WO2018161358A1 - 一种导航方法、装置以及终端设备 - Google Patents

一种导航方法、装置以及终端设备 Download PDF

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Publication number
WO2018161358A1
WO2018161358A1 PCT/CN2017/076350 CN2017076350W WO2018161358A1 WO 2018161358 A1 WO2018161358 A1 WO 2018161358A1 CN 2017076350 W CN2017076350 W CN 2017076350W WO 2018161358 A1 WO2018161358 A1 WO 2018161358A1
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WIPO (PCT)
Prior art keywords
path
navigation
mobile network
signal strength
optimal
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PCT/CN2017/076350
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English (en)
French (fr)
Inventor
刘兆祥
廉士国
黄晓庆
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深圳前海达闼云端智能科技有限公司
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Application filed by 深圳前海达闼云端智能科技有限公司 filed Critical 深圳前海达闼云端智能科技有限公司
Priority to CN201780000662.0A priority Critical patent/CN107223201B/zh
Priority to PCT/CN2017/076350 priority patent/WO2018161358A1/zh
Publication of WO2018161358A1 publication Critical patent/WO2018161358A1/zh

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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength

Definitions

  • the present application relates to the field of navigation technologies, and in particular, to a navigation method, apparatus, and terminal device.
  • the calculations in the navigation process become more and more complicated.
  • some complicated operations need to be placed in the remote server. That is, the terminal device sends the parameters required for the calculation to the remote server, and the remote server performs calculation according to the parameters sent by the terminal device, and finally returns the calculation result to the terminal device.
  • the terminal device needs to perform information interaction with the remote server in real time during the navigation process, the terminal device is required to ensure the stability and smooth communication link during the navigation process, that is, the communication signal quality requirement of the terminal device when the terminal device performs navigation. Higher.
  • how to improve the communication signal quality of the terminal device when the terminal device performs navigation is a technical problem to be solved by those skilled in the art.
  • An embodiment of the present application provides a navigation method, an apparatus, and a terminal device, which are used to improve communication signal quality of a terminal device when the terminal device performs navigation.
  • a navigation method comprising:
  • the optimal mobile network corresponding to each pass path refers to multiple formats supported by the navigation device Mobile network The optimal mobile network in signal strength;
  • Navigation is performed according to the navigation path.
  • a navigation device including:
  • Obtaining a module configured to acquire a path parameter of each pass path and a signal strength of each mobile network on the corresponding pass path according to the start position and the end position; wherein the pass path is from the start position to the end point The path of the location;
  • a planning module configured to determine a navigation path in the transit path according to a path parameter of each pass path and a signal strength of an optimal mobile network corresponding to each pass path; the optimal mobile network corresponding to each pass path refers to a navigation device An optimal mobile network among the signal strengths of supported multiple mobile networks;
  • a navigation module is configured to navigate according to the navigation path.
  • a terminal device comprising: a processor, a memory, a communication interface, and an input device, the memory, the communication interface and the input device being coupled to the processor, the memory for storing a computer Executing code for controlling the processor to perform the navigation method of the first aspect.
  • a computer storage medium for storing computer software instructions for use in the terminal device of the third aspect, comprising program code designed to perform the navigation method of the first aspect.
  • a computer program product can be directly loaded into an internal memory of a computer and contains software code that can be implemented by the computer and loaded and executed to implement the navigation method of the first aspect.
  • the navigation method provided by the embodiment of the present application first obtains the path parameters of each traffic path and the signal strength of each mobile network on the corresponding traffic path according to the starting point position and the ending position; and then according to the path parameters of each access path and the corresponding path
  • the signal strength of the optimal mobile network determines the navigation path in the transit path; finally, the navigation is performed according to the navigation path, and the navigation method provided by the embodiment of the present application is based on the path parameter of each transit path and the optimal corresponding to each transit path.
  • the signal strength of the mobile network determines the navigation path in the traffic path. Therefore, the embodiment of the present application can maintain the signal strength of the mobile network on the navigation path at a high level, that is, can be improved when the terminal device performs navigation.
  • the communication signal quality of the terminal device is based on the path parameter of each transit path and the optimal corresponding to each transit path.
  • FIG. 1 is a flow chart of steps of a navigation method provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a traffic path provided by an embodiment of the present application.
  • FIG. 3 is a second flowchart of steps of a navigation method according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a path unit provided by an embodiment of the present application.
  • FIG. 5 is a third flowchart of the steps of the navigation method provided by the embodiment of the present application.
  • FIG. 6 is a schematic diagram of another pass path provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a navigation device according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a navigation device according to an embodiment of the present application.
  • the execution body of the navigation method provided by the embodiment of the present application may be a navigation device or a terminal device.
  • the navigation device may be a combination of a central processing unit (CPU), a CPU and a memory in the terminal device, or may be another unit or module in the terminal device.
  • the terminal device may specifically be a navigation device, a guide robot, a mobile robot, an autonomous driving car, a smart phone, an augmented reality glasses (English name: Augmented Reality, referred to as: AR glasses), a portable computer, a pocket computer, a handheld computer, a digital device. Photo frames, handheld computers, etc.
  • the terminal device may be a personal computer (personal computer, PC for short), a server, or the like, which is installed with a software client or a software system or a software application that can be navigated
  • the specific hardware implementation environment may be a general computer form, or It is a specially designed integrated circuit (English name: Application Specific Integrated Circuit, ASIC for short), or it can be (English full name: Field Programmable Gate Array, referred to as: FPGA), or some programmable expansion platform such as embedded (English name: Tensilica) configurable processor platform, etc.
  • the navigation method includes the following steps:
  • the transit path is a path that can be from a starting position to an ending position.
  • step S11 it is necessary to acquire the path parameters of the traffic path and the signal strength of the mobile network of each system on the corresponding traffic path according to the start position and the end position, so that the start position and the end position need to be acquired before step S11.
  • the starting position and the ending position can be obtained by the following two implementations.
  • the navigation device or terminal device passes the global positioning system (English name: Global Positioning System (referred to as: GPS), radio frequency identification, wireless fidelity technology (English name: WIFI), base station positioning, visual image recognition and other combinations of position location technology to obtain the current position of the navigation device or terminal device As the starting point, the end position of the user input is received.
  • GPS Global Positioning System
  • WIFI wireless fidelity technology
  • base station positioning visual image recognition and other combinations of position location technology
  • the navigation device or the terminal device receives the start position and the end position input by the user.
  • the user input may be specifically a combination of one or more of a touch input, a voice input, and a key input.
  • the transit path in the above embodiment includes each path that can reach the end position from the starting position.
  • the starting position is S
  • the ending position is E
  • the total 3 paths (21, 22, 23) can reach the ending position E from the starting position S
  • the communication path includes three paths, and the three paths The paths are: path 21, path 22, and path 23.
  • the mobile networks of the various systems in the above embodiments include: Global System for Mobile Communication (GSM), code division multiple access (English name: Code Division Multiple Access, Abbreviation: CDMA), Time Division-Synchronous Code Division Multiple Access (English name: TD-SCDMA), Wideband Code Division Multiple Access (English name: Wideband Code Division Multiple Access, W- CDMA), Time Division Long Term Evolution (TD-LTE), Long-Term Evolution of Frequency Division Duplex (English name: Frequency Division Dual Long Term Evolution, TD-LTE for short), CDMA1x (English full name: Code Division Multiple Access 2000 1x), EVDO (English full name: Code Division Multiple Access 2000 1x Evolution Data Only,) and other standard networks; the signal strength of each mobile network in obtaining the corresponding traffic path specifically refers to: Separately obtain the signals of each system's mobile network Signal strength on each pass path.
  • GSM Global System for Mobile Communication
  • CDMA Code division multiple access
  • TD-SCDMA Time Division-Synchronous Code Division Multiple Access
  • the signal strength of the mobile network of the GSM system on the traffic path 21, the signal strength of the mobile network for acquiring the CDMA system on the traffic path 21, and the mobile network of the GSM system are obtained.
  • Signal strength on 22 acquisition The signal strength of the mobile network of the CDMA system on the traffic path 22, the signal strength of the mobile network of the TD-SCDMA system on the traffic path 23, and the like.
  • the path parameters of each of the access paths and the signal strength of the mobile networks of the respective systems on the corresponding transit path according to the starting point position and the ending position in step S11 may be: obtaining the access according to the electronic map, the starting position and the ending position.
  • the electronic maps in the above embodiments may be a planar electronic map or a three-dimensional electronic map, which is not limited in the embodiment of the present application.
  • the electronic map is a planar electronic map, it may be a set of floor plans of a specific building in the target area; when the electronic map is a three-dimensional electronic map, it is a perspective view of a specific building in the target area.
  • the optimal mobile network corresponding to each of the traffic paths refers to an optimal mobile network among the signal strengths of the plurality of mobile networks supported by the navigation device.
  • the navigation device supports the mobile system of the first system and the mobile network of the second system.
  • a 222 the signal strength of the second standard mobile network on the transit path 22 is A 222 .
  • a 211 >A 212 the optimal mobile network corresponding to the traffic path 21 is the mobile network of the first standard.
  • the optimal mobile network corresponding to the traffic path 21 is the mobile network of the second standard;
  • the optimal mobile network corresponding to the transit path 22 is the mobile network of the first standard.
  • the optimal mobile network corresponding to the transit path 22 is the mobile network of the second standard.
  • the navigation device or the terminal device may send the start position and the end position to the navigation device or the terminal device.
  • a remote server after receiving the starting position and the ending position sent by the navigation device or the terminal device, the remote server acquires the path parameters of each access path and the signal strength of each mobile network on the corresponding access path according to the starting position and the ending position. and The navigation path is determined in the traffic path according to the path parameter of each traffic path and the signal strength of the optimal mobile network corresponding to each traffic path, and finally the navigation path is sent to the navigation device or the terminal device.
  • the navigation according to the navigation path can be implemented by any navigation method according to different navigation requirements.
  • navigating according to the navigation path may be inputting a navigation path into a processor of the self-driving vehicle, and the processor controls the self-driving vehicle to travel according to the navigation path.
  • navigating according to the navigation path may be to convert the navigation path into voice and/or visual information, and navigate by broadcasting the voice and/or displaying the visual information.
  • the navigation method provided by the embodiment of the present application first obtains the path parameters of each traffic path and the signal strength of each mobile network on the corresponding traffic path according to the starting point position and the ending position; and then according to the path parameters of each access path and the corresponding path
  • the signal strength of the optimal mobile network determines the navigation path in the transit path; finally, the navigation is performed according to the navigation path, and the navigation method provided by the embodiment of the present application is based on the path parameter of each transit path and the optimal corresponding to each transit path.
  • the signal strength of the mobile network determines the navigation path in the traffic path. Therefore, the embodiment of the present application can maintain the signal strength of the mobile network on the navigation path at a high level, that is, can be improved when the terminal device performs navigation.
  • the communication signal quality of the terminal device is based on the path parameter of each transit path and the optimal corresponding to each transit path.
  • the navigation path is determined in the transit path according to the path parameter of each of the traffic paths and the signal strength of the optimal mobile network corresponding to each of the traffic paths, and specifically includes the following steps:
  • the path may be divided based on the signal strength of the mobile network signal, or may be divided based on the distance.
  • the signal strength of the mobile network of the plurality of standard mobile networks supported by the navigation device supported by the navigation device in one path of the same path is the same or approximately the same, the signal strength may be
  • the road segment is divided into one path unit; when divided based on the distance, the same distance length within a one-way path can be The road segment is divided into one path unit.
  • FIG. 4 Exemplarily, referring to FIG. 4, in FIG. 4, two paths (41, 42) are shared from the starting position S to the ending position E, and the path 41 is divided into a path unit 411 and a path unit 412, and the path 42 is divided.
  • the path unit 421 and the path unit 422 will be described as an example.
  • the navigation device supports the first-standard mobile network and the second-standard mobile network.
  • the signal strength of the first-standard mobile network on the path unit 411 is A 4111
  • the signal strength of the second-standard mobile network on the path unit 411 is A 4112
  • the signal strength of the first-standard mobile network on the path unit 412 is A 4121
  • the signal strength of the second-standard mobile network on the path unit 412 is A 4122
  • the first-standard mobile network on the path unit 421 The signal strength is A 4211
  • the signal strength of the second standard mobile network on path unit 421 is A 4212
  • the signal strength of the first standard mobile network on path unit 422 is A 4221
  • the second on path unit 422 The signal strength of the mobile network is A 4222 .
  • the optimal mobile network corresponding to each path unit refers to the optimal mobile network among the signal strengths of the mobile systems supported by the navigation device.
  • the signal strength of the optimal mobile network corresponding to the path unit 411 is A 4111 ; when the A 4111 ⁇ A 4112 path unit 411 is optimally corresponding The signal strength of the mobile network is A 4112 ; when A 4121 >A 4122 , the signal strength of the optimal mobile network corresponding to path unit 412 is A 4121 ; when A 4121 ⁇ A 4122 , the optimal mobile network corresponding to path unit 412 The signal strength is A 4122 ; when A 4211 >A 4212 , the signal strength of the optimal mobile network corresponding to the path unit 421 is A 4211 ; when the signal strength of the optimal mobile network corresponding to the A 4211 ⁇ A 4212 path unit 421 is A 4212 ; when A 4221 >A 4222 , the signal strength of the optimal mobile network corresponding to path unit 422 is A 4221 ; when A 4221 ⁇ A 4222 , the signal strength of the optimal mobile network corresponding to path unit 422 is A 4221 ; when A 4221 ⁇ A 4222 , the
  • the path corresponding to each path is obtained according to the signal strength of the mobile network on each path unit.
  • the signal strength of the optimal mobile network can be:
  • the total length of the traffic path 41 is 100 m
  • the length of the path unit 411 is 60 m
  • the length of the path unit 412 is 40 m
  • the weight of the path unit 411 is 0.6
  • the weight of the path 412 is 0.4.
  • the weight of the path unit 411 is 0.6
  • the weight of the path 412 is 0.4
  • the signal strength of the optimal mobile network corresponding to the path unit 411 is A 4111
  • the signal strength of the optimal mobile network corresponding to the path unit 412 is A 4122 .
  • the signal strength of the optimal mobile network corresponding to each path is obtained according to the signal strength of the optimal mobile network corresponding to each path unit, which may be:
  • the average value of the strengths of the mobile network signal strengths on the path units is used as the signal strength of the optimal mobile network corresponding to each of the access paths.
  • the total length of the path 42 is 100
  • the length of the path unit 421 is 50
  • the length of the path unit 422 is 50
  • the signal strength of the mobile network on the path unit 421 is A 4211
  • the embodiment of the present application provides an implementation manner of determining a navigation path in the transit path according to the path parameter of each traffic path and the signal strength of the optimal mobile network corresponding to each traffic path in the foregoing step S12. Specifically, referring to FIG. 5, the method includes the following steps:
  • f i is the recommendation factor of the traffic path i
  • a i is the signal strength of the optimal mobile network corresponding to the traffic path i
  • B i is the traffic condition parameter of the traffic path i
  • x is a constant greater than 0 and less than 1.
  • the road condition parameter of the traffic path may be calculated according to one or more of the length of the traffic path, the degree of congestion, the road condition of the path, and the weather condition on the path. And when the length of the path is shorter, the degree of congestion of the path is lower, the road condition of the path is better, and the weather condition on the path is better, the corresponding road condition parameter is larger.
  • the length of the traffic path 61 is: 10 km (km)
  • the length of the traffic path 62 is: 15 km (km)
  • the road condition parameter B 61 of the traffic path 61 may be the total length and the transit path of all the transit paths.
  • the signal strength A 61 of the optimal mobile network corresponding to the traffic path 61 is -100 dBm
  • the signal strength A 62 of the optimal mobile network corresponding to the traffic path 62 is -110 dBm.
  • the formula for calculating the above recommended factors is:
  • the recommended factor for the access path 61 is:
  • the recommended factors for the access path 62 are:
  • the two paths are common to the two from the starting point to the ending position.
  • the embodiment of the present application is not limited thereto, and the position from the starting position to the ending position may be included in the actual navigation process. More transit paths, for example: 3, 4, 10, etc., but the calculation process of the recommendation factor of each path is the same as the calculation process of the recommendation factors of the above-mentioned transit path 31 or the transit path 32, in order to avoid redundancy, no longer Detailed description.
  • x is a weighting factor of the signal strength of the optimal mobile network corresponding to the traffic path
  • 1-x is a weighting factor of the road condition parameter.
  • the value of x can influence the navigation according to the signal strength of the mobile network on the path. Line settings. For example, when the above navigation method is used for an autonomous driving vehicle or a blind guiding robot, if the signal strength of the mobile network is too weak, the vehicle may be out of control, the blind person may be lost, etc., so the above navigation method is used for an autonomous driving vehicle or a blind guiding robot.
  • the x value can be set larger. For another example, when the above navigation method is used for normal navigation, when the signal strength of the mobile network is weak, it does not cause serious consequences, so the x value can be set smaller at this time.
  • the recommendation factor f 61 of the traffic path 61 is 23.5
  • the recommendation factors of the two traffic paths are equal and maximum, and any one of the two traffic paths with the largest recommendation factor may be selected as the navigation path.
  • the traffic path with the largest recommendation factor is selected as the navigation path.
  • the recommendation factor of a certain traffic path is not the largest, the traffic path must be used as the navigation path.
  • the maximum recommendation factor for a pass path does not necessarily result in the pass path as a navigation path from the start position to the end position.
  • the navigation method provided by the embodiment of the present application further includes:
  • the mobile network with the best signal strength among the mobile networks supported by the navigation device performs information interaction with the remote server.
  • the mobile network with the best signal strength in the mobile network of multiple standards supported by the navigation device on the navigation path performs information interaction with the remote server, if in the navigation path Different mobile networks with different signal strengths at different locations switch between mobile networks at different locations, so that the mobile network with the best signal strength in the mobile network is selected to interact with the remote server.
  • FIG. 7 shows a possible structural diagram of the navigation device involved in the above embodiment.
  • the navigation device 700 the navigation device 700
  • the obtaining module 71 is configured to obtain path parameters of each pass path and signal strengths of the mobile networks of the respective systems on the corresponding pass path according to the start position and the end position.
  • the transit path is a path from the starting position to the ending position.
  • the planning module 72 is configured to determine a navigation path in the transit path according to the path parameter of each pass path and the signal strength of the optimal mobile network corresponding to each pass path.
  • the optimal mobile network corresponding to each of the traffic paths refers to an optimal mobile network among the signal strengths of the plurality of mobile networks supported by the navigation device.
  • the navigation module 73 is configured to navigate according to the navigation path.
  • the obtaining module 71 is configured to implement the function of acquiring the path parameters of each of the traffic paths and the signal strength of the mobile networks of the respective systems on the corresponding traffic paths according to the start position and the end position in step S11 shown in FIG. 1 .
  • the planning module 72 is configured to implement the function of determining the navigation path in the path according to the path parameter of each of the traffic paths and the signal strength of the optimal mobile network corresponding to each of the traffic paths in step S12, and the navigation module 73 is configured to implement step S13. The ability to navigate based on the navigation path.
  • the navigation device provided by the embodiment of the present application firstly obtains path parameters of each pass path according to the start position and the end position and signal strengths of the mobile networks of the respective systems on the corresponding pass paths; then, according to the path parameters and the pass paths of the respective pass paths.
  • the signal strength of the corresponding optimal mobile network determines the navigation path in the transit path; the navigation module performs navigation according to the navigation path.
  • the navigation device provided by the embodiment of the present application is based on the path parameter of each transit path when determining the navigation path.
  • the signal strength of the optimal mobile network corresponding to each of the traffic paths determines the navigation path in the traffic path. Therefore, the embodiment of the present application can maintain the signal strength of the mobile network on the navigation path at a high level, that is, Can improve the terminal device when the terminal device navigates Communication signal quality.
  • the planning module 72 is further configured to divide each of the transit paths into multiple path units; acquire signal strengths of the optimal mobile networks corresponding to the path units; and according to the optimal mobile network corresponding to each path unit The signal strength obtains the signal strength of the optimal mobile network corresponding to each of the traffic paths; wherein the optimal mobile network corresponding to each path unit refers to the optimal mobile network among the signal strengths of the mobile systems supported by the navigation device. .
  • the navigation device performs information interaction with a remote server by using a mobile network with optimal signal strength among the supported multiple mobile networks.
  • the foregoing acquisition module may be a communication interface circuit or an electronic map generating device composed of a GPS, a visual sensor, an inertial sensor, or the like.
  • the obtaining module 72 may include: a GPS, a touch display screen, a microphone (English name: Microphone, abbreviated as MIC), a MIC array, and the like.
  • the planning module 73 can be a processor or a transceiver; the navigation module 74 can be a display, a speaker, or a processor that navigates according to a navigation path, and the like.
  • the programs corresponding to the actions performed by the navigation device may be stored in the memory of the navigation device in software, so that the processor invokes the operations corresponding to the above modules.
  • FIG. 8 shows a possible structural diagram of a terminal device including the navigation device involved in the above embodiment.
  • the terminal device 800 includes a processor 81, a memory 82, a system bus 83, a communication interface 84, and an input device 85.
  • the processor 81 may be a processor or a collective name of a plurality of processing elements.
  • the processor 81 can be a central processing unit (central processing) Unit, CPU).
  • the processor 81 can also be other general purpose processors, digital signal processing (DSP), application specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other Programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like, which can implement or perform various illustrative logical blocks, modules, and circuits described in connection with the present disclosure.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the processor 81 may also be a dedicated processor, which may include at least one of a baseband processing chip, a radio frequency processing chip, and the like.
  • the processor can also be a combination of computing functions, for example, including one or more microprocessor combinations, a combination of a DSP and a microprocessor, and the like.
  • the dedicated processor may also include a chip having other specialized processing functions of the device.
  • the memory 82 is used to store computer execution code
  • the processor 81 is connected to the memory 82 through the system bus 83.
  • the processor 81 is configured to execute the computer execution code stored in the memory 82 to execute any of the embodiments provided in the embodiments of the present application.
  • a specific navigation method of the navigation method can be referred to the related descriptions in the above and the drawings, and details are not described herein again.
  • the system bus 83 can include a data bus, a power bus, a control bus, and a signal status bus. For the sake of clarity in the present embodiment, various buses are illustrated as the system bus 83 in FIG.
  • Communication interface 84 may specifically be a transceiver on the device.
  • the transceiver can be a wireless transceiver.
  • the wireless transceiver can be an antenna or the like of the device.
  • the processor 81 communicates with other devices via the communication interface 84, for example, if the device is a module or component of the terminal device, the device is for data interaction with other modules in the electronic device.
  • the steps of the method described in connection with the present disclosure may be implemented in a hardware manner, or may be implemented by a processor executing software instructions.
  • the embodiment of the present application further provides a storage medium for storing computer software instructions for use in the electronic device shown in FIG. 8, which includes program code designed to execute the navigation method provided by any of the above embodiments.
  • the software instructions can be composed of corresponding software modules, and the software modules can be Stored in random access memory (English: random access memory, abbreviation: RAM), flash memory, read-only memory (English: read only memory, abbreviation: ROM), erasable programmable read-only memory (English: erasable programmable ROM, Abbreviations: EPROM), electrically erasable programmable read only memory (English: electrical EPROM, abbreviation: EEPROM), registers, hard disk, removable hard disk, compact disk read only (CD-ROM) or any other form of storage medium known in the art.
  • An exemplary storage medium is coupled to the processor to enable the processor to read information from, and write information to, the storage medium.
  • the storage medium can also be an integral part of the processor.
  • the processor and the storage medium can be located in an ASIC.
  • the ASIC can be located in a core network interface device.
  • the processor and the storage medium may also exist as discrete components in the core network interface device.
  • the embodiment of the present application further provides a computer program product, which can be directly loaded into an internal memory of a computer and contains software code, and the computer program can be loaded and executed by a computer to implement the navigation method provided by any of the above embodiments. .
  • the functions described herein can be implemented in hardware, software, firmware, or any combination thereof.
  • the functions may be stored in a computer readable medium or transmitted as one or more instructions or code on a computer readable medium.
  • Computer readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one location to another.
  • a storage medium may be any available media that can be accessed by a general purpose or special purpose computer.

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Abstract

一种导航方法、装置以及终端设备，涉及导航技术领域。用于终端设备进行导航时提高终端设备的通信信号质量。该方法包括：根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度（S11）；根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在通行路径中确定导航路径（S12），根据导航路径进行导航（S13）。

Description

一种导航方法、装置以及终端设备 技术领域
本申请涉及导航技术领域，尤其涉及一种导航方法、装置以及终端设备。
背景技术
随着交通信息服务产业的快速发展，交通信息的涉猎范围从传统意义上单纯的路径信息扩展到道路出行信息上来，天气信息、交通状况等越来越多的参考信息成为导航过程中需要考虑的因素。
由于导航过程中考虑的因素越来越多，因此导航过程中的计算越来越复杂。通常，由于终端设备中计算资源的限制，需要将一些复杂的运算放在远程服务器中进行。即终端设备将计算需要的参数发送至远程服务器，远程服务器根据终端设备发送的参数进行计算，最终将计算结果返回终端设备。由于终端设备在导航过程中需要和远程服务器实时进行信息交互，因此要求终端设备在导航过程中必须要保证通信链路的稳定和畅通，即在终端设备进行导航时对终端设备的通信信号质量要求较高。综上所述，如何在终端设备进行导航时提高终端设备的通信信号质量是本领域技术人员亟待解决的一个技术问题。
发明内容
本申请的实施例提供一种导航方法、装置以及终端设备，用于在终端设备进行导航时提高终端设备的通信信号质量。
为达到上述目的，本申请的实施例采用如下技术方案：
第一方面，提供一种导航方法，包括：
根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度；其中，所述通行路径为可从所述起点位置到所述终点位置的路径；
根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径；每一个通行路径对应的最优移动网络是指导航装置所支持的多个制式的移动网络的 信号强度中最优的移动网络；
根据所述导航路径进行导航。
第二方面，提供一种导航装置，包括：
获取模块，用于根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度；其中，所述通行路径为可从所述起点位置到所述终点位置的路径；
规划模块，用于根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径；每一个通行路径对应的最优移动网络是指导航装置所支持的多个制式的移动网络的信号强度中最优的移动网络；
导航模块，用于根据所述导航路径进行导航。
第三方面，提供一种终端设备，包括：处理器、存储器、通信接口以及输入装置，所述存储器、所述通信接口和所述输入装置耦合至所述处理器，所述存储器用于存储计算机执行代码，所述计算机执行代码用于控制所述处理器执行第一方面所述的导航方法。
第四方面，提供一种计算机存储介质，用于储存为第三方面所述的终端设备所用的计算机软件指令，其包含执行第一方面所述的导航方法所设计的程序代码。
第五方面，提供一种计算机程序产品，可直接加载到计算机的内部存储器中，并含有软件代码，所述计算机程序经由计算机载入并执行后能够实现第一方面所述的导航方法。
本申请实施例提供的导航方法首先根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度；然后根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径；最后根据导航路径进行导航，由于本申请实施例提供的导航方法是根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径的，所以本申请实施例可以使导航路径上的移动网络的信号强度维持在一个较高的水平上，即可以在终端设备进行导航时提高终端设备的通信信号质量。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请的实施例提供的导航方法的步骤流程图之一；
图2为本申请的实施例提供的一种通行路径的示意图；
图3为本申请的实施例提供的导航方法的步骤流程图之二；
图4为本申请的实施例提供的路径单元的示意图；
图5为本申请的实施例提供的导航方法的步骤流程图之三；
图6为本申请的实施例提供的另一种通行路径的示意图；
图7为本申请的实施例提供的导航装置的示意性结构图之一；
图8为本申请的实施例提供的导航装置的示意性结构图之二。
具体实施方式
本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
需要说明的是，本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请实施例中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念。
需要说明的是，本申请实施例中，除非另有说明，“多个”的含义是指两个或两个以上。
需要说明的是，本申请实施例中，“的(英文：of)”，“相应的(英文：corresponding，relevant)”和“对应的(英文：corresponding)”有时可以混用，应当指出的是，在不强调其区别时，其所要表达的含义是一致的。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例提供的导航方法的执行主体可以为导航装置或者终端设备。其中，导航装置可以为上述终端设备中的中央处理器(Central Processing Unit，CPU)、CPU与存储器等硬件的组合、或者可以为上述终端设备中的其他单元或者模块。终端设备具体可以为导航仪、导盲机器人、移动机器人、自动驾驶汽车、智能手机、增强现实眼镜(英文名称：Augmented Reality，简称：AR眼镜)、便携式计算机、袖珍式计算机、手持式计算机、数码相框、掌上电脑等。或者上述终端设备可以为安装有可以进行导航的软件客户端或软件系统或软件应用的个人计算机(英文全称：personal computer，简称：PC)、服务器等，具体的硬件实现环境可以通用计算机形式，或者是专门设计的集成电路(英文全称：Application Specific Integrated Circuit，简称：ASIC)的方式，也可以是(英文全称：Field Programmable Gate Array，简称：FPGA)，或者是一些可编程的扩展平台例如嵌入式(英文名称：Tensilica)的可配置处理器平台等。
基于上述内容，本申请的实施例提供一种导航方法，具体的参照图1所示，该导航方法包括如下步骤：
S11、根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度。
其中，通行路径为可从起点位置到终点位置的路径。
上述步骤S11中需要根据起点位置和终点位置来获取通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度，因此在步骤S11前需要获取起点位置和终点位置。示例性的，可以通过如下两种实现方式来获取起点位置和终点位置。
一、导航装置或者终端设备通过全球定位系统(英文名称：Global  Positioning System，简称：GPS)、射频识别、无线保真技术(英文名称：WIFI)、基站定位、视觉图像识别等位置定位技术中的一种或多种的组合获取导航装置或终端设备的当前位置作为起点位置，接收用户输入的终点位置。
二、导航装置或者终端设备接收用户输入的起点位置和终点位置。
其中，上述用户输入具体可以为：触控输入、语音输入、按键输入中的一种或多种的组合。
需要说明的是，上述实施例中的通行路径包括每一条可以从起点位置到达终点位置的路径。示例性的，如图2所示，起点位置为S、终点位置为E，共有3路径(21、22、23)可以从起点位置S到达终点位置E，此时通信路径包括三条路径，该三条路径分别为：路径21、路径22、路径23。
还需要说明的是，上述实施例中的各制式的移动网络包括：全球移动通信系统(英文名称：Global System for Mobile Communication，简称：GSM)、码分多址(英文名称：Code Division Multiple Access，简称：CDMA)、时分同步码分多址(英文名称：Time Division-Synchronous Code Division Multiple Access，简称：TD-SCDMA)、宽带码分多址(英文名称：Wideband Code Division Multiple Access，简称：W-CDMA)、分时长期演进(英文名称：Time Division Long Term Evolution，简称：TD-LTE)、频分双工的长期演进(英文名称：Frequency Division Dual Long Term Evolution，简称：TD-LTE)、CDMA1x(英文全称：Code Division Multiple Access 2000 1x)、EVDO(英文全称：Code Division Multiple Access 2000 1x Evolution Data Only，)等制式网络；获取各制式的移动网络在相应通行路径上的信号强度具体是指：分别独立获取各个制式的移动网路的信号在各个通行路径上的信号强度。例如：在图2所示实施例中，获取GSM制式的移动网络在通行路径21上的信号强度、获取CDMA制式的移动网络在通行路径21上的信号强度、获取GSM制式的移动网络在通行路径22上的信号强度、获取 CDMA制式的移动网络在通行路径22上的信号强度、获取TD-SCDMA制式的移动网络在通行路径23上的信号强度等。
示例性的，步骤S11中根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度具体可以为：根据电子地图、起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度。此外，上实施例中述所涉及的电子地图可以为平面电子地图，也可以为立体电子地图，本申请实施例中对此不进行限定。当电子地图为平面电子地图时，可以是目标区域内具体建筑的楼层平面图的集合；当电子地图为立体电子地图时，为目标区域内具体建筑的立体图。
S12、根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在通行路径中确定导航路径。
其中，每一个通行路径对应的最优移动网络是指导航装置所支持的多个制式的移动网络的信号强度中最优的移动网络。
示例性的，在图2所示实施例，导航装置支持第一制式的移动网络和第二制式的移动网络。通行路径21上的第一制式的移动网络的信号强度为A211，通行路径21上的第二制式的移动网络的信号强度为A212；通行路径22上的第一制式的移动网络的信号强度为A221，通行路径22上的第二制式的移动网络的信号强度为A222。当A211>A212时，通行路径21对应的最优移动网络为第一制式的移动网络，当A211<A212时，通行路径21对应的最优移动网络为第二制式的移动网络；当A221>A222时，通行路径22对应的最优移动网络为第一制式的移动网络，当A221<A222时，通行路径22对应的最优移动网络为第二制式的移动网络。
还需要说明的是，上述步骤S11和步骤12可以在导航装置内部实现，也可以通过远程服务器协助实现，当通过通过远程服务器协助实现时，可以导航设备或者终端设备将起点位置和终点位置发送至远程服务器，远程服务器接收到导航设备或者终端设备发送的起点位置和终点位置后，根据起点位置和终点位置获取获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度，并 根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在通行路径中确定导航路径，最后再将导航路径发送导航设备或者终端设备。
S13、根据导航路径进行导航。
具体的，根据导航路径进行导航可以根据不同的导航需求通过任一种导航方式来实现。例如：当上述导航方法用于自动驾驶车辆时，根据导航路径进行导航可以为将导航路径输入自动驾驶车辆的处理器中，处理器根据导航路径控制自动驾驶车辆行驶。再例如：当上述导航方法用于向用户导航时，根据导航路径进行导航可以为将导航路径转换为语音和/或视觉信息，并通过播报语音和/或显示视觉信息的方式进行导航。
本申请实施例提供的导航方法首先根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度；然后根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径；最后根据导航路径进行导航，由于本申请实施例提供的导航方法是根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径的，所以本申请实施例可以使导航路径上的移动网络的信号强度维持在一个较高的水平上，即可以在终端设备进行导航时提高终端设备的通信信号质量。
进一步的，参照图3所示，上述步骤S12中根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在通行路径中确定导航路径，具体可以包括如下步骤：
S121、将各通行路径划分为多个路径单元。
具体的，步骤S121中将任一通行路径划分为多个路径单元时，可以基于移动网路信号的信号强度来划分，也可以基于距离来划分。当基于移动网络信号强度来划分时，若一通行路径的一路段内导航装置所支持的多个制式的移动网络的信号强度中最优的移动网络的信号强度相同或近似相同，则可以将该路段划分为一个路径单元；当基于距离来划分时，可以将一通行路径的内相同距离长度 的路段划分为一个路径单元。
示例性的，参照图4所示，图4中以从起点位置S到终点位置E共有两条路径(41、42)，以通行路径41划分为路径单元411和路径单元412，通行路径42划分为路径单元421和路径单元422为例进行说明。导航装置支持第一制式的移动网络和第二制式的移动网络，路径单元411上的第一制式的移动网络的信号强度为A4111，路径单元411上的第二制式的移动网络的信号强度为A4112，路径单元412上的第一制式的移动网络的信号强度为A4121，路径单元412上的第二制式的移动网络的信号强度为A4122，路径单元421上的第一制式的移动网络的信号强度为A4211，路径单元421上的第二制式的移动网络的信号强度为A4212，路径单元422上的第一制式的移动网络的信号强度为A4221，路径单元422上的第二制式的移动网络的信号强度为A4222。
S122、获取各路径单元对应的最优移动网络的信号强度。
每一个路径单元对应的最优移动网络是指导航装置所支持的多个制式的移动网络的信号强度中最优的移动网络。
具体的，在上述图4所示实施例中，当A4111>A4112时，路径单元411对应的最优移动网络的信号强度为A4111；当A4111<A4112路径单元411对应的最优移动网络的信号强度为A4112；当A4121>A4122时，路径单元412对应的最优移动网络的信号强度为A4121；当A4121<A4122时，路径单元412对应的最优移动网络的信号强度为A4122；当A4211>A4212时，路径单元421对应的最优移动网络的信号强度为A4211；当A4211<A4212路径单元421对应的最优移动网络的信号强度为A4212；当A4221>A4222时，路径单元422对应的最优移动网络的信号强度为A4221；当A4221<A4222时，路径单元422对应的最优移动网络的信号强度为A4222。
S123、根据各路径单元对应的最优移动网络的信号强度获取各通行路径对应的最优移动网络的信号强度。
具体的，当基于移动网络信号强度将通行路径化分为路径单元时，根据各路径单元上的移动网络的信号强度获取各通行路径对应 的最优移动网络的信号强度，具体可以为：
I、根据各路径单元的长度和路径总长度获取该路径单元的权重。
例如：通行路径41的总长度为100m，路径单元411的长度为60m，路径单元412的长度为40m，则路径单元411的权重为0.6，路径412的权重为0.4。
II、根据各路径单元对应的最优移动网络的信号强度和该路径单元的权重获取获取各通行路径对应的最优移动网络的信号强度。
如上，路径单元411的权重为0.6，路径412的权重为0.4，路径单元411对应的最优移动网络的信号强度为A4111，路径单元412对应的最优移动网络的信号强度为A4122，则通行路径41对应的最优移动网络的信号强度为：A41＝0.6*A4111+0.4*A4122。
当基于路径长度将通行路径化分为路径单元时，根据各路径单元对应的最优移动网络的信号强度获取各通行路径对应的最优移动网络的信号强度，具体可以为：
将各路径单元上移动网络信号强度的强度的平均值作为获取获取各通行路径对应的最优移动网络的信号强度。
例如：路径42的总长度为100，路径单元421的长度为50，路径单元422的长度为50，路径单元421上的移动网络的信号强度为A4211，路径单元422上的移动网络的信号强度为A4222，则路径42上的移动网络的信号强度A42＝(A4211+A4222)/2。
S124、根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在通行路径中确定导航路径。
进一步的，本申请实施例提供了一种上述步骤S12中根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在通行路径中确定导航路径的实现方式。具体的，参照图5所示，该方法包括如下步骤：
S51、根据公式fi＝Ai*x+(1-x)*Bi计算计算各通行路径的推荐因子。
其中，fi为通行路径i的推荐因子，Ai为通行路径i对应的最 优移动网络的信号强度；Bi为通行路径i的路况参数，x为大于0且小于1的常数。
其中，通行路径的路况参数可以根据通行路径的长度、拥堵程度、路径的路况、路径上的天气状况等信息中的一种或多种计算获取。且当路径的长度越短、路径的拥堵程度越低、路径的路况越好、路径上的天气状况越好时，对应的路况参数越大。
示例性的，参照图6所示，以下以通行路径的路况参数根据通行路径的长度计算获取、x＝0.1为例对上述实施例中计算各通行路径的推荐因子的过程进行举例说明。如图6所示，从起点位置S到终点位置E共有两条通行路径(61、62)。其中，通行路径61的长度为：10千米(km)，通行路径62的长度为：15千米(km)，则通行路径61的路况参数B61可以为全部通行路径的总长度与通行路径61的长度的差，即B61＝(10+15)-10＝15；同样，通行路径62的路况参数B62可以为全部通行路径的总长度与通行路径62的长度的差，即B62＝(10+15)-15＝10。此外，通行路径61对应的最优移动网络的信号强度A61为-100dBm，通行路径62对应的最优移动网络的信号强度A62为-110dBm。带入上述推荐因子计算公式有：
通行路径61的推荐因子为：
f61＝A61*x+(1-x)*B61＝100*0.1+(1-0.1)*15＝23.5；
通行路径62的推荐因子为：
f62＝A62*x+(1-x)*B62＝110*0.1+(1-0.1)*10＝20。
需要说明的是，上述实施例中以从起点位置到终点位置共有两条通行路径为例进行说明，但本申请实施例并不限定于此，在实际导航过程中从起点位置到终点位置可能包括更多通行路径，例如:3个、4个、10个等，但每一个路径的推荐因子的计算过程与上述通行路径31或通行路径32的推荐因子的计算过程相同，为避免赘述，不再详细说明。
还需要说明的是，上述推荐因子的计算公式中x为通行路径对应的最优移动网络的信号强度的权重因子，1-x为路况参数的权重因子。x值可以根据路径上的移动网络的信号强度对导航的影响进 行设定。例如：当上述导航方法用于自动驾驶车辆或导盲机器人时，若移动网络的信号强度过弱，则可能导致车辆失控、盲人迷路等状况，因此上述导航方法用于自动驾驶车辆或导盲机器人时可以将x值设置的较大。再例如：当上述导航方法用于普通导航时，当移动网络的信号强度弱，并不会造成严重的后果，因此此时可以将x值设置的较小。
S52、选取推荐因子最大的通行路径作为导航路径。
示例性的，在上述图6所示实施例中，通行路径61的推荐因子f61＝23.5，通行路径62的推荐因子f62＝20，f61＝23.5>f62＝20；所以选取路径61作为从起点位置S到终点位置E的导航路径。此外，在一些实施例中还可能出现两个通行路径的推荐因子相等且最大的情况，此时可以选取推荐因子最大的两个通行路径中的任一个作为导航路径。
还需要说明的是，上述实施例中选取推荐因子最大的通行路径作为导航路径，并不是某一通行路径的推荐因子最大时，就必须将该通行路径作为导航路径。在一些实施例中，还可能需要结合一些其他条件进行选取，例如：还需要参考用户的输入信息等。总的来说，某一通行路径的推荐因子最大并不必然的导致将该通行路径作为从起点位置到终点位置的导航路径。
进一步的，在上述实施例的基础上，本申请实施例提供的导航方法还包括：
在根据导航路径进行导航过程中，通过导航装置支持的多个制式的移动网络中信号强度最优的移动网络与远程服务器进行信息交互。
需要说明的是，上述实施例中，当导航路径确定后，通过导航路径上导航装置支持的多个制式的移动网络中信号强度最优的移动网络与远程服务器进行信息交互，若在导航路径的不同位置信号强度最优的移动网络不同，则在不同位置对移动网络之间切换，从而选择移动网络中信号强度最优的移动网络与远程服务器进行信息交互。
下面说明本申请实施例提供的与上文所提供的方法实施例相对应的装置实施例。需要说明的是，下述装置实施例中相关内容的解释，均可以参考上述方法实施例。
在采用对应各个功能划分各个功能模块的情况下，图7示出了上述实施例中所涉及的导航装置的一种可能的结构示意图。参照图7所示，该导航装置700
获取模块71，用于根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度。
其中，所述通行路径为可从所述起点位置到所述终点位置的路径。
规划模块72，用于根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径。其中，每一个通行路径对应的最优移动网络是指导航装置所支持的多个制式的移动网络的信号强度中最优的移动网络。
导航模块73，用于根据导航路径进行导航。
即，获取模块71用于实现图1所示的步骤S11中根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度的功能。规划模块72用于实现步骤S12中根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径的功能，导航模块73用于实现步骤S13中根据导航路径进行导航的功能。
本申请实施例提供的导航装置首先由根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度；然后根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径；最后导航模块根据导航路径进行导航，由于本申请实施例提供的导航装置在确定导航路径时是根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径的，所以本申请实施例可以使导航路径上的移动网络的信号强度维持在一个较高的水平上，即可以在终端设备进行导航时提高终端设备 的通信信号质量。
可选的，所述规划模块72还用于将各所述通行路径划分为多个路径单元；获取各路径单元对应的最优移动网络的信号强度；根据各路径单元对应的最优移动网络的信号强度获取各通行路径对应的最优移动网络的信号强度；其中，每一个路径单元对应的最优移动网络是指导航装置所支持的多个制式的移动网络的信号强度中最优的移动网络。
可选的，所述规划模块具体用于根据公式fi＝Ai*x+(1-x)*Bi计算各通行路径的推荐因子；其中，fi为通行通行路径i的推荐因子，Ai为通行通行路径i对应的最优移动网络的信号强度，Bi为通行通行路径i的路径参数，x为大于0且小于1的常数；选取推荐因子最大的通行路径作为导航路径。
可选的，在根据所述导航路径进行导航过程中，所述导航装置通过所支持的多个制式的移动网络中信号强度最优的移动网络与远程服务器进行信息交互。
还需说明的是，上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述，在此不再赘述。
在硬件实现上，上述的采集模块可以是通信接口电路或者GPS、视觉传感器、惯性传感器等构成的电子地图生成装置。获取模块72可以包括：GPS、触控显示屏、麦克风(英文名称：Microphone，简称：MIC)、MIC阵列等。规划模块73可以是处理器或者收发机；导航模块74可以显示器、扬声器、或者根据导航路径进行导航的处理器等。导航装置所执行的动作所对应的程序均可以以软件形式存储于导航装置的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在采用集成的单元的情况下，图8示出了包括上述实施例中所涉及的导航装置的终端设备的可能的结构示意图。终端设备800括：处理器81、存储器82、系统总线83、通信接口84以及输入装置85。
上述处理器81可以是一个处理器，也可以是多个处理元件的统称。例如，处理器81可以为中央处理器(central processing  unit，CPU)。处理器81也可以为其他通用处理器、数字信号处理器(digital signal processing，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(field-programmable gatearray，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等，其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框，模块和电路。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。处理器81还可以为专用处理器，该专用处理器可以包括基带处理芯片、射频处理芯片等中的至少一个。处理器也可以是实现计算功能的组合，例如包含一个或多个微处理器组合，DSP和微处理器的组合等等。进一步地，该专用处理器还可以包括具有该装置其他专用处理功能的芯片。
存储器82用于存储计算机执行代码，处理器81与存储器82通过系统总线83连接，当电子设备运行时，处理器81用于执行存储器82存储的计算机执行代码，以执行本申请实施例提供的任意一种导航方法具体的导航方法可参考上文及附图中的相关描述，此处不再赘述。
系统总线83可以包括数据总线、电源总线、控制总线和信号状态总线等。本实施例中为了清楚说明，在图8中将各种总线都示意为系统总线83。
通信接口84具体可以是该装置上的收发器。该收发器可以为无线收发器。例如，无线收发器可以是该装置的天线等。处理器81通过通信接口84与其他设备，例如，若该装置为该终端设备中的一个模块或组件时，该装置用于与该电子设备中的其他模块之间进行数据交互。
结合本申请公开内容所描述的方法的步骤可以硬件的方式来实现，也可以是由处理器执行软件指令的方式来实现。本申请实施例还提供一种存储介质，用于储存为图8所示的电子设备所用的计算机软件指令，其包含执行上述任一实施例提供的导航方法所设计的程序代码。其中，软件指令可以由相应的软件模块组成，软件模块可以被 存放于随机存取存储器(英文：random access memory，缩写：RAM)、闪存、只读存储器(英文：read only memory，缩写：ROM)、可擦除可编程只读存储器(英文：erasable programmable ROM，缩写：EPROM)、电可擦可编程只读存储器(英文：electrically EPROM，缩写：EEPROM)、寄存器、硬盘、移动硬盘、只读光盘(CD-ROM)或者本领域熟知的任何其它形式的存储介质中。一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。另外，该ASIC可以位于核心网接口设备中。当然，处理器和存储介质也可以作为分立组件存在于核心网接口设备中。
本申请实施例还提供一种计算机程序产品，该计算机程序可直接加载到计算机的内部存储器中，并含有软件代码，计算机程序经由计算机载入并执行后能够实现上述任一实施例提供的导航方法。
本领域技术人员应该可以意识到，在上述一个或多个示例中，本申请所描述的功能可以用硬件、软件、固件或它们的任意组合来实现。当使用软件实现时，可以将这些功能存储在计算机可读介质中或者作为计算机可读介质上的一个或多个指令或代码进行传输。计算机可读介质包括计算机存储介质和通信介质，其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何介质。存储介质可以是通用或专用计算机能够存取的任何可用介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (11)

  1. 一种导航方法，其特征在于，包括：
    根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度；其中，所述通行路径为可从所述起点位置到所述终点位置的路径；
    根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径；每一个通行路径对应的最优移动网络是指导航装置所支持的多个制式的移动网络的信号强度中最优的移动网络；
    根据所述导航路径进行导航。
  2. 根据权利要求1所述的方法，其特征在于，所述根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径，包括：
    将各所述通行路径划分为多个路径单元；
    获取各路径单元对应的最优移动网络的信号强度；每一个路径单元对应的最优移动网络是指导航装置所支持的多个制式的移动网络的信号强度中最优的移动网络；
    根据各路径单元对应的最优移动网络的信号强度获取各通行路径对应的最优移动网络的信号强度；
    根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径。
  3. 根据权利要求1所述的方法，其特征在于，所述根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径，包括：
    根据公式fi＝Ai*x+(1-x)*Bi计算各通行路径的推荐因子；其中，fi为通行通行路径i的推荐因子，Ai为通行通行路径i对应的最优移动网络的信号强度，Bi为通行通行路径i的路径参数，x为大于0且小于1的常数；
    选取推荐因子最大的通行路径作为导航路径。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述方 法还包括：
    在根据所述导航路径进行导航过程中，通过导航装置所支持的多个制式的移动网络中信号强度最优的移动网络与远程服务器进行信息交互。
  5. 一种导航装置，其特征在于，包括：
    获取模块，用于根据起点位置和终点位置获取各通行路径的路径参数和各制式的移动网络在相应通行路径上的信号强度；其中，所述通行路径为可从所述起点位置到所述终点位置的路径；
    规划模块，用于根据各通行路径的路径参数和各通行路径对应的最优移动网络的信号强度在所述通行路径中确定导航路径；每一个通行路径对应的最优移动网络是指导航装置所支持的多个制式的移动网络的信号强度中最优的移动网络；
    导航模块，用于根据所述导航路径进行导航。
  6. 根据权利要求5所述的装置，其特征在于，所述规划模块还用于将各所述通行路径划分为多个路径单元；获取各路径单元对应的最优移动网络的信号强度；根据各路径单元对应的最优移动网络的信号强度获取各通行路径对应的最优移动网络的信号强度；其中，每一个路径单元对应的最优移动网络是指导航装置所支持的多个制式的移动网络的信号强度中最优的移动网络。
  7. 根据权利要求5所述的装置，其特征在于，所述规划模块具体用于根据公式fi＝Ai*x+(1-x)*Bi计算各通行路径的推荐因子；其中，fi为通行通行路径i的推荐因子，Ai为通行通行路径i对应的最优移动网络的信号强度，Bi为通行通行路径i的路径参数，x为大于0且小于1的常数；选取推荐因子最大的通行路径作为导航路径。
  8. 根据权利要求5-7任一项所述的装置，其特征在于，在根据所述导航路径进行导航过程中，所述导航装置通过所支持的多个制式的移动网络中信号强度最优的移动网络与远程服务器进行信息交互。
  9. 一种终端设备，其特征在于，包括：处理器、存储器、通信接口以及输入装置，所述存储器、所述通信接口和所述输入装置耦 合至所述处理器，所述存储器用于存储计算机执行代码，所述计算机执行代码用于控制所述处理器执行权利要求1-4任一项所述的导航方法。
  10. 一种计算机存储介质，其特征在于，用于储存为权利要求9所述的终端设备所用的计算机软件指令，其包含执行权利要求1-4任一项所述的导航方法所设计的程序代码。
  11. 一种计算机程序产品，其特征在于，可直接加载到计算机的内部存储器中，并含有软件代码，所述计算机程序经由计算机载入并执行后能够实现权利要求1-4任一项所述的导航方法。
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