CN109270566B - Navigation method, navigation effect testing method, device, equipment and medium - Google Patents

Navigation method, navigation effect testing method, device, equipment and medium Download PDF

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Publication number
CN109270566B
CN109270566B CN201811082228.4A CN201811082228A CN109270566B CN 109270566 B CN109270566 B CN 109270566B CN 201811082228 A CN201811082228 A CN 201811082228A CN 109270566 B CN109270566 B CN 109270566B
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Prior art keywords
navigation
wifi
road section
positioning point
point sequence
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CN109270566A (en
Inventor
蒋方胜
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Beijing Baidu Netcom Science and Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Abstract

The embodiment of the invention discloses a navigation method, a navigation effect testing device, equipment and a medium, and relates to the technical field of automotive electronic equipment. The method comprises the following steps: in the navigation process, if navigation cannot be performed based on GPS positioning information, determining a current driving road section; and if the current driving road section is determined to belong to the WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, navigating according to the acquired WiFi positioning information, wherein the WiFi navigation attribute of the current driving road section is determined by testing the navigation effect of the WiFi positioning point sequence of the current driving road section in advance. The navigation method, the navigation effect testing device, the navigation equipment and the navigation medium provided by the embodiment of the invention can realize normal navigation even if the GPS is lost in some road sections.

Description

Navigation method, navigation effect testing method, device, equipment and medium
Technical Field
The embodiment of the invention relates to the technical field of automobile electronic equipment, in particular to a navigation method, a navigation effect testing device, equipment and a medium.
Background
At present, mobile phone navigation software carries out navigation based on reliable Global Positioning System (GPS) positioning information. In practical use, the situation that the GPS is unavailable in the navigation process often occurs, and the navigation experience is greatly influenced.
At present, navigation software can not continue to navigate under the condition that the GPS is lost. Or inertial navigation estimation for a short time using imu sensor data.
The result of the inertial navigation estimation is valid within tens of seconds at most. The longer the time is, the worse the estimated position is, the navigation requirement can not be basically met.
Disclosure of Invention
The embodiment of the invention provides a navigation method, a navigation effect testing device, equipment and a medium, so that navigation can be normally performed even if a GPS is lost in some road sections.
In a first aspect, an embodiment of the present invention provides a navigation method, where the method includes:
in the navigation process, if navigation cannot be performed based on GPS positioning information, determining a current driving road section;
and if the current driving road section is determined to belong to the WiFi positioning road section according to the WiFi (wireless fidelity technology) navigation attribute of the current driving road section, navigating according to the acquired WiFi positioning information, wherein the WiFi navigation attribute of the current driving road section is determined by performing a navigation effect test on the WiFi positioning point sequence of the current driving road section in advance.
Further, the navigating according to the obtained WiFi positioning information includes:
and adding a predicted positioning point between adjacent WiFi positioning points.
Further, the adding pre-determined sites between adjacent WiFi anchor points includes:
and determining a predicted positioning point of the current driving position according to the driving parameters within a set time range from the current time, wherein the predicted positioning point is positioned between adjacent WiFi positioning points.
Further, after determining that the current driving road section belongs to the WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, the method further includes:
and switching the voice broadcast rule into a WiFi navigation voice broadcast rule, wherein the WiFi navigation voice broadcast rule is set according to WiFi navigation attributes.
Further, the WiFi navigation voice broadcast rule includes:
broadcasting the name of the road to be driven in before the vehicle turns.
Further, the broadcasting of the name of the road to be driven in before the vehicle turns to includes:
if the voice broadcast content based on the current driving position is detected to have steering, determining the name of the road to be driven into according to the current driving position and the determined navigation path;
replacing the steering in the voice broadcast content with the determined road name;
and broadcasting the replaced voice broadcast content.
In a second aspect, an embodiment of the present invention further provides a navigation device, where the navigation device includes:
the road section determining module is used for determining a road section which is currently driven if the navigation is carried out based on the GPS positioning information in the navigation process;
and the navigation switching module is used for navigating according to the acquired WiFi positioning information if the current driving road section belongs to the WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, wherein the WiFi navigation attribute of the current driving road section is determined by performing a navigation effect test on the WiFi positioning point sequence of the current driving road section in advance.
Further, the navigation switching module includes:
and the positioning point prediction unit is used for adding a predicted positioning point between adjacent WiFi positioning points.
Further, the apparatus further comprises:
and the broadcasting rule switching module is used for switching the voice broadcasting rule into a WiFi navigation voice broadcasting rule after determining that the current driving road section belongs to a WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, wherein the WiFi navigation voice broadcasting rule is set according to the WiFi navigation attribute.
According to the embodiment of the invention, under the condition that the GPS is unavailable, if the navigation effect of the current driving road section according to the WiFi positioning point sequence is determined to meet the navigation requirement, the navigation is carried out by utilizing the WiFi positioning information, so that the normal navigation can be carried out under the condition that the GPS is unavailable.
In a third aspect, an embodiment of the present invention further provides a navigation effect testing method, where the method includes:
acquiring a GPS positioning point sequence and a WiFi positioning point sequence of each road section;
the navigation effect according to the WiFi positioning point sequence of each road section is tested by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference;
and if the test result of the road section meets the normal navigation requirement, the WiFi navigation attribute of the road section is a WiFi positioning road section.
Further, the effect of navigating according to the GPS positioning point sequence of each road section is used as a reference, and the effect of navigating according to the WIFI positioning point sequence of each road section is tested, including:
matching a time point and broadcast content of first voice broadcast with a time point and broadcast content of second voice broadcast, wherein the first voice broadcast is voice broadcast in a navigation process according to a WiFi positioning point sequence of each road section, and the second voice broadcast is voice broadcast in the navigation process according to a GPS positioning point sequence of each road section;
and if the matching degree is greater than the set matching degree threshold value, determining that the effect of navigating according to the WiFi positioning point sequence of the road section meets the normal navigation requirement.
Further, the acquiring the GPS positioning point sequence and the WIFI positioning point sequence of each road segment includes:
in the process of navigation based on the GPS positioning point sequence, simultaneously recording the WiFi positioning point sequence and associating with the GPS positioning point sequence;
and segmenting the WiFi positioning point sequence and the GPS positioning point sequence according to different road sections.
In a fourth aspect, an embodiment of the present invention further provides a navigation effect testing apparatus, where the apparatus includes:
the positioning point acquisition module is used for acquiring a GPS positioning point sequence and a WiFi positioning point sequence of each road section;
the navigation test module is used for testing the navigation effect according to the WiFi positioning point sequence of each road section by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference;
and the navigation attribute determining module is used for determining that the WiFi navigation attribute of the road section is a WiFi positioning road section if the test result of the road section meets the normal navigation requirement.
Further, the navigation test module includes:
the time content matching unit is used for matching a time point and broadcast content of first voice broadcast with a time point and broadcast content of second voice broadcast, wherein the first voice broadcast is voice broadcast in the navigation process according to a WiFi positioning point sequence of each road section, and the second voice broadcast is voice broadcast in the navigation process according to a GPS positioning point sequence of each road section;
and the test effect judging unit is used for determining that the effect of navigation according to the WiFi positioning point sequence of the road section meets the normal navigation requirement if the matching degree is greater than the set matching degree threshold value.
In a fifth aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement a navigation method according to any one of the embodiments of the present invention, or a navigation effect testing method according to any one of the embodiments of the present invention.
In a sixth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement a navigation method according to any one of the embodiments of the present invention, or a navigation effect testing method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, the navigation effect according to the WiFi positioning point sequence of each road section is tested by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference. Because the accuracy rate of the navigation effect based on the GPS positioning point sequence is higher, the accuracy rate of the navigation effect according to the WiFi positioning point sequence of each road section can be tested. Therefore, the WiFi navigation attribute of each road section is determined according to the accuracy of the navigation effect.
Drawings
Fig. 1 is a flowchart of a navigation method according to an embodiment of the present invention;
fig. 2 is a flowchart of a navigation method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a navigation device according to a third embodiment of the present invention;
fig. 4 is a flowchart of a navigation effect testing method according to a fourth embodiment of the present invention;
fig. 5 is a flowchart of a navigation effect testing method according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of a navigation effect testing apparatus according to a sixth embodiment of the present invention;
fig. 7 is a schematic structural diagram of an apparatus according to a seventh embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
WiFi positioning refers to a positioning technique that utilizes WiFi data scanned by a device for positioning. At present, the average positioning precision can reach 25-30 meters. In some places where WiFi is denser, the continuous WiFi positioning points can also accurately trace the motion trajectory of the user.
The inventor discovers that in the process of implementing the invention: although WiFi may reach a range of 25 meters to 30 meters in location point accuracy. However, in some regions, the accuracy of the WiFi positioning point may have a large deviation (that is, the accuracy of the WiFi positioning point in some regions is high, and the accuracy of the WiFi positioning point in some regions is low). If any area is navigated based on WiFi positioning points, a lot of navigation errors can occur. Thereby bringing a great negative effect to the navigation experience.
Example one
Fig. 1 is a flowchart of a navigation method according to an embodiment of the present invention. The embodiment can be applied to the condition of normal navigation of the vehicle when the GPS positioning information is unavailable. The method may be performed by a navigation device, which may be implemented in software and/or hardware. Typically, the method is applicable to clients. Referring to fig. 1, the navigation method provided by the present embodiment includes:
and S110, in the navigation process, if the navigation can not be carried out based on the GPS positioning information, determining the current driving road section.
The reason why navigation based on GPS positioning information is not possible may be that GPS positioning information cannot be acquired (that is, GPS positioning information is lost), or that acquired GPS positioning information is not available, for example, the acquired positioning information drifts.
The current travel segment is a segment currently being traveled by the vehicle.
The determination of the current travel segment includes: and determining the road section to which the latest GPS positioning information belongs as the current driving road section.
Optionally, the determination of the current travel section may also include: determining the current driving position according to the navigation starting point, the planned navigation path and the mileage already driven after the navigation is started; and determining the road section to which the current driving position belongs as the current driving road section.
And S120, if the current driving road section is determined to belong to the WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, navigating according to the acquired WiFi positioning information, wherein the WiFi navigation attribute of the current driving road section is determined by performing a navigation effect test on the WiFi positioning point sequence of the current driving road section in advance.
The WiFi navigation attribute of the road section is used for describing whether the road section can be navigated according to the WiFi positioning information.
Specifically, if it is determined that the road segment can be navigated according to the WiFi positioning information according to the WiFi navigation attribute of the road segment, it is determined that the road segment belongs to the WiFi positioning road segment.
Because the received WiFi positioning points are sparse, the time interval between two adjacent WiFi positioning points is longer. In order to implement continuous navigation based on sparse WiFi positioning points, said navigating according to the obtained WiFi positioning information further comprises:
and adding a predicted positioning point between adjacent WiFi positioning points.
Specifically, the adding of the pre-determined sites between adjacent WiFi anchor points includes: and determining a predicted positioning point of the current driving position according to the driving parameters within a set time range from the current time, wherein the predicted positioning point is positioned between adjacent WiFi positioning points.
The driving parameter is an arbitrary parameter that can be used to estimate the anchor point. The driving parameters may be a driving speed and a driving track.
Typically, the positioning points between the adjacent WiFi positioning points can be calculated according to the running speed and the running track of the vehicle within a set time range from the current time.
In practical applications, there may be situations where the WiFi setpoint still drifts or lags. Before navigating according to the obtained WiFi positioning information for this situation, the method may further include: filtering and smoothing the obtained positioning point sequence; calculating the positioning point of the current driving position according to the processed positioning point sequence; and correcting the WiFi positioning point of the current driving position according to the calculation result, or inserting the calculated positioning point between adjacent WiFi positioning points so as to improve the accuracy of the WiFi positioning point and the continuity of the WiFi positioning point sequence.
According to the technical scheme of the embodiment of the invention, under the condition that the GPS is unavailable, if the navigation effect of the current driving road section according to the WiFi positioning point sequence is determined to meet the navigation requirement, the navigation is carried out by utilizing the WiFi positioning information, so that the normal navigation can be carried out under the condition that the GPS is unavailable.
Further, after navigation based on the GPS positioning information is not available, the method further includes:
and detecting the GPS positioning information according to the set detection frequency, and if the GPS positioning information is detected, navigating according to the detected GPS positioning information. Therefore, navigation is realized by using the most accurate positioning information.
Example two
Fig. 2 is a flowchart of a navigation method according to a second embodiment of the present invention. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 2, the navigation method provided by the present embodiment includes:
s210, in the navigation process, if the navigation can not be carried out based on the GPS positioning information, determining the current driving road section.
S220, if the current driving road section is determined to belong to the WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, navigation is performed according to the obtained WiFi positioning information, and the voice broadcast rule is switched to the WiFi navigation voice broadcast rule.
The WiFi navigation attribute of the current driving road section is determined by carrying out a navigation effect test on the WiFi positioning point sequence of the current driving road section in advance. And the WiFi navigation voice broadcasting rule is set according to the WiFi navigation attribute.
Because the accuracy of the WiFi positioning information is lower than the accuracy of the GPS positioning information, the WiFi navigation accuracy in the WiFi navigation attribute is lower than the GPS navigation accuracy.
Therefore, the voice broadcast is weakened and fuzzified in the WiFi navigation voice broadcast rule so as to reduce the negative influence caused by broadcast errors.
Specifically, the WiFi navigation voice broadcast rule may include:
broadcasting the name of the road to be driven in before the vehicle turns; and/or
If the distance between the current driving position and the position waiting for voice broadcast is smaller than the set distance threshold value, the distance between the current driving position and the position waiting for voice broadcast is not broadcasted any more.
The WiFi navigation voice broadcast rule can be improved on the basis of the original navigation voice broadcast rule and can also be reset.
Because the wiFi navigation voice broadcast rule is higher with former navigation voice broadcast rule similarity, so for reducing work load, can improve on the basis of former navigation voice broadcast rule to realize the voice broadcast based on wiFi navigation voice broadcast rule. Specifically, broadcasting the road name of coming into before the vehicle turns to includes:
if the voice broadcast content based on the current driving position is detected to have steering, determining the name of the road to be driven into according to the current driving position and the determined navigation path;
replacing the steering in the voice broadcast content with the determined road name;
and broadcasting the replaced voice broadcast content.
The steering in the voice broadcast content is replaced by the name of the road to be driven in, so that the voice broadcast is weakened. The distance between the current driving position and the position to be broadcasted by voice is not broadcasted, and fuzzification processing of voice broadcasting is realized.
For example, the voice broadcast based on the WiFi navigation voice broadcast rule may be: inputting the red star road at the front intersection; the front is provided with a camera and the like.
Based on the present embodiment, those skilled in the art can also think of many voice broadcast rules suitable for WiFi navigation. The present embodiment does not set any limit to this.
According to the technical scheme, when navigation is performed according to the obtained WiFi positioning information, the voice broadcast rule is switched to be the voice broadcast rule suitable for WiFi navigation. Therefore, the negative influence of broadcasting errors caused by low WiFi navigation accuracy is reduced.
It should be noted that, after the technical teaching of the present embodiment, a person skilled in the art may motivate a combination of any one of the implementation manners described in the above embodiments to implement the navigation using the WiFi positioning information.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a navigation device according to a third embodiment of the present invention. Referring to fig. 3, the navigation device provided in the present embodiment includes: a road segment determination module 10 and a navigation switching module 20.
The road section determining module 10 is configured to determine a current driving road section if navigation is performed based on GPS positioning information in a navigation process;
and the navigation switching module 20 is configured to, if it is determined that the current driving road segment belongs to the WiFi positioning road segment according to the WiFi navigation attribute of the current driving road segment, perform navigation according to the obtained WiFi positioning information, where the WiFi navigation attribute of the current driving road segment is determined by performing a navigation effect test on the WiFi positioning point sequence of the current driving road segment in advance.
According to the technical scheme of the embodiment of the invention, under the condition that the GPS is unavailable, if the navigation effect of the current driving road section according to the WIFI positioning point sequence is determined to meet the navigation requirement, the WiFi positioning information is utilized to carry out navigation, so that the normal navigation can be realized under the condition that the GPS is unavailable.
Further, the navigation switching module includes: and an anchor point prediction unit.
And the positioning point prediction unit is used for adding a predicted positioning point between adjacent WiFi positioning points.
Further, the anchor point prediction unit is specifically configured to: and determining a predicted positioning point of the current driving position according to the WiFi positioning point sequence within a set time range from the current time, wherein the predicted positioning point is positioned between adjacent WiFi positioning points.
Further, the device further comprises: and a broadcast rule switching module.
The broadcasting rule switching module is used for switching the voice broadcasting rule into a WiFi navigation voice broadcasting rule after determining that the current driving road section belongs to a WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, wherein the WiFi navigation voice broadcasting rule is set according to the WiFi navigation attribute.
Further, the WiFi navigation voice broadcasting rule comprises the step of broadcasting the name of the road to be driven in before the vehicle turns.
Further, the broadcasting of the name of the road to be driven in before the vehicle turns to includes: if the voice broadcast content based on the current driving position is detected to have steering, determining the name of the road to be driven into according to the current driving position and the determined navigation path;
replacing the steering in the voice broadcast content with the determined road name;
and broadcasting the replaced voice broadcast content.
Example four
Fig. 4 is a flowchart of a navigation effect testing method according to a fourth embodiment of the present invention. The embodiment can be applied to the situation of testing the WiFi navigation effect. The method may be performed by a navigation effect testing apparatus, which may be implemented by software and/or hardware. Typically, the method can be applied on the server side. Referring to fig. 4, the navigation effect testing method provided by the embodiment includes:
and S310, acquiring a GPS positioning point sequence and a WiFi positioning point sequence of each road section.
Specifically, the GPS positioning point sequence and the WiFi positioning point sequence are collected one by one for each road segment to obtain the GPS positioning point sequence and the WiFi positioning point sequence for each road segment.
To reduce acquisition costs, this acquisition process may be concomitant with normal navigation. Specifically, the acquiring the GPS positioning point sequence and the WiFi positioning point sequence of each road segment includes:
in the process of navigation based on the GPS positioning point sequence, simultaneously recording the WiFi positioning point sequence and associating with the GPS positioning point sequence;
and segmenting the WiFi positioning point sequence and the GPS positioning point sequence according to different road sections.
And S320, testing the navigation effect according to the WiFi positioning point sequence of each road section by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference.
Specifically, matching a fitting track determined according to a WiFi positioning point sequence with a fitting track determined according to a GPS positioning point sequence; and if the matching consistency degree is greater than the track matching threshold, determining that the navigation effect according to the WiFi positioning point sequence of each road section meets the normal navigation requirement.
S330, if the test result of the road section meets the normal navigation requirement, determining that the WiFi navigation attribute of the road section is a WiFi positioning road section.
According to the embodiment of the invention, the navigation effect according to the WiFi positioning point sequence of each road section is tested by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference. Because the accuracy of the navigation effect based on the GPS positioning point sequence is high, the accuracy of the navigation effect according to the WiFi positioning point sequence of each road segment can be tested in this embodiment. Therefore, the WiFi navigation attribute of each road section is determined according to the accuracy of the navigation effect.
EXAMPLE five
Fig. 5 is a flowchart of a navigation effect testing method according to a fifth embodiment of the present invention. This embodiment is an alternative proposed on the basis of the fourth embodiment described above. Referring to fig. 5, the navigation effect testing method provided by the embodiment includes:
and S410, acquiring a GPS positioning point sequence and a WiFi positioning point sequence of each road section.
S420, the time point and the broadcast content of the first voice broadcast are matched with the time point and the broadcast content of the second voice broadcast, wherein the first voice broadcast is the voice broadcast in the navigation process according to the WiFi positioning point sequence of each road section, and the second voice broadcast is the voice broadcast in the navigation process according to the GPS positioning point sequence of each road section.
And S430, if the matching degree is greater than the set matching degree threshold value, determining that the effect of navigating according to the WiFi positioning point sequence of the road section meets the normal navigation requirement.
And S430, if the test result of the road section meets the normal navigation requirement, determining that the WiFi navigation attribute of the road section is a WiFi positioning road section.
According to the technical scheme of the embodiment of the invention, the accurate test of the navigation effect is realized by testing the voice broadcast time point and the broadcast content which can better reflect the voice broadcast effect, so that the accuracy rate of determining the WiFi navigation attribute of the road section is improved.
Optionally, in order to further improve the test accuracy, the navigation effect may also be tested from multiple dimensions, such as a fitting track, a time point of voice broadcast, broadcast content, and the like, and this embodiment does not carry out any limitation on this.
It should be noted that, through the technical teaching of the present embodiment, a person skilled in the art may motivate a combination of any one of the implementation manners described in the above embodiments to achieve the test of the WiFi navigation effect.
EXAMPLE six
Fig. 6 is a schematic structural diagram of a navigation effect testing apparatus according to a sixth embodiment of the present invention. Referring to fig. 6, the navigation effect testing apparatus provided in this embodiment includes: a localization point obtaining module 30, a navigation testing module 40 and a navigation attribute determining module 50.
The positioning point acquiring module 30 is configured to acquire a GPS positioning point sequence and a WiFi positioning point sequence of each road segment;
the navigation test module 40 is used for testing the navigation effect according to the WiFi positioning point sequence of each road section by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference;
and the navigation attribute determining module 50 is configured to determine that the WiFi navigation attribute of the road segment is a WiFi positioning road segment if the test result of the road segment meets the normal navigation requirement.
According to the embodiment of the invention, the navigation effect according to the WiFi positioning point sequence of each road section is tested by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference. Because the accuracy of the navigation effect based on the GPS positioning point sequence is high, the accuracy of the navigation effect according to the WiFi positioning point sequence of each road segment can be tested in this embodiment. Therefore, the WiFi navigation attribute of each road section is determined according to the accuracy of the navigation effect.
Further, the navigation test module 40 includes: a time content matching unit and a test effect judging unit.
The time content matching unit is used for matching a time point and broadcast content of first voice broadcast with a time point and broadcast content of second voice broadcast, wherein the first voice broadcast is voice broadcast in the navigation process according to a WiFi positioning point sequence of each road section, and the second voice broadcast is voice broadcast in the navigation process according to a GPS positioning point sequence of each road section;
and the test effect judging unit is used for determining that the effect of navigation according to the WiFi positioning point sequence of the road section meets the normal navigation requirement if the matching degree is greater than the set matching degree threshold value.
Further, the localization point obtaining module 30 includes: an association unit and a sequence segmentation unit.
The system comprises a correlation unit, a GPS positioning point sequence and a control unit, wherein the correlation unit is used for simultaneously recording a WiFi positioning point sequence and correlating the WiFi positioning point sequence with the GPS positioning point sequence in the process of navigation based on the GPS positioning point sequence;
and the sequence segmentation unit is used for segmenting the WiFi positioning point sequence and the GPS positioning point sequence according to different road sections.
EXAMPLE seven
Fig. 7 is a schematic structural diagram of an apparatus according to a seventh embodiment of the present invention. Fig. 7 illustrates a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 7 is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present invention.
As shown in FIG. 7, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, and commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with device 12, and/or with any devices (e.g., network card, modem, etc.) that enable device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing, such as implementing a navigation method or a navigation effect test method provided by an embodiment of the present invention, by executing a program stored in the system memory 28.
Example eight
An eighth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a navigation method or a navigation effect testing method according to any one of the embodiments of the present invention.
The navigation method comprises the following steps:
in the navigation process, if navigation cannot be performed based on GPS positioning information, determining a current driving road section;
and if the current driving road section is determined to belong to the WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, navigating according to the acquired WiFi positioning information, wherein the WiFi navigation attribute of the current driving road section is determined by testing the navigation effect of the WiFi positioning point sequence of the current driving road section in advance.
The navigation effect testing method comprises the following steps:
acquiring a GPS positioning point sequence and a WiFi positioning point sequence of each road section;
the navigation effect according to the WiFi positioning point sequence of each road section is tested by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference;
and if the test result of the road section meets the normal navigation requirement, the WiFi navigation attribute of the road section is a WiFi positioning road section.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (14)

1. A navigation effect testing method is characterized by comprising the following steps:
acquiring a GPS positioning point sequence and a WiFi positioning point sequence of each road section;
the navigation effect according to the WiFi positioning point sequence of each road section is tested by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference;
if the test result of the road section meets the normal navigation requirement, the WiFi navigation attribute of the road section is a WiFi positioning road section;
wherein, the test of the navigation effect according to the WiFi positioning point sequence of each road section by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference comprises the following steps:
matching a time point and broadcast content of first voice broadcast with a time point and broadcast content of second voice broadcast, wherein the first voice broadcast is voice broadcast in a navigation process according to a WiFi positioning point sequence of each road section, and the second voice broadcast is voice broadcast in the navigation process according to a GPS positioning point sequence of each road section;
and if the matching degree is greater than the set matching degree threshold value, determining that the effect of navigating according to the WiFi positioning point sequence of the road section meets the normal navigation requirement.
2. The method of claim 1, wherein the obtaining the sequence of GPS fix points and the sequence of WIFI fix points for each road segment comprises:
in the process of navigation based on the GPS positioning point sequence, simultaneously recording the WiFi positioning point sequence and associating with the GPS positioning point sequence;
and segmenting the WiFi positioning point sequence and the GPS positioning point sequence according to different road sections.
3. A navigation effect testing apparatus, comprising:
the positioning point acquisition module is used for acquiring a GPS positioning point sequence and a WiFi positioning point sequence of each road section;
the navigation test module is used for testing the navigation effect according to the WiFi positioning point sequence of each road section by taking the navigation effect according to the GPS positioning point sequence of each road section as a reference;
a navigation attribute determining module, configured to determine that the WiFi navigation attribute of the road segment is a WiFi positioning road segment if the test result of the road segment meets the normal navigation requirement
Wherein, the navigation test module includes:
the time content matching unit is used for matching a time point and broadcast content of first voice broadcast with a time point and broadcast content of second voice broadcast, wherein the first voice broadcast is voice broadcast in the navigation process according to a WiFi positioning point sequence of each road section, and the second voice broadcast is voice broadcast in the navigation process according to a GPS positioning point sequence of each road section;
and the test effect judging unit is used for determining that the effect of navigation according to the WiFi positioning point sequence of the road section meets the normal navigation requirement if the matching degree is greater than the set matching degree threshold value.
4. A navigation method, comprising:
in the navigation process, if navigation cannot be performed based on GPS positioning information, determining a current driving road section;
and if the current driving road section is determined to belong to the WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, performing navigation according to the acquired WiFi positioning information, wherein the WiFi navigation attribute of the current driving road section is determined by performing a navigation effect test on the WiFi positioning point sequence of the current driving road section in advance according to the navigation effect test method of claim 1 or 2.
5. The method of claim 4, wherein navigating according to the obtained WiFi positioning information comprises:
and adding a predicted positioning point between adjacent WiFi positioning points.
6. The method of claim 5, wherein adding pre-determined sites between adjacent WiFi anchor points comprises:
and determining a predicted positioning point of the current driving position according to the driving parameters within a set time range from the current time, wherein the predicted positioning point is positioned between adjacent WiFi positioning points.
7. The method according to any one of claims 4-6, wherein after determining that the current travel segment belongs to the WiFi positioning segment according to the WiFi navigation attribute of the current travel segment, further comprising:
and switching the voice broadcast rule into a WiFi navigation voice broadcast rule, wherein the WiFi navigation voice broadcast rule is set according to WiFi navigation attributes.
8. The method according to claim 7, wherein the WiFi navigation voice broadcast rule comprises:
broadcasting the name of the road to be driven in before the vehicle turns.
9. The method according to claim 8, wherein the broadcasting of the name of the road to be driven in before the vehicle turns comprises:
if the voice broadcast content based on the current driving position is detected to have steering, determining the name of the road to be driven into according to the current driving position and the determined navigation path;
replacing the steering in the voice broadcast content with the determined road name;
and broadcasting the replaced voice broadcast content.
10. A navigation device, comprising:
the road section determining module is used for determining a road section which is currently driven if the navigation is carried out based on the GPS positioning information in the navigation process;
the navigation switching module is used for navigating according to the acquired WiFi positioning information if the current driving road section is determined to belong to the WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, wherein the WiFi navigation attribute of the current driving road section is determined by conducting a navigation effect test on the WIFI positioning point sequence of the current driving road section in advance according to the navigation effect test method of claim 1 or 2.
11. The apparatus of claim 10, wherein the navigation switching module comprises:
and the positioning point prediction unit is used for adding a predicted positioning point between adjacent WiFi positioning points.
12. The apparatus of claim 10 or 11, further comprising:
and the broadcasting rule switching module is used for switching the voice broadcasting rule into a WiFi navigation voice broadcasting rule after determining that the current driving road section belongs to a WiFi positioning road section according to the WiFi navigation attribute of the current driving road section, wherein the WiFi navigation voice broadcasting rule is set according to the WiFi navigation attribute.
13. An apparatus, characterized in that the apparatus comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a navigation effectiveness testing method as claimed in claim 1 or 2, or a navigation method as claimed in any one of claims 4-9.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a navigation effect testing method according to claim 1 or 2, or a navigation method according to any one of claims 4 to 9.
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