WO2016078606A1 - 一种导航方法及装置 - Google Patents

一种导航方法及装置 Download PDF

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Publication number
WO2016078606A1
WO2016078606A1 PCT/CN2015/095035 CN2015095035W WO2016078606A1 WO 2016078606 A1 WO2016078606 A1 WO 2016078606A1 CN 2015095035 W CN2015095035 W CN 2015095035W WO 2016078606 A1 WO2016078606 A1 WO 2016078606A1
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navigation
gps
path
location
distance
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PCT/CN2015/095035
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English (en)
French (fr)
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宫冰川
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高德软件有限公司
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Definitions

  • the present invention relates to the field of geographic information technology, and in particular, to a navigation method and apparatus.
  • the GPS navigation device used by the user can be any device with a navigation engine installed.
  • the navigation engine calculates the navigation path according to the corresponding navigation route planning principle according to the departure place, destination, route, avoidance, etc. selected by the user, and the navigation engine receives the GPS according to the GPS receiver on the GPS navigation device.
  • the signal determines the GPS position, moving direction, speed, and the like of the navigation object (for example, a vehicle) in real time, and combines the navigation path calculated for the user to guide the user.
  • the navigation engine cannot determine the GPS position, moving direction, speed, etc. of the navigation object according to the GPS signal, thereby causing the navigation engine to continue to the user. Guide navigation.
  • the embodiment of the invention provides a navigation method and device, which can implement navigation guidance for a user in an area without a GPS signal or an area with a weak GPS signal.
  • a navigation method provided by an embodiment of the present invention includes:
  • Obtaining a navigation object position determining whether the navigation object position is a non-GPS position, and if the navigation object position is a non-GPS position, adjusting a yaw threshold according to the positioning accuracy of the non-GPS position;
  • the navigation object is guided by the navigation according to the adjusted yaw threshold and the planned navigation path.
  • a first path planning module configured to plan a navigation path from a starting position set by a user to a destination location
  • a location acquisition module configured to acquire a navigation object location
  • a positioning type determining module configured to determine whether the navigation object position acquired by the location acquiring module is a non-GPS location, and if the navigation object location is a non-GPS location, triggering a yaw threshold adjustment module;
  • the yaw threshold adjustment module is configured to adjust a yaw threshold according to a positioning accuracy of a non-GPS position
  • the navigation guiding module is configured to perform navigation guidance for the navigation object according to the adjusted yaw threshold and the planned navigation path of the adjustment module.
  • the navigation method and device provided by the embodiment of the present invention plan a navigation path from a starting position set by a user to a destination position; obtain a navigation object position, determine whether the navigation object position is a non-GPS position, and if the navigation object position is a non-GPS position, Then, according to the positioning accuracy of the non-GPS position, the yaw threshold is adjusted; and the navigation target is guided according to the adjusted yaw threshold and the planned navigation path.
  • the non-GPS position of the navigation object is used as a navigation object for navigation guidance, but since the positioning accuracy of the non-GPS position is smaller than the GPS position, If the yaw threshold is not adjusted, but the yaw threshold corresponding to the GPS position is used, the re-planning path may occur frequently.
  • the embodiment of the present invention provides In the technical solution, the yaw threshold needs to be adjusted according to the non-GPS positional positioning accuracy, so as to avoid the re-planning path frequently occurring due to the non-GPS position positioning accuracy, thereby realizing the area without the GPS signal or the GPS signal. Weak areas provide normal navigation guidance for navigation objects.
  • FIG. 1 is a flowchart of a navigation method according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a navigation method according to Embodiment 1 of the present invention.
  • 3a-3c are schematic diagrams showing the interface display of a GPS navigation system when navigating by using non-GPS location assistance according to an embodiment of the present invention
  • 4a-4b are schematic structural diagrams of a navigation device according to an embodiment of the present invention.
  • the following method and apparatus may be implemented by a computer program unit, which may be stored in a memory of the navigation device, and executed by a processor of the navigation device.
  • the navigation device may be a dedicated in-vehicle navigation device or a smart terminal, and the smart terminal includes a mobile terminal, a tablet computer, and the like.
  • the operating system can be run on the smart terminal, and the operating system can include, but is not limited to, Microsoft Windows (Windows), Android (Android), and Apple's iOS.
  • the navigation object deviates from the pre-planned navigation path.
  • the navigation path may be re-planned for the navigation object.
  • a yaw threshold may be set, and yaw means that the navigation object position deviates from the navigation path. The navigation object is re-avibrated when the actual position of the navigation object and the distance of the navigation object at the corresponding position of the pre-planned navigation path exceed the yaw threshold.
  • an embodiment of the present invention provides a navigation method, as shown in FIG. 1, including S101 to S104:
  • S101 Plan a navigation path from a starting position set by the user to a destination position.
  • the yaw threshold is adjusted according to the positioning accuracy of the non-GPS position.
  • the yaw threshold is adjusted according to the positioning accuracy of the non-GPS position, and the navigation parameter is used according to the adjusted yaw threshold and the planned navigation path. Navigation guidance avoids the mistake of re-planning the path due to inaccurate location positioning.
  • a navigation path is planned for a navigation object (for example, a vehicle), and the navigation path is followed.
  • the position information of the navigation object may be acquired according to a preset rule (for example, periodicity). Then, the navigation method provided by the embodiment of the present invention may be performed for each acquired location information.
  • FIG. 2 a navigation method is provided, as shown in FIG. 2, which specifically includes the following steps:
  • S201 Plan a navigation path from a starting position set by the user to a destination position.
  • step S202 Acquire a navigation target position, determine whether the navigation target position is a non-GPS position, and if yes, proceed to step S203, and if no, proceed to step S210.
  • the navigation object position may be: a GPS position determined by the terminal device according to the GPS signal; an area where the terminal device cannot receive the GPS signal or an area where the GPS signal is weak, and the navigation object Location can be a location service by the network side
  • the non-GPS location provided by the device to the terminal device.
  • the operating system of the terminal device is an Android system
  • the Android system can provide a service for monitoring the location of the navigation object.
  • the GPS position of the navigation object or the non-GPS is adopted through the corresponding API interface. Location feedback to the navigation software.
  • the embodiment of the present invention sets different yaw thresholds according to the positioning accuracy of different non-GPS positions, so even if the navigation object position is continuously determined as For non-GPS locations, the yaw threshold needs to be re-adjusted based on the positioning accuracy of each non-GPS position determined.
  • the planned navigation path may be composed of multiple road segments, and each road segment is composed of multiple latitude and longitude points, and the plurality of road segments may be further divided into the completed road segment and the uncompleted road segment, then In the unfinished road segment, the non-GPS position is vertically mapped to the unfinished road segment, and the foot on the unfinished road segment is obtained, and the distance between the non-GPS position and the foot is determined as the distance from the non-GPS position to the planned navigation path. .
  • a yaw threshold is set for the positioning accuracy of the non-GPS position, which is used to measure whether the navigation object is yawed.
  • the yaw threshold corresponding to each non-GPS positional positioning accuracy is generally greater than the yaw corresponding to the GPS position. Threshold.
  • step S205 Determine whether the distance acquired in S204 is greater than or equal to the adjusted yaw threshold. If yes, go to step S206. If no, go to step S209.
  • the yaw threshold is adjusted according to the positioning accuracy of each non-GPS position.
  • the attribute of the acquired current position is a non-GPS position
  • the position information is the position of the signal transmitting device located near the current position of the navigation object
  • the accuracy is usually lower than the GPS position
  • the stability is usually lower than the GPS position. Therefore, sometimes a non-GPS position is detected to The distance of the planned navigation path is greater than the adjusted yaw threshold, and the distance of the next detected non-GPS position to the planned navigation path is less than the adjusted yaw threshold, and the multiple measurement results fluctuate back and forth, in order to To accurately determine whether the navigation object is yaw, you can count the number of consecutive non-GPS positions to the planned navigation path greater than or equal to the corresponding adjusted yaw threshold. When the number is greater than or equal to the preset yaw frequency, touch again. The yaw logic re-plans the navigation route.
  • a yaw counter may be set to record the number of times that the non-GPS position to the planned navigation path is not less than the adjusted yaw threshold continuously.
  • step S207 Determine whether the number of times counted in S206 is greater than or equal to the preset yaw frequency. If yes, go to step S208, if no, go to step S209.
  • step S208 Plan a navigation path from a non-GPS location to a destination. Go to step S202.
  • steps S206 to S207 may not be performed.
  • step S205 when the acquired distance is greater than or equal to the adjusted yaw threshold, this step is directly executed.
  • step S202 is also performed at step 209 to adjust the yaw threshold in time.
  • the distance from the non-GPS position to the planned navigation path is less than the yaw threshold, it indicates that the current travel path of the navigation object is within the tolerable range even if there is a deviation from the planned path.
  • inertial navigation is supported by the GPS navigation system, an autonomous navigation method, which usually uses inertial components (accelerometers) to measure the acceleration of the carrier itself, and obtains the speed and position through integration and operation to achieve navigation.
  • inertial components accelerelerometers
  • step S210 Perform navigation guidance services according to the planned navigation path and the yaw threshold corresponding to the GPS position. Go to step S202.
  • step S202 is also performed to adjust the yaw threshold in time.
  • FIG. 3a - FIG. 3c are diagrams showing the navigation method provided by the embodiment of the present invention when the GPS signal is not received during the navigation process, and the GPS navigation system interface is displayed when the navigation is performed by using the non-GPS location assistance.
  • the location identifier 301 is the location of the navigation object in the planned path
  • the location identifier 302 is the acquired non-GPS location.
  • the distance is less than the adjusted yaw threshold, and the navigation can be continued by inertial navigation.
  • the distance between the position in the planned path and the acquired non-GPS position is not less than the adjusted offset.
  • the navigation threshold, and the number of times is not less than the preset yaw frequency, triggers the yaw logic.
  • the GPS navigation system can play the voice that will re-route the route (for example, you have deviated from the route and are re-planning for you) After the route re-planning is successful, the current navigation is continued. As shown in FIG. 3c, the location identifier 301 and the location identifier 302 are completely coincident, and the location in the planned path at this time is consistent with the planned acquired non-GPS location.
  • the embodiment of the present invention further provides a navigation device and a device.
  • the principle of the problem solved by the device and the device is similar to the foregoing navigation method. Therefore, the implementation of the device and the device may refer to the implementation of the foregoing method, and the details are not repeated. .
  • a navigation device provided by the embodiment of the present invention, as shown in FIG. 4a, includes:
  • a first path planning module 401 configured to plan a navigation path from a starting position set by a user to a destination location
  • a location obtaining module 402 configured to acquire a navigation object location
  • the positioning type determining module 403 is configured to determine whether the navigation object position acquired by the location acquiring module 402 is a non-GPS location, and if the navigation object location is a non-GPS location, triggering a yaw threshold adjustment module;
  • the yaw threshold adjustment module 404 is configured to adjust a yaw threshold according to a positioning accuracy of a non-GPS location;
  • the navigation guiding module 405 is configured to perform navigation guidance for the navigation object according to the adjusted yaw threshold and the planned navigation path of the yaw threshold adjustment module 404.
  • the navigation guiding module 405 specifically includes: a distance determining unit 4051 and a second path planning unit 4052;
  • the distance determining unit 4051 is configured to acquire a distance from the non-GPS location to the planned navigation path, and determine whether the distance is greater than or equal to the adjusted yaw threshold;
  • the second path planning unit 4052 is configured to plan a navigation path from the non-GPS location to the destination when the distance is greater than or equal to the adjusted yaw threshold.
  • the device further includes: a yaw number determination module 406;
  • the yaw number determining module 406 is configured to count the number of times that the distance between the continuous non-GPS position determined by the distance determining unit and the planned navigation path is greater than or equal to the corresponding adjusted yaw threshold, and determine the number of times of statistics. Whether it is greater than or equal to the preset yaw number, if it is greater than or equal to, the second path planning unit 4052 is triggered.
  • the device further includes: an inertial navigation module 407, configured to continue to perform the navigation object in an inertial navigation manner when the distance determining unit 4051 determines that the distance is less than the adjusted yaw threshold Navigation guide.
  • an inertial navigation module 407 configured to continue to perform the navigation object in an inertial navigation manner when the distance determining unit 4051 determines that the distance is less than the adjusted yaw threshold Navigation guide.
  • the navigation method and device provided by the embodiment of the present invention plan a navigation path from a starting position set by a user to a destination position; obtain a navigation object position, determine whether the navigation object position is a non-GPS position, and if the navigation object position is a non-GPS position, Then, according to the positioning accuracy of the non-GPS position, the yaw threshold is adjusted; and the navigation target is guided according to the adjusted yaw threshold and the planned navigation path.
  • the non-GPS position of the navigation object is used as a navigation object for navigation guidance, but since the positioning accuracy of the non-GPS position is smaller than the GPS position, If the yaw threshold is not adjusted, but the yaw threshold corresponding to the GPS position is used, the re-planning path may occur frequently.
  • the embodiment of the present invention provides In the technical solution, the yaw threshold needs to be adjusted according to the non-GPS positional positioning accuracy, so as to avoid the re-planning path frequently occurring due to the non-GPS position positioning accuracy, thereby realizing the area without the GPS signal or the GPS signal. Weak areas provide normal navigation guidance for navigation objects.
  • the embodiments of the present invention can be implemented by hardware, or can be added by software to the necessary general hardware platform. to realise.
  • the technical solution of the embodiment of the present invention may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a USB flash drive, a mobile hard disk, etc.).
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods described in various embodiments of the present invention.
  • modules in the apparatus in the embodiments may be distributed in the apparatus of the embodiment according to the description of the embodiments, or the corresponding changes may be located in one or more apparatuses different from the embodiment.
  • the modules of the above embodiments may be combined into one module, or may be further split into multiple sub-modules.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
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  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

一种导航方法及装置，该方法包括：规划从用户设定的起始位置到目的位置的导航路径（S101）；获取导航对象位置，判断导航对象位置是否为非GPS位置（S102），如果导航对象位置是非GPS位置，则根据该非GPS位置的定位精度，调整偏航阈值（S103）；根据调整后的偏航阈值及规划的导航路径，为导航对象进行导航引导（S104）。该方法解决了现有技术中当导航对象接收不到GPS信号时，因为位置定位不准确而导致错误重新规划路径的问题。

Description

一种导航方法及装置
本申请要求在2014年11月21日提交中国专利局、申请号为201410674493.7、发明名称为“一种导航方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及地理信息技术领域，尤其涉及一种导航方法及装置。
背景技术
目前，用户使用的GPS导航设备可以是任何安装有导航引擎的设备。在导航时，导航引擎根据用户选择的出发地、目的地、经由地、回避地等按相应的导航路径规划原则计算出导航路径，并由导航引擎根据GPS导航设备上的GPS接收器接收到GPS信号，实时确定导航对象(例如：车辆)的GPS位置、移动方向、速度等，结合为用户计算的导航路径，对用户进行导航引导。
但是，在无法接收到GPS信号的区域或者GPS信号较弱的区域，会出现导航引擎无法根据GPS信号，确定导航对象的GPS位置、移动方向、速度等的情况，从而导致导航引擎无法继续对用户进行导航引导。
发明内容
本发明实施例提供了一种导航方法及装置，能够实现在无GPS信号的区域或者GPS信号较弱的区域，对用户继续进行导航引导。
基于上述问题，本发明实施例提供的一种导航方法，包括：
规划从用户设定的起始位置到目的位置的导航路径；
获取导航对象位置，判断所述导航对象位置是否为非GPS位置，如果所述导航对象位置是非GPS位置，则根据该非GPS位置的定位精度，调整偏航阈值；
根据调整后的偏航阈值及规划的导航路径，为所述导航对象进行导航引导。
本发明实施例提供的一种导航装置，包括：
第一路径规划模块，用于规划从用户设定的起始位置到目的位置的导航路径；
位置获取模块，用于获取导航对象位置；
定位类型判断模块，用于判断所述位置获取模块获取的导航对象位置是否为非GPS位置，如果所述导航对象位置是非GPS位置，则触发偏航阈值调整模块；
所述偏航阈值调整模块，用于根据非GPS位置的定位精度，调整偏航阈值；
导航引导模块，用于根据所述调整模块调整后的偏航阈值及规划的导航路径，为所述导航对象进行导航引导。
本发明实施例的有益效果包括：
本发明实施例提供的导航方法及装置，规划从用户设定的起始位置到目的位置的导航路径；获取导航对象位置，判断导航对象位置是否为非GPS位置，如果导航对象位置是非GPS位置，则根据该非GPS位置的定位精度，调整偏航阈值；根据调整后的偏航阈值及规划的导航路径，为导航对象进行导航引导。本发明实施例提供的技术方案，在无GPS信号的区域或者GPS信号较弱的区域，利用导航对象的非GPS位置为导航对象进行导航引导，但由于非GPS位置的定位精度小于GPS位置，如果不对偏航阈值进行调整，而是沿用GPS位置对应的偏航阈值，则会频繁出现重新规划路径的情况，因此当获取的导航对象位置的位置属性为非GPS位置时，本发明实施例提供的技术方案中需要根据该非GPS位置定位精度对偏航阈值进行调整，以避免因非GPS位置定位精度不高而频繁出现的重新规划路径的情况，从而实现在无GPS信号的区域或者GPS信号较弱的区域能够为导航对象提供正常的导航引导服务。
附图说明
图1为本发明实施例提供的一种导航方法的流程图；
图2为本发明实施例1提供的一种导航方法的流程图；
图3a-图3c为本发明实施例提供的利用非GPS位置辅助进行导航时GPS导航系统界面显示示意图；
图4a-图4b为本发明实施例提供的一种导航装置的结构示意图。
具体实施方式
本发明实施例提供了一种导航方法及装置，以下结合说明书附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。并且在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
在本发明实施例中，可以预料的是，以下方法、装置可以通过计算机程序单元实现，该计算机程序单元可以存储在导航设备的存储器中，由导航设备的处理器执行计算机程序单元。
在以下实施例中，导航设备可以是专用的车载导航设备，也可以是智能终端，智能终端包括移动终端、平板电脑等。智能终端上可以运行操作系统，该操作系统可以包括但不限于微软视窗系统(Windows)、安卓(Android)以及苹果公司的iOS等。
下面对本发明实施例进行描述。
在GPS导航过程中，存在导航对象偏离预先规划的导航路径的情况，为了在导航对象偏离预先规划的导航路径时继续为导航对象导航，可以重新为导航对象规划导航路径。相关技术中，可以设置偏航阈值，偏航是指导航对象位置偏离导航路径。在导航对象的实际位置与导航对象在预先规划的导航路径的对应的位置的距离超过偏航阈值时，重新为导航对象进行导航。
GPS导航精确度较高，而非GPS导航精确度低于GPS导航，因此导致导航对象位置在导航路径上，但是根据定位结果却误认为导航对象偏离导航路 径，从而导致不必要的重新规划路径。为此，本发明实施例提供一种导航方法，如图1所示，包括S101至S104：
S101、规划从用户设定的起始位置到目的位置的导航路径。
S102、获取导航对象位置，判断导航对象位置是否为非GPS位置。
S103、如果S102中判断出导航对象位置是非GPS位置，则根据该非GPS位置的定位精度，调整偏航阈值。
S104、根据S103中调整后的偏航阈值及规划的导航路径，为导航对象进行导航引导。
通过本发明实施例，当获取的导航对象位置为非GPS位置时，根据非GPS位置的定位精度，对偏航阈值进行调整，并根据调整后的偏航阈值及规划的导航路径为导航对象进行导航引导，避免了因为位置定位不准确而导致错误重新规划路径。
本发明实施例中，为导航对象(例如：车辆)规划导航路径，并按照导航路径行进，当导航对象位置发生改变时，可以按照预设规则(例如：周期性)获取导航对象的位置信息，那么，可以针对每次获取的位置信息执行本发明实施例提供的导航方法。
下面结合附图，用具体实施例对本发明提供的方法及相关设备进行详细描述。
实施例1：
本发明实施例1中，提供一种导航方法，如图2所示，具体包括如下步骤：
S201、规划从用户设定的起始位置到目的位置的导航路径。
S202、获取导航对象位置，判断导航对象位置是否为非GPS位置，若是，则进入步骤S203，若否，进入步骤S210。
在终端设备能够接收到较强GPS信号的区域，导航对象位置可以为：终端设备根据GPS信号确定的GPS位置；在终端设备无法接收到GPS信号的区域或者是GPS信号较弱的区域，导航对象位置可以为由网络侧的定位服务 器向终端设备提供的非GPS位置。例如，当终端设备的操作系统为Android系统时，Android系统可以提供对导航对象的位置进行监听的服务，当导航对象的位置发生变化时，通过对应的API接口将导航对象的GPS位置或者非GPS位置反馈给导航软件。
S203、根据非GPS位置的定位精度，调整偏航阈值。
进一步地，考虑到不同的非GPS位置对应的定位精度可能是不相同的，本发明实施例根据不同的非GPS位置的定位精度设置了不同的偏航阈值，因此，即便导航对象位置连续确定为非GPS位置，也需要根据每次确定出的非GPS位置的定位精度，重新调整偏航阈值。
S204、获取非GPS位置到规划的导航路径的距离。
进一步地，本步骤中，规划的导航路径可以由多个路段构成，而每个路段由多个经纬度点构成，而多个路段中又可以分为已经完成的路段和尚未完成的路段，那么在尚未完成的路段中，将非GPS位置向尚未完成的路段做垂直映射，得到在未完成路段上的垂足，将非GPS位置与垂足的距离确定为非GPS位置到规划的导航路径的距离。
进一步地，本步骤中，为非GPS位置的定位精度设置了偏航阈值，用于衡量导航对象是否偏航。与GPS位置对应的偏航阈值相比，由于非GPS位置导航的精确度低于GPS位置导航的精确度，因此，各非GPS位置定位精度对应的偏航阈值通常均大于GPS位置对应的偏航阈值。
S205、判断S204中获取的距离是否大于等于调整后的偏航阈值，若是，则进入步骤S206，若否，则进入步骤S209。
S206、统计连续的非GPS位置到规划的导航路径的距离大于等于其对应的调整后的偏航阈值的次数；
其中，偏航阈值根据各非GPS位置的定位精度调整。
较佳地，当获取的当前位置的属性为非GPS位置时，由于位置信息为位于导航对象当前位置附近的信号发射设备的位置，精度通常低于GPS位置，并且稳定性通常也低于GPS位置，因此，有时会出现某次测到非GPS位置到 规划的导航路径的距离大于调整后的偏航阈值，而下一次测到的非GPS位置到规划的导航路径的距离小于调整后的偏航阈值，这种多次测量结果来回波动的情况，为了准确判断导航对象是否偏航，可以统计连续的非GPS位置到规划的导航路径的距离大于等于其对应的调整后的偏航阈值的次数，当该次数大于等于预设偏航次数时，再触动偏航逻辑重新规划导航路线。
进一步地，具体实施时，可以设置偏航计数器，记录非GPS位置到规划的导航路径的距离连续不小于调整后的偏航阈值的次数。
S207、判断S206中统计的次数是否大于等于预设偏航次数，若是，则进入步骤S208，若否，则进入步骤S209。
S208、规划从非GPS位置到目的地之间的导航路径。进入步骤S202。
进一步地，也可以不执行步骤S206～S207，在步骤S205中，当获取的距离大于等于调整后的偏航阈值时，直接执行本步骤。
S209、以惯性导航的方式继续对导航对象进行导航引导。
本发明实施例中，在执行步骤209同时也在执行步骤S202，以便及时对偏航阈值进行调整。
本步骤中，若非GPS位置到规划的导航路径的距离小于偏航阈值，说明导航对象目前行进路径即使与规划路径即使存在偏差，该偏差在可容忍范围内。
本步骤中，惯性导航为GPS导航系统所支持的，一种自主式导航方式，通常利用惯性元件(加速度计)来测量运载体本身的加速度，经过积分和运算得到速度和位置，从而达到对导航对象导航定位的目的。
S210、根据规划的导航路径和GPS位置对应的偏航阈值为导航对象进行导航引导服务。进入步骤S202。
本发明实施例中，在执行步骤210同时也在执行步骤S202，以便及时对偏航阈值进行调整。
图3a-图3c为在导航过程中，当接收不到GPS信号时，采用本发明实施例提供的导航方法，利用非GPS位置辅助进行导航时，GPS导航系统界面显 示示意图，如图3a所示，位置标识301为导航对象在规划路径中的位置，位置标识302为获取的非GPS位置，此时，在规划路径中的位置与获取的非GPS位置之间的距离小于调整后的偏航阈值，可以以惯性导航的方式继续导航，如图3b所示，连续多次测得规划路径中的位置与获取的非GPS位置之间的距离不小于调整后的偏航阈值，并且次数不小于预设偏航次数，则触发偏航逻辑，较佳地，此时GPS导航系统可以播放将要重新规划路线的语音(例如：您已偏离路线，正在为您重新规划)，路线重新规划成功之后，继续当前导航，如图3c所示，位置标识301和位置标识302完全重合，表征此时规划路径中的位置和规划的获取的非GPS位置一致。
本发明实施例还提供了一种导航装置及设备，由于这些装置和设备所解决问题的原理与前述导航方法相似，因此该装置和设备的实施可以参见前述方法的实施，重复之处不再赘述。
本发明实施例提供的一种导航装置，如图4a所示，包括：
第一路径规划模块401，用于规划从用户设定的起始位置到目的位置的导航路径；
位置获取模块402，用于获取导航对象位置；
定位类型判断模块403，用于判断所述位置获取模块402获取的导航对象位置是否为非GPS位置，如果所述导航对象位置是非GPS位置，则触发偏航阈值调整模块；
所述偏航阈值调整模块404，用于根据非GPS位置的定位精度，调整偏航阈值；
导航引导模块405，用于根据所述偏航阈值调整模块404调整后的偏航阈值及规划的导航路径，为所述导航对象进行导航引导。
进一步地，如图4b所示，所述导航引导模块405，具体包括：距离判断单元4051和第二路径规划单元4052；
所述距离判断单元4051，用于获取所述非GPS位置到规划的导航路径的距离，判断所述距离是否大于等于调整后的偏航阈值；
所述第二路径规划单元4052，用于在距离大于等于调整后的偏航阈值时，规划从所述非GPS位置到目的地之间的导航路径。
进一步地，所述装置，还包括：偏航次数判断模块406；
所述偏航次数判断模块406，用于统计所述距离判断单元判断到的连续的非GPS位置到规划的导航路径的距离大于等于其对应的调整后的偏航阈值的次数，判断统计的次数是否大于等于预设偏航次数，如果大于等于，则触发所述第二路径规划单元4052。
进一步地，所述装置，还包括：惯性导航模块407，用于在距离判断单元4051判断得到所述距离小于所述调整后的偏航阈值时，以惯性导航的方式继续对所述导航对象进行导航引导。
上述各单元的功能可对应于图1至图2所示流程中的相应处理步骤，在此不再赘述。
本发明实施例提供的导航方法及装置，规划从用户设定的起始位置到目的位置的导航路径；获取导航对象位置，判断导航对象位置是否为非GPS位置，如果导航对象位置是非GPS位置，则根据该非GPS位置的定位精度，调整偏航阈值；根据调整后的偏航阈值及规划的导航路径，为导航对象进行导航引导。本发明实施例提供的技术方案，在无GPS信号的区域或者GPS信号较弱的区域，利用导航对象的非GPS位置为导航对象进行导航引导，但由于非GPS位置的定位精度小于GPS位置，如果不对偏航阈值进行调整，而是沿用GPS位置对应的偏航阈值，则会频繁出现重新规划路径的情况，因此当获取的导航对象位置的位置属性为非GPS位置时，本发明实施例提供的技术方案中需要根据该非GPS位置定位精度对偏航阈值进行调整，以避免因非GPS位置定位精度不高而频繁出现的重新规划路径的情况，从而实现在无GPS信号的区域或者GPS信号较弱的区域能够为导航对象提供正常的导航引导服务。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到本发明实施例可以通过硬件实现，也可以借助软件加必要的通用硬件平台的方式 来实现。基于这样的理解，本发明实施例的技术方案可以以软件产品的形式体现出来，该软件产品可以存储在一个非易失性存储介质(可以是CD-ROM，U盘，移动硬盘等)中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
本领域技术人员可以理解附图只是一个优选实施例的示意图，附图中的模块或流程并不一定是实施本发明所必须的。
本领域技术人员可以理解实施例中的装置中的模块可以按照实施例描述进行分布于实施例的装置中，也可以进行相应变化位于不同于本实施例的一个或多个装置中。上述实施例的模块可以合并为一个模块，也可以进一步拆分成多个子模块。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (8)

  1. 一种导航方法，其特征在于，包括：
    规划从用户设定的起始位置到目的位置的导航路径；
    获取导航对象位置，判断导航对象位置是否为非GPS位置，如果所述导航对象位置是非GPS位置，则根据该非GPS位置的定位精度，调整偏航阈值；
    根据调整后的偏航阈值及规划的导航路径，为所述导航对象进行导航引导。
  2. 如权利要求1所述的方法，其特征在于，根据调整后的偏航阈值及规划的导航路径，为所述导航对象进行导航引导包括：
    获取所述非GPS位置到规划的导航路径的距离，判断所述距离是否大于等于调整后的偏航阈值，如果大于等于，则规划从所述非GPS位置到目的地之间的导航路径。
  3. 如权利要求2所述的方法，其特征在于，在规划从所述非GPS位置到目的地之间的导航路径之前，所述方法包括：
    统计连续的非GPS位置到规划的导航路径的距离大于等于其对应的调整后的偏航阈值的次数；
    判断所述次数是否大于等于预设偏航次数，如果所述次数大于等于预设偏航次数，则执行所述规划从所述非GPS位置到目的地之间的导航路径的步骤。
  4. 如权利要求2～3任一项所述的方法，其特征在于，还包括：
    若所述距离小于所述调整后的偏航阈值，则以惯性导航的方式继续对所述导航对象进行导航引导。
  5. 一种导航装置，其特征在于，包括：
    第一路径规划模块，用于规划从用户设定的起始位置到目的位置的导航路径；
    位置获取模块，用于获取导航对象位置；
    定位类型判断模块，用于判断所述位置获取模块获取的导航对象位置是否为非GPS位置，如果所述导航对象位置是非GPS位置，则触发偏航阈值调整模块；
    所述偏航阈值调整模块，用于根据非GPS位置的定位精度，调整偏航阈值；
    导航引导模块，用于根据所述调整模块调整后的偏航阈值及规划的导航路径，为所述导航对象进行导航引导。
  6. 如权利要求5所述的装置，其特征在于，所述导航引导模块，具体包括：距离判断单元和第二路径规划单元；
    所述距离判断单元，用于获取所述非GPS位置到规划的导航路径的距离，判断所述距离是否大于等于调整后的偏航阈值；
    所述第二路径规划单元，用于在距离大于等于调整后的偏航阈值时，规划从所述非GPS位置到目的地之间的导航路径。
  7. 如权利要求6所述的装置，其特征在于，还包括：偏航次数判断模块；
    所述偏航次数判断模块，用于统计所述距离判断单元判断到的连续的非GPS位置到规划的导航路径的距离大于等于其对应的调整后的偏航阈值的次数，判断统计的次数是否大于等于预设偏航次数，如果大于等于，则触发所述第二路径规划单元。
  8. 如权利要求6～7任一项所述的装置，其特征在于，还包括：
    惯性导航模块，用于在距离判断单元判断得到所述距离小于所述调整后的偏航阈值时，以惯性导航的方式继续对所述导航对象进行导航引导。
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