A navigation method, device and storage medium

Abstract

The application discloses a navigation method and device and a storage medium. The method comprises the following steps: acquiring the current wireless signal strength and the current scene feature information of a starting navigation position, and determining the fuzzy position information of the starting navigation position by using the current wireless signal strength; determining the accurate position information of the starting navigation information from a preset three-dimensional scene model by using the fuzzy position information and the current scene feature information; acquiring the actual position information of a target navigation position, and establishing the action route from the starting navigation position to the target navigation position based on the accurate position information and the actual position information; displaying the action route through a navigation display interface, and performing action navigation based on the action route. The above technical scheme improves the accuracy of navigation.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a navigation method, device and storage medium. Background Technology

[0002] With the rapid advancement of modern technology, positioning and navigation technologies are also undergoing rapid changes, and indoor navigation technology is developing accordingly. Existing indoor navigation technology mainly relies on the combination of various sensors such as Bluetooth, infrared receivers, ultrasonic, and radio frequency identification to achieve accurate positioning. The positioning method is complex and cumbersome, and its popularity is relatively low.

[0003] In existing technologies, the use of simple WIFI positioning technology is relatively mature and widely used. However, WIFI positioning has a certain measurement distance error, which makes the positioning accuracy error often around the meter level, with most errors within 10m. For indoor longitudinal coordinate positioning, such errors result in poor accuracy of the calculated route. Summary of the Invention

[0004] To address the aforementioned technical problems, embodiments of the present invention aim to provide a navigation method, device, and storage medium that performs fuzzy positioning based on the current wireless signal strength, and then performs precise positioning based on the fuzzy positioning, thereby determining the route of action using the precise positioning location information, thus improving the accuracy of navigation.

[0005] The technical solution of this invention is implemented as follows:

[0006] This invention provides a navigation method, the method comprising:

[0007] The current wireless signal strength and current scene feature information of the starting navigation position are obtained, and the fuzzy location information of the starting navigation position is determined using the current wireless signal strength.

[0008] Using the fuzzy location information and the current scene feature information, the precise location information of the starting navigation information is determined from the preset three-dimensional scene model;

[0009] Obtain the actual location information of the target navigation location, and based on the precise location information and the actual location information, establish a movement route from the starting navigation location to the target navigation location;

[0010] The route is displayed through a navigation interface, and navigation is performed based on the route.

[0011] In the above method, before determining the fuzzy location information of the starting navigation position using the current wireless signal strength, the method further includes:

[0012] Collect feature point data of the target location; the target location includes the starting navigation position and the target navigation position;

[0013] Based on the feature point data, the preset 3D scene model is generated, and the preset 3D scene model is divided into multiple grid regions;

[0014] For each of the multiple grid regions, corresponding feature point data is selected from the feature point data, and corresponding scene feature information is extracted from the corresponding feature point data;

[0015] Establish a mapping relationship between different grid regions and corresponding scene feature information in the multiple grid regions to obtain a preset region feature mapping relationship;

[0016] For each of the multiple grid regions, the wireless signal strength within the grid region is collected, and a mapping relationship between different grid regions and the wireless signal strength within the grid region is established to obtain a preset regional signal mapping relationship.

[0017] In the above method, determining the fuzzy location information of the starting navigation position using the current wireless signal strength includes:

[0018] Using the preset area signal mapping relationship, the grid area corresponding to the current wireless signal strength is found from multiple grid areas divided by the preset three-dimensional scene model, and the found grid area is determined as fuzzy location information.

[0019] In the above method, determining the precise location information of the starting navigation information from a preset 3D scene model using the fuzzy location information and the current scene feature information includes:

[0020] Based on the fuzzy location information, at least one grid region is selected from the multiple grid regions divided from the preset 3D scene model, with the starting navigation position as the reference.

[0021] Using a preset region feature mapping relationship, scene feature information corresponding to each region in the at least one grid region is obtained respectively;

[0022] The grid region in the at least one grid region that has the highest matching degree between the corresponding scene feature information and the current scene feature information is determined as the precise location information.

[0023] In the above method, establishing a route from the starting navigation position to the target navigation position based on the precise location information and the actual location information includes:

[0024] Based on the actual location information, from the multiple grid regions divided by the preset 3D scene model, a grid region containing the target navigation location is selected and determined as the target region;

[0025] Each grid region that does not contain obstacles is identified as a passable region, thus obtaining at least one passable region;

[0026] For each of the at least one passable areas, calculate the distance between it and the starting navigation position to obtain the corresponding starting phase difference distance, and calculate the distance between it and the target navigation position to obtain the target phase difference distance;

[0027] For each passable area in the at least one passable area, the sum of the corresponding starting difference distance and the target difference distance is determined as the corresponding route distance;

[0028] Based on the route distances between different areas within the passable areas, a subset of areas is selected from the at least one passable area, and this selected subset of areas is determined as the action route.

[0029] In the above method, the step of providing navigation based on the action route includes:

[0030] Upon reaching the first travel position, the real-time wireless signal strength at the first travel position is collected, and based on the real-time wireless signal strength, the real-time fuzzy location information of the first travel position is determined; the first travel position is any location reached during the travel of the movement route.

[0031] When the real-time fuzzy location information indicates that the first traveling position deviates from the movement route, the real-time accurate location information of the first traveling position is determined from the preset three-dimensional scene model based on the real-time fuzzy location information.

[0032] Based on the real-time accurate location information and the actual location information, an adjusted action route is established from the real-time accurate location to the target navigation location, and action navigation is performed based on the adjusted action route.

[0033] In the above method, before determining the real-time precise location information of the first traveling position from the preset 3D scene model based on the real-time fuzzy location information, when the real-time fuzzy location information indicates that the first traveling position deviates from the travel route, the method further includes:

[0034] Based on the real-time fuzzy position information, from the multiple grid regions divided by the preset 3D scene model, select the grid region containing the first travel position and determine it as the travel region;

[0035] If the travel area is included in the area traversed by the route of action, it is determined that the first travel position has not deviated from the route of action;

[0036] If the travel area is not included in the area traversed by the movement route, and the distance between the travel area and the movement route is less than or equal to a preset distance, it is determined that the first travel position has not deviated from the movement route.

[0037] If the travel area is not included in the area traversed by the movement route, and the difference between the travel area and the movement route is greater than the preset distance, it is determined that the first travel position deviates from the movement route.

[0038] This invention provides a navigation device, comprising:

[0039] The acquisition module is used to acquire the current wireless signal strength and current scene feature information of the starting navigation position, and use the current wireless signal strength to determine the fuzzy position information of the starting navigation position;

[0040] The determination module is used to determine the precise location information of the starting navigation information from a preset three-dimensional scene model using the fuzzy location information and the current scene feature information;

[0041] A module is established to acquire the actual location information of the target navigation location, and based on the precise location information and the actual location information, to establish a route from the starting navigation location to the target navigation location;

[0042] The navigation module is used to display the action route through a navigation display interface and to provide navigation based on the action route.

[0043] The aforementioned device further includes a data acquisition module for acquiring feature point data of a target location; the target location includes the starting navigation position and the target navigation position; based on the feature point data, a preset 3D scene model is generated, and the preset 3D scene model is divided into multiple grid regions; for each of the multiple grid regions, corresponding feature point data is selected from the feature point data, and corresponding scene feature information is extracted from the corresponding feature point data; a mapping relationship is established between different grid regions and corresponding scene feature information in the multiple grid regions to obtain a preset region feature mapping relationship; for each of the multiple grid regions, the wireless signal strength within the grid region is acquired, and a mapping relationship is established between different grid regions and the wireless signal strength within the grid region to obtain a preset region signal mapping relationship.

[0044] In the above device, the acquisition module is specifically used to use the preset area signal mapping relationship to find the grid area corresponding to the current wireless signal strength from multiple grid areas divided by the preset three-dimensional scene model, and to determine the found grid area as fuzzy location information.

[0045] In the above device, the determining module is specifically used to select at least one grid region from multiple grid regions divided from the preset three-dimensional scene model based on the fuzzy position information, with the starting navigation position as the reference; to obtain scene feature information corresponding to each region in the at least one grid region by using a preset region feature mapping relationship; and to determine the grid region in the at least one grid region with the highest matching degree between the corresponding scene feature information and the current scene feature information as the precise position information.

[0046] In the above device, the establishment module is specifically used to select, based on the actual location information, a grid region containing the target navigation position from multiple grid regions divided by the preset three-dimensional scene model, and determine it as the target region; determine each grid region without obstacles in the multiple grid regions as a passable region, obtaining at least one passable region; for each passable region in the at least one passable region, calculate the distance between it and the starting navigation position to obtain the corresponding starting difference distance, and calculate the distance between it and the target navigation position to obtain the target difference distance; for each passable region in the at least one passable region, determine the corresponding route distance by summing the corresponding starting difference distance and the target difference distance; based on the route distances of different regions in the passable regions, select a portion of the regions from the at least one passable region, and determine the selected portion of the regions as the action route.

[0047] In the aforementioned device, the navigation module is specifically configured to, upon reaching a first travel position, acquire the real-time wireless signal strength at the first travel position, and determine the real-time fuzzy position information of the first travel position based on the real-time wireless signal strength; the first travel position is any position reached during the movement along the action route; if the real-time fuzzy position information indicates that the first travel position deviates from the action route, determine the real-time precise position information of the first travel position from the preset three-dimensional scene model based on the real-time fuzzy position information; establish an adjusted action route from the real-time precise position to the target navigation position based on the real-time precise position information and the actual position information, and perform action navigation based on the adjusted action route.

[0048] In the above-described device, the navigation module is further configured to, based on the real-time fuzzy location information, select a grid region containing the first travel position from multiple grid regions divided by the preset 3D scene model, and determine it as the travel region; if the travel region is included in the area traversed by the travel route, determine that the first travel position has not deviated from the travel route; if the travel region is not included in the area traversed by the travel route, and the distance between it and the travel route is less than or equal to a preset distance, determine that the first travel position has not deviated from the travel route; if the travel region is not included in the area traversed by the travel route, and the distance between it and the travel route is greater than the preset distance, determine that the first travel position has deviated from the travel route.

[0049] This invention provides a navigation device, comprising: a processor, a memory, and a communication bus;

[0050] The communication bus is used to realize the communication connection between the processor and the memory;

[0051] The processor is used to execute the navigation program stored in the memory to implement the above-described navigation method.

[0052] The present invention provides a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the above-described navigation method.

[0053] This invention provides a navigation method, apparatus, and storage medium. The method includes: acquiring the current wireless signal strength and current scene feature information of the starting navigation position, and using the current wireless signal strength to determine the fuzzy location information of the starting navigation position; using the fuzzy location information and the current scene feature information to determine the precise location information of the starting navigation information from a preset three-dimensional scene model; acquiring the actual location information of the target navigation position, and establishing a movement route from the starting navigation position to the target navigation position based on the precise location information and the actual location information; displaying the movement route through a navigation display interface, and performing navigation based on the movement route. The technical solution provided by this invention performs fuzzy positioning based on the current wireless signal strength, and then performs precise positioning based on the fuzzy positioning, thereby determining the movement route with the precise positioning information, thus improving the accuracy of navigation. Attached Figure Description

[0054] Figure 1 A flowchart illustrating a navigation method provided in an embodiment of the present invention;

[0055] Figure 2 This is an exemplary schematic diagram of establishing a preset region feature mapping relationship provided by an embodiment of the present invention;

[0056] Figure 3 A schematic diagram illustrating an exemplary route correction method provided in an embodiment of the present invention;

[0057] Figure 4 A schematic diagram of an exemplary navigation process provided in an embodiment of the present invention;

[0058] Figure 5 A schematic diagram of the structure of a navigation device provided in an embodiment of the present invention. Figure 1 ;

[0059] Figure 6 A schematic diagram of the structure of a navigation device provided in an embodiment of the present invention. Figure 2 . Detailed Implementation

[0060] The technical solutions of the present invention will now be clearly and completely described with reference to the accompanying drawings of the embodiments of the present invention. It is to be understood that the specific embodiments described herein are merely for explaining the relevant application and are not intended to limit the application. Furthermore, it should be noted that, for ease of description, only the parts relevant to the relevant application are shown in the accompanying drawings.

[0061] This invention provides a navigation method. Figure 1 This is a flowchart illustrating a navigation method provided in an embodiment of the present invention. Figure 1 As shown, the main steps include:

[0062] S101. Obtain the current wireless signal strength and current scene feature information of the starting navigation position, and use the current wireless signal strength to determine the fuzzy position information of the starting navigation position.

[0063] In an embodiment of the present invention, the navigation device obtains the current wireless signal strength and current scene feature information of the starting navigation position, and uses the current wireless signal strength to determine the fuzzy location information of the starting navigation position.

[0064] It should be noted that, in the embodiments of the present invention, the navigation device can be any one of a mobile terminal, tablet computer, navigation equipment, or other devices with navigation functions. The specific navigation device can be set according to actual needs and application scenarios.

[0065] It should be noted that, in the embodiments of the present invention, the navigation device can directly obtain the current wireless signal strength and current scene feature information of the starting navigation position. For example, the navigation device can obtain the current scene feature information through its own camera.

[0066] It should be noted that, in the embodiments of the present invention, after obtaining the current wireless signal strength, the navigation device can use the current wireless signal strength to determine the fuzzy location information of the starting navigation position.

[0067] Specifically, in embodiments of the present invention, before the navigation device determines the fuzzy location information of the starting navigation position using the current wireless signal strength, it may further perform the following steps: collecting feature point data of the target location; the target location includes the starting navigation position and the target navigation position; generating a preset three-dimensional scene model based on the feature point data, and dividing the preset three-dimensional scene model into multiple grid regions; for each grid region in the multiple grid regions, selecting corresponding feature point data from the feature point data, and extracting corresponding scene feature information from the corresponding feature point data; establishing a mapping relationship between different grid regions in the multiple grid regions and the corresponding scene feature information to obtain a preset region feature mapping relationship; for each grid region in the multiple grid regions, collecting the wireless signal strength within the grid region, and establishing a mapping relationship between different grid regions in the multiple grid regions and the wireless signal strength within the grid region to obtain a preset region signal mapping relationship.

[0068] It should be noted that, in the embodiments of the present invention, the target location can be any public place such as a hospital, campus, or shopping mall. The specific target location can be set according to actual needs and application scenarios, and the present invention does not limit it.

[0069] It should be noted that, in the embodiments of the present invention, the target location includes the starting navigation location and the target navigation location.

[0070] It should be noted that, in the embodiments of the present invention, the navigation device collects feature point data of the target location and uses the collected feature point data to generate a preset three-dimensional scene model. The preset three-dimensional scene model naturally also includes the collected feature point data. For the feature points corresponding to the collected feature point data, the navigation device can convert them from the world coordinate system to the camera coordinate system. The specific conversion formula is shown in formula (1):

[0071]

[0072] Wherein, the original world coordinates are X o S is the perpendicular distance from the optical center, X is the coordinate on the image plane, R is the relative rotation matrix, T is the relative displacement vector, and K is the coefficient.

[0073] It should be noted that, in the embodiments of the present invention, the navigation device divides the preset three-dimensional scene model into multiple grid areas. The width and length of the grid area can be 1.5 meters, 0.5 meters, or other arbitrary values ​​of marked length. The specific size of the grid area can be set according to the specific situation and application scenario. The present invention does not limit this.

[0074] It should be noted that, in the embodiments of the present invention, the navigation device can number multiple grid regions divided from a preset 3D scene model and map corresponding region coordinates. That is, the navigation device uses the matrix coordinates of each corner of each grid region to represent the size of that grid region. The navigation device assigns a value to each grid region R within the multiple grid regions. p Generate a universally unique identifier (UUID) and establish a region identifier mapping relationship between the UUID and region coordinates for each of the multiple grid regions.

[0075] It should be noted that in the embodiments of the present invention, the navigation device selects the corresponding feature point data from the collected feature point data for each grid area in multiple grid areas, and extracts the corresponding scene feature information from the corresponding feature point data. Specifically, the navigation device can project each grid area in multiple grid areas from different perspectives, and then calculate the perspective projection matrix of the same grid area from different perspectives to obtain a graphic with feature point data. This is equivalent to recombining the images of the same grid area projected from different perspectives. The recombined graphic is then denoised using bilateral filtering in the spatial domain pixel feature denoising algorithm. This algorithm consists of two filtering functions, one of which is determined by the geometric spatial distance and the other by the pixel difference. The weight coefficient w(i,j,k,l) ​​depends on the product of the spatial kernel and the value kernel. The specific formula is shown in formula (2):

[0076]

[0077] in, Using the spatial kernel, the spatial filter performs a weighted average of spatially neighboring points, with the weighting coefficients decreasing as the distance increases. As the value range kernel, the value range filter performs a weighted average of pixels with similar values. The weighting coefficients decrease as the value range increases. Finally, the pixel value g(i,j) output by the bilateral filter depends on the weighted combination of the values ​​of neighboring pixels, as shown in formula (3):

[0078]

[0079] Where f(k,l) is the value of the neighboring pixel.

[0080] It should be noted that, in the embodiments of the present invention, the navigation device can obtain the pixel value of each pixel in each grid region in multiple grid regions using formula (3), and then use the Speeded UpRobust Features (SURF) algorithm to extract the corresponding scene feature information. Specifically, the navigation device can construct a Hessian matrix H(f(x,y)) and generate an image f(x,y) of all interest points. The matrix calculation is shown in formula (4):

[0081]

[0082] After Gaussian filtering, the matrix H(x,σ) is expressed as Equation (5):

[0083]

[0084] The calculated pixel value of each pixel is matched with a preset number of neighboring pixel values ​​to find key points. Low-energy or incorrect points are removed to obtain stable feature point pixel values. Then, using the Z-axis coordinates of the feature points, the relevant region set is searched from the region identifier mapping relationship. Finally, a rectangular filtering method (such as...) is used... Figure 2 As shown in the figure, compare the horizontal coordinates in the coordinate system, and determine the feature point data within the horizontal coordinate range as the feature point data included in the grid area.

[0085] Figure 2 This is an exemplary schematic diagram illustrating the establishment of a preset region feature mapping relationship, provided as an embodiment of the present invention. For example... Figure 2 As shown, the navigation device uses the size of a certain grid area to filter out the feature points in that grid area, extracts scene feature information from the filtered feature point data, and then establishes a mapping relationship with the grid area to obtain a preset area feature mapping relationship.

[0086] It should be noted that, in the embodiments of the present invention, the navigation device collects the wireless signal strength within each of the multiple grid areas. The wireless signal strength may include Received Signal Strength Indication (RSSI) and wireless access point (AP) data.

[0087] It should be noted that, in the embodiments of the present invention, after obtaining the wireless signal strength corresponding to each grid area in multiple grid areas, the navigation device establishes a mapping relationship between different grid areas and the wireless signal strength within the grid areas, thereby obtaining a preset area signal mapping relationship.

[0088] Specifically, in an embodiment of the present invention, the navigation device uses the current wireless signal strength to determine the fuzzy location information of the starting navigation position, including: using a preset area signal mapping relationship, finding the grid area corresponding to the current wireless signal strength from multiple grid areas divided by a preset three-dimensional scene model, and determining the found grid area as the fuzzy location information.

[0089] It should be noted that, in the embodiments of the present invention, when the navigation device obtains the current wireless signal strength, it can use a preset area signal mapping relationship to find the grid area corresponding to the current wireless signal strength from multiple grid areas, and then determine the found grid area as fuzzy location information.

[0090] It should be noted that, in the embodiments of the present invention, the navigation device can roughly locate the grid area using a preset area signal mapping relationship. Currently, the navigation device can also use the weighted K-nearest neighbor algorithm (WKNN) to calculate the specific coordinates (X, Y) of the fuzzy location. For example, the navigation device can calculate the specific coordinates (X, Y) at each sampling point (X... i ,Y i Obtain the variance vector μ of the wireless signal strength. i The weighting coefficient for AP is w. i The calculation formula is shown in equation (6):

[0091]

[0092] Assume the wireless signal strength acquired by the navigation device is r. i Let i be the wireless signal strength acquired by the navigation device in the i-th grid area, and its average value is... Calculate the weighted average of the distances:

[0093]

[0094] The navigation device can directly obtain the current Euclidean distance D. i After the navigation device obtains the Euclidean distance, it can directly perform a weighted calculation on the first K data points, or it can remove some data points with high dispersion before the weighted calculation. This reduces data errors in the obtained results. The specific process can be handled using the Grubbs criterion. i For data verification.

[0095]

[0096] Where S is the standard deviation, G (p(n)) To test the critical value, p is the confidence probability, which can be taken as 0.95, and n represents the number of data points. This is the average value.

[0097] The normal Euclidean distance D is selected by formula (8). j Then, the WKNN step is performed, taking the reciprocal of the Euclidean distance and performing a weighted calculation to obtain the weight w. j ,

[0098]

[0099] The final weighted coordinates are:

[0100] X = X1w1 + X2w2 + ... + X j w j (10)

[0101] Y = Y1w1 + Y2w2 + ... + Y j w j (11)

[0102] Where (X,Y) are the specific coordinates of the fuzzy positioning obtained by the navigation device, (X... i ,Y i ) represents the coordinates corresponding to the filtered normal Euclidean distance.

[0103] S102. Using fuzzy location information and current scene feature information, determine the precise location information of the starting navigation information from the preset three-dimensional scene model.

[0104] In an embodiment of the present invention, the navigation device uses fuzzy location information and current scene feature information to determine the precise location information of the starting navigation information from a preset three-dimensional scene model.

[0105] It should be noted that, in the embodiments of the present invention, after obtaining the fuzzy location information and the current scene feature information, the navigation device determines the precise location information of the starting navigation information from the preset three-dimensional scene model.

[0106] Specifically, in the embodiments of the present invention, the navigation device uses fuzzy position information and current scene feature information to determine the precise position information of the starting navigation information from a preset three-dimensional scene model, including: selecting at least one grid region based on the starting navigation position from multiple grid regions divided from the preset three-dimensional scene model based on the fuzzy position information; obtaining scene feature information corresponding to each region in the at least one grid region using a preset region feature mapping relationship; and determining the grid region in the at least one grid region with the highest matching degree between the corresponding scene feature information and the current scene feature information as the precise position information.

[0107] It should be noted that, in the embodiments of the present invention, the navigation device uses fuzzy position information to select at least one grid region from multiple grid regions divided by a preset three-dimensional scene model, with the starting navigation position as the reference. The at least one grid region selected by the navigation device is a grid region within a preset range with the starting navigation position as the reference. For example, the navigation device selects each grid region within 10 meters with the starting position as the reference to obtain at least one grid region. The specific preset range can be 0.5m, 1m, 5m or other arbitrary data. The specific range can be set according to actual needs and application scenarios, and the present invention does not limit it.

[0108] It should be noted that, in the embodiments of the present invention, after the navigation device obtains at least one grid area, it uses a preset area feature mapping relationship to obtain scene feature information corresponding to each area in the at least one grid area. The navigation device can use the scene feature information corresponding to each grid area in the at least one grid area to construct a Kd-tree (K-dimension tree). Then, the grid area in the at least one grid area with the highest matching degree between the corresponding scene feature information and the current scene feature information is determined as the precise location information.

[0109] S103. Obtain the actual location information of the target navigation position, and based on the precise location information and the actual location information, establish a route from the starting navigation position to the target navigation position.

[0110] In an embodiment of the present invention, the navigation device acquires the actual location information of the target navigation location, and establishes a route from the starting navigation location to the target navigation location based on the accurate location information and the actual location information.

[0111] It should be noted that, in the embodiments of the present invention, the navigation device can use the obtained precise location information and actual location information to establish a route from the starting navigation position to the target navigation position.

[0112] Specifically, in embodiments of the present invention, the navigation device establishes a route from the starting navigation position to the target navigation position based on precise location information and actual location information, including: selecting a grid region containing the target navigation position from multiple grid regions divided by a preset three-dimensional scene model based on the actual location information, and determining it as the target region; determining each grid region without obstacles in the multiple grid regions as a passable region, obtaining at least one passable region; calculating the distance between each passable region and the starting navigation position to obtain the corresponding starting difference distance, and calculating the distance between each passable region and the target navigation position to obtain the target difference distance; determining the corresponding route distance by summing the corresponding starting difference distance and the target difference distance for each passable region in the at least one passable region; and selecting a portion of the regions from the at least one passable region based on the route distances of different regions in the passable region, and determining the selected portion of the regions as the route.

[0113] It should be noted that, in the embodiments of the present invention, the navigation device can select a grid region containing the target navigation location from multiple grid regions divided from a preset three-dimensional scene model based on actual location information, and determine the selected grid region as the target region.

[0114] It should be noted that, in the embodiments of the present invention, since there may be obstacles in the target location, making it impossible to pass through the grid area, for example, the grid area is a certain area in a building, thus making the area unpassable. The navigation device can determine each grid area that does not contain obstacles from multiple grid areas as a passable area, thus obtaining at least one passable area. The navigation device needs to calculate the corresponding route distance F for each passable area in the at least one passable area. The route distance is the sum of the distances F(p) between the grid area p and the starting navigation position and the target navigation position. The specific calculation method is shown in formula (12):

[0115] F(p)=G(p)+H(p) (12)

[0116] Where G(p) is the distance from the starting navigation position to the grid region p, and H(p) is the distance from the grid region p to the target navigation position.

[0117] It should be noted that, in the embodiments of the present invention, the navigation device selects a portion of the route from at least one passable area based on the route distance between different areas within the passable area, and determines the selected portion of the route. Specifically, the navigation device selection process can begin by placing the starting navigation position into an open list, and then repeating the following steps: a: Traverse the open list to find the smallest F... minb: This F min c: Add the corresponding grid region R to the closed list; d: Check the adjacent grid regions of R: if the adjacent grid region is in the closed list, ignore the operation; if the adjacent grid region is not in the open list, add it to the open list, and set the current grid region as its parent node, recording the F(m), G(m), and H(m) values ​​of the grid region m; if it is already in the open list, check if this path is better, using the G value as a reference. A smaller G value indicates a better path. If so, set its parent node as the current grid region and recalculate its G and F values; until the target navigation position is added to the open list or the destination search fails; d: Finally, query the starting navigation position from the target navigation position along the parent node to obtain the action route.

[0118] S104. Display the route through the navigation display interface and provide navigation based on the route.

[0119] In an embodiment of the present invention, the navigation device displays the route through a navigation display interface and performs navigation based on the route.

[0120] It should be noted that, in the embodiments of the present invention, when the navigation device obtains the route, the route is displayed through the navigation display interface, and navigation is performed based on the route.

[0121] Specifically, in embodiments of the present invention, the navigation device performs navigation based on a travel route, including: upon reaching a first travel position, acquiring the real-time wireless signal strength at the first travel position, and determining the real-time fuzzy position information of the first travel position based on the real-time wireless signal strength; the first travel position is any position reached during the travel based on the travel route; if the real-time fuzzy position information indicates that the first travel position deviates from the travel route, determining the real-time precise position information of the first travel position from a preset three-dimensional scene model based on the real-time fuzzy position information; establishing an adjusted travel route from the real-time precise position to the target navigation position based on the real-time precise position information and the actual position information, and performing navigation based on the adjusted travel route.

[0122] It should be noted that, in the embodiments of the present invention, the navigation device can perform fuzzy positioning of its position during the movement of a route. That is, the navigation device can obtain the real-time wireless signal strength at the first position during the movement of a route, and use the obtained real-time wireless signal strength to determine the real-time fuzzy position information. It can also monitor in real time whether the first position deviates from the route. If the first position deviates from the route, the navigation device will re-plan the route based on the real-time accurate position information and the actual position information, establish an adjusted route from the real-time accurate position to the target navigation position, and then perform movement navigation based on the adjusted route.

[0123] It should be noted that, in the embodiments of the present invention, the navigation device performs fuzzy positioning only for the position during the journey when it is navigating based on the route, and performs precise positioning only when it deviates from the route. By combining fuzzy positioning with precise positioning, the positioning efficiency is greatly improved and the pressure on the background calculation is reduced.

[0124] Specifically, in embodiments of the present invention, before determining the real-time accurate location information of the first traveling position from a preset three-dimensional scene model based on the real-time fuzzy location information, when the real-time fuzzy location information indicates that the first traveling position deviates from the travel route, the navigation device may further perform the following steps: based on the real-time fuzzy location information, select a grid area containing the first traveling position from multiple grid areas divided by the preset three-dimensional scene model, and determine it as the traveling area; if the traveling area is included in the area traversed by the travel route, determine that the first traveling position has not deviated from the travel route; if the traveling area is not included in the area traversed by the travel route, and the distance between it and the travel route is less than or equal to a preset distance, determine that the first traveling position has not deviated from the travel route; if the traveling area is not included in the area traversed by the travel route, and the distance between it and the travel route is greater than a preset distance, determine that the first traveling position deviates from the travel route.

[0125] It should be noted that, in the embodiments of the present invention, the navigation device selects a grid area containing the first traveling position from multiple grid areas divided from a preset three-dimensional scene model based on real-time fuzzy position information, and determines it as the traveling area. If the traveling area is included in the area traversed by the travel route, it means that the first traveling position has not deviated from the travel route. If the traveling area is not included in the area traversed by the travel route, it is necessary to further determine the distance between the traveling area and the travel route. If the distance is less than or equal to a preset distance, it also means that the first traveling position has not deviated from the travel route; while if the distance is greater than the preset distance, it means that the first traveling position has deviated from the travel route.

[0126] It should be noted that, in the embodiments of the present invention, the preset distance can be 1.5m, 2m, or other values. The specific preset distance can be set according to the actual situation and application scenario, and the present invention does not limit it.

[0127] Figure 3 This is a schematic diagram illustrating an exemplary route correction method provided in an embodiment of the present invention. Figure 3 As shown in the diagram, the gray area represents a grid area containing obstacles, the solid dots represent the starting navigation position, the hollow dots represent the target navigation position, and the solid squares represent the movement route from the starting navigation position to the target navigation position determined by the navigation device. If the first movement position is located within the grid area containing the solid squares in the diagram, it indicates that the first movement position has not deviated from the movement route. If the first movement position is located at point A in the diagram, although the grid area containing point A is not included in the area traversed by the movement route, the distance between point A and the movement route is less than or equal to the preset distance d, which also indicates that the first movement position has not deviated from the movement route. If the first movement position is located at point B in the diagram, the grid area containing this point is neither included in the area traversed by the movement route nor greater than the preset distance d, indicating that the first movement position has deviated from the movement route and the route needs to be replanned.

[0128] Figure 4 This is a schematic diagram illustrating an exemplary navigation process provided by an embodiment of the present invention. Figure 4As shown, the navigation device collects feature point data of the target location and uses this data to construct a preset 3D scene model. Then, it meshes the preset 3D scene model and extracts scene feature information to establish a preset regional feature mapping relationship. Next, it collects the wireless signal strength within the mesh area and establishes a preset regional signal mapping relationship. The navigation device obtains the actual location information and current wireless signal strength of the target navigation position. After determining fuzzy location information based on the current wireless signal strength, it further determines whether precise positioning is needed. If precise positioning is required, the navigation device obtains the current scene feature information and, based on the obtained fuzzy location information, selects at least one mesh from the preset 3D scene model, using the starting navigation position as a reference. The system uses a kd-tree to match the current scene feature information with the scene feature information corresponding to each of at least one grid region to determine precise location information. It then establishes a route from the starting navigation position to the target navigation position, displays the route on the navigation interface, and performs navigation based on the route. If the first moving position deviates from the route, the system returns to the step of obtaining the actual location information of the target navigation position. If the first moving position does not deviate from the route, navigation stops upon reaching the target navigation position or ending navigation. If precise positioning is not required, the navigation device can directly establish a route based on the obtained fuzzy location information and perform navigation based on the route.

[0129] This invention provides a navigation method, comprising: acquiring the current wireless signal strength and current scene feature information of the starting navigation position, and using the current wireless signal strength to determine the fuzzy location information of the starting navigation position; using the fuzzy location information and the current scene feature information to determine the precise location information of the starting navigation information from a preset three-dimensional scene model; acquiring the actual location information of the target navigation position, and establishing a movement route from the starting navigation position to the target navigation position based on the precise location information and the actual location information; displaying the movement route through a navigation display interface, and performing navigation based on the movement route. The navigation method provided by this invention performs fuzzy positioning using the current wireless signal strength, and then performs precise positioning based on the fuzzy positioning, thereby determining the movement route using the precise positioning information, thus improving the accuracy of navigation.

[0130] This invention provides a navigation device. Figure 5 A schematic diagram of the structure of a navigation device provided in an embodiment of the present invention. Figure 1 .like Figure 5 As shown, it includes:

[0131] The acquisition module 501 is used to acquire the current wireless signal strength and current scene feature information of the starting navigation position, and use the current wireless signal strength to determine the fuzzy position information of the starting navigation position;

[0132] The determining module 502 is used to determine the precise location information of the starting navigation information from a preset three-dimensional scene model using the fuzzy location information and the current scene feature information;

[0133] The module 503 is used to obtain the actual location information of the target navigation location, and based on the precise location information and the actual location information, to establish a movement route from the starting navigation location to the target navigation location;

[0134] The navigation module 504 is used to display the action route through a navigation display interface and to perform action navigation based on the action route.

[0135] Optionally, the navigation device further includes a data acquisition module (not shown in the figure) for acquiring feature point data of the target location; the target location includes the starting navigation position and the target navigation position; based on the feature point data, a preset 3D scene model is generated, and the preset 3D scene model is divided into multiple grid regions; for each of the multiple grid regions, corresponding feature point data is selected from the feature point data, and corresponding scene feature information is extracted from the corresponding feature point data; a mapping relationship is established between different grid regions and corresponding scene feature information in the multiple grid regions to obtain a preset region feature mapping relationship; for each of the multiple grid regions, the wireless signal strength within the grid region is acquired, and a mapping relationship is established between different grid regions and the wireless signal strength within the grid region to obtain a preset region signal mapping relationship.

[0136] Optionally, the acquisition module 501 is specifically used to use the preset area signal mapping relationship to find the grid area corresponding to the current wireless signal strength from multiple grid areas divided by the preset three-dimensional scene model, and to determine the found grid area as fuzzy location information.

[0137] Optionally, the determining module 502 is specifically used to select at least one grid region from multiple grid regions divided from the preset three-dimensional scene model based on the fuzzy position information, with the starting navigation position as the reference; to obtain scene feature information corresponding to each region in the at least one grid region using a preset region feature mapping relationship; and to determine the grid region in the at least one grid region with the highest matching degree between the corresponding scene feature information and the current scene feature information as the precise position information.

[0138] Optionally, the establishment module 503 is specifically used to: select a grid region containing the target navigation position from multiple grid regions divided by the preset 3D scene model based on the actual location information, and determine it as the target region; determine each grid region without obstacles in the multiple grid regions as a passable region, thereby obtaining at least one passable region; calculate the distance between each passable region and the starting navigation position to obtain the corresponding starting difference distance, and calculate the distance between each passable region and the target navigation position to obtain the target difference distance; determine the corresponding route distance by summing the corresponding starting difference distance and the target difference distance for each passable region in the at least one passable region; and select a portion of the regions from the at least one passable region based on the route distances of different regions in the passable region, and determine the selected portion of the regions as the action route.

[0139] Optionally, the navigation module 504 is specifically configured to, upon reaching a first traveling position, collect the real-time wireless signal strength at the first traveling position, and determine the real-time fuzzy position information of the first traveling position based on the real-time wireless signal strength; the first traveling position is any position reached during the movement of the action route; if the real-time fuzzy position information indicates that the first traveling position deviates from the action route, determine the real-time precise position information of the first traveling position from the preset three-dimensional scene model based on the real-time fuzzy position information; establish an adjusted action route from the real-time precise position to the target navigation position based on the real-time precise position information and the actual position information, and perform action navigation based on the adjusted action route.

[0140] Optionally, the navigation module 504 is further configured to, based on the real-time fuzzy location information, select a grid region containing the first travel position from multiple grid regions divided by the preset 3D scene model, and determine it as the travel region; if the travel region is included in the area traversed by the travel route, determine that the first travel position has not deviated from the travel route; if the travel region is not included in the area traversed by the travel route, and the distance between it and the travel route is less than or equal to a preset distance, determine that the first travel position has not deviated from the travel route; if the travel region is not included in the area traversed by the travel route, and the distance between it and the travel route is greater than the preset distance, determine that the first travel position has deviated from the travel route.

[0141] This invention provides a navigation device. Figure 6 A schematic diagram of the structure of a navigation device provided in an embodiment of the present invention. Figure 2 .like Figure 6As shown, the navigation device includes: a processor 601, a memory 602, and a communication bus 603;

[0142] The communication bus 603 is used to realize the communication connection between the processor 601 and the memory 602;

[0143] The processor 601 is used to execute the navigation program stored in the memory 602 to implement the above-described navigation method.

[0144] This invention provides a navigation device that acquires the current wireless signal strength and current scene feature information of the starting navigation position, and uses the current wireless signal strength to determine the fuzzy location information of the starting navigation position; uses the fuzzy location information and the current scene feature information to determine the precise location information of the starting navigation information from a preset 3D scene model; acquires the actual location information of the target navigation position, and establishes a movement route from the starting navigation position to the target navigation position based on the precise location information and the actual location information; displays the movement route through a navigation display interface, and performs navigation based on the movement route. The navigation device provided by this invention performs fuzzy positioning based on the current wireless signal strength, and then performs precise positioning based on the fuzzy positioning, thereby determining the movement route with the precise positioning information, thus improving the accuracy of navigation.

[0145] This invention provides a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the navigation method described above. The computer-readable storage medium can be volatile memory, such as random-access memory (RAM); or non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); or it can be a device comprising one or any combination of the above-mentioned memories, such as a mobile phone, computer, tablet device, personal digital assistant, etc.

[0146] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0147] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0148] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0149] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0150] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this utility application should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A navigation method, characterized in that, The method includes: The current wireless signal strength and current scene feature information of the starting navigation position are obtained, and the fuzzy location information of the starting navigation position is determined using the current wireless signal strength. Based on the fuzzy location information, at least one grid region is selected from multiple grid regions divided from the preset 3D scene model, with the starting navigation position as the reference. Using a preset region feature mapping relationship, scene feature information corresponding to each region in at least one grid region is obtained; the scene feature information is feature information extracted based on feature point data included in the corresponding grid region; the determination of feature point data includes: projecting each grid region in the multiple grid regions from different perspectives; recombining the projected images of the same grid region from different perspectives, and using bilateral filtering in the spatial domain pixel feature denoising algorithm to denoise the recombined image; obtaining the pixel value of each pixel in each grid region in the multiple grid regions; matching the calculated pixel value of the pixel with the pixel values ​​of a preset number of adjacent pixels to find key points, and removing low-energy or incorrect points to finally obtain the pixel value of stable feature points; searching for the matrix-related region set from the region identifier mapping relationship through the Z-axis coordinate of the feature points; and using a rectangular filtering method to compare the horizontal coordinates in the coordinate system, determining the feature point data within the horizontal coordinate range as the feature point data included in the grid region. The grid region in the at least one grid region whose corresponding scene feature information matches the current scene feature information with the highest degree of matching is determined as the precise location information; Obtain the actual location information of the target navigation location, and based on the precise location information and the actual location information, establish a movement route from the starting navigation location to the target navigation location; The route is displayed through a navigation interface, and navigation is performed based on the route.

2. The method according to claim 1, characterized in that, Before determining the fuzzy location information of the starting navigation position using the current wireless signal strength, the method further includes: Collect feature point data of the target location; the target location includes the starting navigation position and the target navigation position; Based on the feature point data, the preset 3D scene model is generated, and the preset 3D scene model is divided into multiple grid regions; For each of the multiple grid regions, corresponding feature point data is selected from the feature point data, and corresponding scene feature information is extracted from the corresponding feature point data; Establish a mapping relationship between different grid regions and corresponding scene feature information in the multiple grid regions to obtain a preset region feature mapping relationship; For each of the multiple grid regions, the wireless signal strength within the grid region is collected, and a mapping relationship between different grid regions and the wireless signal strength within the grid region is established to obtain a preset regional signal mapping relationship.

3. The method according to claim 1, characterized in that, The step of determining the fuzzy location information of the starting navigation position using the current wireless signal strength includes: Using a preset regional signal mapping relationship, the grid region corresponding to the current wireless signal strength is found from multiple grid regions divided by the preset three-dimensional scene model, and the found grid region is determined as fuzzy location information.

4. The method according to claim 1, characterized in that, The step of establishing a route from the starting navigation position to the target navigation position based on the precise location information and the actual location information includes: Based on the actual location information, from the multiple grid regions divided by the preset 3D scene model, a grid region containing the target navigation location is selected and determined as the target region; Each grid region that does not contain obstacles is identified as a passable region, thus obtaining at least one passable region; For each of the at least one passable areas, calculate the distance between it and the starting navigation position to obtain the corresponding starting phase difference distance, and calculate the distance between it and the target navigation position to obtain the target phase difference distance; For each passable area in the at least one passable area, the sum of the corresponding starting difference distance and the target difference distance is determined as the corresponding route distance; Based on the route distances between different areas within the passable areas, a subset of areas is selected from the at least one passable area, and this selected subset of areas is determined as the action route.

5. The method according to claim 1, characterized in that, The navigation based on the route includes: Upon reaching the first travel position, the real-time wireless signal strength at the first travel position is collected, and based on the real-time wireless signal strength, the real-time fuzzy location information of the first travel position is determined; the first travel position is any location reached during the travel of the movement route. When the real-time fuzzy location information indicates that the first traveling position deviates from the movement route, the real-time accurate location information of the first traveling position is determined from the preset three-dimensional scene model based on the real-time fuzzy location information. Based on the real-time accurate location information and the actual location information, an adjusted action route is established from the real-time accurate location to the target navigation location, and action navigation is performed based on the adjusted action route.

6. The method according to claim 5, characterized in that, Before determining the real-time precise location information of the first traveling position from the preset 3D scene model based on the real-time fuzzy location information, when the real-time fuzzy location information indicates that the first traveling position deviates from the travel route, the method further includes: Based on the real-time fuzzy position information, from the multiple grid regions divided by the preset 3D scene model, select the grid region containing the first travel position and determine it as the travel region; If the travel area is included in the area traversed by the route of action, it is determined that the first travel position has not deviated from the route of action; If the travel area is not included in the area traversed by the travel route, and the distance between the travel area and the travel route is less than or equal to a preset distance, it is determined that the first travel position has not deviated from the travel route. If the travel area is not included in the area traversed by the travel route, and the difference between the travel area and the travel route is greater than the preset distance, it is determined that the first travel position deviates from the travel route.

7. A navigation device, characterized in that, include: The acquisition module is used to acquire the current wireless signal strength and current scene feature information of the starting navigation position, and use the current wireless signal strength to determine the fuzzy position information of the starting navigation position; The determination module is used to select at least one grid region from multiple grid regions divided by a preset three-dimensional scene model based on the fuzzy position information, with the starting navigation position as the reference. Using a preset region feature mapping relationship, scene feature information corresponding to each region in the at least one grid region is obtained respectively; The scene feature information is feature information extracted based on the feature point data included in the corresponding grid area; The determination of the feature point data includes: projecting each of the multiple grid regions from different perspectives; recombining the projected images of the same grid region from different perspectives, and applying bilateral filtering in the spatial domain pixel feature denoising algorithm to the recombined image; obtaining the pixel value of each pixel in each of the multiple grid regions; matching the calculated pixel value of the pixel with the pixel values ​​of a preset number of adjacent pixels to find key points, and removing low-energy or incorrect points to finally obtain the pixel value of stable feature points; searching for the matrix-related region set from the region identifier mapping relationship using the Z-axis coordinate of the feature points; and using a rectangular filtering method to compare the horizontal coordinates in the coordinate system and determine the feature point data within the horizontal coordinate range as the feature point data included in the grid region. The grid region in the at least one grid region whose corresponding scene feature information matches the current scene feature information with the highest degree of matching is determined as the precise location information; A module is established to acquire the actual location information of the target navigation location, and based on the accurate location information and the actual location information, to establish a movement route from the starting navigation location to the target navigation location; The navigation module is used to display the action route through a navigation display interface and to provide navigation based on the action route.

8. A navigation device, characterized in that, include: Processor, memory, and communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is configured to execute the navigation program stored in the memory to implement the navigation method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, which can be executed by one or more processors to implement the navigation method according to any one of claims 1-6.

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