Navigation method and computer program product

Abstract

The embodiment of the present application provides a navigation method and a computer program product, the navigation method comprising: obtaining a network positioning point of the navigated object in a process of navigation guidance based on a navigation route pre-planned for the navigated object; judging whether the navigated object deviates from the navigation route according to a matching relationship between the network positioning point and the navigation route, or a matching relationship between the network positioning points. The embodiment of the present application can improve the accuracy of navigation deviation judgment.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of navigation technology, and more particularly to a navigation method and a computer program product. Background Art

[0002] At present, application software that supports map navigation function provides convenience for the travel of the navigated objects. However, during the navigation process, due to factors such as hardware and environmental obstructions (such as high-rise buildings and viaducts), the navigation devices installed with the aforementioned application software will not be able to normally receive GPS (Global Positioning System) signals or other navigation systems (such as Beidou, etc.) satellite signals for a long time. This will make it impossible to locate the position of the navigated object based on the GPS signal, and ultimately cause the navigation service to not work properly.

[0003] In order to allow the navigated object to continue to use navigation services when the navigation device cannot locate the object through GPS, the existing technology can use network positioning points (i.e., the location of the navigated object obtained through the network positioning service) to enable the navigated object to enjoy more accurate navigation services even in areas with no GPS signal or weak GPS signal. However, due to the working principle of navigation based on network positioning points, if the navigated object does not follow the established navigation route, such as deviating from the established navigation route by a certain distance, it will be considered that the navigated object has deviated, and the car logo used to indicate the location of the navigated object on the navigation interface will be stuck (not moving). Therefore, when the navigation route is deviated, the navigation route planned for the navigated object based on the network positioning point may not play an effective navigation role, resulting in a poor experience for the navigated object using the application software with navigation function. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a navigation solution to at least partially solve the above problems.

[0005] According to a first aspect of an embodiment of the present application, there is provided a navigation method comprising: in a process of performing navigation guidance based on a point navigation route pre-planned for a navigated object, obtaining a network location point of the navigated object; and judging whether the navigated object deviates from the navigation route based on a matching relationship between the network location point and the navigation route, or a matching relationship between the network location points.

[0006] According to a second aspect of an embodiment of the present application, a computer storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the navigation method as described in the first aspect is implemented.

[0007] According to a third aspect of an embodiment of the present application, a computer program product is provided, comprising computer instructions, wherein the computer instructions instruct a computing device to perform operations corresponding to the navigation method described in the first aspect.

[0008] According to the navigation scheme provided by the embodiment of the present application, in the scenario where navigation guidance is required based on the network positioning point, it will be judged whether the navigated object deviates from the navigation route based on the matching relationship between the network positioning point and the pre-planned navigation route, or the matching relationship between the network positioning points. In the scheme of the embodiment of the present application, the navigation route pre-set for the navigated object can include multiple navigation routes determined based on the network positioning point. Compared with the situation in which the vehicle logo used to indicate the position of the navigated object on the navigation interface will be stuck (unmoved) once the navigated object has a certain distance relative to the current route in the traditional scheme, the scheme of the embodiment of the present application can obtain a relatively accurate conclusion on whether the navigated object deviates based on the relevant data of the navigated object. Furthermore, in the case where the navigated object can be accurately judged to deviate, a new navigation route based on the network positioning point can be re-planned for the navigated object in the future, the vehicle logo can be positioned in the new navigation route and the corresponding navigation information can be updated to provide the navigated object with an effective navigation route and navigation guidance, and enhance the experience of the navigated object using the application software with the navigation function. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0010] Figure 1 A flowchart of the navigation method in an embodiment of the present application;

[0011] Figure 2 A schematic diagram of an application scenario of the navigation method in an embodiment of the present application;

[0012] Figure 3 A flowchart of the navigation method in an embodiment of the present application;

[0013] Figure 4 A flow chart of performing yaw judgment based on the first strategy in an embodiment of the present application;

[0014] Figure 5 A flow chart of performing yaw judgment based on the second strategy in an embodiment of the present application;

[0015] Figure 6A flow chart of performing yaw judgment based on the third strategy in an embodiment of the present application;

[0016] Figure 7 A curve diagram showing the change of the credibility distance with the precision radius in the embodiment of the present application;

[0017] Figure 8 A flow chart of performing yaw judgment based on the fourth strategy in an embodiment of the present application;

[0018] Fig. 9 A flow chart of performing yaw judgment based on the fifth strategy in an embodiment of the present application;

[0019] Fig.10 This is another flow chart of performing yaw judgment based on the fifth strategy in an embodiment of the present application;

[0020] Fig.11 This is another flow chart of performing yaw judgment based on another one of the fifth strategies in the embodiment of the present application;

[0021] Fig.12 A schematic diagram of the structure of a navigation device in an embodiment of the present application;

[0022] Fig.13 A schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0024] The specific implementation of the embodiment of the present application is further explained below in conjunction with the accompanying drawings of the embodiment of the present application.

[0025] In order to solve the problem of the navigation object being unable to navigate when the GPS signal is lost during driving navigation, the application software that supports map navigation function provides a network point positioning navigation function. That is, according to the information of wifi, base stations, etc. scanned by the navigation device combined with big data training, the network positioning point is obtained, and navigation guidance is carried out through the network positioning point.

[0026] During the network point navigation process, if the navigated object does not follow the navigation planning route, but deviates from the navigation route and takes other routes, the vehicle logo will be stuck and subsequent navigation will not be able to proceed normally. To solve the above problems, the embodiments of the present application provide a navigation function in the case of deviation of network point navigation on the basis of network point navigation. The navigation function in the case of deviation depends on the accurate judgment of whether the navigated object is deviated. To this end, the embodiments of the present application provide a navigation scheme that can improve the accuracy of deviation judgment in the case of network point navigation, thereby improving the accuracy of network point navigation.

[0027] The following first introduces in detail the navigation method provided in the embodiment of the present application.

[0028] See also Figure 1 , Figure 1 This is a flowchart of a navigation method in an embodiment of the present application, which is applied to a network point navigation scenario and may include the following steps:

[0029] Step S110, in the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, a network positioning point of the navigated object is obtained.

[0030] In an embodiment of the present application, when the navigated object has a navigation demand, the navigation starting point and the navigation end point can be input in the application software supporting the map navigation function, and the navigation route can be planned for the navigated object according to the navigation starting point and the navigation end point. In an embodiment of the present application, the navigation route includes multiple (two or more) navigation routes based on network point positioning. Unlike the conventional method of only providing one navigation route based on network point positioning when the GPS signal is lost, in an embodiment of the present application, by setting multiple navigation routes based on network point positioning, it is possible to re-regulate the navigation route of the navigated object and provide a basis for effective navigation guidance when the navigated object deviates from a navigation route based on network point positioning. However, it should be noted that the navigation scheme of the embodiment of the present application is also applicable to the judgment of deviation when there is only a single navigation route based on network point positioning, so as to provide a more accurate conclusion on whether it is yawed.

[0031] According to different navigation starting points and navigation end points, the number of navigation routes based on network positioning points (for the convenience of description below, the navigation routes based on network positioning points will be referred to as network point navigation routes) planned for the navigated object may also be different. For example, the number of network point navigation routes planned for the navigated object may generally be 2 or 3, and the navigated object may navigate according to any one of the network point navigation routes.

[0032] When the navigated object is navigating along the network point navigation route, the navigation device can calculate the network positioning point based on the scanned wifi, base station and other information. Since the scanned wifi, base station and other information are constantly updated, the calculated network positioning point is also constantly updated. Based on this, in the embodiment of the present application, the current network positioning point is used to describe the network positioning point calculated based on the currently scanned wifi, base station and other information, and the current location of the navigated object can be determined based on the current network positioning point. Of course, the network positioning point before the current network positioning point can be called a historical network positioning point.

[0033] Step S120: judging whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning point and the navigation route, or the matching relationship between the network positioning points.

[0034] In an embodiment of the present application, in order to accurately determine whether the navigated object has currently deviated from the navigation route, that is, deviated, it can be determined based on the matching relationship between network positioning points, such as based on the matching relationship between the current network positioning point and the historical network positioning point to determine whether the navigated object has deviated; or, it can be determined based on the matching relationship between the network positioning point and the network point navigation route to determine whether the navigated object has deviated.

[0035] The navigation method of the embodiment of the present application, in the scenario where navigation guidance is required based on the network positioning point, will judge whether the navigated object deviates from the navigation route based on the matching relationship between the network positioning point and the pre-planned navigation route, or the matching relationship between the network positioning points. In the scheme of the embodiment of the present application, the navigation route pre-set for the navigated object can include multiple navigation routes determined based on the network positioning point. Compared with the situation in which the vehicle logo used to indicate the position of the navigated object on the navigation interface will be stuck (unmoved) once the navigated object has a certain distance relative to the current route in the traditional scheme, the scheme of the embodiment of the present application can obtain a relatively accurate conclusion on whether the navigated object deviates based on the relevant data of the navigated object. Furthermore, in the case where the navigated object can be accurately judged to deviate, a new navigation route based on the network positioning point can be re-planned for the navigated object in the future, the vehicle logo can be positioned in the new navigation route and the corresponding navigation information can be updated to provide the navigated object with an effective navigation route and navigation guidance, and enhance the experience of the navigated object using the application software with the navigation function.

[0036] See also Figure 2 , Figure 2 Schematic diagram of the application scenario of the navigation method in the embodiment of the present application. Figure 2 , the above process is illustrated by way of example.

[0037] When the object being navigated is navigating through the navigation application, there may be a loss of GPS signal. In this case, the navigation application can provide navigation services for the object being navigated based on the network positioning points. According to the navigation starting point and navigation end point input by the object being navigated, multiple network point navigation routes (such as route 1, route 2 and route 3) can be planned for the object being navigated for selection.

[0038] Assuming that the navigated object selects Route 1 and drives along Route 1, Route 1 is the current network point navigation route. During the driving process of the navigated object, there may be wifi, base stations, etc. on the route. The mobile terminal can scan the wifi and base stations, and calculate the network positioning point based on the scanned wifi and base stations. The network positioning point can usually be a point outside Route 1. Based on the network positioning point and Route 1, the current location of the navigated object can be determined, and the car logo can be displayed at this location.

[0039] It is understandable that the navigated object may deviate due to various reasons during the driving process. In order to accurately determine whether the navigated object has indeed deviated, the matching relationship between network positioning points can be used, such as the relationship between the current network positioning point and the historical network positioning point to make a deviation judgment; or the matching relationship between the network positioning point and the network point navigation route can be used to make a deviation judgment, etc. In this way, more scenarios can be covered as much as possible, the accuracy of deviation judgment can be improved, and a basis can be provided for the rules and navigation guidance of subsequent navigation routes.

[0040] See also Figure 3 , Figure 3 A flowchart of a navigation method in an embodiment of the present application may include the following steps:

[0041] Step S310, in the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, a network positioning point of the navigated object is obtained.

[0042] It should be noted that this step is Figure 1 Step S110 in the embodiment is the same, see Figure 1 The description in the embodiments is sufficient and will not be repeated here.

[0043] Step S320, obtaining a deviation judgment result according to the network positioning point and / or the navigation route and the i-th strategy among the multiple deviation judgment strategies.

[0044] For ease of explanation, in this embodiment, the deviation judgment strategy is divided into multiple types, including: a first strategy for judging based on the matching relationship between network positioning points, for example, it can be implemented as: judging the deviation based on the position relationship between the current network positioning point and the historical network positioning point. The deviation judgment based on the matching relationship between the network positioning point and the navigation route is divided into: a second strategy for judging the deviation based on the distance between the network positioning point and the corresponding matching point on the navigation route; a third strategy for judging the deviation based on the distance between the network positioning point and the corresponding matching point on the navigation route, and the credibility distance of the network positioning point; a fourth strategy for judging the deviation based on the distance between the current network positioning point and the historical network positioning point and the corresponding matching point on the navigation route; a fifth strategy for judging the deviation based on the distance between the current network positioning point and the corresponding matching point in the navigation route, and the type of the current network positioning point and the type of the historical network positioning point.

[0045] Among them, the network positioning point includes the current network positioning point and the historical network positioning point, which are points calculated based on the scanned wifi, base station and other information; the matching point is determined based on the projection point of the network positioning point on the navigation route, which can be the projection point of the network positioning point on the navigation route, or other points near the projection point, etc., which can be determined according to the actual situation of the navigation route; the credibility distance of the network positioning point represents the maximum distance between the network positioning point and the corresponding matching point. The smaller the credibility distance, the smaller the maximum distance between the network positioning point and the corresponding matching point; the larger the credibility distance, the larger the maximum distance between the network positioning point and the corresponding matching point. The type of network positioning point can characterize the accuracy level of the network positioning point. Using different positioning algorithms, the accuracy of the obtained network positioning point is usually different. Therefore, the network positioning points can be divided into different accuracy levels according to the accuracy of the network positioning points. In this way, the present application can give priority to using higher-precision network positioning points for deviation judgment to improve the accuracy of deviation judgment.

[0046] In an optional implementation, multiple yaw judgment strategies can be pre-ordered, and then according to the network positioning point and the navigation route, according to the priority of the multiple yaw judgment strategies, it is determined whether the navigated object is currently yawed. In an optional scheme, the priorities from high to low can be: first strategy, second strategy, third strategy, fourth strategy, fifth strategy. However, it is not limited to this. In practical applications, those skilled in the art can appropriately set the priority order according to actual needs. Of course, it is also possible to select only some of the strategies for use, or to add additional strategies based on these strategies for combined use, all within the scope of protection of this application. Based on this, the initial value of i can be set to 1, and then incremented in sequence until the last strategy.

[0047] like Figure 3As shown, the yaw judgment can be performed first through the first strategy. If the yaw judgment result is that the navigated object is yawed, step S330 is executed; or, if the yaw judgment result is that the navigated object is not yawed, step S340 is executed. It should be noted that the yaw judgment in the embodiment of the present application, the yaw judgment result obtained based on each yaw judgment strategy can also be other situations, that is, it is impossible to determine whether the navigated object is yawed. At this time, it can be determined whether the yaw judgment strategy currently used is the last one, that is, step S350 is executed. If the yaw judgment strategy currently used is not the last one, step S360 is executed, that is, the yaw judgment is continued through the next yaw judgment strategy; if the yaw judgment strategy currently used is the last one, the process ends.

[0048] Step S330: determine whether the navigated object is off course, and then end this determination process.

[0049] Step S340: determine that the navigated object has not deviated, and end this determination process.

[0050] It should be noted that, in this example, the process ends when the navigation object is determined to be yawed or not yawed, but in some cases, the accuracy of the previous judgment can be ensured by re-judgment, and in this case, further judgment can be made based on other yaw judgment strategies. For example, when two (or more) consecutive judgments are both yawed or not yawed, the judgment result is determined.

[0051] Step S350, determining whether the value of the yaw determination strategy i is equal to Z.

[0052] Wherein, i represents the serial number of the yaw judgment strategy, and the initial value is 1, corresponding to the first strategy; Z represents the total number of yaw judgment strategies. For example, the yaw judgment strategies of the embodiment of the present application include: the first strategy, the second strategy, the third strategy, the fourth strategy, and the fifth strategy, a total of five strategies. Accordingly, the value of Z is 5, and i will be assigned 1, 2, 3, 4, and 5 in sequence.

[0053] In step S360, the value of i is increased by 1. Then the process returns to step S320 for execution.

[0054] Through the above method, the yaw judgment process of the present application can be executed in sequence by multiple yaw judgment strategies, so that it can be judged in multiple different dimensions whether the navigated object is currently yawed, so as to improve the accuracy of the yaw judgment. For example, if the yaw judgment result obtained according to the first strategy is other situations, that is, it cannot be judged whether the navigated object is currently yawed, the second strategy can be used to continue the judgment. If the second strategy cannot determine whether the navigated object is currently yawed, the third strategy can be used to continue the judgment, and so on, to finally determine whether the navigated object is yawed. It should be noted that the following situation may also exist: it is impossible to determine whether the navigated object is currently yawed through the last strategy mentioned above. At this time, the next network positioning point can also be obtained, and the above process can be continued through the next network positioning point to determine whether the navigated object is yawed.

[0055] The following is a detailed introduction to the method of performing yaw judgment based on the above yaw judgment strategy.

[0056] See also Figure 4 , Figure 4 A flowchart of performing yaw judgment based on the first strategy in an embodiment of the present application may include the following steps:

[0057] Step S410, in the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, obtaining the current network location point and the historical network location point of the navigated object.

[0058] In specific implementation, it may include: obtaining the current network positioning point; and obtaining the historical network positioning point whose time difference with the positioning time of the current network positioning point is within a set time period. The number of historical network positioning points may be one or more.

[0059] Among them, the set time length can be appropriately set by those skilled in the art according to actual needs. It is understandable that the shorter the set time length, the more referenceable the historical network positioning points are, but if the set time length is too short, repeated network positioning points may not be filtered, and if the set time length is too long, the navigated object may have been driving on a nearby road. Therefore, the set time length can be set to a more moderate value, such as 1 minute. Of course, the set time length can also be set to other appropriate values, which are not limited here.

[0060] Step S420, determining whether the position of the current network positioning point matches the position of the historical network positioning point, and if at least one position matches, determining that the navigated object has not deviated from the navigation route.

[0061] In this embodiment, based on the first strategy, the matching relationship between network positioning points is used to determine whether the navigated object is off course. Specifically, in this embodiment, the position of the current network positioning point of the navigated object is compared with the position of the historical network positioning point. If at least one position is the same, it can be determined that the navigated object is not off course. Of course, the "same" can also be understood as being within a fairly close position range, that is, the position difference is quite small, such as within 0.1M or 0.2M, etc., and does not mean that they must be completely equal.

[0062] It should be noted that if the position of the current network positioning point is the same as the position of the historical network positioning point, it indicates that the navigated object may not be moving forward. If the position of the current network positioning point is the same as the position of the previous or previous two historical network positioning points, it indicates that the navigated object is not moving at present. If the position of the current network positioning point is different from the position of the previous historical network positioning point, but the same as the position of the previous historical network positioning point, it indicates that the navigated object may have retreated at present. The above situations all indicate that the navigated object is still on the navigation route of the current network point, that is, the navigated object is not deviating at present.

[0063] If the current network positioning point is different from the historical network positioning point, the navigated object may have deviated.

[0064] Of course, in order to further confirm the judgment and ensure the accuracy of the judgment, the yaw judgment can be continued according to other yaw judgment strategies.

[0065] The judgment method based on the relationship between network positioning points can not only make effective deviation judgments, but also is relatively simple to implement and has low implementation costs.

[0066] See also Figure 5 , Figure 5 A flowchart of performing yaw judgment based on the second strategy in an embodiment of the present application may include the following steps:

[0067] Step S510, in the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, a network positioning point of the navigated object is obtained.

[0068] When the deviation judgment is performed based on the second strategy, the current network positioning point of the navigated object may be mainly obtained.

[0069] Step S520, obtaining a matching point of the current network positioning point on the navigation route; judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route.

[0070] In the second strategy of performing deviation judgment according to the distance between the network positioning point and the matching point on the navigation route, the number of the navigation routes includes multiple.

[0071] In a feasible manner, the multiple navigation routes include a main navigation route (network point navigation route) and at least one alternative navigation route (network point navigation route), and the main navigation route is the navigation route currently used by the navigated object. Then, according to the distance between the current network positioning point and the corresponding matching point on the navigation route, judging whether the navigated object deviates from the navigation route includes: obtaining the main distance between the current network positioning point and the matching point on the main navigation route; obtaining the alternative distance between the current network positioning point and the matching point on the alternative navigation route; if all the alternative distances are greater than the main distance, and the alternative distances are greater than the preset first distance threshold, it is determined that the navigated object has not deviated relative to the main navigation route; otherwise, it is determined that the navigated object has deviated relative to the main navigation route. Among them, the first distance threshold can be appropriately set by those skilled in the art according to actual conditions, so as to effectively distinguish whether the distance of the navigated object relative to a certain navigation route is sufficient to indicate its deviation. In this way, it can be effectively determined whether the navigated object has deviated relative to the main navigation route.

[0072] However, in some cases, the navigated object may have deviated from a certain network point navigation route, and may have been re-regulated and entered another network point navigation route, but it may still deviate again relative to the newly entered network point navigation route. To this end, in another feasible manner, judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route may include: obtaining the distance between the current network positioning point and the corresponding matching points on the navigation route, and obtaining multiple distances; taking the navigation route corresponding to the maximum distance among the multiple distances as the target network point navigation route; and determining that the navigated object deviates from the target navigation route. In this way, the navigation route can be replanned for the navigated object that deviates again, and based on this, the alternative navigation route can be updated. Of course, the target network point navigation route can also be the main route, and this method can also achieve the effect of determining whether the navigated object deviates from the main navigation route.

[0073] For example, assuming that the network point navigation route includes: Route 1, Route 2 and Route 3, if Route 1 is the main route, and Route 2 and Route 3 are alternative routes, if the distance between the current network positioning point and the matching point of Route 1 is the largest, it can be determined that the navigated object has deviated from the main route; if the distance between the current network positioning point and the matching point of Route 2 or 3 is the largest, it can be determined that the navigated object has deviated from the alternative route. Of course, in addition to comparing multiple distances, multiple distances can also be compared with a preset distance (such as 100 meters, etc.). If it is greater than the preset distance, it can be determined that the navigated object has deviated from the route.

[0074] It can be seen that through the above method, the present application can determine the deviation of the navigation route of the navigated object for different network points.

[0075] See also Figure 6 , Figure 6 A flowchart of performing yaw judgment based on the third strategy in an embodiment of the present application may include the following steps:

[0076] Step S610, in the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, a network positioning point of the navigated object is obtained.

[0077] When the deviation judgment is performed based on the third strategy, the current network positioning point of the navigated object can be mainly obtained.

[0078] Step S620, obtaining a matching point of the current network positioning point on the navigation route; judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route and the credibility distance of the current network positioning point.

[0079] During implementation, the matching point of the current network positioning point on the navigation route can be obtained, and the credibility distance of the current network positioning point can be obtained, wherein the credibility distance is determined according to the accuracy radius of the current network positioning point; the distance between the current network positioning point and the matching point on the navigation route is obtained; if the distance is greater than the credibility distance of the current network positioning point, it is determined that the navigated object has deviated.

[0080] The credibility distance represents the maximum distance between the current network positioning point and the corresponding matching point. If the distance between the current network positioning point and its corresponding matching point in the network point navigation route is greater than the credibility distance of the current network positioning point, it means that the navigated object is currently off course.

[0081] In an optional implementation, the method for determining the credibility distance may be: if the accuracy radius of the current network positioning point is less than or equal to the first accuracy radius a (e.g., 200 meters, etc.), the first preset credibility distance A (e.g., 200 meters) is used as the credibility distance of the current network positioning point. If the accuracy radius of the current network positioning point is greater than the first accuracy radius and less than or equal to the second accuracy radius b (e.g., 2000 meters, etc.), the credibility distance of the current network positioning point is determined according to a preset algorithm. If the accuracy radius of the current network positioning point is greater than the second accuracy radius, the second preset credibility distance B (e.g., 500 meters) is used as the credibility distance of the current network positioning point, wherein the second credibility distance is greater than the first credibility distance.

[0082] Among them, an optional preset algorithm can be expressed as the following formula: Accordingly, the credibility distance can be expressed as:

[0083]

[0084] Wherein, d represents the accuracy radius of the current network positioning point. The smaller the accuracy radius, the more accurate the location of the current network positioning point. f(d) represents the credibility distance. A represents the first preset credibility distance, and B represents the second preset credibility distance. For example, when the value of a is 200, the value of b is 2000, the value of A is 200, and the value of B is 500, the curve of the credibility distance changing with the accuracy radius can be seen in Figure 7 It can be seen that the credibility distance is within a limited range and will not be too large or too small with the change of the precision radius, thus improving the accuracy of the yaw judgment.

[0085] See also Figure 8 , Figure 8 A flowchart of performing yaw judgment based on the fourth strategy in an embodiment of the present application may include the following steps:

[0086] Step S810, in the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, obtaining the network location point of the navigated object.

[0087] When the deviation judgment is performed according to the fourth strategy, the current network positioning point can be obtained, and the historical network positioning point whose time difference with the positioning time of the current network positioning point is within the set time period can be obtained. The set time period can be appropriately set by those skilled in the art according to actual needs, for example, it can be 1 minute.

[0088] Step S820, obtaining matching points of the current network point and the historical network point on the navigation route; judging whether the navigated object deviates from the navigation route according to the distances between the current network positioning point and the historical network positioning point and the corresponding matching points on the navigation route.

[0089] In an embodiment of the present application, if the distance between the current network positioning point and its corresponding matching point in the network point navigation route is large, for example, greater than a first distance threshold (which may be 50 meters, etc.), it indicates that the navigated object may currently be deviating. Therefore, the deviation judgment can be further performed in combination with the historical network positioning points.

[0090] In a feasible manner, judging whether the navigated object deviates from the navigation route according to the distances between the current network positioning point and the historical network positioning point and the corresponding matching points on the navigation route respectively can be implemented as follows: obtaining the distance between the current network positioning point and the corresponding matching point on the navigation route; if the distance is greater than a first distance threshold, determining a historical network positioning point sequence according to the time sequence of multiple historical network positioning points; determining the distance between each historical network positioning point in the historical network positioning point sequence and the corresponding matching point on the navigation route to obtain a distance sequence; if the number of distances greater than the first distance threshold in the distance sequence is greater than a first preset number, and the distance values ​​increase successively, determining that the navigated object deviates. Wherein, both the first distance threshold and the first preset number can be appropriately set by those skilled in the art according to actual conditions.

[0091] In a feasible manner, determining the sequence of historical network positioning points according to the time sequence of multiple historical network positioning points may include: determining the distance between each historical network positioning point in the multiple historical network positioning points and the corresponding matching point in the navigation route; determining the distance greater than a first distance threshold and the corresponding historical network positioning point from the distances corresponding to the multiple historical network positioning points; and determining the sequence of historical network positioning points according to the time sequence of the determined historical network positioning points greater than the first distance threshold. The historical network positioning point sequence thus obtained can better represent the historical positioning data and situation of the navigated object.

[0092] Based on this, as mentioned above, when the distance between the current network positioning point and its corresponding matching point in the network point navigation route is greater than the first distance threshold, it indicates that the navigated object may be currently deviating, and the deviation judgment can be further combined with the historical network positioning point. For each historical network positioning point, the distance between the historical network positioning point and its corresponding matching point in the network point navigation route can be determined. The distances corresponding to the historical network positioning point sequence are sorted in chronological order to form a distance sequence.

[0093] If more distances in the distance sequence are greater than the first distance threshold (for example, 50 meters, etc.), it means that the historical network positioning point is far from the network point navigation route, and the navigated object may not be traveling on the network point navigation route. Further, if multiple distances greater than the first distance threshold increase in sequence, it means that the navigated object is currently getting farther and farther from the network point navigation route, and it can be determined that the navigated object is currently deviating. Among them, the first preset number can be set according to actual conditions, for example, it can be 4, 5 or 6, etc.

[0094] It can be seen that this embodiment performs deviation judgment based on the distance between the current network positioning point and its corresponding matching point in the network point navigation route, as well as the distance between the historical network positioning point and its corresponding matching point in the network point navigation route, that is, the deviation judgment can be performed based on the dimension of the network positioning point sequence to improve the accuracy of the deviation judgment.

[0095] See also Fig. 9 , Fig. 9 This is a flow chart of deviation judgment based on the fifth strategy in the embodiment of the present application. It should be noted that the fifth strategy includes multiple sub-judgment rules, but the multiple sub-judgment rules are all based on the distance between the current network positioning point and the corresponding matching point in the navigation route, as well as the type of the current network positioning point and the type of the historical network positioning point for deviation judgment. In this embodiment, one of the sub-judgment rules is first described, and the deviation judgment based on the sub-judgment rule may include the following steps:

[0096] Step S910, in the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, a network positioning point of the navigated object is obtained.

[0097] In this embodiment, the current network positioning point can be obtained, and the historical network positioning point whose time difference with the positioning time of the current network positioning point is within a set time period can be obtained. The set time period can be appropriately set by those skilled in the art according to actual needs, for example, it can be 1 minute.

[0098] Step S920, judging whether the navigated object deviates from the navigation route according to the first sub-judgment rule based on the distance between the current network positioning point and the corresponding matching point on the navigation route, and the type of the current network positioning point and the type of the historical network positioning point.

[0099] Among them, judging whether the navigated object deviates from the navigation route according to the first sub-judgment rule can be implemented as follows: if the type of the current network positioning point is the target type, determining the distance between the current network positioning point and the corresponding matching point on the navigation route; if the distance is greater than the second distance threshold, determining the distance between the historical network positioning point and the corresponding matching point on the navigation route to obtain multiple distances; if the number of historical network positioning points of the target type among the historical network positioning points corresponding to the distance greater than the second distance threshold among the multiple distances is greater than the second preset number, then determining that the navigated object deviates. Among them, the second distance threshold and the second preset number can be appropriately set by those skilled in the art according to actual needs.

[0100] Among them, the target type can be set by those skilled in the art according to actual needs, but in order to improve the accuracy of yaw judgment, the target type can be a network positioning point type with higher positioning accuracy, for example, it can be a network positioning point determined based on the LM algorithm. As mentioned above, the accuracy radius corresponding to different network positioning points can be different, and the network positioning points can be classified according to the accuracy of the network positioning points. The accuracy radius of the network point obtained by the positioning algorithm corresponding to the target type is less than the accuracy radius threshold (for example, it can be 5 meters, 10 meters, etc.). That is, the accuracy of the network positioning point of the target type is higher. In addition, since the coverage range of wifi is small and the coverage range of the base station is large, the network positioning point calculated based on the wifi information is higher in accuracy than the network positioning point calculated based on the base station information. Use network positioning points with higher accuracy to improve the accuracy of yaw judgment.

[0101] and Figure 8 Similar to the embodiment, if the distance between the current network positioning point with higher accuracy and its corresponding matching point in the network point navigation route is large, for example, greater than a second distance threshold (which may be 50 meters, etc.), it indicates that the navigated object may currently deviate. Therefore, the deviation judgment can be further performed in combination with the historical network positioning points.

[0102] For each historical network positioning point, the distance between the historical network positioning point and its corresponding matching point in the network point navigation route can be determined, so that multiple distances can be obtained.

[0103] If the number of target-type historical network positioning points corresponding to the distances greater than the second distance threshold among the multiple distances is greater than a second preset number, it is determined that the navigated object is currently yawed.

[0104] In this embodiment, if there are a second preset number (for example, 4, 5 or 6) of historical network positioning points, and the distance corresponding to the second preset number of historical network positioning points is greater than the second distance threshold (for example, 50 meters), it means that the historical network positioning point is far from the network point navigation route, and the navigated object may not be traveling on the network point navigation route. Further, if the type of the second preset number of historical network positioning points is a target type, it means that the accuracy of the historical network positioning point is relatively high, that is, it is determined through the network positioning point with relatively high accuracy that the navigated object may not be currently traveling on the network point navigation route, so that it can be determined that the navigated object is currently deviating.

[0105] It can be seen that the present application can improve the accuracy of yaw judgment by using network positioning points with higher precision for yaw judgment.

[0106] See also Fig.10 , Fig.10 This is another flow chart of performing deviation judgment based on the fifth strategy in the embodiment of the present application. In this embodiment, another sub-judgment rule in the fifth strategy is described. The deviation judgment based on the sub-judgment rule may include the following steps:

[0107] Step S1010, in the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, obtaining the network positioning point of the navigated object.

[0108] In this embodiment, the current network positioning point can be obtained; and the historical network positioning point whose time difference with the positioning time of the current network positioning point is within the set time length can be obtained. The set time length is the time length corresponding to the effective time range of the network positioning signal, that is, the time range of using the network positioning point, which can be, for example, 90 seconds, 2 minutes, etc.

[0109] Step S1020, judging whether the navigated object deviates from the navigation route according to the second sub-judgment rule based on the distance between the current network positioning point and the corresponding matching point on the navigation route, and the type of the current network positioning point and the type of the historical network positioning point.

[0110] Among them, judging whether the navigated object deviates from the navigation route according to the second sub-judgment rule can be implemented as follows: if the type of M consecutive historical network positioning points among multiple historical network positioning points is the target type, determining the distances between the M historical network positioning points and the corresponding matching points on the current navigation route, and obtaining M first distances, where M is an integer greater than 1; determining the distances between the M historical network positioning points and the corresponding matching points on other navigation routes except the current navigation route, and obtaining M second distances; and determining whether the navigated object deviates from the current navigation route based on the M first distances and the M second distances.

[0111] In the embodiment of the present application, if the type of M consecutive historical network positioning points among multiple historical network positioning points is the target type, it means that the accuracy of the M consecutive historical network positioning points is relatively high. At this time, the deviation judgment can be performed based on the M historical network positioning points with relatively high accuracy. Figure 5 Similar to the method shown, a comprehensive judgment can be made based on multiple network point navigation routes to determine whether the navigated object is currently off course. That is, the off course judgment can be made based on the distance between the historical network positioning point and its corresponding matching point in each network point navigation route.

[0112] Among them, the first distance represents the distance between the historical network positioning point and its corresponding matching point in the current network point navigation route, and the second distance represents the distance between the historical network positioning point and its corresponding matching point in other network point navigation routes. It can be understood that the smaller the first distance and the second distance are, the smaller the possibility of the navigated object deviating, and the larger the first distance and the second distance are, the greater the possibility of the navigated object deviating. Here, the first distance and the second distance can be compared. If the first distance is larger and the second distance is smaller, it can be determined that the navigated object deviates from the current network point navigation route.

[0113] In an optional implementation, if the M first distances are all greater than N times the corresponding second distances, it can be determined that the first distance is larger and the second distance is smaller. Alternatively, if the M first distances are all greater than N times the corresponding second distances, and the first distance is greater than a preset minimum distance, it can be determined that the first distance is larger and the second distance is smaller. Wherein N is an integer greater than 2.

[0114] In another optional implementation, if the M first distances are all greater than the third distance threshold (e.g., 100 meters, 120 meters, etc.), and the M second distances are all less than the fourth distance threshold (e.g., 10 meters, 15 meters, etc.), it can also be determined that the first distance is larger and the second distance is smaller. Then it is determined that the navigated object deviates from the navigation route of the current network point, wherein the third distance threshold is greater than the fourth distance threshold.

[0115] It can be seen that the present application can improve the accuracy of deviation judgment by using network positioning points with higher precision and combining multiple network point navigation routes for deviation judgment.

[0116] See also Fig.11 , Fig.11 This is another flow chart of performing yaw judgment based on the fifth strategy in an embodiment of the present application. In this embodiment, another sub-judgment rule in the fifth strategy is described. The yaw judgment based on the sub-judgment rule may include the following steps:

[0117] Step S1110, in the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, obtaining the network positioning point of the navigated object.

[0118] In this embodiment, the current network positioning point can be obtained; and the historical network positioning point whose time difference with the positioning time of the current network positioning point is within the set time length can be obtained. The set time length is the time length corresponding to the effective time range of the network positioning signal, that is, the time range of using the network positioning point, which can be, for example, 90 seconds, 2 minutes, etc.

[0119] Step S1020, judging whether the navigated object deviates from the navigation route according to a third sub-judgment rule based on the distance between the current network positioning point and the corresponding matching point on the navigation route, and the type of the current network positioning point and the type of the historical network positioning point.

[0120] Among them, judging whether the navigated object deviates from the navigation route according to the third sub-judgment rule can be implemented as follows: if multiple historical network positioning points include historical network positioning points of a preset type, determining the distance between the historical network positioning points of the preset type and the matching points of the navigation route, wherein the historical network positioning points of the preset type are positioning points determined by one or more positioning algorithms, and the algorithm accuracy of the positioning algorithms meets the set standards; if the distance is greater than the fifth distance threshold, and there are S consecutive historical network positioning points of the preset type, and the correlation coefficient between the S target historical network positioning points is greater than or equal to the preset correlation value, then it is determined that the navigated object has deviated, wherein S is an integer greater than 1.

[0121] In the embodiment of the present application, the preset type may include one or more types, each type may correspond to a different positioning algorithm, and of course, the preset type may also include the aforementioned target type. In this way, the present application can perform deviation judgment based on more types of network positioning points.

[0122] Assume that the preset types include three types, the aforementioned target type, the first type and the second type, and the accuracy decreases in sequence. If the historical network positioning point is any of the above types, the historical network positioning point can be selected for deviation judgment.

[0123] Usually, the number of selected historical network positioning points can be multiple, and the distance between each historical network positioning point and its matching point in the network point navigation route is calculated. The larger the distance, the more likely the navigated object is to deviate.

[0124] If the above distance is greater than the fifth distance threshold (for example, it may be 150, etc.), it indicates that the navigated object may have deviated. Further, if there are S consecutive historical network positioning points, the correlation coefficient between the S historical network positioning points may be calculated, for example, the Pearson correlation coefficient between the S historical network positioning points may be calculated. If the correlation coefficient between the S historical network positioning points is greater than or equal to a preset correlation value (for example, it may be 0.8, 0.9, etc.), it indicates that the S historical network positioning points have a high correlation. It is understandable that if the distance between the S historical network positioning points and their matching points in the network point navigation route is large, and the correlation between the S historical network positioning points is high, it can be determined that the navigated object has deviated.

[0125] It can be seen from the above method that the present application uses a variety of different yaw judgment strategies to determine whether the navigated object is currently yawed, which can cover most of the scenarios, thereby improving the accuracy of yaw judgment.

[0126] However, since the accuracy of network positioning points is unstable, the deviation may be tens of meters or even several kilometers. Generally speaking, there will be a time interval of about ten seconds between adjacent network positioning points sampled, during which the navigated object may move within the range of 100M-200M. If the accuracy of the sampled network positioning points is good, the position change range of the navigated object should also be within the range of 100M-200M, or near this range. However, if the position change range of the navigated object greatly exceeds this range, it means that the accuracy of the network positioning point sampled in one of the two samplings is very poor. In order to further improve the accuracy of the deviation judgment, the network positioning point needs to be filtered.

[0127] To this end, in an optional implementation, after determining that the navigated object is currently yawed, the yaw judgment result can also be corrected to reduce the possibility of misjudgment. Specifically, if it is determined that the navigated object is yawed, it is further determined whether the distance between the current network positioning point and the previous adjacent historical network positioning point is greater than the network point jump distance (for example, 350 meters, 400 meters, etc.), or it is determined whether the angle between the line between the current network positioning point and the previous adjacent historical network positioning point and the network point navigation route is greater than the signal movement angle (for example, 60°, 70°, etc.). If the judgment result is yes, it means that there are network positioning points with poor accuracy, which makes the network positioning point jump too much, and the network positioning point jump may occur. At this time, it can be determined that the current network positioning point is a jump network point, and it is determined that the navigated object is not currently yawed. Subsequently, it can be judged based on one or more of the aforementioned judgment strategies to obtain accurate results, thereby improving the accuracy of the yaw judgment.

[0128] The navigation method of this embodiment can be executed by any appropriate electronic device with data processing capability, including but not limited to: a server, a mobile terminal (such as a mobile phone, a PAD, etc.) and a PC, etc.

[0129] Corresponding to the above method embodiment, the present application embodiment also provides a navigation device, which is applied to the network point navigation scenario, see Fig.12 , the navigation device includes:

[0130] The data acquisition module 1210 is used to obtain the network positioning point of the navigated object during the process of navigation guidance based on the navigation route pre-planned for the navigated object; the deviation judgment module 1220 is used to judge whether the navigated object deviates from the navigation route based on the matching relationship between the network positioning point and the navigation route, or the matching relationship between the network positioning points.

[0131] In an optional implementation, the data acquisition module 1210 is used to acquire the current network positioning point during navigation guidance based on a navigation route pre-planned for the navigated object; and acquire historical network positioning points whose time difference with the positioning time of the current network positioning point is within a set time length.

[0132] In an optional implementation, the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning points, including: judging whether the position of the current network positioning point matches the position of the historical network positioning point; if at least one position matches, determining that the navigated object has not deviated from the navigation route.

[0133] In an optional implementation, the network positioning point includes a current network positioning point, and the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning point and the navigation route, including: obtaining the matching point of the current network positioning point on the navigation route; and judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route.

[0134] In an optional embodiment, the navigation route includes a main navigation route and at least one alternative navigation route, the main navigation route being the navigation route currently used by the navigated object; the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, including: obtaining the main distance between the current network positioning point and the matching point on the main navigation route; obtaining the alternative distance between the current network positioning point and the matching point on the alternative navigation route; if all the alternative distances are greater than the main distance, and the alternative distances are greater than a preset first distance threshold, it is determined that the navigated object has not deviated relative to the main navigation route; otherwise, it is determined that the navigated object has deviated relative to the main navigation route.

[0135] In an optional embodiment, the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route based on the distance between the current network positioning point and the corresponding matching point on the navigation route, including: obtaining the distance between the current network positioning point and the corresponding matching points on the navigation route to obtain multiple distances; taking the navigation route corresponding to the maximum distance among the multiple distances as the target network point navigation route; and determining that the navigated object has deviated from the target navigation route.

[0136] In an optional implementation, the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, including: obtaining a credibility distance of the current network positioning point, wherein the credibility distance is determined according to the accuracy radius of the current network positioning point; obtaining the distance between the current network positioning point and the matching point on the navigation route; if the distance is greater than the credibility distance of the current network positioning point, determining that the navigated object has deviated.

[0137] In an optional embodiment, the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning point and the navigation route, including: obtaining the matching points of the current network point and the historical network point on the navigation route; judging whether the navigated object deviates from the navigation route according to the distances between the current network positioning point and the historical network positioning point and the corresponding matching points on the navigation route.

[0138] In an optional implementation, the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route according to the distances between the current network positioning point and the historical network positioning point and the corresponding matching points on the navigation route respectively, including: obtaining the distance between the current network positioning point and the corresponding matching point on the navigation route; if the distance is greater than a first distance threshold, determining a historical network positioning point sequence according to the time sequence of multiple historical network positioning points; determining the distance between each historical network positioning point in the historical network positioning point sequence and the corresponding matching point on the navigation route to obtain a distance sequence; if the number of distances greater than the first distance threshold in the distance sequence is greater than a first preset number, and the distance values ​​increase successively, then determining that the navigated object has deviated.

[0139] In an optional implementation, the deviation judgment module 1220 determines the sequence of historical network positioning points according to the time sequence of multiple historical network positioning points, including: determining the distance between each historical network positioning point in the multiple historical network positioning points and the corresponding matching point in the navigation route; determining the distance greater than the first distance threshold and its corresponding historical network positioning point from the distances corresponding to the multiple historical network positioning points; and determining the sequence of historical network positioning points according to the time sequence of the historical network positioning points determined to be greater than the first distance threshold.

[0140] In an optional implementation, the network positioning point includes a current network positioning point, and the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route according to the matching relationship between the network positioning point and the navigation route, including: obtaining the matching point of the current network positioning point on the navigation route; judging whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, as well as the type of the current network positioning point and the type of the historical network positioning point.

[0141] In an optional implementation, the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, as well as the type of the current network positioning point and the type of the historical network positioning point, including: if the type of the current network positioning point is a target type, determining the distance between the current network positioning point and the corresponding matching point on the navigation route; if the distance is greater than a second distance threshold, determining the distance between the historical network positioning point and the corresponding matching point on the navigation route to obtain multiple distances; if the number of historical network positioning points of the target type among the historical network positioning points corresponding to the distances greater than the second distance threshold among the multiple distances is greater than a second preset number, determining that the navigated object has deviated.

[0142] In an optional implementation, the set duration is the duration corresponding to the effective time range of the network positioning signal; the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, as well as the type of the current network positioning point and the type of the historical network positioning point, including: if the type of M consecutive historical network positioning points among multiple historical network positioning points is a target type, determining the distances between the M historical network positioning points and the corresponding matching points on the current navigation route to obtain M first distances, where M is an integer greater than 1; determining the distances between the M historical network positioning points and the corresponding matching points on other navigation routes except the current navigation route to obtain M second distances; and determining whether the navigated object deviates relative to the current navigation route according to the M first distances and the M second distances.

[0143] In an optional embodiment, the deviation judgment module 1220 determines whether the navigated object has deviated relative to the current navigation route based on M first distances and M second distances, including: if the M first distances are all greater than N times the corresponding second distances, where N is an integer greater than 2, or if the M first distances are all greater than a third distance threshold and the M second distances are all less than a fourth distance threshold, then it is determined that the navigated object has deviated relative to the current navigation route, where the third distance threshold is greater than the fourth distance threshold.

[0144] In an optional implementation, the set duration is the duration corresponding to the effective time range of the network positioning signal; the deviation judgment module 1220 judges whether the navigated object deviates from the navigation route according to the distance between the current network positioning point and the corresponding matching point on the navigation route, as well as the type of the current network positioning point and the type of the historical network positioning point, including: if the multiple historical network positioning points include a historical network positioning point of a preset type, determine the distance between the historical network positioning point of the preset type and the matching point of the navigation route, wherein the historical network positioning point of the preset type is a positioning point determined by one or more positioning algorithms, and the algorithm accuracy of the positioning algorithm meets the set standard; if the distance is greater than a fifth distance threshold, and there are S consecutive historical network positioning points in the historical network positioning points of the preset type, and the correlation coefficient between the S target historical network positioning points is greater than or equal to a preset correlation value, then it is determined that the navigated object deviates, wherein S is an integer greater than 1.

[0145] In an optional implementation, the navigation device of this embodiment further includes: a correction module, which is used to determine whether the distance between the current network positioning point and the previous adjacent historical network positioning point is greater than the network point jump distance if it is determined that the navigated object has deviated; or, to determine whether the angle between the line between the current network positioning point and the previous adjacent historical network positioning point and the navigation route is greater than the signal movement angle; if so, determine that the current network positioning point is a jump network point, and correct the yaw state of the navigated object to not yaw.

[0146] The navigation device of this embodiment is used to implement the corresponding navigation methods in the aforementioned multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here. In addition, the functional implementation of each module in the navigation device of this embodiment can refer to the description of the corresponding parts in the aforementioned method embodiments, which will not be repeated here.

[0147] Reference Fig.13 , Fig.13 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0148] like Fig.13 As shown, the electronic device may include: a processor (processor) 1302 , a communication interface (Communications Interface) 1304 , a memory (memory) 1306 , and a communication bus 1308 .

[0149] in:

[0150] The processor 1302 , the communication interface 1304 , and the memory 1306 communicate with each other via a communication bus 1308 .

[0151] The communication interface 1304 is used to communicate with other electronic devices or servers.

[0152] The processor 1302 is used to execute the program 1310, and specifically can execute the relevant steps in the above navigation method embodiment.

[0153] Specifically, the program 1310 may include program codes, which include computer operation instructions.

[0154] The processor 1302 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0155] The memory 1306 is used to store the program 1310. The memory 1306 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0156] The specific implementation of each step in program 1310 can refer to the corresponding description of the corresponding steps and units in the above navigation method embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the above-mentioned method embodiment, which will not be repeated here.

[0157] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0158] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor or programmable or dedicated hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the navigation method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the navigation method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the navigation method shown herein.

[0159] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present application.

[0160] The above implementation methods are only used to illustrate the embodiments of the present application, and are not limitations on the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The scope of patent protection of the embodiments of the present application should be limited by the claims.

Claims

1. A navigation method, wherein: The method comprises: In the process of performing navigation guidance based on a navigation route pre-planned for a navigated object, obtaining a current network location point of the navigated object, the navigation route comprising a main navigation route and at least one alternative navigation route, the main navigation route being the navigation route currently used by the navigated object; Obtaining the main distance between the current network positioning point and the matching point on the main navigation route; Obtaining an alternative distance between the current network positioning point and a matching point on the alternative navigation route; If all the candidate distances are greater than the main distance, and the candidate distances are greater than a preset first distance threshold, it is determined that the navigated object has not deviated from the main navigation route; Otherwise, it is determined that the navigated object deviates relative to the main navigation route.

2. A navigation method, wherein: The method comprises: In the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, obtaining the current network location point of the navigated object; Obtaining the distances between the current network positioning point and the corresponding matching points on the navigation route to obtain multiple distances; The navigation route corresponding to the maximum distance among the multiple distances is used as the target navigation route; Determine whether the navigated object deviates from the target navigation route.

3. A navigation method, wherein: The method comprises: In the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, obtaining the current network location point of the navigated object; Obtain the credibility distance of the current network positioning point, wherein the credibility distance is expressed as: Wherein, d represents the accuracy radius of the current network positioning point, f(d) represents the credibility distance, a represents the first accuracy radius, b represents the second accuracy radius, A represents the first preset credibility distance, and B represents the second preset credibility distance; Obtaining the distance between the current network positioning point and the matching point on the navigation route; If the distance is greater than the credibility distance of the current network positioning point, it is determined that the navigated object has deviated.

4. A navigation method, wherein: The method comprises: In the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, a current network positioning point of the navigated object and a historical network positioning point whose time difference with the positioning time of the current network positioning point is within a set time length are obtained; Get the matching points of the current network point and the historical network point on the navigation route; Obtaining the distance between the current network positioning point and the corresponding matching point on the navigation route; If the distance is greater than a first distance threshold, determining a sequence of historical network location points according to a time sequence of a plurality of historical network location points; Determine the distance between each historical network positioning point in the historical network positioning point sequence and the corresponding matching point on the navigation route to obtain a distance sequence; If the number of distances in the distance sequence that are greater than the first distance threshold is greater than a first preset number, and the distance values ​​increase in sequence, it is determined that the navigated object is yawed.

5. The method according to claim 4, wherein: The historical network positioning point sequence is determined according to the time sequence of multiple historical network positioning points, including: Determine a distance between each of the plurality of historical network positioning points and a corresponding matching point in the navigation route; Determine, from the distances corresponding to the plurality of historical network location points, a distance greater than the first distance threshold and its corresponding historical network location point; A historical network location point sequence is determined according to the time sequence of the historical network location points that are determined to be greater than the first distance threshold.

6. The method according to claim 4, wherein: The method further comprises: If it is determined that the navigated object has deviated, determining whether the distance between the current network positioning point and a previous adjacent historical network positioning point is greater than a network point jump distance; Alternatively, determining whether the angle between the line connecting the current network location point and the previous adjacent historical network location point and the navigation route is greater than the signal movement angle; If so, the current network positioning point is determined to be a jump network point, and the yaw state of the navigated object is corrected to be non-yawed.

7. A navigation method, wherein: The method comprises: In the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, a current network positioning point of the navigated object and a historical network positioning point whose time difference with the positioning time of the current network positioning point is within a set time length are obtained; Obtaining a matching point of the current network positioning point on the navigation route; If the type of the current network positioning point is a target type, determining the distance between the current network positioning point and a corresponding matching point on the navigation route; If the distance is greater than a second distance threshold, determining the distance between the historical network positioning point and the corresponding matching point on the navigation route to obtain a plurality of distances; If the number of historical network positioning points of the target type among the historical network positioning points corresponding to the distances greater than the second distance threshold among the multiple distances is greater than a second preset number, it is determined that the navigated object has deviated.

8. The method according to claim 7, wherein: The method further comprises: If it is determined that the navigated object has deviated, determining whether the distance between the current network positioning point and a previous adjacent historical network positioning point is greater than a network point jump distance; Alternatively, determining whether the angle between the line connecting the current network location point and the previous adjacent historical network location point and the navigation route is greater than the signal movement angle; If so, the current network positioning point is determined to be a jump network point, and the yaw state of the navigated object is corrected to be non-yawed.

9. A navigation method, wherein: The method comprises: In the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, a current network positioning point of the navigated object and a historical network positioning point whose time difference with the positioning time of the current network positioning point is within a set time length are obtained, and the set time length is the time length corresponding to the effective time range of the network positioning signal; Obtaining a matching point of the current network positioning point on the navigation route; If the type of M consecutive historical network positioning points among the multiple historical network positioning points is the target type, determine the distances between the M historical network positioning points and the corresponding matching points on the current navigation route to obtain M first distances, where M is an integer greater than 1; Determine the distances between the M historical network positioning points and corresponding matching points on other navigation routes except the current navigation route to obtain M second distances; It is determined whether the navigated object deviates relative to the current navigation route according to the M first distances and the M second distances.

10. The method according to claim 9, wherein: The determining, according to the M first distances and the M second distances, whether the navigated object deviates relative to the current navigation route comprises: If M first distances are all greater than N times the corresponding second distance, where N is an integer greater than 2, or, If the M first distances are all greater than a third distance threshold and the M second distances are all less than a fourth distance threshold, it is determined that the navigated object has deviated from the current navigation route, wherein the third distance threshold is greater than the fourth distance threshold.

11. The method according to claim 9, wherein: The method further comprises: If it is determined that the navigated object has deviated, determining whether the distance between the current network positioning point and a previous adjacent historical network positioning point is greater than a network point jump distance; Alternatively, determining whether the angle between the line connecting the current network location point and the previous adjacent historical network location point and the navigation route is greater than the signal movement angle; If so, the current network positioning point is determined to be a jump network point, and the yaw state of the navigated object is corrected to be non-yawed.

12. A navigation method, wherein: The method comprises: In the process of performing navigation guidance based on the navigation route pre-planned for the navigated object, a current network positioning point of the navigated object and a historical network positioning point whose time difference with the positioning time of the current network positioning point is within a set time length are obtained, and the set time length is the time length corresponding to the effective time range of the network positioning signal; Obtaining a matching point of the current network positioning point on the navigation route; If the multiple historical network positioning points include a historical network positioning point of a preset type, determining the distance between the historical network positioning point of the preset type and the matching point of the navigation route, wherein the historical network positioning point of the preset type is a positioning point determined by one or more positioning algorithms, and the algorithm accuracy of the positioning algorithm meets the set standard; If the distance is greater than a fifth distance threshold, and there are S consecutive target historical network positioning points among the historical network positioning points of the preset type, and the correlation coefficient between the S target historical network positioning points is greater than or equal to a preset correlation value, then it is determined that the navigated object has deviated, where S is an integer greater than 1.

13. The method according to claim 12, wherein: The method further comprises: If it is determined that the navigated object has deviated, determining whether the distance between the current network positioning point and a previous adjacent historical network positioning point is greater than a network point jump distance; Alternatively, determining whether the angle between the line connecting the current network location point and the previous adjacent historical network location point and the navigation route is greater than the signal movement angle; If so, the current network positioning point is determined to be a jump network point, and the yaw state of the navigated object is corrected to be non-yawed.

14. A navigation method, wherein: The method comprises: Based on the method of any one of claims 1-4, 7, 9, and 12, determining whether the navigated object deviates from the navigation route; In the case where the method according to any one of claims 1-4, 7, 9, and 12 cannot determine whether the navigated object deviates from the navigation route, the network positioning point of the navigated object is obtained, and based on the matching relationship between the network positioning points, it is determined whether the navigated object deviates from the navigation route.

15. The method according to claim 14, wherein: The network positioning point includes a current network positioning point and a historical network positioning point, and obtaining the network positioning point of the navigated object includes: Get the current network location; Acquire historical network positioning points whose time difference with the positioning time of the current network positioning point is within a set time period.

16. The method according to claim 15, wherein: The determining, based on the matching relationship between the network positioning points, whether the navigated object deviates from the navigation route comprises: It is determined whether the position of the current network positioning point matches the position of the historical network positioning point, and if at least one position matches, it is determined that the navigated object has not deviated from the navigation route.

17. The method according to claim 15, wherein: The method further comprises: If it is determined that the navigated object has deviated according to the matching relationship between the network positioning points, determining whether the distance between the current network positioning point and its adjacent previous historical network positioning point is greater than the network point jump distance; Alternatively, determining whether the angle between the line connecting the current network location point and the previous adjacent historical network location point and the navigation route is greater than the signal movement angle; If so, the current network positioning point is determined to be a jump network point, and the yaw state of the navigated object is corrected to be non-yawed.

18. A computer recording medium, wherein the recording medium stores computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the navigation method as claimed in any one of claims 1 to 17.

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