CN118129788A - Track return method, device and equipment for wearable equipment and storage medium - Google Patents
Track return method, device and equipment for wearable equipment and storage medium Download PDFInfo
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Abstract
The application discloses a track returning method, a device, equipment and a storage medium for wearable equipment, wherein the method comprises the following steps: responding to the first trigger signal, and starting a track returning task; selecting and storing mark points in the motion trail according to the existing satellite positioning data; after the mark points are stored, the user is guided to return to a preset position according to the route corresponding to the mark points. The method provided by the application aims at intelligent wearable equipment without a built-in map, can track the motion trail of the user in real time, help the user return voyage according to the marked points in the motion trail, and can also save storage space and reduce hardware resources.
Description
Technical Field
The present application relates to the field of navigation technologies, and in particular, to a track returning method, apparatus, device and storage medium for a wearable device.
Background
Track-return technology utilizes satellite navigation positioning systems and computer algorithms to help people track and return to their previous path taken. It relies on key technologies such as satellite positioning, data recording, gesture sensing, path planning and navigation algorithms. By these techniques, the trajectory navigation system may provide accurate navigation directions that help the user quickly and safely return to the original starting point.
At present, most track returning technologies mostly rely on built-in map functions and are concentrated on unmanned aerial vehicles, ships and other devices, and the application in the intelligent wearing field is limited.
Therefore, how to realize real-time tracking of the motion trail of the user for the intelligent wearable device without the built-in map, and help the user to return to the home according to the motion trail, save the storage space in the return process and reduce the hardware resources is an important problem in the current research.
Disclosure of Invention
The invention mainly solves the technical problems of realizing real-time tracking of a motion trail of a user, helping the user return according to the motion trail, saving storage space in the return process and reducing hardware resources by providing a trail return method, a device, electronic equipment and a storage medium for wearable equipment.
In order to solve the technical problem, the technical scheme adopted by the invention is to provide a track return method for wearable equipment, which comprises the following steps:
and responding to the first trigger signal, and starting a track returning task.
And selecting and storing the mark points in the motion trail according to the existing satellite positioning data.
After the mark points are stored, the user is guided to return to a preset position according to the route corresponding to the mark points.
In some embodiments, the step of selecting and storing the marker points in the motion trajectory according to the existing satellite positioning data includes the steps of:
satellite positioning data is acquired for a plurality of location points over a period of time.
Satellite positioning data of three position points in a first time interval are selected according to sliding window processing, wherein the satellite positioning data are sequentially a first position point, a second position point and a third position point; a first relative position parameter of the second position point relative to the first position point is calculated, and a second relative position parameter of the third position point relative to the second position point is calculated.
Calculating a difference value between the first relative position parameter and the second relative position parameter, and if the difference value meets a preset condition, the second position point is a mark point; if the difference value does not meet the preset condition, the second position point is not the mark point.
In some embodiments, calculating a difference between the first relative position parameter and the second relative position parameter, and if the difference meets a preset condition, the second position point is a mark point; if the difference value does not meet the preset condition, the second position point is not a mark point, and the method further comprises the following steps:
the difference comprises an azimuth difference and a quadrant difference between the first relative position parameter and the second relative position parameter.
And judging whether the second position point and the third position point are in the same quadrant or not according to the quadrant difference value.
If the azimuth difference value meets the first preset condition in the same quadrant, the second position point is a mark point; if the azimuth difference does not meet the first preset condition, the second position point is not a mark point.
In different quadrants, if the azimuth difference value accords with a second preset condition, the second position point is a mark point; if the azimuth difference does not meet the second preset condition, the second position point is not a mark point.
In some embodiments, after the storing of the mark points is completed, guiding the user to return to the predetermined position according to the route corresponding to the mark points, and further including:
It is determined whether the user is yawing.
When the user yaws, whether the user returns to the return track is judged.
In some embodiments, determining whether the user is yawing comprises:
and acquiring satellite positioning data of the current position, calculating a third relative position parameter between the current position and the satellite positioning data of the front and rear mark points, and prompting a user to yaw when the third relative position parameter meets a first preset condition.
In some embodiments, when the user is yawing, determining whether the user is returning to the return trajectory is performed by:
And acquiring satellite positioning data of the current position, calculating a fourth relative position parameter between the current position and the satellite positioning data of the next mark point, and returning the return track by the user when the fourth relative position parameter meets a second preset condition.
In order to solve the technical problem, the application also provides a track returning device for the wearable equipment, which comprises a mark point storage module and a track returning module:
and the mark point storage module is used for storing mark points in the motion track according to the existing satellite positioning data.
And the track returning module is used for guiding the user to return to a preset position according to the route corresponding to the mark point after the mark point is stored.
In some embodiments, the marker point storage module includes a satellite positioning module, a data calculation module, and a marker point determination module:
And the satellite positioning module is used for acquiring satellite positioning data of a plurality of position points in a time period.
The data calculation module is used for selecting satellite positioning data of three position points in a first time interval, wherein the satellite positioning data are sequentially a first position point, a second position point and a third position point; a first relative position parameter of the second position point relative to the first position point is calculated, and a second relative position parameter of the third position point relative to the second position point is calculated.
The mark point judging module is used for calculating the difference value between the first relative position parameter and the second relative position parameter, and if the difference value accords with a preset condition, the second position point is a mark point; if the difference value does not meet the preset condition, the second position point is not the mark point.
In order to solve the technical problem, the application also provides electronic equipment, which comprises a processor and a memory, wherein the memory stores a computer program which can be executed by the processor, and the track return method for the wearable equipment is realized when the computer program is executed by the processor.
In order to solve the technical problem, the application also provides a computer readable storage medium, on which program instructions are stored, the program instructions are used for implementing the track return method for the wearable device.
The beneficial effects are that: the application discloses a track return method for wearable equipment, which comprises the following steps: responding to the first trigger signal, and starting a track returning task; selecting and storing mark points in the motion trail according to the existing satellite positioning data; after the mark points are stored, the user is guided to return to a preset position according to the route corresponding to the mark points. The method provided by the application aims at intelligent wearable equipment without a built-in map, can track the motion trail of the user in real time, help the user return voyage according to the motion trail, and can save storage space and reduce hardware resources.
Drawings
FIG. 1 is a flow chart of an embodiment of a track return method for a wearable device provided by the present application;
FIG. 2 is a flowchart of an embodiment of selecting a marker point in a track return method for a wearable device according to the present application;
FIG. 3 is a flowchart of another embodiment of selecting a marker point in the track return method for a wearable device provided by the present application;
FIG. 4 is a flowchart of another embodiment of selecting a marker point in the track return method for a wearable device provided by the present application;
FIG. 5 is a schematic diagram of a motion profile and marker points according to the present application;
FIG. 6 is a schematic diagram of a return trajectory of a user interface according to the present application;
FIG. 7 is a schematic diagram of user yaw in a trajectory return method for a wearable device according to the present application;
FIG. 8 is a schematic diagram of a frame of an embodiment of a track return apparatus for a wearable device provided by the present application;
FIG. 9 is a schematic diagram of a frame of an embodiment of a marker point storage module in a track navigation apparatus for a wearable device provided by the present application;
FIG. 10 is a schematic diagram of a frame of an embodiment of an electronic device provided by the present application;
FIG. 11 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.
The execution subject of the track return method for the wearable device in the embodiment of the application can be an electronic device. With the development of global positioning and navigation systems such as global satellite positioning systems (GNSS) and beidou satellite navigation systems (BDS), a large number of electronic devices can determine real-time positioning points of users according to the global satellite positioning systems and the beidou satellite navigation systems.
The electronic device may include, but is not limited to, electronic devices such as a mobile terminal and an internet of things device, and may further include wearable devices such as smart bracelets, watches, headphones, glasses, helmets, and the like that may be worn by a user. It should be noted that the electronic device may be based on an embedded system, an Android system, an IOS (mobile operating system developed by apple corporation) system, a Windows system, or the like, which is not limited herein.
The electronic device may communicate with a satellite system via a communication protocol that matches the satellite system, and, illustratively, if the satellite system is a global satellite positioning system (GNSS), may communicate via a communication protocol established by the national marine electronics association (the national marine electronics association, NMEA).
The information frame transmitted by the satellite system through the NMEA communication protocol can contain parameter information such as satellite time, longitude and latitude of the electronic equipment, satellite number and the like. In one particular case, the frames of information transmitted by the satellite system may be in the global satellite positioning system (GPS) fixed data (global positioning system fix data, GGA) format. The GGA format may include parameters such as code number, standard positioning time (time minute second, second), latitude (altitude minute, minute), northern hemisphere or southern hemisphere indicator (N or S), longitude (altitude minute, minute), eastern hemisphere or western hemisphere indicator (E or W), number of satellites used (00-12), position accuracy factor (0.5 to 99.9 meters), altitude (-9999.9 meters to 9999.9 meters), etc., which are not described in detail herein.
Fig. 1 shows a flowchart of an embodiment of a track return method for a wearable device according to the present application, the method comprising:
And S11, responding to the first trigger signal, and starting a track returning task.
And step S12, selecting and storing the mark points in the motion trail according to the existing satellite positioning data.
And S13, after the storage of the mark points is completed, guiding the user to return to a preset position according to the route corresponding to the mark points.
Specifically, in the present application, satellite positioning data includes longitude, latitude, position accuracy factor, and the number of satellites for a plurality of position points.
Specifically, the manner in which the electronic device obtains satellite positioning data refers to the NMEA communication protocol described above, but is not limited thereto. It should be noted that, the satellite positioning data is bound with the position information of the marker point, namely: each marker point has satellite positioning data corresponding to the marker point. The electronic device may receive the data packet from the satellite system according to the NMEA communication protocol described above, and then the electronic device may parse the satellite positioning data from the data packet, where the parsed satellite positioning data may include, but is not limited to, longitude, latitude, position accuracy factor, satellite number, altitude, and the like.
In particular, in navigation and positioning by satellite navigation systems, a position accuracy factor (PDOP, position Dilution of Precision) is used to evaluate the positioning accuracy of satellite signals. The specific meaning of PDOP is: since the quality of the observation result is related to the geometry between the artificial satellite to be measured and the receiver and has a great influence, the calculation of the error amount caused as described above is called the degree of accuracy. The better the distribution of satellites in the sky, the higher the positioning accuracy (the smaller the number, the higher the accuracy). PDOP represents one parameter of the relationship between the three-dimensional position location accuracy and the geometric configuration of the navigation station, and is related to the geometric distribution of satellites. The PDOP value range is as follows: 0.5-99.9, which is the open root number of the sum of squares of errors such as latitude, longitude and elevation, so the following are included: . Wherein HDOP (horizontal dilution of precision) represents a horizontal component precision factor, which is an open root number value of the sum of squares of errors such as latitude and longitude; VDOP (vertical dilution of precision) denotes the vertical component precision factor.
Geometrically, the PDOP bisects 1 by the volume fraction of the cone made up of the connection of the receiver and four satellites that can be observed. In general, a smaller PDOP value means higher positioning accuracy, and conversely, a relatively larger positioning error. For example, when the PDOP value is 3, it is considered that the positioning accuracy is high; when the PDOP value is larger than 7, the positioning accuracy is considered to be poor.
Therefore, the track returning method guides the user to return according to the mark points, the mark points are selected according to the previously recorded satellite positioning data, and each mark point corresponds to the corresponding satellite positioning data, so that the user does not need to call all track information during returning, and only uses the mark points as key index points during returning, thereby saving storage space and reducing hardware resources.
Referring to fig. 2, in some embodiments, the selecting and storing the marker points in the motion track according to the existing satellite positioning data includes:
step S121, acquiring satellite positioning data of a plurality of location points in a time period.
Step S122, selecting satellite positioning data of three position points in a first time interval according to sliding window processing, wherein the satellite positioning data are sequentially a first position point, a second position point and a third position point; a first relative position parameter of the second position point relative to the first position point is calculated, and a second relative position parameter of the third position point relative to the second position point is calculated.
Step S123, calculating a difference value between the first relative position parameter and the second relative position parameter, and if the difference value meets a preset condition, the second position point is a mark point; if the difference value does not meet the preset condition, the second position point is not the mark point.
Specifically, in step S121, a time period refers to a time period elapsed from when the user wearing the electronic device moves from an initial geographic location to another final geographic location, during which (for example, 1 hour) satellite positioning may be performed at fixed time intervals (one time interval every 1 minute), and satellite positioning data of a plurality of location points are acquired.
Specifically, in step S122, sliding Window processing is a data processing and analysis technique that is generally used to create a movable, fixed-size Window in a series of data for various computing and analysis operations. This window moves over the data sequence, processing a certain number of data points at a time, and then moves to the next position, continuing to process the next set of data points. The window of the sliding window has a fixed size, representing the amount of data to be processed at each time step or data point, and the window size can be configured according to specific requirements; the moving steps of the sliding window are as follows: the data points within the window are shifted over the data sequence by a certain step or interval, each shift being followed by a change in the data points in order to process the new data. The method uses sliding window processing to calculate and process satellite positioning data in a window (for example, in n seconds), and finally obtains the mark point in the whole motion track.
In some embodiments, after the step of acquiring satellite positioning data of a plurality of location points within a period of time in step S121, step S1210 is further included to perform filtering processing on the acquired satellite positioning data. Because the user has continuity and slowness of motion change in the motion process, the satellite positioning data is filtered, so that error data can be reduced, and the position track is smoothed.
Referring to fig. 4, in some embodiments, after acquiring satellite positioning data of a plurality of location points within a period of time in step S121, and performing filtering processing on the acquired satellite positioning data in step S1210, step S1211 is further included: judging whether the satellite positioning data accords with preset conditions or not, wherein the preset conditions comprise: the position accuracy factor is less than a position accuracy factor threshold; the number of satellites is greater than or equal to a satellite number threshold; the longitude and latitude are within a location threshold. It should be noted that, the above-mentioned determining whether the satellite positioning data meets the preset conditions should all meet the preset conditions, and the determining sequence is not limited herein. The step can screen the obtained satellite positioning data, screen effective and high-quality satellite positioning data, and is convenient for selecting effective and reliable position points as marking points in the subsequent steps.
Specifically, a position accuracy factor threshold and a satellite granularity threshold are preset. When the position accuracy factor exceeds the position accuracy factor threshold, the navigation positioning system cannot continue to perform positioning operation, and returns to step S121 to reacquire satellite positioning data until satellite positioning data with the position accuracy factor smaller than the position accuracy factor threshold is screened out. The smaller the position accuracy factor, the more accurate the satellite positioning data can be determined. The judgment operation ensures the accuracy and reliability of satellite positioning data, improves the overall performance of a satellite navigation system, provides more accurate and reliable position information for users, and further enhances the use experience of the users.
Specifically, a satellite number threshold is preset, when the number of satellites is smaller than the satellite number threshold, the navigation positioning system cannot continue to perform positioning operation, and the step S121 is returned to acquire satellite positioning data again until the number of screened satellites meets the satellite number threshold. For example, the threshold value of the satellite number may be set to be 4, and when the satellite number is larger, the positioning accuracy and stability are also stronger. It should be noted that the above threshold is only an example, and should not be taken as a limitation of the protection scope of the present application.
Specifically, the preset condition further includes that the longitude and the latitude are within a position threshold range. This is because the sensor in the electronic device may generate incorrect longitude and latitude values when receiving satellite positioning navigation signals. By determining whether the longitude and latitude are within the position threshold, it can be determined whether the satellite positioning data is abnormal. If the satellite positioning data is abnormal, the abnormal data is removed, and the step S121 is returned to acquire the satellite positioning data again, and the data meeting the preset conditions is screened out, so that the reliability of the satellite positioning data is ensured, and more accurate and reliable position information is provided for the user.
In some embodiments, the first and second relative position parameters each comprise an azimuth angle and a quadrant, and the difference comprises an azimuth angle difference and a quadrant difference between the first and second relative position parameters.
Specifically, the first relative position parameter is calculated by longitude and latitude data of the second position point and the first position point, and the second relative position parameter is calculated by longitude and latitude data of the third position point and the second position point. The first relative position parameter and the second relative position parameter each include an azimuth and a quadrant, which are also each calculated from longitude and latitude data. For example, the azimuth and quadrant of the second location point relative to the first location point (i.e., the first relative location parameter) may be expressed asThe azimuth and quadrant of the third location point relative to the second location point (i.e., the second relative location parameter) is expressed as/>. Thus, the quadrant difference M between the second relative position parameter and the first relative position parameter is: /(I)The azimuth difference Z between the second relative position parameter and the first relative position parameter is:。
In practical application, since there are 4 quadrants in the rectangular coordinate system, namely: the first quadrant, the second quadrant, the third quadrant and the fourth quadrant, and the motion trail of the user is random. Thus, the absolute value of the quadrant difference M There are four cases, namely: /(I)Or/>Or/>Or/>. When/>When the second position point and the third position point are in the same quadrant; when/>When the second position point and the third position point are in adjacent quadrants; /(I)When the second position point and the third position point are in opposite quadrants; /(I)When the first position point and the third position point are in the first quadrant and the fourth quadrant respectively.
In some embodiments, in step S123, a difference between the first relative position parameter and the second relative position parameter is calculated, and if the difference meets a preset condition, the second position point is a mark point; if the difference value does not meet the preset condition, the second position point is not a mark point, and the method further comprises the following steps: judging whether the second position point and the third position point are in the same quadrant or not according to the quadrant difference value; if the azimuth difference value meets the first preset condition in the same quadrant, the second position point is a mark point; if the azimuth difference does not meet the first preset condition, the second position point is not a mark point; in different quadrants, if the azimuth difference value accords with a second preset condition, the second position point is a mark point; if the azimuth difference does not meet the second preset condition, the second position point is not a mark point.
The difference between the quadrant differences of the first relative position parameter and the second relative position parameter can be divided into two cases: the same quadrant and different quadrants. Correspondingly, the preset conditions are divided into two types, namely when the azimuth angle difference value accords with the first preset condition in the same quadrant, the second position point is a marking point. And when the different image limits are met, the azimuth angle difference value meets a second preset condition, and the second position point is a mark point.
In some embodiments, the first preset condition comprises: when the azimuth difference is positive, the azimuth difference is larger than a first preset threshold; and when the azimuth difference is a negative number, the azimuth difference is smaller than a second preset threshold value.
Specifically, in the same quadrant, since the azimuth difference between the first relative position parameter and the second relative position parameter may be positive or negative, the first preset condition is also divided into two cases, and different preset thresholds are correspondingly set according to the two cases. Therefore, after calculating the azimuth difference between the first relative position parameter and the second relative position parameter, judging whether the azimuth difference is a positive number, if so, only if the azimuth difference exceeds a first preset threshold value, recording the second position point as a mark point, otherwise, the second position point is not the mark point and can be expressed as: z > a >0, a being a first preset threshold; when the azimuth difference is a negative number, only when the azimuth difference is smaller than a first preset threshold value, recording the second position point as a marking point, otherwise, the second position point is not the marking point and can be expressed as follows: z < b <0, b is a second preset threshold. The setting of the first preset threshold and the second preset threshold not only reflects the distribution characteristics of the data, but also meets the requirements of actual application scenes.
In some embodiments, the second preset condition comprises: when the absolute value of the quadrant difference value is 1, the azimuth angle difference value is larger than a third preset threshold value; when the absolute value of the quadrant difference value is 2, the azimuth angle difference value is larger than a fourth preset threshold value; and when the absolute value of the quadrant difference value is 3, the azimuth angle difference value is larger than a fifth preset threshold value.
Specifically, in different quadrants, the quadrant difference between the first relative position parameter and the second relative position parameter is divided into three cases, and referring to the four cases of the absolute value of the quadrant difference, the second preset condition is also divided into three cases, and different preset thresholds are correspondingly set according to the three cases. Therefore, after the azimuth angle difference value and the quadrant difference value between the first relative position parameter and the second relative position parameter are calculated, whether the azimuth angle difference value meets the second preset condition is judged according to the specific condition of the quadrant difference value. For example: when the absolute value of the quadrant difference is 1, that is, when the second position point and the third position point are adjacent to each other, only when the azimuth difference exceeds a third preset threshold, the second position point is recorded as a mark point, otherwise, the second position point is not the mark point and can be expressed as: z > c, c is a third preset threshold; when the absolute value of the quadrant difference is 2, that is, when the second position point and the third position point are at opposite image limits, only when the azimuth difference exceeds a fourth preset threshold, the second position point is recorded as a mark point, otherwise, the second position point is not the mark point and can be expressed as: z > d, d is a fourth preset threshold; when the absolute value of the quadrant difference is 3, that is, the second position point and the third position point are respectively in the first quadrant and the fourth quadrant, and only when the azimuth difference exceeds the fifth preset threshold, the second position point is recorded as a mark point, otherwise, the second position point is not the mark point and can be expressed as: z > e, e is a fifth preset threshold. When the azimuth difference exceeds the preset threshold, the difference between the second position point and the third position point in the direction is obvious, and the user can turn in the travelling process, so that the second position point is recorded as a mark point. The processing mode is favorable for accurately judging the characteristics of the position points, and meets the requirements of actual application scenes.
In order to further explain the method for selecting the marker points in the present application, fig. 5 shows a schematic diagram of a motion track and the marker points, and as can be seen from fig. 5, the electronic device obtains satellite positioning data of a plurality of position points in a time period, and screens the obtained satellite positioning data to remove discrete points 2, namely: erroneous data or position points which obviously do not accord with the motion trail are screened out, so that effective and reliable position points can be conveniently selected as marking points later. And after screening satellite positioning data meeting preset conditions, selecting the marking points of the position points according to the preset conditions. The selection method is referred to above and will not be described here again. The application takes the position points meeting the preset conditions as the mark points 1, and the mark points 1 in the figure 5 are the position points meeting the preset conditions or the position points with obvious direction transition in the movement process, and the position points are taken as the mark points 1 and stored, so that the application plays an important role in the return journey of the user; in addition, for the position points which do not meet the preset conditions or the position points which have no obvious direction difference, the position points are not selected to be marked points, namely, the non-marked points 3, and the processing mode can reduce the data storage quantity and improve the data processing speed.
Specifically, in conjunction with fig. 6, when the user starts to return, the user interface of the electronic device displays a return track 4 (i.e. a route corresponding to the marking points) as shown in fig. 6, and displays a plurality of marking points 1 on the return track 4, and meanwhile, the user interface also displays a current position C, so that the user can check the position of the user and the return path of the user, and can conveniently judge whether the user returns according to the return track 4. It should be noted that, each marker point 1 already has corresponding satellite positioning data, and because the satellite positioning data of the marker point is already stored, the satellite positioning data of the marker point 1 does not need to be acquired again by the satellite positioning system in the course of returning, so that the track returning method of the application not only saves storage space, but also reduces hardware resources.
In some embodiments, after the storing of the mark points is completed in step S13, the method further includes: judging whether the user is yawed or not; when the user yaws, whether the user returns to the return track is judged. Such a processing manner can help the user smoothly return to the predetermined position as indicated by the mark point.
In some embodiments, determining whether the user is yawing comprises: and acquiring satellite positioning data of the current position, calculating a third relative position parameter between the current position and the satellite positioning data of the front and rear mark points, and prompting a user to yaw when the third relative position parameter meets a first preset condition.
Specifically, when judging whether the user is yawed or not according to fig. 7, because the satellite positioning data of the current position C is acquired in real time according to the satellite positioning system, the electronic device invokes the previously stored satellite positioning data of the mark points, can determine the satellite positioning data of the front mark point and the rear mark point (i.e., the front mark point and the rear mark point) of the current position, and calculates a third relative position parameter according to the satellite positioning data of the current position and the front mark point and the rear mark point, wherein the third relative position parameter comprises a yaw angle and a yaw distance; the first preset condition is: the yaw angle is greater than the yaw angle threshold and the yaw distance is greater than the yaw threshold. For example, in conjunction with fig. 7, the front and rear mark points of the current position C are respectively a front mark point a and a rear mark point B, and according to the direction of the return track 4, the user should move from the front mark point a to the rear mark point B, and during the moving process, the electronic device calculates the yaw angle a and the yaw distance B between the current position C and the satellite positioning data of the front and rear mark points in real time. When yaw angle a is greater than the yaw angle threshold and yaw distance b is greater than the yaw threshold, the electronic device prompts the user to yaw.
In some embodiments, when the user is yawing, determining whether the user is returning to the return trajectory is performed by: and acquiring satellite positioning data of the current position, calculating a fourth relative position parameter between the current position and the satellite positioning data of the next mark point, and returning the return track by the user when the fourth relative position parameter meets a second preset condition.
Specifically, the fourth relative position parameter includes a yaw angle and a yaw distance, and the second preset condition is: the yaw angle is less than or equal to a yaw angle threshold and the yaw distance is less than or equal to the yaw threshold. For example, in connection with fig. 7, the front and rear marking points of the current position C are respectively a front marking point a and a rear marking point B, according to the direction of the return track 4, the user should move from the front marking point a to the rear marking point B, and the rear marking point B is the next marking point that the user should reach. During the moving process of a user wearing the electronic equipment, the electronic equipment calculates a yaw angle a and a yaw distance b between the current position and satellite positioning data of the front mark point and the rear mark point in real time. Assuming that the current position C has been yawed, the user, during movement, indicates that the user has returned to the return trajectory 4 when the yaw angle a is less than or equal to the yaw angle threshold and the yaw distance b is less than or equal to the yaw threshold. According to the method, the user sequentially reaches the next marking point until reaching the preset position D.
Referring to fig. 8, the application also discloses a frame schematic diagram of a track returning device 80 for a wearable apparatus, where the device 80 includes a mark point storage module 81 and a track returning module 82.
The mark point storage module 81 is configured to store mark points in the motion trail according to existing satellite positioning data.
And the track returning module 82 is used for guiding the user to return to the preset position according to the route corresponding to the mark point after the mark point is stored.
Referring to fig. 9, in some embodiments, the mark point storing device 81 includes: satellite positioning module 811, data calculation module 812, and marker point determination module 813:
The satellite positioning module 811 acquires satellite positioning data of a plurality of position points in a period of time.
The data calculation module 812 selects satellite positioning data of three position points in the first time interval, which are the first position point, the second position point and the third position point in sequence; a first relative position parameter of the second position point relative to the first position point is calculated, and a second relative position parameter of the third position point relative to the second position point is calculated.
The mark point judging module 813 calculates a difference value between the first relative position parameter and the second relative position parameter, and if the difference value meets a preset condition, the second position point is a mark point; if the difference value does not meet the preset condition, the second position point is not a mark point.
Referring to fig. 10, the application further discloses a frame schematic diagram of an embodiment of an electronic device 90, which includes a processor 92 and a memory 91, wherein the memory 91 stores a computer program capable of being executed by the processor 92, and the computer program implements any one of the track return methods for the wearable device when executed by the processor 92.
In particular, the memory 91 is used for storing computer programs or data. The Memory 91 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
The processor 92 is for reading/writing data or computer programs stored in the memory 91 and performing corresponding functions. For example, the track return method for a wearable device provided by the embodiment of the present application may be implemented when the computer program stored in the memory 91 is executed by the processor 92.
Referring to fig. 11, fig. 11 is a schematic diagram of a frame of an embodiment of a computer readable storage medium, where the computer readable storage medium 10 stores program instructions 101, and the program instructions 101 are configured to implement any one of the above-mentioned track return methods for a wearable device.
In some embodiments, functions or modules included in an apparatus provided by the embodiments of the present disclosure may be used to perform a method described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.
The foregoing description of various embodiments is intended to highlight differences between the various embodiments, which may be the same or similar to each other by reference, and is not repeated herein for the sake of brevity.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical, or other forms.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In summary, the application discloses a track returning method, a device, equipment and a storage medium for wearable equipment, wherein the method comprises the following steps: responding to the first trigger signal, and starting a track returning task; selecting and storing mark points in the motion trail according to the existing satellite positioning data; after the mark points are stored, the user is guided to return to a preset position according to the route corresponding to the mark points. The method provided by the application aims at intelligent wearable equipment without a built-in map, can track the motion trail of the user in real time, help the user return according to the motion trail, save the storage space in the return process and reduce the hardware resources.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the present invention and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A track return method for a wearable device, the track return method comprising:
responding to the first trigger signal, and starting a track returning task;
selecting and storing mark points in the motion trail according to the existing satellite positioning data;
After the mark points are stored, the user is guided to return to a preset position according to the route corresponding to the mark points.
2. The trajectory return method for a wearable device according to claim 1, wherein the selecting and storing the mark point in the motion trajectory according to the existing satellite positioning data comprises the steps of:
Acquiring satellite positioning data of a plurality of position points in a time period;
selecting satellite positioning data of three position points in a first time interval according to sliding window processing, wherein the satellite positioning data are sequentially a first position point, a second position point and a third position point; calculating a first relative position parameter of the second position point relative to the first position point, and a second relative position parameter of the third position point relative to the second position point;
Calculating a difference value between the first relative position parameter and the second relative position parameter, wherein if the difference value meets a preset condition, the second position point is a mark point; and if the difference value does not meet the preset condition, the second position point is not a mark point.
3. The track return method for a wearable device according to claim 2, wherein the calculating the difference between the first relative position parameter and a second relative position parameter, if the difference meets a preset condition, the second position point is a mark point; if the difference value does not meet the preset condition, the second position point is not a mark point, and the method further comprises the following steps:
The difference comprises an azimuth difference and a quadrant difference between the first relative position parameter and the second relative position parameter;
judging whether the second position point and the third position point are in the same quadrant or not according to the quadrant difference value;
when the azimuth angle difference value meets a first preset condition, the second position point is a mark point; if the azimuth difference value does not meet the first preset condition, the second position point is not a mark point;
in different quadrants, if the azimuth difference value accords with a second preset condition, the second position point is a mark point; and if the azimuth angle difference value does not meet a second preset condition, the second position point is not a mark point.
4. The track return method for a wearable device according to claim 3, wherein after the storing of the mark points is completed, guiding the user to return to a predetermined position according to a route corresponding to the mark points, further comprising:
Judging whether the user is yawed or not;
When the user yaws, whether the user returns to the return track is judged.
5. The trajectory return method for a wearable device of claim 4, wherein the determining whether the user is yawed comprises:
and acquiring satellite positioning data of the current position, calculating a third relative position parameter between the current position and the satellite positioning data of the front and rear mark points, and prompting the user to yaw when the third relative position parameter meets a first preset condition.
6. The track return method for a wearable device according to claim 5, wherein the determining whether the user returns to the return track when the user is yawing comprises:
and acquiring satellite positioning data of the current position, calculating a fourth relative position parameter between the current position and the satellite positioning data of the next mark point, and returning the return track by the user when the fourth relative position parameter meets a second preset condition.
7. The track returning device for the wearable equipment is characterized by comprising a mark point storage module and a track returning module;
the mark point storage module is used for storing mark points in the motion track according to the existing satellite positioning data;
And the track returning module is used for guiding the user to return to a preset position according to the route corresponding to the mark point after the mark point is stored.
8. The track return device for a wearable apparatus of claim 7, wherein the marker point storage module comprises a satellite positioning module, a data calculation module, and a marker point determination module:
the satellite positioning module is used for acquiring satellite positioning data of a plurality of position points in a time period;
The data calculation module is used for selecting the satellite positioning data of three position points in a first time interval, wherein the satellite positioning data are sequentially a first position point, a second position point and a third position point; calculating a first relative position parameter of the second position point relative to the first position point, and a second relative position parameter of the third position point relative to the second position point;
the mark point judging module is used for calculating the difference value between the first relative position parameter and the second relative position parameter, and if the difference value accords with a preset condition, the second position point is a mark point; and if the difference value does not meet the preset condition, the second position point is not a mark point.
9. An electronic device comprising a processor and a memory, the memory storing a computer program executable by the processor, the computer program when executed by the processor implementing the trajectory return method for a wearable device of any one of claims 1 to 6.
10. A computer readable storage medium having stored thereon program instructions for implementing the trajectory return method for a wearable device according to any one of claims 1 to 6.
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| CN202410550958.1A CN118129788A (en) | 2024-05-07 | 2024-05-07 | Track return method, device and equipment for wearable equipment and storage medium |
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