CN111427075B - Path navigation method, path navigation device, mobile terminal and readable storage medium - Google Patents
Path navigation method, path navigation device, mobile terminal and readable storage medium Download PDFInfo
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- CN111427075B CN111427075B CN202010134303.8A CN202010134303A CN111427075B CN 111427075 B CN111427075 B CN 111427075B CN 202010134303 A CN202010134303 A CN 202010134303A CN 111427075 B CN111427075 B CN 111427075B
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The invention relates to the technical field of data processing, and provides a path navigation method, a device, a mobile terminal and a readable storage medium, wherein the method comprises the following steps: acquiring the moving speed of a mobile terminal, and determining the motion state of the mobile terminal based on the moving speed; if the motion state is determined to be a moving state, detecting a signal state of the mobile terminal; determining a moving track of the mobile terminal by adopting a recording mode corresponding to the signal state; and if the return instruction is detected, displaying the moving track on a display interface of the mobile terminal. According to the method and the device, the recording instruction of the moving track is automatically triggered through the moving state of the mobile terminal, so that the corresponding moving track is determined according to the signal state of the mobile terminal, and when the return instruction is detected, the moving track is displayed, the navigation of the original return is realized, more application scenes can be adapted, and the intelligence of the mobile terminal is improved.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a path navigation method, a path navigation device, a mobile terminal, and a computer readable storage medium.
Background
Along with the development of intelligent terminals, the intelligent terminals gradually enter the life of people, wherein the path navigation function of the mobile terminal is that people travel, particularly under unfamiliar environments, commonly used functions such as a vehicle navigation system, a mobile phone and the like are provided with the path navigation function, when the existing intelligent terminals guide users to go out, the path planning between two points can only be formulated, so that the paths are generated, the users are guided to go from the departure point to the destination, and the paths generally follow the shortest path principle, the least time principle and the like, namely, the generated paths are shortest in principle, the used time is shortest and the like. But the path restoration, that is, the path passed by the user cannot be displayed, if the user wants to return to the starting point from the end point, the user needs to take the end point as the starting point and take the starting point as the end point to input the end point, so that the path from the end point to the starting point is regenerated, obviously, the mode is complicated, the user needs to input the starting point and the end point of the path again, and obviously, the intelligence is not enough.
And when no signal exists, the existing terminal cannot navigate for the user in real time, and can only navigate by means of the offline package downloaded in advance, however, the memory of the terminal is occupied by the offline package downloaded in advance, and the real-time navigation cannot be achieved, so that the navigation accuracy is low.
Obviously, the path navigation mode of the existing intelligent terminal is not intelligent enough and cannot adapt to more application scenes.
Disclosure of Invention
The invention mainly aims to provide a path navigation method, a path navigation device, a mobile terminal and a computer readable storage medium, and aims to solve the technical problem that the existing intelligent terminal is low in intelligence in the aspect of path navigation.
In order to achieve the above object, the present invention provides a path navigation method, comprising the steps of:
acquiring the moving speed of a mobile terminal, and determining the motion state of the mobile terminal based on the moving speed;
if the motion state is determined to be a moving state, detecting a signal state of the mobile terminal;
determining a moving track of the mobile terminal by adopting a recording mode corresponding to the signal state, wherein if the signal state is no signal, the moving track of the mobile terminal is determined by an inertial sensor of the mobile terminal; if the signal state is a signal, determining a moving track of the movement through a GPS module of the mobile terminal;
and if the return instruction is detected, displaying the moving track on a display interface of the mobile terminal.
Optionally, if the signal state is no signal, the step of determining, by using an inertial sensor of the mobile terminal, a movement track of the mobile terminal includes:
if the signal state is no signal, acquiring the moving distance and the moving direction of the mobile terminal based on an inertial sensor of the mobile terminal;
and determining the moving track of the mobile terminal based on the moving distance and the moving direction.
Optionally, if the signal state is no signal, the step of determining, by using an inertial sensor of the mobile terminal, a movement track of the mobile terminal includes:
if the signal state is a signal, starting a GPS module of the mobile terminal, positioning the mobile position of the mobile terminal in real time based on the GPS module, and determining the altitude of the mobile terminal at the mobile position;
recording the movement track based on the movement position and the altitude.
Optionally, if the signal state is that there is a signal, starting a GPS module of the mobile terminal, positioning a mobile location of the mobile terminal in real time based on the GPS module, and determining an altitude of the mobile terminal at the mobile location includes:
If the signal state is a signal, starting a GPS module of the mobile terminal, positioning the mobile position of the mobile terminal in real time based on the GPS module, and determining the stay time of the mobile terminal at the mobile position;
and if the residence time exceeds the preset time, acquiring the altitude corresponding to the moving position.
Optionally, the step of determining the movement track of the mobile terminal by adopting the recording mode corresponding to the signal state includes:
if the signal state is detected from no signal to no signal, acquiring a track to be rectified, which is determined by the mobile terminal in a no-signal period, and determining a first position of the mobile terminal when the signal exists currently and a second position of the mobile terminal when the signal exists;
generating a corresponding standard path based on the first position and the second position;
and correcting the deviation of the track to be corrected based on the standard path so as to generate the moving track of the mobile terminal.
Optionally, the step of displaying the movement track on the display interface of the mobile terminal if the return instruction is detected includes:
if a return instruction is detected, determining a return mode corresponding to the return instruction, wherein the return mode comprises original return;
And if the return mode is the original return mode, displaying the moving track on a display interface of the mobile terminal.
Optionally, the step of acquiring the moving speed of the mobile terminal and determining the motion state corresponding to the mobile terminal based on the moving speed includes:
collecting acceleration and angular velocity of the mobile terminal in preset time, and calculating the moving speed of the mobile terminal based on the acceleration and the angular velocity;
comparing the moving speed with a preset speed;
and if the difference speed between the moving speed and the preset speed is within the preset range, determining that the motion state corresponding to the mobile terminal is a moving state.
In addition, to achieve the above object, the present invention also provides a path navigation apparatus including:
the determining module is used for acquiring the moving speed of the mobile terminal and determining the motion state of the mobile terminal based on the moving speed;
the detection module is used for detecting the signal state of the mobile terminal if the motion state is determined to be a moving state;
the recording module is used for determining the moving track of the mobile terminal by adopting a recording mode corresponding to the signal state, wherein if the signal state is no signal, the moving track of the mobile terminal is determined by an inertial sensor of the mobile terminal; if the signal state is a signal, determining a moving track of the movement through a GPS module of the mobile terminal;
And the display module is used for displaying the moving track on a display interface of the mobile terminal if the return instruction is detected.
In addition, in order to achieve the above object, the present invention also provides a mobile terminal including a processor, a memory, and a path guidance program stored on the memory and executable by the processor, wherein the path guidance program, when executed by the processor, implements the steps of the path guidance method as described above.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having a path guidance program stored thereon, wherein the path guidance program, when executed by a processor, implements the steps of the path guidance method as described above.
The invention provides a path navigation method, which comprises the steps of obtaining the moving speed of a mobile terminal and determining the motion state of the mobile terminal based on the moving speed; if the motion state is determined to be a moving state, detecting a signal state of the mobile terminal; determining a moving track of the mobile terminal by adopting a recording mode corresponding to the signal state, wherein if the signal state is no signal, the moving track of the mobile terminal is determined by an inertial sensor of the mobile terminal; if the signal state is a signal, determining a moving track of the movement through a GPS module of the mobile terminal; and if the return instruction is detected, displaying the moving track on a display interface of the mobile terminal. According to the method and the device, the recording instruction of the moving track is automatically triggered through the moving state of the mobile terminal, so that the corresponding moving track is determined according to the signal state of the mobile terminal, and when the return instruction is detected, the moving track is displayed, the navigation of the original return is realized, more application scenes can be adapted, and the intelligence of the mobile terminal is improved.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of a mobile terminal according to an embodiment of the present invention;
FIG. 2 is a flowchart of a first embodiment of a path navigation method according to the present invention;
fig. 3 is a functional block diagram of a first embodiment of the path navigation device of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The path navigation method related to the embodiment of the invention is mainly applied to a mobile terminal, and the mobile terminal can be a mobile phone, a portable computer, an iPad and other devices with display and processing functions.
Referring to fig. 1, fig. 1 is a schematic hardware structure of a mobile terminal according to an embodiment of the present invention. In an embodiment of the invention, the mobile terminal may comprise a processor 1001 (e.g. a CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communications between these components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface); the memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory, and the memory 1005 may alternatively be a storage device independent of the processor 1001.
Those skilled in the art will appreciate that the hardware architecture shown in fig. 1 is not limiting and that more or fewer components than shown may be included or that certain components may be combined or that different arrangements of components may be provided.
With continued reference to fig. 1, the memory 1005 in fig. 1, which is a computer-readable storage medium, may include an operating system, a network communication module, and a path navigation program.
In fig. 1, the network communication module is mainly used for connecting with a server and performing data communication with the server; and the processor 1001 may call the path navigation program stored in the memory 1005 and execute the path navigation method provided by the embodiment of the present invention.
The embodiment of the invention provides a path navigation method.
Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of the path navigation method according to the present invention.
In this embodiment, the path navigation method includes the following steps:
step S10, acquiring the moving speed of a mobile terminal, and determining the motion state of the mobile terminal based on the moving speed;
step S20, if the motion state is determined to be a moving state, detecting a signal state of the mobile terminal;
step S30, determining a moving track of the mobile terminal by adopting a recording mode corresponding to the signal state, wherein if the signal state is no signal, the moving track of the mobile terminal is determined by an inertial sensor of the mobile terminal; if the signal state is a signal, determining a moving track of the movement through a GPS module of the mobile terminal;
And step S40, if the return instruction is detected, displaying the moving track on a display interface of the mobile terminal.
The path navigation method of the embodiment is applied to the mobile terminal, and when a user carries the mobile terminal to move, such as walking, a recording mode of the moving track is automatically triggered, so that the moving track corresponding to the mobile terminal is determined, and when the user wants to return to an original path, a corresponding return instruction is triggered, so that the mobile terminal displays the recorded moving track, and the user is helped to return along the original path.
The mobile terminal of the embodiment firstly determines the motion state of the mobile terminal, and when the motion state is determined, the corresponding recording mode is triggered, so that the motion track of the mobile terminal is collected, and when a return instruction is detected, the collected motion track can be displayed on a display interface for a user to return according to the original path of the motion track.
The following will explain each step in detail:
step S10, the moving speed of the mobile terminal is obtained, and the motion state of the mobile terminal is determined based on the moving speed.
In this embodiment, the user carries the mobile terminal with him, so that determining the movement state of the mobile terminal is essentially determining the movement state of the user, and in view of the fact that the movement speed of the user in different movement states is different, the movement state of the user can be determined by measuring the movement distance of the user in unit time by the mobile terminal, wherein the mobile terminal can be a terminal installed with a path navigation App, such as a mobile phone, etc.
Specifically, the mobile terminal obtains the moving distance of the user in the preset time through the GPS positioning technology, so as to calculate the moving speed of the user in the unit time, and compares the moving speed with the preset speed, if the preset speed is 4 km/h, the moving state of the mobile terminal is determined to be the moving state if the moving speed is greater than the preset speed; if the speed is not greater than the preset speed, the motion state of the mobile terminal is determined to be a non-motion state, wherein the non-motion state refers to a state not meeting the preset speed, and it can be understood that the walking speed of a normal person is generally 4-7 km/h, and if the speed is not greater than the speed, the current user can be considered to not walk normally, possibly walk, dance and the like, and the recording mode is not triggered at the moment.
It should be noted that the preset speed may be set according to actual situations, and is not specifically limited in this embodiment.
Further, in another embodiment, step S10 includes:
step a1, acquiring acceleration and angular velocity of the mobile terminal in preset time, and calculating the moving speed of the mobile terminal based on the acceleration and the angular velocity;
in this step, the mobile terminal lever determines the motion state of the user through a built-in sensor of the mobile terminal, such as an acceleration sensor, specifically, collects the acceleration and the angular velocity of the mobile terminal in a preset time, and further determines the moving velocity of the user through the acceleration and the angular velocity, that is, in another embodiment, the mobile terminal can obtain the moving velocity of the mobile terminal even without a signal without the participation of a GPS module.
Step a2, comparing the moving speed with a preset speed;
and a step a3 of determining that the motion state corresponding to the mobile terminal is a moving state if the phase difference speed between the moving speed and the preset speed is within the preset range.
In the step, the mobile terminal compares the calculated moving speed of the mobile terminal with a preset speed, and if the difference between the moving speed and the preset speed, namely the difference speed, is within a preset range, the corresponding moving state of the mobile terminal is determined to be the moving state. The preset range can be set according to practical situations, such as 4-7 km/h, and when the preset range is exceeded, the user can be determined not to be in a normal moving state, such as walking or on a vehicle, and the like, and the situation can not trigger the recording mode.
In another embodiment, when a key operation triggered by the motion state button is detected, the motion state of the user is determined, that is, the motion state button is arranged in the mobile terminal, and the button can be a physical button or a virtual button, and the user can trigger the motion state button through operations such as clicking and pressing. If the user clicks a motion state button in the mobile phone, the motion state is determined to be a moving state. I.e. the user can decide by himself the moment of triggering the recording mode.
Step S20, if the motion state is determined to be a moving state, detecting a signal state of the mobile terminal;
in this embodiment, if the motion state of the current mobile terminal, that is, the motion state of the current user is determined to be the motion state, the signal state of the mobile terminal is detected to determine what kind of recording mode is used to determine the motion track of the mobile terminal. The specific detection of the strength of the GPS signal of the mobile terminal may be determined by the GPS module of the mobile terminal, which is not described in detail herein, and in the specific implementation, a standard value may be preset, for example, the signal strength is determined by the number of signal bins, the maximum number of full bins is 5 bins, the preset 2 bins is the standard value, when the signal strength is lower than 2 bins, the signal state of the current mobile terminal is determined to be no signal, when the signal strength is not lower than 2 bins, the signal state of the current mobile terminal is determined to be a signal.
Step S30, determining a moving track of the mobile terminal by adopting a recording mode corresponding to the signal state, wherein if the signal state is no signal, the moving track of the mobile terminal is determined by an inertial sensor of the mobile terminal; and if the signal state is a signal, determining a moving track of the movement through a GPS module of the mobile terminal.
In this embodiment, the mobile terminal adopts a corresponding recording mode according to a current signal state, so as to determine a movement track of the mobile terminal, where the signal state includes no signal and a signal, and if the signal state is no signal, the mobile terminal determines the corresponding movement track through its own inertial sensor; if the signal state is that the signal exists, the mobile terminal determines a corresponding moving track through a GPS module of the mobile terminal.
Thus, step S30 specifically includes:
step b1, if the signal state is no signal, acquiring the moving distance and the moving direction of the mobile terminal based on an inertial sensor of the mobile terminal;
in another embodiment, the signal state includes no signal, where no signal includes no signal and weak signal, and as mentioned above, the signal strength is lower than the standard value, that is, no signal, that is, the GPS signal is weak. It can be understood that when the GPS signal is weak, the mobile terminal cannot use the GPS module to perform positioning, so when the GPS signal is weak, the movement track of the user is simulated by the sensor built in the mobile terminal, specifically, the movement distance and the movement direction of the mobile terminal, that is, the movement distance of the user and the movement direction of the user are collected by the inertial sensor (such as a gyroscope and an accelerometer and a direction sensor), so that the movement track of the user is simulated according to the movement distance and the movement direction.
And b2, determining the moving track of the mobile terminal based on the moving distance and the moving direction.
In this step, the mobile terminal simulates a movement track of the mobile terminal, that is, a movement track of the user according to the movement distance and the movement direction, specifically, calculates coordinates of the next location by using the movement distance S and the movement direction θ with the position when the recording mode is triggered as the origin (x 0, y 0): x1=x0+s×sin θ, y1=y0+s×cos θ.
It should be noted that, when the direction of the user changes, that is, the moving direction of the mobile terminal acquired by the inertial sensor changes, the moving distance is calculated from the changing point, for example, the user moves by a distance a in the direction a and then moves by a distance B in the direction B, through the above algorithm, the coordinates of the node (turning point) from the direction a to the direction B and the coordinates after the distance B are calculated one by one, at this time, the distance a in the origin a direction and the distance B are then taken as the moving track of the mobile terminal.
And step S40, if the return instruction is detected, displaying the moving track on a display interface of the mobile terminal.
In this embodiment, if the mobile terminal detects the return instruction, the recorded movement track is displayed on the display interface, that is, when the user wants to return to the original path, the return instruction is triggered, so that the mobile terminal displays the movement track recorded before, where the return instruction is triggered in multiple ways, for example, when the user wants to return to the original path, the return instruction is triggered only by clicking the path restoration button at the corresponding position of the mobile terminal, or the user issues a voice instruction, that is, when the mobile terminal detects a preset return voice instruction, the return instruction is triggered.
Further, in another embodiment, step S40 includes:
step c1, if a return instruction is detected, determining a return mode corresponding to the return instruction, wherein the return mode comprises original return;
in the step, if the mobile terminal detects the return instruction, determining a return mode corresponding to the return instruction, wherein the return mode comprises principle return and custom return.
And c2, if the return mode is the original return mode, displaying the moving track on a display interface of the mobile terminal.
If the current return mode is the original return mode, displaying the previously recorded moving track on a display interface of the mobile terminal, and guiding the user to return in the original return mode.
If the current return mode is a custom return, determining an origin corresponding to the return instruction, generating a shortest distance path or a shortest time-consuming path based on the current position and the origin, displaying, and guiding the user to quickly return according to the shortest distance path or the shortest time-consuming path, wherein the generation principle of the shortest distance path and the shortest time-consuming path is not the protection key point of the embodiment and is not described in detail herein.
The method comprises the steps of obtaining the moving speed of a mobile terminal, and determining the motion state of the mobile terminal based on the moving speed; if the motion state is determined to be a moving state, detecting a signal state of the mobile terminal; determining a moving track of the mobile terminal by adopting a recording mode corresponding to the signal state, wherein if the signal state is no signal, the moving track of the mobile terminal is determined by an inertial sensor of the mobile terminal; if the signal state is a signal, determining a moving track of the movement through a GPS module of the mobile terminal; and if the return instruction is detected, displaying the moving track on a display interface of the mobile terminal. According to the method and the device, the recording instruction of the moving track is automatically triggered through the moving state of the mobile terminal, so that the corresponding moving track is determined according to the signal state of the mobile terminal, and when the return instruction is detected, the moving track is displayed, the navigation of the original return is realized, more application scenes can be adapted, and the intelligence of the mobile terminal is improved.
Further, a second embodiment of the path navigation method of the present invention is proposed based on the first embodiment. The second embodiment of the path navigation method differs from the first embodiment of the path navigation method in that step S30 includes:
step b3, if the signal state is a signal, starting a GPS module of the mobile terminal, positioning the mobile position of the mobile terminal in real time based on the GPS module, and determining the altitude of the mobile terminal at the mobile position;
and b4, recording the moving track based on the moving position and the altitude.
In this embodiment, the GPS module is used to locate the mobile terminal in the presence of the signal, so as to obtain a more accurate mobile position of the mobile terminal, so that the recorded movement track is more real.
The following will explain each step in detail:
and b3, if the signal state is a signal, starting a GPS module of the mobile terminal, positioning the mobile position of the mobile terminal in real time based on the GPS module, and determining the altitude of the mobile terminal at the mobile position.
In this embodiment, if the signal state of the current mobile terminal is a signal, that is, a GPS signal, the GPS module is started, and the mobile position of the mobile terminal is located in real time by using a GPS location technology, and the altitude of the mobile terminal is determined, where the altitude can be obtained by an altitude sensor of the mobile terminal.
In another embodiment, the mobile terminal may also acquire the mobile location of the terminal in a timed manner.
It will be appreciated that the user may not always be in motion, such as buying something, taking a photograph, etc., or the user is riding an elevator, etc., where the user, i.e. the mobile terminal, is not changing in motion, but the altitude is likely to change, so that the altitude of the mobile terminal at each of the motion positions is taken into account in order to subsequently construct a more accurate motion profile.
Specifically, step b3 includes:
if the signal state is a signal, starting a GPS module of the mobile terminal, positioning the mobile position of the mobile terminal in real time based on the GPS module, and determining the stay time of the mobile terminal at the mobile position;
and if the residence time exceeds the preset time, acquiring the altitude corresponding to the moving position.
In this step, if the mobile terminal determines that the residence time of a certain node, i.e., a certain moving position, exceeds a preset time, it is considered that the altitude change may occur, for example, the user is riding an elevator, at this time, whether the altitude of the user changes is measured, and the vertical moving distance of the user is determined according to the altitude.
It can be understood that the GPS positioning technology cannot know the vertical height of the located coordinate point, in the actual life, various high-rise buildings exist, when a user gets on or off the elevator, the GPS positioning technology cannot know the vertical moving distance of the user, the position of the user is unchanged during the period of time when the user gets on the elevator, and in the view of the positioning result of the GPS positioning technology, the user stays for a period of time at a certain node. Therefore, whether a certain node exists in the mobile position, namely the residence time of the certain mobile position exceeds the preset time can be determined, if so, the altitude sensor is started to measure whether the altitude of the user changes, and if so, the altitude difference is recorded, so that the vertical movement distance of the user is determined.
In the embodiment, the GPS module is adopted to position the mobile terminal under the condition of signals, and the altitude of the mobile terminal at the mobile position is obtained, so that the more accurate mobile position of the mobile terminal is obtained, and the recorded moving track is more real.
Further, a third embodiment of the path navigation method of the present invention is proposed based on the first and second embodiments. The third embodiment of the path navigation method differs from the first and second embodiments of the path navigation method in that step S30 includes:
Step b5, if the signal state is detected from no signal to no signal, acquiring a track to be rectified, which is determined by the mobile terminal in the no signal period, and determining a first position of the mobile terminal when the signal exists currently and a second position of the mobile terminal when the signal exists;
step b6, generating a corresponding standard path based on the first position and the second position;
and b7, correcting the track to be corrected based on the standard path to generate a moving track of the mobile terminal.
When the GPS signal recovery is detected, the current first position is positioned through the GPS positioning technology, and a standard track of the first position and the second position before the GPS signal is disconnected is constructed, so that the mobile terminal is in a signal-free state, and an inertial sensor is adopted to collect the track to be rectified, which is determined by the moving direction and the moving distance of the mobile terminal, for rectification.
The following will explain each step in detail:
and b5, if the signal state is detected to be from no signal to no signal, acquiring a track to be rectified, which is determined by the mobile terminal in the no signal period, and determining a first position of the mobile terminal in the current signal period and a second position of the mobile terminal in the no signal period.
In this embodiment, if the signal state of the mobile terminal is a recovery signal, that is, the mobile terminal has undergone a signal-no-signal process, the trajectory to be corrected determined by the mobile terminal during the signal-no period is obtained, where the trajectory to be corrected determined by the mobile terminal during the signal-no period may be specifically described with reference to the foregoing embodiments, and will not be described herein again.
And the first position when the GPS signal is recovered, namely the first position when the signal exists at present, and the second position when the GPS signal is disconnected, namely the second position when the signal exists at present, are recorded through the GPS module.
And b6, generating a corresponding standard path based on the first position and the second position.
In this embodiment, the standard path is constructed according to the first location and the second location, specifically, may be constructed according to Dijkstra's algorithm, that is, dijkstra's algorithm, which is not described in detail herein.
And b7, correcting the track to be corrected based on the standard path to generate a moving track of the mobile terminal.
In this embodiment, the mobile terminal rectifies the trajectory to be rectified according to the standard path, specifically, after constructing the standard paths of the first position and the second position, divides the distance of the standard path by the recovery time of signal recovery, that is, the interval time from no signal to signal is experienced by the mobile terminal, so as to obtain the fastest speed of the user from the first position to the second position.
Dividing the length of the track to be rectified by the inertial sensor to obtain a simulation speed, judging whether the difference value between the simulation speed and the fastest speed is within a preset range, if so, correcting the track to be rectified is not needed, and when the finally generated moving track is a signal, the moving track recorded by the mobile terminal through the GPS module is added with the track to be rectified which is simulated by the inertial sensor when the mobile terminal does not have the signal, and the moving track recorded by the GPS module is continuously used subsequently; if not, correcting the track to be corrected.
The specific deviation correcting mode can replace the track to be corrected by a standard path generated according to the first position and the second position after the signal is recovered, namely when the finally generated moving track is a signal, the moving track recorded by the GPS module is added with the standard track by the mobile terminal, and the moving track recorded by the GPS module is continuously used subsequently.
Further, because the determined track to be rectified and the actual moving track have only slight deviation, the rectified segmented path only needs to be rectified when rectifying the deviation.
Specifically, after determining the standard paths of the first position and the second position, dividing the standard paths into first segment paths with preset segment numbers, and respectively calculating the first segment speeds of the first segment paths, wherein the segment time corresponding to the first segment paths is the interval time divided by the preset segment numbers, and then dividing the segment time by each first segment path to obtain the first segment speeds of each first segment path. Meanwhile, the track to be rectified is divided into second segment paths with preset segment numbers, and the second segment speeds of the second segment paths are respectively determined, wherein the second segment speeds of the second segment paths are calculated by dividing the second segment paths by the recording time of actually passing through the second segment paths, the recording time is recorded by the mobile terminal, and it is understood that the corresponding recording time of the second segment paths may be different, for example, the user takes 1 minute when passing through the first segment second segment paths, the user takes 2 minutes when passing through the second segment paths, and the like.
Finally, comparing each first sectional speed with each corresponding second sectional speed in sequence, judging whether the difference value between the current first sectional speed and the second sectional speed is in a preset range in sequence, and if so, marking the current second sectional path; if not, the second segmented path is not marked, and finally the marked second segmented path is replaced by the corresponding first segmented path, so that the correction of the track to be corrected is completed.
When the GPS signal recovery is detected, the current first position is positioned through the GPS positioning technology, and the standard track of the first position and the second position before the GPS signal is disconnected is constructed, so that when the mobile terminal is in a signal-free state, the track to be rectified, which is determined by the moving direction and the moving distance of the mobile terminal, is acquired by adopting the inertial sensor to rectify, so that a more accurate moving track is generated, and the user can return to the original path.
Further, a fourth embodiment of the path navigation method of the present invention is proposed based on the first, second, and third embodiments. The fourth embodiment of the path navigation method differs from the first, second and third embodiments of the path navigation method in that step S30 includes:
step d1, the moving distance and the moving direction are sent to vehicle-mounted equipment connected with the mobile terminal, so that the vehicle-mounted equipment builds a corresponding moving track based on the moving distance and the moving direction;
And d2, receiving the moving track returned by the vehicle-mounted equipment.
In order to avoid the increase of consumed resources, such as the increase of power consumption, in the process of generating the movement track, the movement distance and the movement direction of the user, which are acquired by the mobile terminal through the built-in sensor, can be sent to the cloud server, the cloud server receives the acquired movement distance and movement direction, and simulates the movement track of the user according to the movement distance and movement direction, and finally, the movement track is sent to the mobile terminal, that is, the mobile terminal is only responsible for acquiring the movement distance and movement direction, but not responsible for processing, but sends the movement distance and the movement direction to the cloud server through a communication protocol, and the cloud server processes the movement track, and the step of determining the movement track of the mobile terminal according to the movement distance and the movement direction is specifically referred to the embodiment and is not repeated herein.
It can be understood that the operation capability of the cloud server is stronger than that of the mobile terminal, so that the cloud server can simulate the walking track of the user more quickly, the mobile terminal only needs to receive the well-determined moving track of the cloud server, the operation processing process of the mobile terminal is reduced, and the resource consumption of the mobile terminal is reduced.
In addition, the embodiment of the invention also provides a path navigation device.
Referring to fig. 3, fig. 3 is a functional block diagram of a first embodiment of the path navigation apparatus according to the present invention.
In this embodiment, the path navigation device includes:
a determining module 10, configured to obtain a movement speed of a mobile terminal, and determine a motion state of the mobile terminal based on the movement speed;
a detection module 20, configured to detect a signal state of the mobile terminal if the motion state is determined to be a moving state;
a recording module 30, configured to determine a movement track of the mobile terminal by using a recording mode corresponding to the signal state, where if the signal state is no signal, the movement track of the mobile terminal is determined by an inertial sensor of the mobile terminal; if the signal state is a signal, determining a moving track of the movement through a GPS module of the mobile terminal;
and the display module 40 is configured to display the movement track on a display interface of the mobile terminal if a return instruction is detected.
Further, the recording module is further configured to:
if the signal state is no signal, acquiring the moving distance and the moving direction of the mobile terminal based on an inertial sensor of the mobile terminal;
And determining the moving track of the mobile terminal based on the moving distance and the moving direction.
Further, the recording module is further configured to:
if the signal state is a signal, starting a GPS module of the mobile terminal, positioning the mobile position of the mobile terminal in real time based on the GPS module, and determining the altitude of the mobile terminal at the mobile position;
recording the movement track based on the movement position and the altitude.
Further, the recording module is further configured to:
if the signal state is a signal, starting a GPS module of the mobile terminal, positioning the mobile position of the mobile terminal in real time based on the GPS module, and determining the stay time of the mobile terminal at the mobile position;
and if the residence time exceeds the preset time, acquiring the altitude corresponding to the moving position.
Further, the recording module is further configured to:
if the signal state is detected from no signal to no signal, acquiring a track to be rectified, which is determined by the mobile terminal in a no-signal period, and determining a first position of the mobile terminal when the signal exists currently and a second position of the mobile terminal when the signal exists;
Generating a corresponding standard path based on the first position and the second position;
and correcting the deviation of the track to be corrected based on the standard path so as to generate the moving track of the mobile terminal.
Further, the display module is further configured to:
if a return instruction is detected, determining a return mode corresponding to the return instruction, wherein the return mode comprises original return;
and if the return mode is the original return mode, displaying the moving track on a display interface of the mobile terminal.
Further, the determining module is further configured to:
collecting acceleration and angular velocity of the mobile terminal in preset time, and calculating the moving speed of the mobile terminal based on the acceleration and the angular velocity;
comparing the moving speed with a preset speed;
and if the difference speed between the moving speed and the preset speed is within the preset range, determining that the motion state corresponding to the mobile terminal is a moving state.
The modules and units in the path navigation device correspond to the steps in the path navigation method embodiment, and the functions and implementation processes of the modules and units are not described in detail herein.
In addition, the embodiment of the invention also provides a computer readable storage medium.
The computer readable storage medium of the present invention stores a path guidance program, wherein the path guidance program, when executed by a processor, implements the steps of the path guidance method as described above.
The method implemented when the path navigation program is executed may refer to various embodiments of the path navigation method of the present invention, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. A path navigation method, characterized in that the path navigation method comprises the steps of:
acquiring the moving speed of a mobile terminal, and determining the motion state of the mobile terminal based on the moving speed;
if the motion state is determined to be a moving state, detecting a signal state of the mobile terminal;
determining a moving track of the mobile terminal by adopting a recording mode corresponding to the signal state, wherein if the signal state is no signal, the moving track of the mobile terminal is determined by an inertial sensor of the mobile terminal; if the signal state is a signal, determining a moving track of the movement through a GPS module of the mobile terminal;
if a return instruction is detected, displaying the moving track on a display interface of the mobile terminal;
the step of determining the moving track of the mobile terminal by adopting the recording mode corresponding to the signal state comprises the following steps:
If the signal state is detected from no signal to no signal, acquiring a track to be rectified, which is determined by the mobile terminal in a no-signal period, and determining a first position of the mobile terminal when the signal exists currently and a second position of the mobile terminal when the signal exists;
generating a corresponding standard path based on the first position and the second position;
and correcting the deviation of the track to be corrected based on the standard path so as to generate the moving track of the mobile terminal.
2. The path guidance method of claim 1, wherein the step of determining the moving trajectory of the mobile terminal through the inertial sensor of the mobile terminal if the signal state is no signal comprises:
if the signal state is no signal, acquiring the moving distance and the moving direction of the mobile terminal based on an inertial sensor of the mobile terminal;
and determining the moving track of the mobile terminal based on the moving distance and the moving direction.
3. The path guidance method of claim 1, wherein the step of determining the moving trajectory of the movement by the GPS module of the mobile terminal if the signal status is a signal comprises:
If the signal state is a signal, starting a GPS module of the mobile terminal, positioning the mobile position of the mobile terminal in real time based on the GPS module, and determining the altitude of the mobile terminal at the mobile position;
recording the movement track based on the movement position and the altitude.
4. The path guidance method of claim 3, wherein the step of starting a GPS module of the mobile terminal if the signal status is signal, locating the mobile location of the mobile terminal in real time based on the GPS module, and determining the altitude of the mobile terminal at the mobile location comprises:
if the signal state is a signal, starting a GPS module of the mobile terminal, positioning the mobile position of the mobile terminal in real time based on the GPS module, and determining the stay time of the mobile terminal at the mobile position;
and if the residence time exceeds the preset time, acquiring the altitude corresponding to the moving position.
5. The path guidance method of claim 1, wherein the step of displaying the movement trace on the display interface of the mobile terminal if the return instruction is detected comprises:
If a return instruction is detected, determining a return mode corresponding to the return instruction, wherein the return mode comprises original return;
and if the return mode is the original return mode, displaying the moving track on a display interface of the mobile terminal.
6. The path guidance method according to any one of claims 1-5, wherein the step of acquiring a movement speed of a mobile terminal and determining a movement state corresponding to the mobile terminal based on the movement speed comprises:
collecting acceleration and angular velocity of the mobile terminal in preset time, and calculating the moving speed of the mobile terminal based on the acceleration and the angular velocity;
comparing the moving speed with a preset speed;
and if the difference speed between the moving speed and the preset speed is within the preset range, determining that the motion state corresponding to the mobile terminal is a moving state.
7. A path navigation device, characterized in that the path navigation device comprises:
the determining module is used for acquiring the moving speed of the mobile terminal and determining the motion state of the mobile terminal based on the moving speed;
the detection module is used for detecting the signal state of the mobile terminal if the motion state is determined to be a moving state;
The recording module is used for determining the moving track of the mobile terminal by adopting a recording mode corresponding to the signal state, wherein if the signal state is no signal, the moving track of the mobile terminal is determined by an inertial sensor of the mobile terminal; if the signal state is a signal, determining a moving track of the movement through a GPS module of the mobile terminal;
the display module is used for displaying the moving track on a display interface of the mobile terminal if the return instruction is detected;
the recording module is further used for acquiring a track to be rectified, which is determined by the mobile terminal in a signal-free period, and determining a first position of the mobile terminal when the signal exists currently and a second position of the mobile terminal when the signal exists; generating a corresponding standard path based on the first position and the second position; and correcting the deviation of the track to be corrected based on the standard path so as to generate the moving track of the mobile terminal.
8. A mobile terminal comprising a processor, a memory, and a path navigation program stored on the memory and executable by the processor, wherein the path navigation program, when executed by the processor, implements the steps of the path navigation method of any of claims 1 to 6.
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a path guidance program, wherein the path guidance program, when executed by a processor, implements the steps of the path guidance method according to any one of claims 1 to 6.
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| CN114510542B (en) * | 2020-10-29 | 2022-12-09 | 荣耀终端有限公司 | Method for generating motion trail, electronic equipment and server |
| CN112533146A (en) * | 2020-11-24 | 2021-03-19 | 维沃移动通信有限公司 | Navigation database establishing method and device and electronic equipment |
| CN112945230B (en) * | 2021-01-26 | 2022-03-25 | 腾讯科技（深圳）有限公司 | Vehicle driving state identification method and device, computer equipment and storage medium |
| CN113254569B (en) * | 2021-07-06 | 2021-10-08 | 武汉依迅北斗时空技术股份有限公司 | Positioning deviation rectifying method and device |
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