location.

7. A navigation method, comprising:

in the conversion area, regularly receiving the traveling information of the target object;

determining a navigation projection point on a navigation route in the conversion area according to the traveling information of the target object;

8. The method of claim 7, wherein the step of periodically receiving the travel information of the target object in the transition area comprises:

acquiring sensor information in the conversion area;

and acquiring the traveling information of the target object according to the sensor information.

9. The method of claim 7, wherein moving the indicator according to the navigation proxel comprises:

and if the traveling information of the target object is not received in the current time interval, stopping moving the indicator in the current time interval.

10. A navigation device, comprising:

the starting and ending determination module is configured to determine a starting point and an ending point of current navigation of the target object, wherein the starting point is located in a first space, and the ending point is located in a second space;

a route planning module configured to plan the currently navigated navigation route according to the start point and end point;

a transition determination module configured to determine a transition area on the navigation route from the first space into the second space, the transition area covering a portion of the first space and a portion of the second space at a junction from the first space into the second space;

the navigation guidance module is configured to generate inertial navigation guidance information of the conversion area according to the navigation route in the conversion area;

the navigation guidance module includes:

a history track obtaining unit configured to obtain history track information before the target object enters the conversion area from the starting point;

a travel speed prediction unit configured to predict a travel direction and a travel speed of the target object from the history track information;

a first navigation projection point determination unit configured to determine a navigation projection point on a navigation route within the conversion area according to the predicted traveling direction and traveling speed of the target object;

and the first inertial navigation unit is configured to move the indicator according to the navigation projection point to serve as the inertial navigation guidance information.

11. The apparatus of claim 10, wherein the transition determination module comprises:

a node information acquisition unit configured to acquire each node information on the navigation route;

a joint position determination unit configured to determine position coordinates of a joint entering the second space from the first space according to the respective node information;

and the conversion area determining unit is configured to establish a coordinate system comprising a first axis and a second axis by taking the position coordinates of the connecting part as a central point, extend a first preset distance from the central point to the front and back directions of the first axis respectively, and extend a second preset distance to the front and back directions of the second axis respectively so as to determine the conversion area.

12. The apparatus of claim 10, further comprising:

a first navigation area determination module configured to determine a first navigation area on the navigation route from the starting point to the transition area;

the first real-time positioning information acquisition module is configured to acquire first real-time positioning information of the target object in the first navigation area in a first positioning mode;

a first projection point determining module configured to determine a first projection point in the first navigation area according to the first real-time positioning information and the coordinate point on the first navigation area;

and the first real-time navigation module is configured to serve as the real-time navigation guide information of the first navigation area according to the first projected point movement indicator.

13. The apparatus of claim 12, wherein the first space is outdoors and the first positioning mode comprises satellite communication positioning.

14. The apparatus of claim 10, further comprising:

a second navigation area determination module configured to determine a second navigation area on the navigation route from the transition area to the end point;

the second real-time positioning information acquisition module is configured to acquire second real-time positioning information of the target object in a second navigation area in a second positioning mode;

a second projection point determining module configured to determine a second projection point in the second navigation area according to the second real-time positioning information and the coordinate point on the second navigation area;

and the second real-time navigation module is configured to serve as the real-time navigation guiding information of the second navigation area according to the second projection point movement indicator.

15. The apparatus of claim 14, wherein the second space is indoor, and wherein the second location means comprises a wireless communication location.

16. A navigation device, comprising:

a route planning module configured to plan the currently navigated navigation route according to the start point and the end point;

the navigation guidance module includes:

a travel information receiving unit configured to receive travel information of the target object at a timing in the transition area;

a second navigation projection point determining unit configured to determine a navigation projection point on a navigation route in the transition area according to the travel information of the target object;

and the second inertial navigation unit is configured to serve as the inertial navigation guidance information according to the navigation projection point movement indicator.

17. The apparatus of claim 16, wherein the travel information receiving unit comprises:

a sensor information acquisition subunit configured to acquire sensor information in the conversion area;

a traveling information obtaining subunit configured to obtain traveling information of the target object according to the sensor information.

18. The apparatus of claim 16, wherein said second inertial navigation unit further comprises:

and the indicator stop moving subunit is configured to stop moving the indicator in the current time interval if the traveling information of the target object is not received in the current time interval.

19. An electronic device, comprising:

one or more processors;

a storage device configured to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the navigation method of any one of claims 1 to 6 or the navigation method of any one of claims 7 to 9.

20. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the navigation method according to one of claims 1 to 6 or the navigation method according to one of claims 7 to 9.