Navigation method, device, portable navigation device and storage medium

Abstract

The application relates to the technical field of navigation, in particular to a navigation method and device, a portable navigation device and a storage medium, wherein the method comprises the following steps: identifying an intended destination of a user; generating navigation information according to a moving track recorded by the portable navigation device and the intended destination, wherein the moving track is generated based on a step sequence and corresponding first direction information during movement of the user from a first position to a second position, and the intended destination is any position in the first position and the second position; and guiding the user to move to the intended destination by using the navigation information. Thus, the problems that a user cannot be provided with return path navigation in the related art under the condition that there is no positioning signal by using a mobile phone sensor and a high-precision map collected in advance are solved.

Description

TECHNICAL FIELD

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

[0002] The commonly used navigation system is basically a global positioning system (GPS), which can provide accurate geographic location, vehicle speed and precise time information, but if in the environment of underground parking lot, tunnel and the like, the GPS signal will be lost, and the user cannot be provided with return navigation.

[0003] The related technology uses deep learning to train a behavior action judgment model based on the data of the mobile phone sensor, and matches the vehicle surrounding image and the predicted vehicle driving behavior with the road network nodes in the high-precision map to avoid the deviation of the vehicle from the driving path and realize low-cost positioning navigation.

[0004] However, the related technology uses the mobile phone sensor and the pre-collected parking lot map to realize low-cost positioning navigation, which cannot record the driving path in real time, cannot provide the user with return navigation, and may cause the user to get lost. SUMMARY

[0005] The present application provides a navigation method, device, portable navigation device and storage medium to solve the problem that the related technology cannot provide the user with return path navigation in the case of no signal.

[0006] The first aspect of the present application provides a navigation method, which is applied to a portable navigation device, and includes the following steps: identifying the intended destination of a user; generating navigation information according to the movement trajectory recorded by the portable navigation device and the intended destination, wherein the movement trajectory is generated based on the step sequence and the corresponding first direction information of the user during the movement from a first position to a second position, and the intended destination is any of the first position and the second position; and guiding the user to move to the intended destination by using the navigation information.

[0007] According to the above technical means, the embodiments of the present application can detect the sign information and direction information of the user movement by the portable navigation device, record the movement trajectory of the user, and provide navigation for the user to return, and since the positioning device is not required during the navigation process, the user can be provided with accurate navigation in the case of no positioning signal, the user can return easily, and the use experience of the user is improved.

[0008] Optionally, in an embodiment of the present application, the step of generating the movement trajectory based on the step sequence and the corresponding first direction information during the movement of the user from the first position to the second position comprises: identifying time information at each step in the step sequence; and making a line of the time information and the direction information at each step in sequence to obtain a path graph of the movement of the user from the first position to the second position, and identifying the movement trajectory from the path graph.

[0009] According to the above technical means, the time information and the direction information at each step can be drawn into a line, i.e., a path graph of the whole movement of the user is obtained, and accurate navigation information is provided for the user.

[0010] Optionally, in an embodiment of the present application, before the step of identifying the time information at each step in the step sequence, the step further comprises: filtering non-normal steps in the step sequence that meet a filtering condition to obtain a filtered step sequence.

[0011] According to the above technical means, the value of the non-normal step sequence can be filtered, and the obtained movement trajectory is more accurate.

[0012] Optionally, in an embodiment of the present application, before the step of generating the movement trajectory based on the step sequence and the corresponding first direction information during the movement of the user from the first position to the second position, the step further comprises: obtaining attitude information and second direction information of the portable navigation device at each step; and calculating the first direction information at each step according to the attitude information and the second direction information.

[0013] According to the above technical means, the correct direction information of the device in different carrying states of the user can be calculated by using the attitude information and the second direction information of the portable navigation device, so as to more accurately generate the movement trajectory of the user.

[0014] Optionally, in an embodiment of the present application, the step of guiding the user to move to the intended destination by using the navigation information comprises: obtaining a walking step number of the user from a position corresponding to the intended destination to the second position; generating third direction information according to the walking step number and the first direction information at each step; and guiding the user to move to the intended destination by using the walking step number and the third direction information.

[0015] According to the above technical means, the direction information of the movement of the user can be determined by using the first direction information at each step, and the user is guided to move to the intended destination by combining the step number of the movement of the user to the destination, so as to avoid the occurrence of situations such as detours or lost directions of the user.

[0016] Optionally, in one embodiment of this application, guiding the user to the intended destination using the number of steps taken and the third-party direction information further includes: using the third-party direction information to guide the direction of each step taken by the user and detecting the actual number of steps taken by the user; calculating the remaining number of steps based on the number of steps taken and the actual number of steps taken; if the remaining number of steps is less than or equal to a preset number of steps, determining that the user has moved to the vicinity of the intended destination and ending the navigation.

[0017] Based on the above technical means, the embodiments of this application can achieve accurate navigation guidance by combining the user's remaining steps to the intended destination with the direction. It can operate well in environments without signal and meet the user's return trip needs.

[0018] Optionally, in one embodiment of this application, when it is determined that the user has moved to the vicinity of the intended destination, the method further includes: generating preset prompt information and using the preset prompt information to provide optical and / or acoustic reminders.

[0019] Based on the above technical means, the embodiments of this application can remind users when they arrive near their intended destination, preventing them from deviating from the driving route and further improving the user experience.

[0020] A second aspect of this application provides a navigation device applied to a portable navigation device, comprising: an identification module for identifying a user's intended destination; a generation module for generating navigation information based on a movement trajectory recorded by the portable navigation device and the intended destination, wherein the movement trajectory is generated based on a sequence of steps taken by the user during a movement from a first location to a second location and corresponding first direction information, and the intended destination is any location between the first location and the second location; and a navigation module for guiding the user to the intended destination using the navigation information.

[0021] Optionally, in one embodiment of this application, the generation module is further configured to identify the time information of each step in the step sequence; sequentially make lines from the time information and direction information of each step to obtain a path map of the user moving from the first position to the second position, and identify the path map to obtain the movement trajectory.

[0022] Optionally, in one embodiment of this application, it further includes: a filtering module, used to filter abnormal steps in the step sequence that meet the filtering conditions before identifying the time information of each step in the step sequence, so as to obtain a filtered step sequence.

[0023] Optionally, in one embodiment of this application, it further includes: an acquisition module, configured to acquire the attitude information and second direction information of the portable navigation device at each step before generating the movement trajectory based on the step information and corresponding first direction information during the user's movement from the first position to the second position; and a calculation module, configured to calculate the first direction information at each step based on the attitude information and the second direction information.

[0024] Optionally, in one embodiment of this application, the navigation module is further configured to obtain the number of steps taken by the user to move from the location corresponding to the intended destination to the second location; generate third-party orientation information based on the number of steps taken and the first direction information at each step; and guide the user to move to the intended destination using the number of steps taken and the third-party orientation information.

[0025] Optionally, in one embodiment of this application, the navigation module is further configured to use the third-party directional information to guide the user's direction of each step and detect the user's actual number of steps; calculate the remaining number of steps based on the number of steps taken and the actual number of steps; if the remaining number of steps is less than or equal to a preset number of steps, determine that the user has moved to the vicinity of the intended destination and end the navigation.

[0026] Optionally, in one embodiment of this application, it further includes: a reminder module, used to generate preset reminder information and use the preset reminder information to provide optical and / or acoustic reminders.

[0027] A third aspect of this application provides a portable navigation device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the navigation method as described in the above embodiments.

[0028] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the navigation method as described in the above embodiments.

[0029] Therefore, this application has at least the following beneficial effects:

[0030] 1. The embodiments of this application can detect the user's movement signs and direction information through a portable navigation device, thereby recording the user's movement trajectory and providing navigation for the user to return using the user's movement trajectory. Since no positioning device is required during the navigation process, accurate navigation can be provided to the user even without a positioning signal, making it easier for the user to return and improving the user experience.

[0031] 2. In this embodiment of the application, the time and direction information of each step can be drawn into lines to obtain a path map of the user's entire movement process, providing the user with accurate navigation information.

[0032] 3. The embodiments of this application can filter out abnormal step sequence values, making the obtained movement trajectory more accurate.

[0033] 4. The embodiments of this application can use the attitude information and second direction information of the portable navigation device to calculate and deduce the correct direction information of the device under different carrying states of the user, so as to generate the user's movement trajectory more accurately.

[0034] 5. The embodiments of this application can determine the user's direction of movement by using the first direction information at each step, and combine it with the number of steps the user takes to reach the destination to guide the user to the intended destination, thereby avoiding situations such as the user taking a detour or getting lost.

[0035] 6. The embodiments of this application can achieve accurate navigation guidance by combining the user's remaining steps to the intended destination with the direction. It can operate well in environments without signal and meet the user's return trip needs.

[0036] 7. The embodiments of this application can remind the user when the user arrives near the intended destination to avoid the user deviating from the driving route and further improve the user experience.

[0037] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0038] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0039] Figure 1 This is a flowchart of a navigation method provided according to an embodiment of this application;

[0040] Figure 2 This is a structural block diagram of a trajectory recording device and apparatus according to an embodiment of this application;

[0041] Figure 3 Here is a flowchart of the navigation method provided according to an embodiment of this application;

[0042] Figure 4 This is a block diagram of a navigation device according to an embodiment of this application;

[0043] Figure 5 This is a schematic diagram of the structure of a portable navigation device according to an embodiment of this application. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0045] The navigation method, apparatus, portable navigation device, and storage medium of this application are described below with reference to the accompanying drawings. Addressing the problems mentioned in the background section, this application provides a navigation method in which a portable navigation device detects the user's movement characteristics and direction information to record the user's movement trajectory. This trajectory is then used to provide navigation for the user's return journey. Since no positioning device is required during navigation, accurate navigation can be provided even without a positioning signal, facilitating the user's return and improving the user experience. This solves the problem in related technologies where the use of built-in sensors and pre-collected high-precision maps fails to provide return route navigation in the absence of a signal.

[0046] Specifically, Figure 1 This is a flowchart illustrating a navigation method provided in an embodiment of this application.

[0047] like Figure 1 As shown, the navigation method includes the following steps:

[0048] In step S101, the user's intended destination is identified.

[0049] The embodiments of this application first need to determine the specific location or area of ​​the user's desired destination, and then determine the navigation route based on the user's intended destination to facilitate the user's quick arrival at the destination or destination area.

[0050] In step S102, navigation information is generated based on the movement trajectory and intended destination recorded by the portable navigation device. The movement trajectory is generated based on the sequence of steps taken by the user during the process of moving from the first position to the second position and the corresponding first direction information. The intended destination is any position between the first position and the second position.

[0051] It is understood that the embodiments of this application can carry the portable navigation device on the body in any way, receive the trajectory recording start information at a preset signal sampling frequency to start recording the trajectory, and detect the user's movement signs and direction information through the portable navigation device to record the user's movement trajectory, and generate navigation information in combination with the user's intended destination to provide navigation guidance for the user.

[0052] In one embodiment of this application, a movement trajectory is generated based on the step sequence and corresponding first direction information during the process of a user moving from a first position to a second position. This includes: identifying the time information of each step in the step sequence; sequentially making lines from the time information and direction information of each step to obtain a path map of the user moving from the first position to the second position; and identifying the path map to obtain the movement trajectory.

[0053] When the user begins to move, this embodiment of the application can time and sample and record data. By sampling the signal waveform through the accelerometer, the system can determine and record the user's step status data for each step, as well as the number of steps taken and the time of each step. After the portable navigation device determines that the user has taken a step, it can sample and record the direction information. By drawing the time information and direction information of each step into lines, a path map of the user's movement from the first position to the second position can be obtained. This allows the system to provide navigation information to the user on the return trip, preventing the user from getting lost or taking a detour.

[0054] In step S103, navigation information is used to guide the user to their intended destination.

[0055] In one embodiment of this application, guiding a user to move to an intended destination using navigation information includes: obtaining the number of steps the user takes to move from the location corresponding to the intended destination to the second location; generating third-party orientation information based on the number of steps taken and first-party orientation information at each step; and guiding the user to move to the intended destination using the number of steps taken and the third-party orientation information.

[0056] In the above embodiments, when the user starts to move, the portable navigation device starts to record the number of steps the user takes until the second location is reached. In this embodiment, the number of steps the user takes to move from the location corresponding to the intended destination to the second location can be obtained, and the third direction information of the user moving to the intended destination can be determined by combining the first direction information of the user's steps recorded by the user's portable navigation device, so as to provide directional guidance to the user.

[0057] In one embodiment of this application, the method of guiding a user to move to the intended destination using the number of steps taken and third-party direction information further includes: using the third-party direction information to guide the direction of each step taken by the user and detecting the actual number of steps taken by the user; calculating the remaining number of steps based on the number of steps taken and the actual number of steps taken; if the remaining number of steps is less than or equal to a preset number of steps, determining that the user has moved to the vicinity of the intended destination and ending the navigation.

[0058] It is understood that the embodiments of this application can calculate the current direction of the user in real time and guide the direction of each step of the user based on the third-party directional information of the user moving to the intended destination. It can achieve accurate navigation guidance by combining the remaining number of steps of the user to the intended destination with the direction. It does not rely on GPS function, can operate well in environments without signal, and meets the user's return trip needs.

[0059] In some cases, due to the complexity of roads, there may be some errors. In this embodiment of the application, when the number of steps remaining for the user to move to the intended destination is less than or equal to a preset number of steps, it can be determined that the user has reached the vicinity of the intended destination. The preset number of steps can be set according to the actual situation, such as 10 steps, without any specific limitation.

[0060] In one embodiment of this application, when it is determined that the user has moved to the vicinity of the intended destination, the method further includes: generating preset prompt information and using the preset prompt information to provide optical and / or acoustic reminders.

[0061] To further improve the user experience and prevent users from getting lost due to deviating from the driving route, this application embodiment can generate preset prompts to remind the user when they move near their intended destination. For example, the reminder can be an alarm sound (such as a beep) from the portable navigation device or a voice reminder saying "You have arrived near your destination, this navigation is over". It can also be an optical reminder, such as the portable navigation device flashing.

[0062] In one embodiment of this application, before identifying the time information of each step in the step sequence, the method further includes: filtering abnormal steps in the step sequence that meet the filtering conditions to obtain a filtered step sequence.

[0063] It is understandable that when a user moves from the first position to the second position, they will obtain N step sequences with direction and time points. In this embodiment of the application, the N step sequences can be processed by a filtering algorithm to remove some abnormal step sequence values ​​sensed by the accelerometer, so as to make the obtained movement trajectory more accurate.

[0064] In one embodiment of this application, before generating a movement trajectory based on the number of steps and corresponding first direction information during the user's movement from the first position to the second position, the method further includes: acquiring the attitude information and second direction information of the portable navigation device at each step; and calculating the first direction information at each step based on the attitude information and second direction information.

[0065] It is understood that the embodiments of this application can use the accelerometer in the portable navigation device to sense the user's walking state. When the user is walking, the undulation of the body will exert a vertical force on the accelerometer, enabling the accelerometer to sense whether the user is stationary or moving.

[0066] Furthermore, embodiments of this application can comprehensively calculate the first direction information of the portable navigation device under different carrying states of the user based on the attitude information and second direction information of the portable navigation device. Specifically, embodiments of this application can use the direction sensor in the portable navigation device to sense the direction of the portable navigation device, and rely on the interaction between the geomagnetic field and the direction sensor to calculate the relative angle between the device and the Earth's magnetic field lines, thereby obtaining the second direction information of the portable navigation device; since the orientation of the portable navigation device may be different from the user's walking direction, embodiments of this application can use the gyroscope sensor in the device to determine the tilt angle state of the device, determine the attitude information of the portable navigation device, such as horizontal holding, vertical holding, strapping, and other different states, and then combine the calibration direction of the gyroscope and direction sensor in the device to correct and calculate the correct direction information for each step, i.e., the first direction information.

[0067] The navigation method will be further elaborated below through specific embodiments, in order to Figure 2 Taking the architecture diagram shown as an example, this application embodiment can construct a minimum system of a multi-sensor fusion user movement trajectory recording device and equipment. The system mainly includes a central processing unit, an accelerometer sensor, a direction sensor, a gyroscope sensor, a data storage unit, a display unit, and a sound unit.

[0068] The system comprises the following components: a central processing unit (CPU) responsible for calculations, counting, and logical judgments; a data storage unit responsible for storing and retrieving system and sampled data; a display unit providing navigation trajectory display and directional guidance; a sound unit providing audible guidance for navigation; an accelerometer to acquire real-time user movement data and step information via the CPU; a direction sensor to acquire relative orientation information; and a gyroscope to acquire attitude information. The CPU then performs a comprehensive analysis of the gyroscope and direction sensor positions on the device to calculate and correct the user's absolute orientation.

[0069] based on Figure 2 The navigation method implementation process of the system shown is as follows: Figure 3 As shown, it includes the following steps:

[0070] Step 1: The user carries the mobile device or apparatus on their person in any way. The device receives the instruction to start trajectory recording, and the program begins to run.

[0071] Step 2: Detect the user's initial motion state using the device's accelerometer, gyroscope, and orientation sensor to determine the user's initial relative orientation, and initialize time T and step count N to 0.

[0072] Step 3: Determine if the user has started walking using the accelerometer. If walking is detected, proceed to Step 4, where the central processing unit starts timing.

[0073] Step 5: The accelerometer begins recording the user's step count N.

[0074] Step 6: The orientation sensor records the device's orientation information;

[0075] Step 7: The central sensor calculates the device's attitude information based on the gyroscope, and combines the gyroscope and orientation sensor to deduce the user's absolute orientation information;

[0076] Step 8: Receive the end-of-journey signal and finally obtain N steps with direction and time points. Process the N steps using a filtering algorithm to remove some abnormal steps detected by the accelerometer.

[0077] Step 9: By obtaining the user's average stride length C, or by arbitrarily presetting a stride length C (which has no effect on the final trajectory shape), the central processing unit will point out the N stride information obtained according to the time nodes, with the length C as the interval, according to the direction, so as to obtain the estimated user movement trajectory map. If the average stride length C is the true average value obtained by some method, then theoretically the movement trajectory is also relatively real.

[0078] Step 10: When the device receives the return signal at the destination, it initiates the return process.

[0079] Step 11: The device's display shows the trajectory from the endpoint to the starting point, and calculates the current user's direction in real time using a gyroscope and direction sensor, and guides the user to turn using arrows.

[0080] Step 12: When returning, the screen displays the remaining number of steps n. At the start of the return trip, n = N. For each step taken, n decreases by 1. When n = 0, the user returns to the starting position.

[0081] Step 13, program ends.

[0082] The navigation method proposed in this application detects the user's vital signs and direction information using a portable navigation device, thereby recording the user's movement trajectory. This trajectory is then used to provide navigation for the user's return. Since no positioning device is required during navigation, accurate navigation can be provided even without a positioning signal, facilitating the user's return and improving the user experience. This solves the problem in related technologies where the use of built-in sensors and pre-collected high-precision maps fails to provide return route navigation in the absence of a signal.

[0083] Next, a navigation device according to an embodiment of this application is described with reference to the accompanying drawings.

[0084] Figure 4 This is a block diagram of a navigation device according to an embodiment of this application.

[0085] like Figure 4 As shown, the navigation device 10 includes: an identification module 100, a generation module 200, and a navigation module 300.

[0086] The identification module 100 is used to identify the user's intended destination; the generation module 200 is used to generate navigation information based on the movement trajectory and intended destination recorded by the portable navigation device, wherein the movement trajectory is generated based on the step sequence and corresponding first direction information during the user's movement from the first position to the second position, and the intended destination is any position between the first position and the second position; the navigation module 300 is used to guide the user to move to the intended destination using the navigation information.

[0087] Optionally, in one embodiment of this application, the generation module 200 is further used to identify the time information of each step in the step sequence; to make lines from the time information and direction information of each step in sequence to obtain a path map of the user moving from the first position to the second position, and to identify the path map to obtain the movement trajectory.

[0088] Optionally, in one embodiment of this application, the apparatus 10 of this application embodiment further includes a filtering module.

[0089] The filtering module is used to filter out abnormal steps in the step sequence that meet the filtering conditions before identifying the time information of each step in the step sequence, so as to obtain the filtered step sequence.

[0090] In one embodiment of this application, the apparatus 10 further includes an acquisition module and a calculation module.

[0091] The acquisition module is used to acquire the attitude information and second direction information of the portable navigation device at each step before generating the movement trajectory based on the number of steps and the corresponding first direction information during the user's movement from the first position to the second position; the calculation module is used to calculate the first direction information at each step based on the attitude information and the second direction information.

[0092] In one embodiment of this application, the navigation module 300 is further configured to obtain the number of steps taken by the user to move from the location corresponding to the intended destination to the second location; generate third-party orientation information based on the number of steps taken and the first direction information at each step; and guide the user to move to the intended destination using the number of steps taken and the third-party orientation information.

[0093] In one embodiment of this application, the navigation module 300 is further configured to use third-party navigation information to guide the direction of each step taken by the user and detect the actual number of steps taken by the user; calculate the remaining number of steps based on the number of steps taken and the actual number of steps taken; if the remaining number of steps is less than or equal to the preset number of steps, determine that the user has moved to the vicinity of the intended destination and end the navigation.

[0094] In one embodiment of this application, the apparatus 10 of this application embodiment further includes: a reminder module.

[0095] The reminder module is used to generate preset reminder information and to provide optical and / or acoustic reminders using the preset reminder information.

[0096] It should be noted that the foregoing explanation of the navigation method embodiments also applies to the navigation device of this embodiment, and will not be repeated here.

[0097] The navigation device proposed in this application detects the user's vital signs and direction information through a portable navigation device, thereby recording the user's movement trajectory. This trajectory is then used to provide navigation for the user's return. Since no positioning device is required during navigation, accurate navigation can be provided even without a positioning signal, facilitating the user's return and improving the user experience. This solves the problem in related technologies where the use of built-in sensors and pre-collected high-precision maps fails to provide return route navigation in the absence of a signal.

[0098] Figure 5 A schematic diagram of the structure of a portable navigation device provided in an embodiment of this application. The portable navigation device may include:

[0099] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0100] When processor 502 executes the program, it implements the navigation method provided in the above embodiments.

[0101] Furthermore, the vehicle also includes:

[0102] Communication interface 503 is used for communication between memory 501 and processor 502.

[0103] The memory 501 is used to store computer programs that can run on the processor 502.

[0104] The memory 501 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0105] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0106] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0107] Processor 502 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0108] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the navigation method described above.

[0109] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0110] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0111] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0112] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0113] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0114] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A navigation method characterized by, The method is applied to a portable navigation device for recording a user's moving track and providing a return navigation based on the moving track in an environment without positioning signals, wherein the method comprises the following steps: starting the moving track recording; the moving track recording comprises: acquiring attitude information and second direction information of the portable navigation device at each step; calculating first direction information at each step according to the attitude information and the second direction information; identifying time information at each step in a step sequence during the user's movement from a first position to a second position; sequentially making lines of the time information at each step and the first direction information to obtain a path graph of the user's movement from the first position to the second position, and identifying the path graph to obtain the moving track; when a return signal is received, identifying an intended destination of the user; the intended destination is any of the first position and the second position; acquiring a walking step number of the user from a position corresponding to the intended destination to the second position; generating third direction information according to the walking step number and the first direction information at each step, and guiding the user to move to the intended destination by using the walking step number and the third direction information.

2. The method of claim 1, wherein, Before identifying the time information at each step in the step sequence, the method further comprises: filtering non-normal steps in the step sequence that meet a filtering condition to obtain a filtered step sequence.

3. The method of claim 1, wherein, The guiding the user to move to the intended destination by using the walking step number and the third direction information further comprises: guiding the direction of each step of the user by using the third direction information, and detecting an actual step number of the user; calculating a remaining step number according to the walking step number and the actual step number, and determining that the user moves to a vicinity of the intended destination and ending the navigation if the remaining step number is less than or equal to a preset step number.

4. The method of claim 3, wherein, When determining that the user moves to the vicinity of the intended destination, the method further comprises: generating preset prompt information, and optically reminding and / or acoustically reminding by using the preset prompt information.

5. A navigation device for implementing the method of any one of claims 1-4, characterized in that, The device is applied to a portable navigation device, wherein the device comprises: an identifying module configured to identify an intended destination of a user; a generating module configured to generate navigation information according to a moving track recorded by the portable navigation device and the intended destination, wherein the moving track is generated based on a step sequence during the user's movement from a first position to a second position and corresponding first direction information, and the intended destination is any of the first position and the second position; a navigation module configured to guide the user to move to the intended destination by using the navigation information.

6. A portable navigation device, characterized by comprise: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the navigation method according to any one of claims 1-4.

7. A computer readable storage medium having stored thereon a computer program, characterized in that The program is executed by the processor to implement the navigation method according to any one of claims 1-4.

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