Navigation control method and device, and storage medium

Abstract

The present disclosure relates to a navigation control method applied to a terminal, the terminal comprising a front light line sensor, a rear light line sensor and a top light line sensor arranged on the top of the terminal, the method comprising: determining that the terminal starts an outdoor navigation auxiliary function, obtaining inertial navigation data, and obtaining first light intensity data collected by the front light line sensor, second light intensity data collected by the rear light line sensor and third light intensity data collected by the top light line sensor under a target light source; determining current attitude data of the terminal, determining the direction of the target light source according to the first light intensity data, the second light intensity data, the third light intensity data and the current attitude data; and performing navigation control on the terminal according to the direction of the target light source and the inertial navigation data. Through the present disclosure, the navigation accuracy can be improved when navigation is performed based on inertial navigation data.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of terminals, and in particular, to a navigation control method and device, and a storage medium. BACKGROUND

[0002] Currently, when navigation is performed through a mobile terminal, the mobile terminal usually needs to communicate with a GPS or other satellite navigation system. However, when the mobile terminal is in a satellite navigation positioning blind area such as being blocked by a high-rise building or being in the wild, the mobile terminal cannot receive satellite navigation signals, and thus cannot determine the position and moving direction of the mobile terminal, and the like, resulting in a situation that navigation cannot be performed.

[0003] Therefore, in the related art, when satellite navigation data cannot be acquired by the mobile terminal or the acquired satellite navigation data has low precision, inertial navigation data of the mobile terminal is acquired according to a gyroscope and an accelerometer installed on the mobile terminal, and navigation planning is performed according to the inertial navigation data.

[0004] However, the stability of the gyroscope and the accelerometer of the mobile terminal is poor, resulting in low navigation precision when navigation is performed according to the inertial navigation data in the prior art. SUMMARY

[0005] To overcome the problems in the related art, the present disclosure provides a navigation control method, device, and storage medium.

[0006] According to a first aspect of an embodiment of the present disclosure, a navigation control method is provided, applied to a terminal, the terminal including a front light line sensor, a rear light line sensor, and a top light line sensor arranged on a top of the terminal, and the method includes:

[0007] After it is determined that the terminal starts an outdoor navigation auxiliary function, acquiring inertial navigation data, and acquiring first light intensity data collected by the front light line sensor, second light intensity data collected by the rear light line sensor, and third light intensity data collected by the top light line sensor under a target light source;

[0008] Determining current attitude data of the terminal, and determining a direction of the target light source according to the first light intensity data, the second light intensity data, the third light intensity data, and the current attitude data;

[0009] According to the direction of the target light source and the inertial navigation data, performing navigation control on the terminal.

[0010] Optionally, the terminal includes an attitude sensor, and the determination of the current attitude data of the terminal includes:

[0011] Obtaining attitude data of the terminal in a three-dimensional coordinate plane based on the attitude sensor;

[0012] Filtering the attitude data to obtain corrected attitude data;

[0013] Taking the corrected attitude data as current attitude data of the terminal.

[0014] Optionally, the determining the position of the target light source according to the first light intensity data, the second light intensity data, the third light intensity data and the current attitude data comprises:

[0015] Filtering the first light intensity data, the second light intensity data and the third light intensity data to obtain corrected first light intensity data, corrected second light intensity data and corrected third light intensity data after removing noise data;

[0016] Obtaining target light intensity data by obtaining light intensity data with the highest light intensity from the corrected first light intensity data, the corrected second light intensity data and the corrected third light intensity data;

[0017] Obtaining the position of the target light source according to the position of the light sensor corresponding to the target light intensity data and the current attitude data.

[0018] Optionally, the navigation control of the terminal according to the position of the target light source and the inertial navigation data comprises:

[0019] Correcting the inertial navigation data by the position of the target light source to obtain corrected inertial navigation data;

[0020] Navigation control of the terminal according to the corrected inertial navigation data.

[0021] Optionally, the determining the terminal to start the outdoor navigation auxiliary function comprises:

[0022] Obtaining signal intensity of a satellite navigation signal;

[0023] Comparing the signal intensity with a preset signal intensity threshold value, and determining a duration when the signal intensity is less than the signal intensity threshold value;

[0024] When the duration is greater than a preset time threshold value, prompting a prompt message of whether to start the outdoor navigation auxiliary function;

[0025] Starting the outdoor navigation auxiliary function of the terminal based on an operation of starting the outdoor navigation auxiliary function of the terminal by a user according to the prompt message.

[0026] According to a second aspect of the embodiments of the present disclosure, a navigation control device is provided, which is applied to a terminal including a front light line sensor, a rear light line sensor and a top light line sensor arranged on the top of the terminal, and the device includes:

[0027] a obtaining module configured to obtain inertial navigation data and obtain first light intensity data collected by the front light line sensor, second light intensity data collected by the rear light line sensor and third light intensity data collected by the top light line sensor under a target light source after the terminal starts an outdoor navigation auxiliary function;

[0028] a determining module configured to determine current attitude data of the terminal, and determine a direction of the target light source according to the first light intensity data, the second light intensity data, the third light intensity data and the current attitude data;

[0029] a processing module configured to perform navigation control on the terminal according to the direction of the target light source and the inertial navigation data.

[0030] Optionally, the terminal includes an attitude sensor, and the determining module determines the current attitude data of the terminal in the following manner:

[0031] obtains attitude data of the terminal in a three-dimensional coordinate plane based on the attitude sensor;

[0032] filters the attitude data to obtain corrected attitude data;

[0033] uses the corrected attitude data as the current attitude data of the terminal.

[0034] Optionally, the determining module determines the direction of the target light source according to the first light intensity data, the second light intensity data, the third light intensity data and the current attitude data in the following manner:

[0035] filters the first light intensity data, the second light intensity data and the third light intensity data to obtain corrected first light intensity data, corrected second light intensity data and corrected third light intensity data after removing noise data;

[0036] obtains target light intensity data by obtaining light intensity data with the highest light intensity from the corrected first light intensity data, the corrected second light intensity data and the corrected third light intensity data;

[0037] obtains the direction of the target light source according to a position of a light sensor corresponding to the target light intensity data and the current attitude data.

[0038] Optionally, the processing module navigates the terminal according to the position of the target light source and the inertial navigation data in the following manner:

[0039] The inertial navigation data is corrected by the position of the target light source to obtain corrected inertial navigation data;

[0040] The terminal is navigated according to the corrected inertial navigation data.

[0041] Optionally, the determining module is further configured to determine the terminal to start the outdoor navigation auxiliary function in the following manner:

[0042] Obtaining a signal strength of a satellite navigation signal;

[0043] Comparing the signal strength with a preset signal strength threshold, and determining a duration when the signal strength is less than the signal strength threshold;

[0044] When the duration is greater than a preset time threshold, prompting a prompt message whether to start the outdoor navigation auxiliary function;

[0045] Starting the outdoor navigation auxiliary function of the terminal based on an operation of starting the outdoor navigation auxiliary function of the terminal by a user according to the prompt message.

[0046] According to a third aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, and the computer readable storage medium stores computer program instructions. The computer program instructions are executed by a processor to implement the steps of the navigation control method provided by the first aspect of the present disclosure.

[0047] The technical solutions provided by the embodiments of the present disclosure can have the following beneficial effects: the position of a target light source can be determined according to light intensity data received by multiple light sensors of a terminal and attitude data of the terminal. Then, the inertial navigation data can be corrected according to the position of the target light source to obtain accurate corrected inertial navigation data. When navigation is performed based on the corrected inertial navigation data, the navigation accuracy can be improved, and the user can not deviate from the route when exploring outdoors.

[0048] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0049] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0050] Figure 1 is a schematic diagram of a terminal structure according to an exemplary embodiment.

[0051] Figure 2 is a position example diagram of a front light line sensor and a top light line sensor provided on a terminal according to an exemplary embodiment.

[0052] Figure 3 is a position example diagram of a rear light line sensor and a top light line sensor provided on a terminal according to an exemplary embodiment.

[0053] Figure 4 is a flowchart of a navigation control method according to an exemplary embodiment.

[0054] Figure 5 is a block diagram of a navigation control apparatus according to an exemplary embodiment.

[0055] Figure 6 is a block diagram of an apparatus according to an exemplary embodiment. DETAILED DESCRIPTION

[0056] The exemplary embodiments will be described in detail with reference to the accompanying drawings. The following description is with reference to the drawings, in which like numerals represent like elements, unless otherwise specified. The following exemplary embodiments described in the detailed description section are not meant to limit the scope of the present disclosure in any way. Rather, they are meant to provide examples and non-limiting details to assist with understanding certain aspects of the present disclosure as set forth in the claims.

[0057] Currently, inertial navigation data of a mobile terminal is acquired according to a gyroscope and an accelerometer installed on the mobile terminal, and a navigation plan is made according to the inertial navigation data. However, as time passes, the gyroscope generates a zero drift phenomenon, and the accelerometer itself is unstable due to noise, so the inertial navigation data fused from the gyroscope and the accelerometer data deviates more and more as time passes.

[0058] For example, in a field environment, since there are few base stations, or even no base stations in the field, a GPS signal in the field is very weak, and navigation inaccuracy is often caused by inertial navigation data of a terminal, which affects navigation and orientation in the field.

[0059] The navigation control method provided by the present disclosure can be applied to a field environment. Since the ambient light data received by the light sensor is relatively pure in the field environment, the light received by the light sensor in the daytime is mainly sunlight, and the light received by the light sensor at night is mainly moonlight. Moreover, the running tracks of the sun and the moon are extremely regular and almost do not change. Based on the above regularity, the present disclosure determines the direction of the target light source (the sun or the moon) according to the light intensity data received by the multiple light sensors of the terminal and the attitude data of the terminal. Then, the inertial navigation data can be corrected according to the direction of the target light source, so as to obtain accurate corrected inertial navigation data. When navigation is performed based on the corrected inertial navigation data, the navigation accuracy can be improved, and the user can be prevented from deviating from the route during outdoor exploration.

[0060] The terminal in the present disclosure can be a terminal device such as a mobile phone, a personal computer (PC), a tablet computer (PAD), a personal digital assistant (PDA), a notebook computer, or a smart wearable device (for example, a smart watch and a smart bracelet).

[0061] In the present disclosure, Figure 1 is a schematic diagram of a terminal structure according to an example embodiment. In Figure 1 the terminal includes a processor 101, and further includes at least one front light sensor 102 arranged on the front of the terminal, at least one rear light sensor 103 arranged on the back of the terminal, and at least one top light sensor 104 arranged on the top of the terminal.

[0062] The processor 101 obtains inertial navigation data, and obtains first light intensity data collected by the front light sensor 102, second light intensity data collected by the rear light sensor 103, and third light intensity data collected by the top light sensor 104 under the target light source.

[0063] Figure 2 is a position example diagram of the front light sensor and the top light sensor arranged on the terminal according to an example embodiment. Figure 3 is a position example diagram of the rear light sensor and the top light sensor arranged on the terminal according to an example embodiment.

[0064] In Figure 2 the front light sensor is arranged on the front of the terminal, under the screen of the terminal. For example, the front light sensor can be arranged at a position such as the upper left corner of the screen to avoid interference of the user's hand and interference of the screen display content during use.

[0065] In Figure 3In some embodiments, the rear light sensor can be disposed on the back of the terminal, and can be adjacent to the camera or the diffused light. For example, the rear light sensor can be disposed on the upper half of the terminal to avoid being blocked by the user when holding the terminal.

[0066] The top light sensor is disposed on the top of the terminal, for example, can be disposed at the central position of the top of the terminal.

[0067] Figure 4 FIG. 1 is a flowchart of a navigation control method according to an exemplary embodiment. Figure 4 As shown in FIG. 1, the navigation control method is used in a terminal, and includes the following steps.

[0068] In step S11, after determining that the terminal starts the outdoor navigation assistance function, the inertial navigation data is acquired, and the first light intensity data collected by the front light sensor, the second light intensity data collected by the rear light sensor, and the third light intensity data collected by the top light sensor under the target light source are acquired.

[0069] In the present disclosure, the outdoor navigation assistance function can be an assistance function provided in the terminal. After the terminal acquires the signal strength of the satellite navigation signal, the current signal strength of the satellite navigation signal is compared with a preset signal strength threshold value. When it is determined that the signal strength is less than the signal strength threshold value, the duration for which the signal strength is less than the signal strength threshold value is acquired. When the duration is greater than a preset time threshold value, a prompt message prompting whether to start the outdoor navigation assistance function is prompted. Further, according to the prompt message, it can be reminded whether the current environment meets the condition for starting the outdoor navigation assistance function. Based on the operation of the user on the terminal according to the prompt message to start the outdoor navigation assistance function, the outdoor navigation assistance function of the terminal can be started.

[0070] In some embodiments, the inertial navigation data can be acquired according to the gyroscope and the accelerometer installed on the terminal.

[0071] In step S12, the current attitude data of the terminal is determined, and the direction of the target light source is determined according to the first light intensity data, the second light intensity data, the third light intensity data, and the current attitude data of the terminal.

[0072] In some embodiments, the current attitude data of the terminal can be determined by the following method, for example:

[0073] Based on the attitude sensor installed in the terminal, the attitude data of the terminal in the three-dimensional coordinate plane (along the space X, Y, and Z axes) is acquired. The attitude data is filtered to obtain the corrected attitude data, and the corrected attitude data is taken as the current attitude data of the terminal.

[0074] The attitude data can be smoothed by a low-pass filter installed in the terminal, for example, to eliminate noise data in the attitude data, so as to obtain relatively accurate corrected attitude data.

[0075] In the present disclosure, after obtaining the first light intensity data, the second light intensity data, the third light intensity data and the current attitude data, the first light intensity data, the second light intensity data and the third light intensity data can be filtered to obtain corrected first light intensity data, corrected second light intensity data and corrected third light intensity data after removing noise data.

[0076] Then, according to the light intensity data, the highest light intensity data among the corrected first light intensity data, the corrected second light intensity data and the corrected third light intensity data is determined to obtain target light intensity data. After obtaining the target light intensity data, the position of the target light source can be determined according to the position of the light sensor corresponding to the target light intensity data and the current attitude data of the terminal.

[0077] The first light intensity data, the second light intensity data and the third light intensity data can be smoothed by a low-pass filter installed in the terminal, for example, to eliminate noise data in the light intensity data, so as to obtain relatively accurate corrected first light intensity data, corrected second light intensity data and corrected third light intensity data.

[0078] For example, the current attitude of the terminal is determined by the attitude sensor of the terminal to be perpendicular to the ground, and the screen of the terminal is opposite to the user. The light intensity data collected by the light sensor of the terminal shows that the light intensity collected by the rear light sensor of the terminal is the strongest. It can be determined that the target light source is located in front of the terminal (user). Then, in combination with the time when the terminal is located, it can be determined whether the target light source is located in the east or the west, and further the direction (east, west, south, north) of the outdoor environment where the terminal is located.

[0079] For another example, the current attitude of the terminal is determined by the attitude sensor of the terminal to be in a horizontal direction parallel to the ground. The light intensity data collected by the light sensor of the terminal shows that the light intensity collected by the front light sensor of the terminal is the strongest. It can be determined that the target light source is located in the rear of the terminal (user). Then, in combination with the time when the terminal is located, it can be determined whether the target light source is located in the east or the west, and further the direction (east, west, south, north) of the outdoor environment where the terminal is located.

[0080] In step S13, the terminal is navigated and controlled according to the direction of the target light source and the inertial navigation data.

[0081] In the present disclosure, after the direction of the target light source is obtained, the time at which the terminal is located can be combined to determine whether the target light source is in the east or west, and further determine the direction of the outdoor environment (east, west, south, north) in which the terminal is located. Thus, the terminal has learned the direction of the outdoor environment in which the terminal is located, and the inertial navigation data can be corrected according to the direction of the outdoor environment in which the terminal is located (the direction of the target light source) to obtain accurate corrected inertial navigation data. Then, the terminal can be navigated and controlled according to the accurate corrected inertial navigation data, and the navigation accuracy of the inertial navigation is improved.

[0082] In the exemplary embodiments of the present disclosure, the direction of the target light source (the sun or the moon) can be determined according to the light intensity data received by the multiple light sensors of the terminal and the attitude data of the terminal. Then, the inertial navigation data can be corrected according to the direction of the target light source to obtain accurate corrected inertial navigation data. When navigation is performed based on the corrected inertial navigation data, the navigation accuracy can be improved, and the user can not deviate from the route when exploring outdoors.

[0083] Figure 5 FIG. 200 is a block diagram of a navigation control device according to an exemplary embodiment. Referring to FIG. 200, Figure 5 The navigation control device is applied to a terminal, and the terminal includes a front light sensor, a rear light sensor, and a top light sensor disposed on the top of the terminal. The device includes:

[0084] The obtaining module 201 is configured to obtain inertial navigation data after the terminal starts the outdoor navigation auxiliary function, and obtain first light intensity data collected by the front light sensor, second light intensity data collected by the rear light sensor, and third light intensity data collected by the top light sensor under the target light source.

[0085] The determining module 202 is configured to determine current attitude data of the terminal, and determine the direction of the target light source according to the first light intensity data, the second light intensity data, the third light intensity data, and the current attitude data.

[0086] The processing module 203 is configured to navigate and control the terminal according to the direction of the target light source and the inertial navigation data.

[0087] Optionally, the terminal includes an attitude sensor, and the determining module 202 determines the current attitude data of the terminal in the following manner:

[0088] The attitude sensor is used to obtain the attitude data of the terminal in a three-dimensional coordinate plane.

[0089] The attitude data is filtered to obtain corrected attitude data.

[0090] The corrected attitude data is used as the current attitude data of the terminal.

[0091] Optionally, the determining module 202 determines the position of the target light source according to the first light intensity data, the second light intensity data, the third light intensity data and the current attitude data in the following manner:

[0092] The first light intensity data, the second light intensity data and the third light intensity data are filtered to obtain corrected first light intensity data, corrected second light intensity data and corrected third light intensity data after removing noise data;

[0093] The light intensity data with the highest light intensity among the corrected first light intensity data, the corrected second light intensity data and the corrected third light intensity data is obtained to obtain target light intensity data;

[0094] The position of the target light source is obtained according to the position of the light sensor corresponding to the target light intensity data and the current attitude data.

[0095] Optionally, the processing module 203 performs navigation control on the terminal according to the position of the target light source and the inertial navigation data in the following manner:

[0096] The inertial navigation data is corrected through the position of the target light source to obtain corrected inertial navigation data;

[0097] The terminal is navigated according to the corrected inertial navigation data.

[0098] Optionally, the determining module 202 is further configured to determine whether to start the outdoor navigation auxiliary function of the terminal in the following manner:

[0099] Obtain the signal strength of the satellite navigation signal;

[0100] Compare the signal strength with a preset signal strength threshold, and determine the duration when the signal strength is less than the signal strength threshold;

[0101] When the duration is greater than a preset time threshold, a prompt message prompting whether to start the outdoor navigation auxiliary function is prompted;

[0102] Based on the operation of the user on the terminal to start the outdoor navigation auxiliary function according to the prompt message, the outdoor navigation auxiliary function of the terminal is started.

[0103] As to the apparatus in the above embodiments, the specific manner in which each module performs the operation has been described in detail in the embodiments of the method, and will not be described in detail here.

[0104] The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions, which, when executed by a processor, implement the steps of the navigation control method provided by the present disclosure.

[0105] Figure 6 is a block diagram of a device 800 for navigation control according to an exemplary embodiment. The device 800 can be a mobile phone, a computer, a digital broadcasting terminal, a message receiver, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like, for example.

[0106] Referring to Figure 6 , the device 800 can include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0107] The processing component 802 usually controls overall operations of the device 800, such as operations associated with displaying, making phone calls, data communications, camera operations, and recording operations. The processing component 802 can include one or more processors 820 to execute instructions to complete all or part of steps of the above method of navigation control. In addition, the processing component 802 can include one or more modules to facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0108] The memory 804 is configured to store various types of data to support operations of the device 800. Examples of these data include instructions for any application or method operating on the device 800, contact data, phonebook data, messages, pictures, videos, and the like. The memory 804 can be implemented by any type of volatile or non-volatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0109] The power component 806 provides power to various components of the device 800. The power component 806 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the device 800.

[0110] The multimedia component 808 includes a screen providing an output interface between the device 800 and a user. In some embodiments, the screen includes a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swiping, and gestures on the touch panel. The touch sensor can not only sense a boundary of a touching or swiping action, but also detect duration and pressure associated with the touching or swiping action. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front and rear camera can be a fixed optical lens system or have a focal length and optical zooming capability.

[0111] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC) to receive an external audio signal when the device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 further includes a speaker for outputting audio signals.

[0112] The I / O interface 812 provides an interface between the processing component 802 and peripheral interface modules, such as a keypad, a click wheel, buttons, and so on. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0113] The sensor component 814 includes one or more sensors to provide various state assessments for the device 800. For example, the sensor component 814 can acquire an open / closed state of the device 800, relative positioning of components, such as a display and a keypad of the device 800, a change in position of the device 800 or a component of the device 800, presence or absence of user contact with the device 800, an orientation or acceleration / deceleration of the device 800, and a temperature change of the device 800. The sensor component 814 can include a proximity sensor configured to detect presence of a nearby object without any physical touch. The sensor component 814 can further include a light sensor such as a CMOS or CCD image sensor for use in an imaging application. In some embodiments, the sensor component 814 can further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0114] The communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices. The device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate close proximity communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technology.

[0115] In an exemplary embodiment, the device 800 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components, for performing the above-described navigation control method.

[0116] In an exemplary embodiment, a non-transitory computer readable storage medium including instructions, such as the memory 804 including instructions, is also provided, which can be executed by the processor 820 of the device 800 to complete the above-described navigation control method. For example, the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disc, and an optical data storage device, etc.

[0117] In another exemplary embodiment, a computer program product is also provided, which contains a computer program capable of being executed by a programmable device, and the computer program has a code portion for executing the above-described navigation control method when executed by the programmable device.

[0118] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the present disclosure. It is intended that the present disclosure cover any and all variations of the present disclosure including those variations which can be incorporated into the above detailed description and making use of the general principles of the present disclosure. It is intended that the present disclosure include all such as fall within the scope of the appended claims and their equivalents. The specification and examples given are intended as illustrative only and not limiting of the true scope and spirit of the present disclosure.

[0119] It should be understood that the present disclosure is not limited to the precise structures herein described and illustrated, and that various modifications and changes in the herein described structures can be effected without departing from the scope of the application. The scope of the application should be limited only by the appended claims.

Claims

1. A navigation control method characterized by, The method is applied to a terminal, the terminal comprising a front light sensor, a rear light sensor and a top light sensor arranged on the top of the terminal, and the method comprising: In an outdoor environment, after determining that the terminal starts an outdoor navigation auxiliary function, acquiring inertial navigation data, and acquiring first light intensity data collected by the front light sensor, second light intensity data collected by the rear light sensor and third light intensity data collected by the top light sensor under a target light source, the target light source being the sun or the moon; Determining current attitude data of the terminal, filtering the first light intensity data, the second light intensity data and the third light intensity data to obtain corrected first light intensity data, corrected second light intensity data and corrected third light intensity data after removing noise data, acquiring light intensity data with the highest light intensity from the corrected first light intensity data, the corrected second light intensity data and the corrected third light intensity data to obtain target light intensity data, and obtaining the direction of the target light source according to the position of the light sensor corresponding to the target light intensity data, the time at which the terminal is currently located and the current attitude data; According to the direction of the target light source and the inertial navigation data, the terminal is navigated and controlled.

2. The method of claim 1, wherein, The terminal comprises an attitude sensor, and the determination of the current attitude data of the terminal comprises: Based on the attitude sensor, the attitude data of the terminal in a three-dimensional coordinate plane is acquired; The attitude data is filtered to obtain corrected attitude data; The corrected attitude data is taken as the current attitude data of the terminal.

3. The method of claim 1, wherein, According to the direction of the target light source and the inertial navigation data, the terminal is navigated and controlled, comprising: The inertial navigation data is corrected according to the direction of the target light source to obtain corrected inertial navigation data; The terminal is navigated and controlled according to the corrected inertial navigation data.

4. The method of claim 1, wherein, The determination of the terminal starting the outdoor navigation auxiliary function comprises: The signal strength of a satellite navigation signal is acquired; The signal strength is compared with a preset signal strength threshold value, and when it is determined that the signal strength is less than the signal strength threshold value, the duration for which the signal strength is less than the signal strength threshold value is determined; When the duration is greater than a preset time threshold value, a prompt message prompting whether to start the outdoor navigation auxiliary function is prompted; Based on the operation of the user on the terminal to start the outdoor navigation auxiliary function according to the prompt message, the outdoor navigation auxiliary function of the terminal is started.

5. A navigation control device, characterized by, The device is applied to a terminal, the terminal comprising a front light sensor, a rear light sensor and a top light sensor arranged on the top of the terminal, and the device comprising: An acquisition module is configured to, in an outdoor environment, after determining that the terminal starts an outdoor navigation auxiliary function, acquire inertial navigation data, and acquire first light intensity data collected by the front light sensor, second light intensity data collected by the rear light sensor and third light intensity data collected by the top light sensor under a target light source, the target light source being the sun or the moon; determining a current attitude data of the terminal, filtering the first light intensity data, the second light intensity data and the third light intensity data to obtain corrected first light intensity data, corrected second light intensity data and corrected third light intensity data after removing noise data, obtaining target light intensity data by obtaining the light intensity data with the highest light intensity from the corrected first light intensity data, the corrected second light intensity data and the corrected third light intensity data, and obtaining the direction of the target light source according to the position of the light sensor corresponding to the target light intensity data, the time at which the terminal is currently located and the current attitude data; controlling the terminal according to the direction of the target light source and the inertial navigation data.

6. The apparatus of claim 5, wherein, The terminal comprises an attitude sensor, and the determining module determines the current attitude data of the terminal in the following manner: obtaining the attitude data of the terminal in a three-dimensional coordinate plane based on the attitude sensor; filtering the attitude data to obtain corrected attitude data; taking the corrected attitude data as the current attitude data of the terminal.

7. A navigation control device, characterized by, comprise: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: in a field environment, after determining that the terminal starts an outdoor navigation auxiliary function, obtaining inertial navigation data, and obtaining first light intensity data collected by a front light sensor, second light intensity data collected by a rear light sensor and third light intensity data collected by a top light sensor under a target light source, the target light source being the sun or the moon; determining a current attitude data of the terminal, filtering the first light intensity data, the second light intensity data and the third light intensity data to obtain corrected first light intensity data, corrected second light intensity data and corrected third light intensity data after removing noise data, obtaining target light intensity data by obtaining the light intensity data with the highest light intensity from the corrected first light intensity data, the corrected second light intensity data and the corrected third light intensity data, and obtaining the direction of the target light source according to the position of the light sensor corresponding to the target light intensity data, the time at which the terminal is currently located and the current attitude data; controlling the terminal according to the direction of the target light source and the inertial navigation data.

8. A computer-readable storage medium having stored thereon computer program instructions, wherein, The program instructions are executed by the processor of the terminal, so that the terminal can execute a navigation control method, the method comprising: in a field environment, after determining that the terminal starts an outdoor navigation auxiliary function, obtaining inertial navigation data, and obtaining first light intensity data collected by a front light sensor, second light intensity data collected by a rear light sensor and third light intensity data collected by a top light sensor under a target light source, the target light source being the sun or the moon; Determine the current attitude data of the terminal, filter the first light intensity data, the second light intensity data and the third light intensity data to obtain the corrected first light intensity data, the corrected second light intensity data and the corrected third light intensity data after removing noise data; obtain the light intensity data with the highest light intensity among the corrected first light intensity data, the corrected second light intensity data and the corrected third light intensity data to obtain target light intensity data; obtain the direction of the target light source according to the position of the light sensor corresponding to the target light intensity data, the time when the terminal is currently located and the current attitude data; According to the direction of the target light source and the inertial navigation data, the terminal is navigated and controlled.

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