CN112595338B - Navigation method and navigation system - Google Patents
Navigation method and navigation system Download PDFInfo
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- CN112595338B CN112595338B CN202011545002.0A CN202011545002A CN112595338B CN 112595338 B CN112595338 B CN 112595338B CN 202011545002 A CN202011545002 A CN 202011545002A CN 112595338 B CN112595338 B CN 112595338B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The invention provides a navigation method and a navigation system, belongs to the technical field of navigation systems, and can at least partially solve the problem that the conventional terminal equipment does not have a navigation function. The invention discloses a navigation method, which comprises the following steps: selecting a first reference point in a first reference period, and acquiring the current speed of the first reference point and the appointed step length of the first reference point; obtaining a target position according to the current speed of the first reference point and the appointed step length of the first reference point; acquiring the initial speed of a tracking point in a first reference period; and calculating the acceleration of the tracking point according to the initial speed of the tracking point and the target position to obtain the current proceeding route of the tracking point.
Description
Technical Field
The invention belongs to the technical field of navigation systems, and particularly relates to a navigation method and a navigation system.
Background
With the continuous development of worldwide traffic, the position navigation system has long become an indispensable auxiliary means for people to go out, so as to adapt to the situation that a user can accurately know the position and the traveling condition of the user.
However, with the rapid popularization of the internet of things and the intelligentization of the terminal devices, the terminal devices enter the world of everything interconnection. However, a considerable number of dedicated or portable terminals do not have a navigation function yet, limited by the factors such as the terminal resource load.
Disclosure of Invention
The invention at least partially solves the problem that the existing terminal equipment does not have a navigation function, and provides a navigation method applicable to the terminal equipment.
The technical scheme adopted for solving the technical problem of the invention is a navigation method, which comprises the following steps:
selecting a first reference point in a first reference period, and acquiring the current speed of the first reference point and the appointed step length of the first reference point;
obtaining a target position according to the current speed of the first reference point and the appointed step length of the first reference point;
acquiring the initial speed of a tracking point in a first reference period;
and calculating the acceleration of the tracking point according to the initial speed of the tracking point and the target position to obtain the current proceeding route of the tracking point.
Further preferably, the calculating the acceleration of the tracking point according to the initial velocity of the tracking point and the target position to obtain the current proceeding route of the tracking point includes: and if the maximum acceleration of the tracking point is greater than or equal to the acceleration of the tracking point, calculating to obtain the current speed of the tracking point according to the acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point.
Further preferably, the calculating the acceleration of the tracking point according to the initial velocity of the tracking point and the target position to obtain the current proceeding route of the tracking point includes: and if the maximum acceleration of the tracking point is smaller than the acceleration of the tracking point, calculating to obtain the current speed of the tracking point according to the maximum acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point.
Further preferably, the calculating the current velocity of the tracking point comprises:
selecting a second reference point in a second reference period, and acquiring the current speed of the second reference point and the appointed step length of the second reference point;
obtaining a target position according to the current speed of the second reference point and the appointed step length of the second reference point;
acquiring an initial speed of a tracking point in a second reference period, wherein the initial speed in the second reference period is a current speed in the second reference period;
and calculating the acceleration of the tracking point according to the initial speed of the tracking point and the target position to obtain the current proceeding route of the tracking point.
It is further preferred that the first reference point comprises a plurality of sub-reference points;
selecting a first reference point in a first reference period, and acquiring a current speed of the first reference point and an appointed step size of the first reference point comprises: selecting a plurality of sub-reference points in a first reference period, and acquiring the current speed of each sub-reference point and the appointed step length of each sub-reference point;
the obtaining the target position according to the current speed of the first reference point and the appointed step length of the first reference point comprises: respectively obtaining the target position of each sub-reference point according to the current speed of each sub-reference point and the appointed step length of the sub-reference point; and calculating to obtain the target position according to the weighting coefficient of each sub-reference point and the target position of each sub-reference point.
Further preferably, the selecting the first reference point, and the acquiring the current speed of the first reference point and the appointed step size of the first reference point includes: a first reference point is selected based on the first reference period, the distance threshold, and the location of the tracking point.
The technical scheme adopted for solving the technical problem of the invention is a navigation system, and based on the navigation method, the navigation system comprises:
the first acquiring unit is used for selecting a first reference point in a first reference period and acquiring the current speed of the first reference point and the appointed step length of the first reference point;
the first calculating unit is used for obtaining a target position according to the current speed of the first reference point and the appointed step length of the first reference point;
the second acquisition unit is used for acquiring the initial speed of the tracking point in the first reference period;
and the second calculation unit is used for calculating the acceleration of the tracking point according to the initial speed of the tracking point and the target position so as to obtain the current proceeding route of the tracking point.
Further preferably, the second calculation unit further includes: and the first calculating subunit is used for calculating to obtain the current speed of the tracking point according to the acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point if the maximum acceleration of the tracking point is greater than or equal to the acceleration of the tracking point.
Further preferably, the second calculation unit further includes: and the second calculating subunit is used for calculating the current speed of the tracking point according to the maximum acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point if the maximum acceleration of the tracking point is smaller than the acceleration of the tracking point.
The technical scheme adopted for solving the technical problem of the invention is a terminal comprising the navigation system.
In the navigation method of this embodiment, the tracking of the tracking point is realized by selecting an appropriate first reference point in the first reference period and finally obtaining the current proceeding route of the tracking point according to the data of the first reference point. In addition, the navigation method can be applied to a terminal system, and real-time tracking of the terminal system is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart illustrating a navigation method according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a navigation method according to an embodiment of the present invention;
fig. 3 is a block diagram of a navigation system according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by like reference numerals. For purposes of clarity, the various features in the drawings are not drawn to scale. Moreover, certain well-known elements may not be shown in the figures.
In the following description, numerous specific details of the invention, such as structure, materials, dimensions, processing techniques and techniques of components, are set forth in order to provide a more thorough understanding of the invention. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details.
Example 1:
as shown in fig. 1 to 3, the present embodiment provides a navigation method, including:
s11, selecting a first reference point in a first reference period, and acquiring the current speed of the first reference point and the appointed step size of the first reference point.
In other words, a combined navigation system is established for the same first reference period, the attributes of each reference point (hereinafter, the first reference point may be referred to as the reference point) in the system are known, the reference point (R) needs to have a navigation function, and the navigation function of the tracking point (S) is not mandatory. When performing a navigation task for one of the tracking points S, an applicable reference point needs to be selected for it.
Specifically, the reference point is a reference point of the tracking object, and the current position, the current speed and the travel route of the reference point are known and are shared to the target object on time to serve as an input resource for the navigation information calculation of the tracking object. There may be multiple reference points for the same system, and the system is chosen according to rules. For the combined navigation task with a single reference point, if the system only has one reference point, the reference point is directly set as the reference point, and the relationship between the reference point and the tracking point is static association.
The appointed step length of the reference point can be appointed according to a specific scene, and the appointed step length can be set to be longer under the conditions of low route complexity, few emergency situations and the like, such as short distance and linear routes; on the contrary, the appointed step length can be set to be shorter, and the traveling speed and the route accuracy of the target are ensured by increasing the reference frequency.
And S12, obtaining the target position according to the current speed of the first reference point and the appointed step length of the first reference point.
The target position obtained from the current speed of the reference point and the appointed step length of the reference point can also be regarded as the target position of the tracking point.
And S13, acquiring the initial speed of the tracking point in the first reference period.
And S14, calculating the acceleration of the tracking point according to the initial speed and the target position of the tracking point to obtain the current proceeding route of the tracking point.
The current proceeding route of the tracking point may include a speed and a current position of the tracking point, and both of them are vectors, so that the current proceeding route of the tracking point may be obtained.
In the navigation method of this embodiment, the tracking of the tracking point is realized by selecting an appropriate first reference point in the first reference period and finally obtaining the current proceeding route of the tracking point according to the data of the first reference point. In addition, the navigation method can be applied to a terminal system, and real-time tracking of the terminal system is realized.
Example 2:
as shown in fig. 1 to 3, the present embodiment provides a navigation method, including:
s21, selecting a first reference point in the first reference period, and acquiring the current speed of the first reference point and the appointed step size of the first reference point.
Wherein, namely or establish a integrated navigation system for the same first reference cycle at first, every reference point attribute is known in the system, reference point (R) need possess navigation function, the navigation function of the tracking point (S) does not have the mandatory requirement. When performing a navigation task for one of the tracking points S, an applicable reference point needs to be selected for it.
The appointed step length of the reference point can be appointed according to a specific scene, and the appointed step length can be set to be longer under the conditions of low route complexity, few emergency situations and the like, such as short distance and linear routes; on the contrary, the appointed step length can be set to be shorter, and the traveling speed and the route accuracy of the target are ensured by increasing the reference frequency.
For example, for a travel scene with a complex route and road condition and a large number of inflection points, the reference period and the distance threshold may be set to be short, such as 3 minutes (walking) or 30 seconds (motor vehicle) for the reference period and 5 meters (walking) or 50 meters (motor vehicle) for the location threshold. For scenes with relatively simple routes, good road conditions and few inflection points, such as long-distance and linear routes, the reference period and the distance threshold can be set to be longer, such as 10 minutes (walking) or 3 minutes (motor vehicles) for the reference period and 50 meters or 1000 meters (motor vehicles) for the position threshold.
Specifically, the first reference point is selected based on the first reference period, the distance threshold, and the location of the tracking point.
Specifically, the reference point is a reference point of the tracking object, and the current position, the current speed and the travel route of the reference point are known and are shared to the target object on time to be used as an input resource for calculating the navigation information of the tracking object. There may be multiple reference points for the same system, with the system being chosen by rules.
For the combined navigation task with a single reference point, if the system only has one reference point, the reference point is directly set as the reference point, and the relationship between the reference point and the tracking point is static association.
If the number of the reference points in the system is more than one, the reference point closest to the tracking point is selected as the reference point according to the principle of proximity, the relationship between the reference point and the tracking point is dynamic correlation, and the dynamic adjustment is carried out according to the reference period, the distance threshold value and the like.
After the agreed reference period is reached, the distance between the tracking point and the current reference point is calculated, and if the distance exceeds a threshold value, the tracking point is reselected. If no new reference point meeting the conditions exists, the current reference point is kept unchanged, and reselection is performed periodically according to a reselection period until the current reference point meets the threshold conditions or a new reference point is available. The reselection period should be less than the reference period.
For the combined navigation task with multiple reference points, the distances between the tracking points and all the reference points are calculated, and the appointed number of reference points are selected from the reference points meeting the distance threshold according to the principle of closeness. The selected reference point and the tracking point are both dynamic relations, when only one available reference point is left, the relation between the selected reference point and the tracking point is adjusted to be static association, the reference point and the tracking point are processed temporarily according to a single reference point, and when the reference points are restored to be multiple, the static association is restored to be dynamic association.
And establishing a reference sequence for each selected reference point, respectively calculating the distance between each reference point and the object according to a reference period, when a reference point exceeds a distance threshold value, selecting a new reference point meeting the condition from other reference points in the system according to a principle of proximity to replace the reference point, and moving the reference point out of the reference sequence of the object to keep the number of appointed reference points of the object unchanged.
If the system does not have other optional reference points (no reference point or no reference point meeting the threshold condition) at present, moving the over-threshold reference point into the observation sequence of the object, calculating whether the distance between the reference point in the observation sequence and the tracking point meets the threshold condition according to the reselection period, if so, recovering the reference point, re-moving the observation sequence into the reference sequence of the tracking point, and if not, canceling the observation after the time is exceeded or the task is finished); when the tracking point has only one reference point meeting the distance threshold, processing according to the single reference point selection principle to keep the minimum navigation combination of the object travel.
S21a, if the first reference point comprises a plurality of sub reference points; selecting a first reference point in a first reference period, and acquiring the current speed of the first reference point and the appointed step size of the first reference point comprises the following steps:
and selecting a plurality of sub-reference points in a first reference period, and acquiring the current speed of each sub-reference point and the appointed step size of each sub-reference point.
And S22, obtaining the target position according to the current speed of the reference point and the appointed step length of the reference point.
Specifically, the specific formula for calculating the target position is as follows: l is R-tar ＝L R-cur +V R-cur *T step Wherein V is R-cur Indicating the current speed, T, of the reference point ste Represents contract step size, L R-tar Indicating the target location.
S22a, if the reference point comprises a plurality of sub-reference points; obtaining the target position according to the current speed of the reference point and the appointed step size of the reference point comprises:
and S221a, respectively obtaining the target position of each sub-reference point according to the current speed of each sub-reference point and the appointed step length of the sub-reference point.
S222a, calculating to obtain a target position according to the weighting coefficient of each sub-reference point and the target position of each sub-reference point.
Wherein, that is to say, when a tracking point S has n sub-reference points, respectively marked as R 1 、R 2 …R n Respective weighting coefficients are Q 1 、Q 2 …Q n (the sum of Q values is 1). And (4) integrating the navigation output information calculated by each sub-reference point according to the respective Q weight and then outputting the navigation output information to the S. The method comprises the following specific steps:
accelerating performance range at trace point if performance requirementsInternal sub-reference point R i (the maximum acceleration of the tracking point is greater than or equal to the acceleration of the tracking point) is k, the output position and acceleration of the tracking point to the tracking point S are respectively recorded as L tar-i (target position L of tracking point S-tar Target position L from reference point R-tar Coincidence) and A S-i (ii) a For each R whose performance requirements are outside the S acceleration performance range j (n-k) outputs the position and velocity L to the tracking point S S-tar-j (target position L of tracking point S-tar Target position L from reference point R-tar Inconsistency) and V S-tar-j 。
Each R is i And each R j The weighted sum of the outputs is used as the target position and acceleration output of the tracking point S in the iteration, and specifically the following steps are performed:
L S-tar ＝Σ 1 k (L S-tar-i *Q i )+Σ 1 n-k (L S-tar-j *Q j )
A S ＝Σ 1 k (A S-i *Q i )+Σ 1 n-k (A S-max *Q j )。
further deducing the target position L of the tracking point S-tar The speed of S is: v S-tar ＝V S-cur +A S *T step 。
The tracking point S will advance according to the above acceleration based on the current speed at the appointed step length T step Post-arrival target position L S-tar Then, the current speed V is set S-tar As an initial velocity V S-cur Target position L S-tar As an initial position L S-cur And substituting, and sequentially iterating to obtain the advancing direction and speed of each stage S, thereby completing the combined navigation.
And for the temporarily failed reference point in the navigation process, after the current iteration is completed, deleting the reference point from the iteration, and recovering for use. And adding the newly added reference points into subsequent iteration after the current iteration is completed.
And S23, acquiring the initial speed of the tracking point in the first reference period.
And S24, calculating to obtain the acceleration of the tracking point according to the initial speed and the target position of the tracking point so as to obtain the current proceeding route of the tracking point.
Specifically, the calculating the acceleration of the tracking point according to the initial speed and the target position of the tracking point to obtain the current travel route of the tracking point includes:
if the maximum acceleration of the tracking point is larger than or equal to the acceleration of the tracking point, calculating to obtain the current speed of the tracking point according to the acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point.
Wherein, the maximum acceleration of the tracking point is greater than or equal to the acceleration of the tracking point, which is equivalent to the combined navigation that the acceleration performance of the tracking point S meets the acceleration requirement of the reference point R, and the target position of the tracking point is consistent with the target position of the reference point (L) S-tar ＝L R-tar ) And thereafter can be expressed as target position L tar 。
The iterative process in the first reference period is as follows: from V S-cur ＝V S-0 ，L tar ＝V S-0 *T step +1/2*A S *T step 2 Calculate A S Wherein V is S-0 Initial velocity, V, representing tracking point S-cur Initial velocity L representing tracking point tar Representing a target location;
then by V S-tar ＝V S-0 +A S *T step Deducing the current velocity V of the tracking point when reaching the target position S-tar 。
And if the maximum acceleration of the tracking point is smaller than the acceleration of the tracking point, calculating to obtain the current speed of the tracking point according to the maximum acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point.
Wherein the maximum acceleration of the tracking point is less than the acceleration (A) of the tracking point S-max <A S ) The acceleration performance equivalent to the tracking point S cannot meet the combined navigation of the reference point R for the acceleration requirement, and the maximum acceleration A of the tracking point can be utilized S-max Calculating the current position of the tracking point: l is S-tar ＝V S-0 *T step +1/2*A S-max *T step 2 Wherein L is S-tar Indicating the current position, V, of the tracking point S-0 Indicates the initial velocity of the tracking point, A S-max Represents the maximum acceleration of the tracking point; and calculates the current velocity of the tracking point: v S-cur ＝V S-0 ，V S-tar ＝V S-0 +A S-max *T step Wherein V is S-tar Representing the current velocity of the tracking point.
Iteration in the first reference period deduces the current speed of the tracking point after the appointed step size, and the current speed is the final speed allowed by the performance during the appointed step size.
S25, selecting a second reference point in a second reference period, and acquiring the current speed of the second reference point and the appointed step length of the second reference point;
obtaining a target position according to the current speed of the second reference point and the appointed step length of the second reference point;
acquiring an initial speed of the tracking point in a second reference period, wherein the initial speed in the second reference period is a current speed in the second reference period;
and calculating the acceleration of the tracking point according to the initial speed and the target position of the tracking point to obtain the current proceeding route of the tracking point.
Wherein, that is, the current velocity V of the tracking point in the first reference period S-tar Also as the initial velocity of the tracking point for the iteration within the second reference period to calculate the acceleration of the tracking point and the current velocity of the tracking point within the second reference period.
Similarly, iteration is performed in sequence to calculate the position, the current speed and the current acceleration of the tracking point in each reference period (a third reference period, a fourth reference period, and the like).
Obtaining the target position according to the current speed of the reference point and the appointed step length of the reference point comprises:
respectively obtaining the target position of each sub-reference point according to the current speed of each sub-reference point and the appointed step length of the sub-reference point;
and calculating to obtain the target position according to the weighting coefficient of each sub-reference point and the target position of each sub-reference point.
In the navigation method of this embodiment, the tracking of the tracking point is realized by selecting an appropriate reference point in the first reference period and finally obtaining the current proceeding route of the tracking point according to the data of the reference point. In addition, the navigation method can be applied to a terminal system, and real-time tracking of the terminal system is realized.
Example 3:
as shown in fig. 1 to fig. 3, the present embodiment provides a navigation system, based on the navigation method of embodiment 1 or embodiment 2, the navigation system including:
the first obtaining unit is used for selecting a first reference point in a first reference period and obtaining the current speed of the first reference point and the appointed step length of the first reference point;
the first calculating unit is used for obtaining a target position according to the current speed of the first reference point and the appointed step length of the first reference point;
a second obtaining unit, configured to obtain an initial speed of the tracking point in the first reference period;
and the second calculation unit is used for calculating the acceleration of the tracking point according to the initial speed and the target position of the tracking point so as to obtain the current proceeding route of the tracking point.
The second calculation unit further includes:
and the first calculating subunit is used for calculating to obtain the current speed of the tracking point according to the acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point if the maximum acceleration of the tracking point is greater than or equal to the acceleration of the tracking point.
And the second calculating subunit is used for calculating to obtain the current speed of the tracking point according to the maximum acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point if the maximum acceleration of the tracking point is smaller than the acceleration of the tracking point.
The implementation also discloses a terminal comprising the navigation system.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (9)
1. A method of navigation, comprising:
selecting a first reference point in a first reference period, and acquiring the current speed of the first reference point and the appointed step size of the first reference point, wherein the method comprises the following steps:
the first reference point comprises a plurality of sub-reference points;
selecting a plurality of sub-reference points in a first reference period, and acquiring the current speed of each sub-reference point and the appointed step length of each sub-reference point;
obtaining a target position according to the current speed of the first reference point and the appointed step length of the first reference point;
obtaining a target position according to the current speed of the first reference point and the appointed step length of the first reference point, wherein the method comprises the following steps:
respectively obtaining the target position of each sub-reference point according to the current speed of each sub-reference point and the appointed step length of the sub-reference point;
calculating to obtain the target position according to the weighting coefficient of each sub-reference point and the target position of each sub-reference point;
acquiring the initial speed of a tracking point in a first reference period;
and calculating the acceleration of the tracking point according to the initial speed of the tracking point and the target position to obtain the current proceeding route of the tracking point.
2. The navigation method according to claim 1, wherein the calculating the acceleration of the tracking point according to the initial velocity of the tracking point and the target position to obtain the current proceeding route of the tracking point comprises:
and if the acceleration performance of the tracking point meets the combined navigation of the reference point on the acceleration requirement of the tracking point, calculating to obtain the current speed of the tracking point according to the acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point.
3. The navigation method according to claim 1, wherein the calculating the acceleration of the tracking point according to the initial velocity of the tracking point and the target position to obtain the current proceeding route of the tracking point comprises:
and if the acceleration performance of the tracking point cannot meet the combined navigation of the reference point on the acceleration requirement of the tracking point, calculating to obtain the current speed of the tracking point according to the maximum acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point.
4. The navigation method according to claim 2 or 3, wherein the calculating of the current velocity of the tracking point comprises:
selecting a second reference point in a second reference period, and acquiring the current speed of the second reference point and the appointed step length of the second reference point;
obtaining a target position according to the current speed of the second reference point and the appointed step length of the second reference point;
acquiring an initial speed of a tracking point in a second reference period, wherein the initial speed in the second reference period is a current speed in the second reference period;
and calculating the acceleration of the tracking point according to the initial speed of the tracking point and the target position to obtain the current proceeding route of the tracking point.
5. The navigation method of claim 1, wherein selecting the first reference point, obtaining the current speed of the first reference point, the committed step size of the first reference point comprises:
a first reference point is selected based on the first reference period, the distance threshold, and the location of the tracking point.
6. A navigation system based on the navigation method of any one of claims 1 to 5, the navigation system comprising:
the first acquiring unit is used for selecting a first reference point in a first reference period and acquiring the current speed of the first reference point and the appointed step length of the first reference point;
the first calculating unit is used for obtaining a target position according to the current speed of the first reference point and the appointed step length of the first reference point;
a second obtaining unit, configured to obtain an initial speed of the tracking point in the first reference period;
and the second calculation unit is used for calculating the acceleration of the tracking point according to the initial speed of the tracking point and the target position so as to obtain the current proceeding route of the tracking point.
7. The navigation system of claim 6, wherein the second computing unit further comprises:
and the first calculating subunit is used for calculating to obtain the current speed of the tracking point according to the acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point if the acceleration performance of the tracking point meets the combined navigation of the reference point on the acceleration requirement of the tracking point.
8. The navigation system of claim 6, wherein the second computing unit further comprises:
and the second calculating subunit is used for calculating to obtain the current speed of the tracking point according to the maximum acceleration of the tracking point, the initial speed of the tracking point and the appointed step length of the first reference point if the acceleration performance of the tracking point cannot meet the combined navigation of the reference point on the acceleration requirement of the tracking point.
9. A terminal characterized by comprising a navigation method according to any one of claims 1 to 5.
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| CN202011545002.0A CN112595338B (en) | 2020-12-24 | 2020-12-24 | Navigation method and navigation system |
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