CN111947665B - Navigation control method, device and equipment and computer storage medium - Google Patents
Navigation control method, device and equipment and computer storage medium Download PDFInfo
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- CN111947665B CN111947665B CN202010833981.3A CN202010833981A CN111947665B CN 111947665 B CN111947665 B CN 111947665B CN 202010833981 A CN202010833981 A CN 202010833981A CN 111947665 B CN111947665 B CN 111947665B
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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
- G01C21/20—Instruments for performing navigational calculations
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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Abstract
The application discloses a navigation control method, a navigation control device, navigation control equipment and a computer storage medium, relates to the technical field of computers, and is used for improving the accuracy of navigation control. The method comprises the following steps: adjusting the range of an entrance area and an exit area in a navigation route according to the quality of a positioning signal of a user to obtain an adjusted target range; the navigation route comprises three parts, namely an indoor area, an outdoor area and an access area, wherein the access area comprises a part of the indoor area and a part of the outdoor area; when the user is determined to enter the target range, acquiring a predicted path route of the user in the target range, wherein the predicted path route is a route determined according to the historical behavior record of the user; and according to the predicted travelling path route, carrying out route navigation on the user in the target range.
Description
Technical Field
The application relates to the technical field of computers, in particular to the technical field of navigation, and provides a navigation control method, a navigation control device, navigation control equipment and a computer storage medium.
Background
The navigation function of the electronic map is used for helping a user guide a route, so that great convenience is brought to the user, the situation that the indoor position is not well found often occurs along with the development of the large-scale business, and the integrated navigation solution is provided for solving the problem.
The integrated navigation scheme is a scheme for performing penetration navigation indoors and outdoors, and performs navigation guidance including outdoor navigation and indoor navigation continuously during driving and walking. For example, when the user's destination is shop a in a business trip, the integrated navigation solution may provide a plan of a complete navigation route from the user's current location to shop a, the planned route including an outdoor navigation route from the user's current location to the business trip entrance and an indoor navigation route from the business trip entrance to shop a.
However, the current integrated navigation scheme is not complete, for example, signals at indoor and outdoor connections are generally poor, navigation is prone to problems, and poor navigation experience is brought to users.
Disclosure of Invention
The embodiment of the application provides a navigation control method, a navigation control device, navigation control equipment and a computer storage medium, which are used for improving the accuracy of navigation control.
In one aspect, a navigation control method is provided, including:
adjusting the range of an entrance area and an exit area in a navigation route according to the quality of a positioning signal of a user to obtain an adjusted target range; the navigation route comprises three parts, namely an indoor area, an outdoor area and an access area, wherein the access area comprises a part of the indoor area and a part of the outdoor area;
when the user is determined to enter the target range, acquiring a predicted path route of the user in the target range, wherein the predicted path route is a route determined according to the historical behavior record of the user;
and according to the predicted travelling path route, carrying out route navigation on the user in the target range.
In one aspect, a navigation control device is provided, the device comprising:
the adjusting unit is used for adjusting the range of the door entering and exiting area in the navigation route according to the positioning signal quality of the user to obtain an adjusted target range; the navigation route comprises three parts, namely an indoor area, an outdoor area and an access area, wherein the access area comprises a part of the indoor area and a part of the outdoor area;
the route prediction unit is used for acquiring a predicted travelling path route of the user in the target range when the user is determined to enter the target range, wherein the predicted travelling path route is a route determined according to the historical behavior record of the user;
and the route navigation unit is used for performing route navigation on the user in the target range according to the predicted path route.
Optionally, the adjusting unit is configured to:
and when the range of the door entering and exiting area needs to be adjusted according to the positioning signal quality of the user, adjusting the range of the door entering and exiting area according to a set adjustment value.
Optionally, the adjusting unit is configured to:
determining an adjustment value for adjusting the door entering and exiting area according to the quality of the positioning signal of the user; wherein the adjustment value is inversely related to the positioning signal quality;
and adjusting the range of the door entering and exiting area according to the adjusting value.
Optionally, the adjusting unit is configured to:
determining a signal quality index value of the user according to the positioning data of the user;
when the positioning point of the user which is obtained last time is determined to be an abnormal point according to the signal quality index value of the user, the range of the door entering and exiting area is enlarged; alternatively, the first and second electrodes may be,
and when the positioning point of the user which is obtained last time is determined to be a normal point according to the signal quality index value of the user, the range of the door entering and exiting area is narrowed.
Optionally, the signal quality indicator includes a time interval for acquiring the positioning data, a distance interval between the positioning points acquired last two times, and an included angle between a connection line between the positioning points acquired last N times and the navigation route, where N is a positive integer greater than 1.
Optionally, the adjusting unit is configured to:
when the signal quality index value of the user meets a first preset condition, determining that the positioning point of the user which is obtained last time is an abnormal point, wherein the first preset condition comprises one or more of the following conditions:
the time interval is greater than a first preset time interval threshold;
the distance interval is greater than a first preset distance interval threshold;
the included angle is larger than a first preset included angle threshold value.
Optionally, the adjusting unit is configured to:
when the signal quality index value of the user meets a second preset condition, determining that the positioning point of the user which is obtained last time is a normal point, wherein the second preset condition comprises one or more of the following conditions:
the time interval is smaller than a second preset time interval threshold; wherein the second preset time interval threshold is less than or equal to the first preset time interval threshold;
the distance interval is smaller than a second preset distance interval threshold; wherein the second preset distance interval threshold is less than or equal to the first preset distance interval threshold;
the included angle is smaller than a second preset included angle threshold value; and the second preset included angle threshold value is smaller than or equal to the first preset distance included angle threshold value.
Optionally, the route guidance unit is configured to:
displaying navigation guidance information on a navigation interface based on the predicted path route;
and updating the projection position of the user on the navigation interface according to the predicted travelling speed of the user.
In one aspect, a computer device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the above methods when executing the computer program.
In one aspect, a computer storage medium is provided having computer program instructions stored thereon that, when executed by a processor, implement the steps of any of the above-described methods.
In one aspect, a computer program product or computer program is provided that includes computer instructions stored in a computer-readable storage medium. The computer instructions are read by a processor of a computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the steps of any of the methods described above.
In the embodiment of the application, the door access area is arranged at the indoor and outdoor connection position, the range of the door access area in the navigation route is adjusted according to the positioning signal quality of a user, and the user is navigated in the adjusted target range through the predicted path route determined according to the historical behavior record of the user. Therefore, the range of the door access area can be adjusted to be within a reasonable range based on the positioning signal quality of the user, for example, when the positioning signal quality is extremely poor, the range can be increased, and then the predicted navigation is provided for the user within the target range, so that the navigation is prevented from stopping, and the navigation service is continuously provided for the user.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only the embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1a is a schematic view of an access door area provided by an embodiment of the present application;
fig. 1b is a schematic view of a scenario provided in an embodiment of the present application;
fig. 2 is a schematic view of another scenario provided in the embodiment of the present application;
fig. 3 is a schematic flowchart of a navigation control method according to an embodiment of the present application;
FIG. 4 is a schematic diagram of determining an access door area provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of a historical anchor point provided in an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating updating a projection position of a user according to an embodiment of the present disclosure;
FIG. 7 is a schematic flow chart illustrating route navigation for a user according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a navigation control device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. In the present application, the embodiments and features of the embodiments may be arbitrarily combined with each other without conflict. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
For the convenience of understanding the technical solutions provided by the embodiments of the present application, some key terms used in the embodiments of the present application are explained first:
inertial navigation: or inertial derivation, refers to a navigation method for calculating a future navigation path and route of a user by using historical behavior attributes of the user.
Induction: it is intended to provide the user with route guidance information such as a text description or a voice description indicating a next travel path, and the like.
Entering and exiting the door area: in the integrated navigation scheme, navigation of an indoor area, an outdoor area and an access door area is included, in an actual scene, a connection part of the indoor area and the outdoor area is a door, namely the access door area is an area near the door. As shown in fig. 1a, when the destination is located inside a shopping mall, the navigation route in the integrated navigation solution includes three routes, namely an indoor area, an outdoor area and an access area, wherein the access area is located at the intersection of the indoor area and the outdoor part, i.e., the dashed-line frame part shown in fig. 1a, and is composed of a partial area of the outdoor area and a partial area of the indoor area, and in the embodiment of the present application, the range size of the access area is dynamically adjusted according to the signal quality.
In order to solve the problem that the indoor position is not easy to find, an integrated navigation solution is provided. The integrated navigation scheme is a scheme for performing penetration navigation indoors and outdoors, and performs navigation guidance continuously during driving and walking, and comprises an outdoor navigation part and an indoor navigation part.
While the techniques employed for outdoor navigation and indoor navigation are completely different. Generally, outdoor navigation generally uses Global Positioning System (GPS) for Positioning, and indoor navigation uses Wireless Fidelity (Wi-Fi) and bluetooth beacon for Positioning. Considering that the indoor and outdoor connections have poor signals and easy navigation problems due to the fact that the indoor and outdoor connections are located at the edge of an outdoor area or the edge of an indoor area.
In consideration of the problem, an access door area can be arranged at the indoor and outdoor connection position, and then an inertial navigation mode is adopted in the range of the access door area, so that continuous navigation is provided for a user. And the regional scope size that just involves the business turn over door of setting up the setting of business turn over door, in actual scene, the signal quality of each building differs, the business turn over door region of fixed range size makes the better building of positioning signal quality can't navigate based on GPS positioning data, thereby the user can't experience real navigation effect, and is same, the building of positioning effect extremely poor, the business turn over door region of fixed size probably can't cover completely, probably just can't provide navigation service for the user outside the business turn over door region, user experience is worse, therefore, the business turn over door region of fixed size has the limitation very much, so can consider to adjust the regional size of business turn over door according to actual conditions, for example, come dynamic adjustment business turn over regional scope according to real positioning data or other influence factors. For example, considering that the quality of the positioning signal is related to the attributes of the building, such as the density of a building group, the shape of the building, the height of the building, the bluetooth deployment signal of the building, and the like, when the GPS positioning is accurate or the indoor bluetooth deployment density and the signal strength are both good, in order to improve the accuracy of the user navigation, the user is allowed to use the effect of navigating based on the real positioning signal, the range of the door access area can be set to be smaller, and when the GPS positioning is accurate or the indoor bluetooth deployment density and the signal strength are poor, the navigation is prevented from stopping, the range of the door access area can be set to be larger, thereby ensuring that the navigation service is continuously provided for the user.
In view of this, an embodiment of the present application provides a navigation control method, in which an access area is set at an indoor/outdoor connection point, a range of the access area in a navigation route may be adjusted according to a positioning signal quality of a user, and a predicted travel route determined according to a historical behavior record of the user is used to navigate the user within an adjusted target range. Like this, the regional scope of passing in and out can be adjusted to a reasonable within range based on user's positioning signal quality, for example, when positioning signal quality is extremely poor, can increase the scope, and then through providing the prediction navigation for the user in the target range, avoid the navigation to stop, continuously provide navigation service for the user, perhaps, when positioning signal quality is preferred, can be with passing in and out regional scope setting a little, can make the user use to carry out the effect of navigating based on real positioning signal, promote the accuracy of user navigation.
In the embodiment of the application, the range adjustment of the door access area can be adjusted in place at one time, for example, the quality of a positioning signal of the door access area can be determined based on one or more times of positioning data, so that the range of the door access area is adjusted to a target range consistent with the quality of the positioning signal; or, the range adjustment of the door access area may also be dynamically adjusted, for example, after the positioning data is acquired each time, the quality of the positioning signal of the door access area is determined for the positioning data of this time, so that the range of the door access area is adjusted by the positioning signal determined this time, and when the positioning data is acquired next time, the process is still repeated, thereby realizing the dynamic adjustment of the range of the door access area.
In this embodiment of the present application, the measurement indicator of the positioning signal quality may include a plurality of indicators, such as a time interval for acquiring the positioning data, a distance interval between positioning points acquired last two times, and an included angle between a connection line between positioning points acquired last N times and the navigation route, and of course, may also include other possible communication indicators, which is not limited in this embodiment of the present application.
After introducing the design concept of the embodiment of the present application, some simple descriptions are provided below for application scenarios to which the technical solution of the embodiment of the present application can be applied, and it should be noted that the application scenarios described below are only used for describing the embodiment of the present application and are not limited. In a specific implementation process, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
The scheme provided by the embodiment of the application can be suitable for a scene using the electronic map for navigation, and is particularly suitable for a navigation scene using an integrated navigation scheme.
As shown in fig. 1b, a schematic view of a scenario provided in the embodiment of the present application may include the terminal 10 in the scenario.
The terminal may be a mobile device with a certain processing capability, for example, a mobile phone, a vehicle-mounted device, a notebook computer, or a tablet computer (PAD), and certainly, may also be other possible mobile devices, which is not limited in this embodiment of the present application.
The terminal 10 can include one or more processors, memories, and I/O interfaces to interact with other devices, etc. The memory of the terminal 10 may store program instructions of the navigation control method provided in the embodiment of the present application, and when the program instructions are executed by the processor, the program instructions can be used to implement the steps of the navigation control method provided in the embodiment of the present application, so as to provide an optimized integrated navigation service for a user. The terminal 10 may also include a display panel for enabling visual interaction, such as presenting navigation routes, making visual navigation prompts, etc. to the user.
As shown in fig. 1B, the user goes from the starting point a to the starting point B, and the starting point B is located in a shopping mall, so that the user can be provided with navigation by adopting an integrated navigation scheme for providing complete navigation service for the user. Wherein, the outdoor navigation part is arranged between the starting point A and the market door, the indoor navigation part is arranged between the market door and the starting point B, the connection position between the outdoor navigation part and the indoor navigation part is the market door, the door access area is expanded based on the coordinates of the market door, when a user approaches or enters the door access area, the range of the door access area can be adjusted based on the positioning signal quality of the terminal 10 adopted by the user, thereby the range of the door access area is adjusted to a reasonable range, for example, when the positioning signal quality is extremely poor, the range can be increased, and further, the navigation is prevented from stopping by providing the predicted navigation for the user in a target range, the navigation service is continuously provided for the user, or when the positioning signal quality is better, the range of the door access area can be set to be smaller, so that the user can use the effect of navigation based on the real positioning signal, the accuracy of user navigation is improved.
Fig. 2 is a schematic view of another scenario provided in the embodiment of the present application. The scenario may include a terminal 201 and a server 202.
The terminal may be a mobile phone, a vehicle-mounted device, a notebook computer, or a tablet personal computer (PAD), etc., a software client providing an electronic map service may be installed in the terminal, the server 202 may be a background server corresponding to the software client, the server 202 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network service, cloud communication, a middleware service, a domain name service, a security service, a CDN, and a big data and artificial intelligence platform, but is not limited thereto.
The server 202 may include one or more processors 2021, memory 2022, and I/O interfaces 2023 to interact with other devices, and the like. In addition, the server 202 may further configure a database 2024, and the database 2024 may be used to store data and the like involved in the scheme provided in the embodiment of the present application. The memory 2022 of the server 202 may store part or all of the program instructions of the navigation control method provided by the embodiment of the present application, and when the program instructions are executed by the processor 2021, the program instructions can be used to implement part or all of the steps of the navigation control method provided by the embodiment of the present application.
In the embodiment of the present application, when a user needs a navigation service, a destination may be input in the terminal 201, and a route planning operation is submitted, the terminal 201 may submit a route planning request to the server 202 based on a response of the user, and the server 202 may perform route planning based on the request, where the route planning may include determining an initial range of an entrance area, and then returning the determined navigation route to the terminal 201, and the terminal 201 provides the navigation service for the user based on the navigation route.
In an actual navigation process, the terminal 201 may obtain the positioning data, and send the positioning data to the server 202, and the server 202 determines the positioning signal quality of the terminal 201 according to the positioning data, so that the determined positioning signal quality may be returned to the terminal 201, so that the terminal 201 adjusts the range of the door access area according to the determined positioning signal quality. Or, the server 202 may also determine the target range of the adjusted door access area according to the determined quality of the positioning signal, and then return the information of the target range to the terminal 201, so that the terminal 201 may provide the navigation service according to the historical behavior record of the user when determining to enter the target range. The predicted route within the target range may also be obtained by the server 202 based on the historical behavior record analysis of the user.
The terminal 201 and the server 202 may be in direct or indirect communication connection via one or more networks 203. The network 203 may be a wired network or a Wireless network, for example, the Wireless network may be a mobile cellular network, or may be a Wireless-Fidelity (WIFI) network, or may also be other possible networks, which is not limited in this embodiment of the present application.
Of course, the method provided in the embodiment of the present application is not limited to be used in the application scenarios shown in fig. 1b and fig. 2, and may also be used in other possible application scenarios, and the embodiment of the present application is not limited. Functions that can be implemented by each device in the application scenarios shown in fig. 1b and fig. 2 will be described together in the following method embodiments, and will not be described in detail herein. Hereinafter, the method of the embodiment of the present application will be described with reference to the drawings.
Referring to fig. 3, a flowchart of a navigation control method provided in an embodiment of the present application is schematically illustrated, where the method may be executed by the terminal 10 in fig. 1b, or may be executed by the combination of the terminal 201 and the server 202 in fig. 1b, and a flow of the method is described as follows.
Step 301: a navigation route is determined based on the destination.
In the embodiment of the application, when the user needs the navigation service, the destination can be input in the software client providing the navigation service, and the route planning is determined, so that the terminal can perform the route planning according to the destination input by the user based on the route planning operation of the user.
Specifically, the route planning process may be performed by the terminal according to the offline map data, or the terminal may send a route planning request to the server, so that the server performs route planning based on the current position and destination of the user, and sends the route data of the navigation route to the terminal after the route planning is completed.
Step 302: and determining the position information of the connection point of the indoor area and the outdoor area according to the route data of the navigation route.
In the embodiment of the application, when a route is planned, if the navigation involves an indoor navigation part and an outdoor navigation part, an access area needs to be set. Specifically, it may be determined whether the destination is located indoors or whether an entrance area is set according to whether a door is included in the route data of the navigation route. When the destination is located indoors or a door is included in the route data according to the navigation route, an entrance area needs to be set in a connection area between the indoor navigation part and the outdoor navigation part.
In specific application, the key point for improving the integrated navigation experience is to improve the fluency of the door entering and exiting area. Because the quality of the positioning signal near the access door is poor, a stable and accurate position signal cannot be provided for a navigation engine to calculate the position of a user on a line, the unstable area needs to be calculated in the access door area, and then algorithm optimization is carried out in the access door area.
Specifically, the route data of the planned navigation route includes information of each node on the route, the node refers to each position constituting the navigation route, each node may have attribute information of its own in addition to the position information, and is used to represent information such as a type of the node, for example, the attribute information may indicate the type of the node or a building near the node. Therefore, in actual application, the position information of the connection point between the indoor area and the outdoor area, that is, the position information of the door on the navigation route can be determined from the route data of the navigation route according to the information of each node. The position information may be, for example, coordinates.
Step 303: and expanding according to the set size according to the position information of the connecting point to obtain an initial range.
In the embodiment of the application, the expansion within a certain range can be carried out according to the position information of the connecting point, so that the initial range of the door entering and exiting area can be obtained. The expanded size may be a preset size, for example, 10 meters or 20 meters, and the size is not limited in the embodiments of the present application.
As shown in fig. 4, an exemplary diagram for determining an access door area. In the navigation route planned for the user, the indoor and outdoor connection points are north doors, and then the initial range of the door entering and exiting area can be obtained by expanding according to the position information of the north doors. As shown in FIG. 4, the coordinates of the north gate are (x)0，y0)，x0Is the longitude of the north door, y0Latitude information of north gate, in (x)0，y0) For the center point, the distance may be extended to the x-axis and the y-axis, for example, 5 meters along the x-axis and 10 meters along the y-axis, so as to obtain two positions (x1, y1) and (x2, y2), and the two positions are used as the boundary points of the access door region to obtain the initial range of the access door region, i.e., the region range indicated by the dashed box in the figure.
Of course, the example of fig. 4 is only one possible range example, and in an actual application process, the size of the initial range may be set according to actual situations. In addition, fig. 4 illustrates the access door area as a rectangular area, but in practical applications, the access door area may also have other possible shapes, such as a circle.
Step 304: and adjusting the range of the door access area in the navigation route according to the positioning signal quality of the user to obtain the adjusted target range.
In the embodiment of the application, consider in the actual scene, the signal quality of each building differs, the business turn over door region of fixed range size makes the better building of positioning signal quality can't navigate based on the GPS positioning data, thereby the user can't experience real navigation effect, and is the same, the building of location effect range, the business turn over door region of fixed size probably can't cover completely, probably just can't provide navigation service for the user outside the business turn over door region, user experience is worse, therefore, in the embodiment of the application, can adjust the regional scope of business turn over door in the navigation route according to user's positioning signal quality, obtain the target range after the adjustment. Therefore, inertial navigation is carried out in a target range so as to adapt to different building scenes.
Specifically, the timing of adjusting the range of the door access area may be after the user enters the initial range, or when the user approaches the initial range, for example, when the distance between the user and the initial range is not greater than the set distance.
In a specific application, the range adjustment for the door access area may be adjusted in place at one time, for example, when it is determined that the user is close to the initial range, the quality of the positioning signal of the door access area may be determined based on one or more times of positioning data, so as to adjust the range of the door access area to a target range consistent with the quality of the positioning signal.
Alternatively, the adjustment of the range of the access door area may be performed dynamically in real time. For example, after the positioning data is acquired each time, the quality of the positioning signal of the door access area can be determined according to the positioning data of the time, so that the range of the door access area is adjusted according to the positioning signal determined this time, and the process is still repeated when the positioning data is acquired next time, thereby realizing the real-time dynamic adjustment of the range of the door access area.
It should be noted that, because the terminal outputs the audio prompt or the visual information to prompt the user, it means that the user needs to keep position synchronization with the terminal, and therefore, in this embodiment of the application, the position location of the user, or determining whether the user enters the range of the door access area based on the user position, or the like, may be reflected based on the position data of the terminal. In some cases, the user may also understand that the identity of the user in the network, such as may be represented by an electronic account that navigates using an electronic map, for example, in a map application client that performs account login, the user may refer to a logged-in account, or, when the user does not log in, the identification information of the terminal device may also be used as a representation of the user identity.
In the embodiment of the present application, the positioning signal quality may be measured by one or more of the following signal quality indicators:
(1) a time interval for acquiring positioning data.
Generally, GPS positioning data and bluetooth positioning data are acquired at a certain frequency, such as every second, the real position of the user can be acquired and updated, and when the positioning signal quality is poor, the acquisition of the positioning data will be delayed. Therefore, the quality of the positioning signal can be measured by the acquisition frequency of the positioning data. And on specific to every location, then weigh the positioning signal quality with this time of obtaining between the location data and the last time of obtaining the location data, when positioning signal quality is preferred, the time interval of obtaining the location data twice should be shorter, and when positioning signal quality is relatively poor, the time interval of obtaining the location data twice can be prolonged, and the time interval of obtaining the location data promptly is negative correlation with positioning signal quality.
For example, 1 second is used as a time interval standard for normally reporting the positioning data, that is, normally, the reported positioning data is obtained every 1 second, then a limit of a return frequency can be set by 1 second, if the obtaining time interval of the positioning data is 1 second, the positioning signal quality is considered to be good, if the time interval is 1-2 seconds, the positioning signal quality is considered to be good, and if the time interval is greater than 2 seconds, the positioning signal quality is considered to be poor. Of course, the time interval and the corresponding positioning signal quality are only an exemplary corresponding manner, and in actual use, the time interval threshold and the corresponding positioning signal quality level may be set according to actual situations.
(2) Distance interval between the positioning points obtained in the last two times.
Generally speaking, when the quality of the positioning signal is not good, the packet loss of the positioning data may occur, and since the user keeps moving, the distance between two acquired positioning points may be large, so that the current quality of the positioning signal may be determined by the distance between the two closest positioning points. For example, when the distance interval between the positioning points obtained last two times is greater than the preset distance threshold, the positioning signal quality is considered to be poor, and when the distance interval is not greater than the preset distance threshold, the positioning signal quality is considered to be better. Of course, the range of the interval may be divided according to the distance, and different ranges of the interval correspond to different quality of the positioning signal.
In practical applications, since the movement of the user is uncertain, it is difficult to set the distance threshold to a fixed value. In the embodiment of the application, the distance threshold value can be dynamically set. Specifically, the positioning context during navigation may be recorded, that is, the condition of a plurality of positioning points before the current positioning point is recorded, and the distance between every two spaced points is calculated, so as to determine the distance threshold according to the distance between the historical positioning points, and the distance threshold may be, for example, an average value of the recorded distances between the plurality of positioning points. Or, the distance between the positioning points acquired last two times can be compared with the distance recorded in the previous context, and when the difference between the distance between the positioning points acquired last two times and the distance recorded in the previous context is large, the point is determined as an abnormal point, and the quality of the current positioning signal is determined to be poor. The specific distance difference threshold may be set to be 5 meters indoors and 15 meters outdoors, and certainly, the distance difference threshold may also be set to other possible values, which is not limited in the embodiment of the present application.
(3) And (3) forming an included angle between a connecting line between the positioning points acquired for the last N times and the navigation route, wherein N is a positive integer greater than 1.
Under normal conditions, when the positioning is accurate, the connecting line between the positioning points is matched with the navigation route, so when the positioning signal quality is poor and the positioning is inaccurate, the positioning points may jump on the horizontal line, for example, one positioning point jumps to an area outside the navigation route, and therefore, the quality of the positioning signal can be measured according to the included angle between the connecting line between the positioning points and the navigation route.
Specifically, the positioning points acquired for the last N times may be connected with each other, an included angle between the connection line and the navigation route is calculated, and the quality of the positioning signal is determined according to the size of the included angle, for example, N may be 2, then the latest positioning point and the previous point in the context record may be connected into a straight line, then the included angle between the connection line between the two positioning points and the navigation route is calculated, when the included angle is greater than the preset included angle threshold, it is determined that the positioning signal quality of the point is poor, and when the included angle is not greater than the preset included angle threshold, it is determined that the positioning signal quality is good. The preset included angle threshold may be set to 45 degrees, for example, and of course, the preset included angle threshold may also be set to other possible values, which is not limited in this embodiment of the application.
Of course, in practical application, the index for measuring the quality of the positioning signal may also be other possible parameters, which is not limited in the embodiment of the present application.
Based on the signal quality index, in practical application, the signal quality index value of the user can be determined according to the acquired positioning data, namely, the value of each signal quality index is calculated, so that the current positioning signal quality is judged according to the signal quality index value, and the range of the door access area is adjusted according to the positioning signal quality. For example, when the positioning signal quality is determined to be poor according to the signal quality index value of the user, the range of the door access area can be enlarged so as to enlarge the coverage area of inertial navigation and avoid the navigation service stop of the user, and when the positioning signal quality is determined to be good according to the signal quality index value of the user, the range of the door access area can be reduced, so that the navigation service can be provided for the user based on the real positioning signal, the real positioning effect can be improved for the user, and the accuracy of the navigation service is improved.
Specifically, one of the quality of the positioning signal is that the positioning point of the user acquired last time is an abnormal point or a normal point, when the positioning point of the user acquired last time is an abnormal point, the positioning signal quality is poor, and when the positioning point of the user acquired last time is a normal point, the positioning signal quality can be indicated to be good. Therefore, whether the positioning point of the user obtained last time is an abnormal point or a normal point can be determined according to the signal quality index value of the user, and when the positioning point of the user obtained last time is determined to be the abnormal point, the positioning signal quality is poor, and the range of the door access area can be enlarged; or, when the positioning point of the user, which is obtained last time, is determined to be a normal point according to the signal quality index value of the user, it may be indicated that the positioning signal quality is good, and the range of the door access area may be narrowed.
Specifically, when the signal quality index value of the user satisfies a first preset condition, it is determined that the anchor point of the user, which is obtained last time, is an abnormal point, and the first preset condition may include one or a combination of more of the following conditions:
(1) the time interval between the last two times of obtaining the positioning data is larger than a first preset time interval threshold;
(2) the distance interval between the positioning points acquired last two times is greater than a first preset distance interval threshold;
(3) and the included angle between the connecting line between the positioning points acquired for the last times and the navigation route is greater than a first preset included angle threshold value.
Specifically, when the signal quality index value of the user satisfies a second preset condition, the anchor point of the user that is obtained last time is determined to be a better quality point, and the second preset condition may include one or a combination of more of the following conditions:
(1) the time interval between the last two times of obtaining the positioning data is smaller than a second preset time interval threshold; wherein the second preset time interval threshold is less than or equal to the first preset time interval threshold;
(2) the distance interval between the positioning points acquired last two times is smaller than a second preset distance interval threshold value; wherein the second preset distance interval threshold is less than or equal to the first preset distance interval threshold;
(3) the included angle between the connecting line between the positioning points acquired for the last times and the navigation route is smaller than a second preset included angle threshold value; and the second preset included angle threshold value is smaller than or equal to the first preset distance included angle threshold value.
As shown in fig. 5, P1, P2, P3 and P4 are anchor points obtained in history, L1, L2 and L3 are connecting lines between the recorded anchor points, and B-angle is an included angle between the connecting line of the recorded anchor points and a route. As shown in fig. 5, if P1, P2, P3, and P4 are all in an indoor scene, and if in the indoor scene, the first preset time interval threshold is set to 2s, the first preset distance interval threshold is set to 5 m, and the first preset distance included angle threshold is set to 45 degrees, then when the distance interval between the positioning points acquired last two times is greater than 5 m, or when the included angle at the intersection of B is greater than 45 degrees, or when the time interval between the positioning data acquired last two times is greater than 2s, it may be determined that the current point is a noise point, that is, P4 in the drawing is a noise point.
In the embodiment of the application, when the range of the door access area is adjusted, the range of the door access area can be adjusted according to a set adjustment value. That is, the adjustment value of each adjustment may be preset, for example, the preset adjustment value is 1 meter, and when the range of the door access area needs to be adjusted, the range of the door access area may be increased or decreased by 1 meter; or, the preset adjustment value may also be an adjustment ratio, and the preset adjustment value is 5%, so that when the range of the door access area needs to be adjusted, the range of the door access area may be increased or decreased by 5% on the basis of the initial range or the current range.
In the embodiment of the application, when the range of the door access area is adjusted, the adjustment value for adjusting the door access area can be determined according to the quality of the positioning signal of the user, and then the range of the door access area is adjusted according to the adjustment value. Wherein the adjustment value is inversely related to the quality of the positioning signal. For example, the corresponding relationship between the positioning signal quality and the adjustment value may be preset, and after the positioning signal quality is determined, the corresponding adjustment value may be acquired.
After the range of the door access area is adjusted based on the above adjustment method, the adjusted target range of the door access area can be obtained.
Step 305: and when the user is determined to enter the target range, acquiring a predicted travelling path route of the user in the target range.
Step 306: and performing route navigation on the user in the target range according to the predicted path route.
In the embodiment of the application, inertial navigation service is provided for the user in a target range, namely the travel route in the range is predicted according to the historical behavior record of the user, so that navigation is performed for the user according to the predicted travel route. Therefore, after the positioning data is acquired each time, whether the user enters the target range or not can be determined according to the positioning data, if the user enters the target range, the predicted path route of the user in the target range is acquired, and therefore route navigation is conducted on the user in the target range according to the predicted path route. Of course, the process of obtaining the predicted path route of the user within the target range may be one-time, that is, after obtaining the predicted path route, the user may be subsequently navigated within the target range according to the predicted path route, or, since the target range is dynamically adjusted, the predicted path route within the target range may be obtained again each time.
In actual application, the predicted path route may be predicted by the terminal according to the historical behavior record of the user, or may be the predicted path route returned by the server after the terminal sends the route prediction request to the server.
In particular, navigation guidance information may be displayed on the navigation interface based on the predicted path route, and the projected position of the user on the navigation interface, which is a representation of the predicted actual position of the user in the electronic map, may be updated according to the predicted path speed of the user. Fig. 6 is a schematic diagram illustrating updating of the projection position of the user. The position of the user after a period of time can be predicted according to the travelling speed of the user, the projection position corresponding to the position is marked in the navigation interface, and the part of the route navigated by the user and the rest of the navigated route which is not navigated can be displayed in a distinguishing way.
In the embodiment of the present application, the positioning method may be further implemented in combination with other schemes, for example, because the reason for designing the door access area is that the positioning quality at the indoor and outdoor interfaces is poor, and the experience of navigation integration may be solved in combination with a method that can improve the positioning quality, for example, the positioning quality may be optimized in combination with Software, or the positioning signal may be assisted by performing verification or adjustment of positioning through a positioning Software Development Kit (SDK) located at the bottom layer in the terminal, where sensor result data may be directly provided to the positioning SDK through a sensor of the terminal, such as an acceleration sensor, to assist in performing the correction of the positioning signal.
The following describes a scheme of an embodiment of the present application with a specific example. Fig. 7 is a schematic flow chart of route navigation for a user, wherein in the flow chart of fig. 7, a navigation route has already been planned for the user.
Step 701: navigation begins.
Step 702: and acquiring the positioning data of the user. Wherein the coordinates of the current position of the user can be determined based on the positioning data. If the positioning data is the positioning coordinates.
Step 703: and updating the projection position in the navigation interface. Wherein the projected position is a representation of the actual geographical position of the user in the electronic map.
Step 704: and updating the range of the access door area. And determining the quality of the current positioning signal based on the acquired positioning data, and adjusting the range of the door access area according to the quality of the positioning signal. The adjustment process can be described in the embodiment shown in fig. 3, and is not described herein again.
Step 705: it is determined whether the user is located in the access door area.
If the determination result in the step 705 is yes, that is, the user is in the door access area, the step 707 is skipped to, and if the determination result in the step 705 is no, that is, the user is outside the door access area, the step 707 is skipped to.
Step 706: and performing route navigation for the user according to the predicted path route.
Step 707: and carrying out route navigation for the user according to the actual positioning data.
Step 708: it is determined whether the destination is reached.
If the determination of step 708 is negative, i.e., the destination is not reached, then the process jumps to step 707.
Step 709: if the determination of step 708 is yes, i.e., the destination is reached, then the navigation ends.
It should be noted that the above procedure only involves one updating of the range of the door access area, but in practical application, the range of the door access area may be updated according to the quality of the positioning signal after each time of acquiring the positioning data.
The method has the advantages that the range of the door access area is correspondingly adjusted according to the analysis and judgment of the actual positioning condition of each building, so that the navigation problem under different positioning signal quality scenes is solved, the positioning quality of each building is not required to be analyzed manually on site through the quality recording and analysis of the positioning points, the navigation and other function adjustment related to the positioning are carried out on the current building, and the navigation is more personalized to serve users. After the adjustment, when the positioning effect is better, the door access area is smaller, so that the influence of inertial navigation on the route guidance of the user is minimized. When the positioning effect is not good, the side length of the area can be moderately increased, so that the range of door derivation is enlarged, navigation derivation can be performed on a user when the navigation is promoted without positioning, the problems of navigation suspension, yaw and the like are solved, the navigation experience of the integrated navigation in the door access area is greatly promoted, and the influence of the derivation on the advancing process of the user is reduced as much as possible.
Referring to fig. 8, based on the same inventive concept, an embodiment of the present application further provides a navigation control apparatus 80, including:
an adjusting unit 801, configured to adjust a range of an entry/exit area in a navigation route according to quality of a positioning signal of a user, to obtain an adjusted target range; the navigation route comprises three parts, namely an indoor area, an outdoor area and an access area, wherein the access area comprises a part of indoor area and a part of outdoor area;
a route prediction unit 802, configured to, when it is determined that the user enters the target range, obtain a predicted route of the user within the target range, where the predicted route is a route determined according to a historical behavior record of the user;
and a route guidance unit 803 for performing route guidance on the user in the target range according to the predicted path route.
Optionally, the apparatus further includes an initial range obtaining unit 804, configured to:
determining position information of connection points of an indoor area and an outdoor area according to route data of a navigation route; and expanding according to the set size according to the position information of the connecting point to obtain an initial range.
Optionally, the adjusting unit 801 is configured to:
and when the distance between the user and the initial range is not more than the set distance, or when the user enters the initial range, determining the quality of a positioning signal of the user according to the positioning data of the user acquired each time, and adjusting the range of the door access area according to the determined quality of the positioning signal.
Optionally, the adjusting unit 801 is configured to:
and when the range of the door entering and exiting area needs to be adjusted according to the positioning signal quality of the user, adjusting the range of the door entering and exiting area according to the set adjustment value.
Optionally, the adjusting unit 801 is configured to:
determining an adjustment value for adjusting an access door area according to the quality of a positioning signal of a user; wherein the adjustment value is inversely related to the quality of the positioning signal;
and adjusting the range of the door entering and exiting area according to the adjusting value.
Optionally, the adjusting unit 801 is configured to:
determining a signal quality index value of a user according to the positioning data of the user;
when the positioning point of the user which is obtained last time is determined to be an abnormal point according to the signal quality index value of the user, the range of the door entering and exiting area is enlarged; alternatively, the first and second electrodes may be,
and when the positioning point of the user which is obtained last time is determined to be a normal point according to the signal quality index value of the user, the range of the door entering and exiting area is narrowed.
Optionally, the signal quality indicator includes a time interval for acquiring the positioning data, a distance interval between the positioning points acquired last two times, and an included angle between a connection line between the positioning points acquired last N times and the navigation route, where N is a positive integer greater than 1.
Optionally, the adjusting unit 801 is configured to:
when the signal quality index value of the user meets a first preset condition, determining the positioning point of the user which is obtained most recently as an abnormal point, wherein the first preset condition comprises one or more of the following conditions:
the time interval is greater than a first preset time interval threshold;
the distance interval is greater than a first preset distance interval threshold;
the included angle is larger than a first preset included angle threshold value.
Optionally, the adjusting unit 801 is configured to:
when the signal quality index value of the user meets a second preset condition, determining the positioning point of the user which is obtained most recently as a normal point, wherein the second preset condition comprises one or more of the following conditions:
the time interval is smaller than a second preset time interval threshold; wherein the second preset time interval threshold is less than or equal to the first preset time interval threshold;
the distance interval is smaller than a second preset distance interval threshold; wherein the second preset distance interval threshold is less than or equal to the first preset distance interval threshold;
the included angle is smaller than a second preset included angle threshold value; and the second preset included angle threshold value is smaller than or equal to the first preset distance included angle threshold value.
Optionally, the route guidance unit 803 is configured to:
displaying navigation guidance information on a navigation interface based on the predicted path route;
and updating the projection position of the user on the navigation interface according to the predicted travelling speed of the user.
The apparatus may be configured to execute the methods shown in the embodiments shown in fig. 3 to fig. 7, and therefore, for functions and the like that can be realized by each functional module of the apparatus, reference may be made to the description of the embodiments shown in fig. 3 to fig. 7, which is not repeated here.
Referring to fig. 9, based on the same technical concept, the embodiment of the present application further provides a computer device 90, which may include a memory 901 and a processor 902.
The memory 901 is used for storing computer programs executed by the processor 902. The memory 901 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to use of the computer device, and the like. The processor 902 may be a Central Processing Unit (CPU), a digital processing unit, or the like. The specific connection medium between the memory 901 and the processor 902 is not limited in the embodiments of the present application. In the embodiment of the present application, the memory 901 and the processor 902 are connected through the bus 903 in fig. 9, the bus 903 is represented by a thick line in fig. 9, and the connection manner between other components is merely illustrative and is not limited. The bus 903 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
A processor 902 for executing the method performed by the device in the embodiments shown in fig. 3 to fig. 7 when calling the computer program stored in the memory 901.
In some possible embodiments, various aspects of the methods provided by the present application may also be implemented in the form of a program product including program code for causing a computer device to perform the steps of the methods according to various exemplary embodiments of the present application described above in this specification when the program product is run on the computer device, for example, the computer device may perform the methods performed by the devices in the embodiments shown in fig. 3-7.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, 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.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (12)
1. A navigation control method, characterized in that the method comprises:
determining a signal quality index value of the user according to the acquired positioning data of the user; the positioning data comprises positioning coordinates of the user, the signal quality index comprises a time interval for acquiring the positioning data, a distance interval between positioning points acquired for the last two times and an included angle between a connecting line between the positioning points acquired for the last N times and a navigation route, and N is a positive integer greater than 1;
when the positioning point of the user, which is obtained last time, is determined to be an abnormal point according to the current signal quality index value of the user, the range of an access area in a navigation route is enlarged, and an adjusted target range is obtained; when one or more conditions that the time interval is greater than a first preset time interval threshold, the distance interval is greater than a first preset distance interval threshold and the included angle is greater than a first preset included angle threshold are met, determining that the positioning point of the user which is obtained most recently is an abnormal point; the navigation route comprises three parts, namely an indoor area, an outdoor area and an access area, wherein the access area comprises a part of the indoor area and a part of the outdoor area; alternatively, the first and second electrodes may be,
when the positioning point of the user which is obtained last time is determined to be a normal point according to the current signal quality index value of the user, the range of the door entering and exiting area is narrowed, and an adjusted target range is obtained;
when the user is determined to enter the target range, acquiring a predicted path route of the user in the target range, wherein the predicted path route is a route determined according to the historical behavior record of the user;
and according to the predicted travelling path route, carrying out route navigation on the user in the target range.
2. The method of claim 1, wherein prior to said adjusting the extent of the access area in the navigation route based on the user's positioning signal quality, the method further comprises:
determining position information of a connection point of the indoor area and the outdoor area according to the route data of the navigation route;
and expanding according to the position information of the connecting point and a set size to obtain the initial range of the door entering and exiting area.
3. The method of claim 2, wherein adjusting the range of the access area in the navigation route based on the positioning signal quality of the user comprises:
and when the distance between the user and the initial range is not more than a set distance, or when the user enters the initial range, determining the quality of a positioning signal of the user according to the positioning data of the user acquired each time, and adjusting the range of the door access area according to the determined quality of the positioning signal.
4. A method as claimed in any one of claims 1 to 3, wherein said adjusting the extent of the access area in the navigation route in dependence on the quality of the positioning signal of the user comprises:
and when the range of the door entering and exiting area needs to be adjusted according to the positioning signal quality of the user, adjusting the range of the door entering and exiting area according to a set adjustment value.
5. A method as claimed in any one of claims 1 to 3, wherein said adjusting the extent of the access area in the navigation route in dependence on the quality of the positioning signal of the user comprises:
determining an adjustment value for adjusting the door entering and exiting area according to the quality of the positioning signal of the user; wherein the adjustment value is inversely related to the positioning signal quality;
and adjusting the range of the door entering and exiting area according to the adjusting value.
6. The method of claim 1, wherein the method further comprises:
when the signal quality index value of the user meets a second preset condition, determining that the positioning point of the user which is obtained last time is a normal point, wherein the second preset condition comprises one or more of the following conditions:
the time interval is smaller than a second preset time interval threshold; wherein the second preset time interval threshold is less than or equal to the first preset time interval threshold;
the distance interval is smaller than a second preset distance interval threshold; wherein the second preset distance interval threshold is less than or equal to the first preset distance interval threshold;
the included angle is smaller than a second preset included angle threshold value; and the second preset included angle threshold value is smaller than or equal to the first preset included angle threshold value.
7. The method of claim 1, wherein navigating the route of the user at the target area based on the predicted path route comprises:
displaying navigation guidance information on a navigation interface based on the predicted path route;
and updating the projection position of the user on the navigation interface according to the predicted travelling speed of the user.
8. A navigation control apparatus, characterized in that the apparatus comprises:
the adjusting unit is used for determining a signal quality index value of the user according to the acquired positioning data of the user; the positioning data comprises positioning coordinates of the user, the signal quality index comprises a time interval for acquiring the positioning data, a distance interval between positioning points acquired for the last two times and an included angle between a connecting line between the positioning points acquired for the last N times and a navigation route, and N is a positive integer greater than 1; when the positioning point of the user, which is obtained last time, is determined to be an abnormal point according to the current signal quality index value of the user, the range of an access area in a navigation route is enlarged, and an adjusted target range is obtained; when one or more conditions that the time interval is greater than a first preset time interval threshold, the distance interval is greater than a first preset distance interval threshold and the included angle is greater than a first preset included angle threshold are met, determining that the positioning point of the user which is obtained most recently is an abnormal point; the navigation route comprises three parts, namely an indoor area, an outdoor area and an access area, wherein the access area comprises a part of the indoor area and a part of the outdoor area; or, when the positioning point of the user which is obtained last time is determined to be a normal point according to the current signal quality index value of the user, the range of the door entering and exiting area is narrowed, and the adjusted target range is obtained; the route prediction unit is used for acquiring a predicted travelling path route of the user in the target range when the user is determined to enter the target range, wherein the predicted travelling path route is a route determined according to the historical behavior record of the user;
and the route navigation unit is used for performing route navigation on the user in the target range according to the predicted path route.
9. The apparatus of claim 8, wherein the apparatus further comprises an initial range acquisition unit to:
determining position information of a connection point of the indoor area and the outdoor area according to the route data of the navigation route; and expanding according to the position information of the connecting points and the set size to obtain the initial range.
10. The apparatus of claim 9, wherein the adjustment unit is to:
and when the distance between the user and the initial range is not more than a set distance, or when the user enters the initial range, determining the quality of a positioning signal of the user according to the positioning data of the user acquired each time, and adjusting the range of the door access area according to the determined quality of the positioning signal.
11. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor,
the processor, when executing the computer program, realizes the steps of the method of any one of claims 1 to 7.
12. A computer storage medium having computer program instructions stored thereon, wherein,
the computer program instructions, when executed by a processor, implement the steps of the method of any one of claims 1 to 7.
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