A navigation method based on a navigation image database

Abstract

The application discloses a navigation method based on a navigation image database and belongs to the navigation field. The navigation method based on the navigation image database is connected by a position connection module to the current position of a user and a set target, provides a path, and simultaneously, after the position calculation module calculates the current position, the position data are recognized by a positioning data recognition module, corresponding panoramic images of corresponding positions are extracted in a panoramic picture storage module by a navigation image extraction module, and the images are sent to the user by a navigation image sending module. The application solves the problem that the user cannot clearly refer to the current environment for recognition and orientation in the prior navigation method, the current panoramic picture of the current position of the user is searched and extracted, and is sent to the receiving end of the user, the user can assist in navigation according to the current position and the extracted panoramic picture, and the efficiency in the navigation process is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of navigation, in particular to a navigation method based on a navigation image database. BACKGROUND

[0002] The previous focus of navigation is to monitor and control the process of moving from one place to another by process or vehicle, the navigation field includes four general categories, which are land navigation, marine navigation, aviation navigation and space navigation respectively, with the continuous maturity of navigation technology, and accompanied by the development of the transportation industry, navigation is gradually applied to business, and with the reduction of navigation cost, navigation is gradually applied to individuals from business;

[0003] The Chinese patent with publication number CN110196054B discloses a navigation method and system, which comprises receiving a first movement instruction, the first movement instruction is used to instruct movement to the target position; obtaining a positioning point; forming a second movement instruction, the second movement instruction is used to instruct movement to the positioning point; moving to the positioning point according to the second movement instruction; forming a third movement instruction at the positioning point, the third movement instruction is used to instruct movement to the target position; moving to the target position according to the third movement instruction. Reduce navigation error, improve the smoothness of task execution.

[0004] The navigation method of the above-mentioned patent only displays the navigation track and adjusts in time according to the existing position in the actual navigation process, but the user cannot clearly refer to the current environment to identify the direction in the navigation process, and the effect is poor when used by the user with poor sense of direction; Therefore, it does not meet the existing needs, and for this purpose, we propose a navigation method based on a navigation image database. SUMMARY

[0005] The purpose of the present application is to provide a navigation method based on a navigation image database, which retrieves and extracts the current panoramic picture of the current position of the user and sends it to the receiving end of the user, so that the user can assist in navigation according to the current location and the extracted panoramic picture, improve the efficiency in the navigation process, avoid the need for the user to refer to the surrounding environment and compare with the overhead angle navigation track, and through the extraction of the panoramic picture, the complex traffic track can be coped with, the navigation accuracy and efficiency of the user are improved, the navigation can be applied to a wider population, and the navigation is convenient for the public to use, solving the problems raised in the above background technology.

[0006] To achieve the above purpose, the present application provides the following technical scheme: a navigation method based on a navigation image database, comprising the following steps:

[0007] Step one, from the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module and the time difference elimination Beidou satellite to the monitoring station broadcast signal, the monitoring station transmits data to the master control station, and the master control station processes satellite orbit clock parameter data;

[0008] Step two, data processing and determining the position of the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module and the time difference elimination Beidou satellite, and the four positions are respectively transmitted to the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module and the time difference elimination Beidou satellite by the injection station, and the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module and the time difference elimination Beidou satellite broadcast their own positions to the user's position receiving module;

[0009] Step three, the position calculation module calculates the distance between itself and the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module and the time difference elimination Beidou satellite;

[0010] Step four, the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module form a spherical region with the corresponding distance as the radius, determine an intersection point through the three spherical regions, and eliminate the time difference caused by the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module relative to the user distance far away by the time difference elimination Beidou satellite;

[0011] Step five, the user's current position and the set target are connected by the position connection module, and the path is provided, and after the position calculation module calculates the current position, the positioning data recognition module recognizes the position data, and the navigation image extraction module extracts the corresponding panoramic image corresponding to the position in the panoramic picture storage module, and the image is sent to the user through the navigation image sending module;

[0012] Step six, in the process of returning the same section, the image positioning system and the process recording system recorded by the binding module are bound, and the process and the image are reversed by the process reversing module and the panoramic picture reversing module in the return auxiliary system respectively;

[0013] Step seven, in the process of returning, only the space monitoring system needs to continuously position the user's position, and move according to the process and image reversed by the process reversing module and the panoramic picture reversing module.

[0014] Preferably, the navigation system based on a navigation image database comprises a user positioning system, an image positioning system, a timing image recording module, a process recording system and a process storage module, wherein: the timing image recording module is used for temporarily recording the extracted panoramic image, which helps the user to repeatedly view, avoids repeated extraction of the required panoramic picture, and avoids the waste of the overall operation of the system and the repeated operation of the system to avoid the process and make the system bulky; the process storage module is used for recording the trajectory and image in the process, recording and quickly extracting when needed in the future, avoiding repeated extraction and detection of the position and the corresponding image in the future.

[0015] Preferably, the user positioning system comprises a position receiving module and a position calculation module, wherein: the position receiving module receives and records the current position information of the user detected, and serves as the receiving end of the user in the whole system; the position calculation module summarizes the position information received by the position receiving module, and calculates the position information of the user at the current time.

[0016] Preferably, the image positioning system comprises a positioning data identification module, a navigation image extraction module, a panoramic picture storage module and a navigation image sending module, wherein: the positioning data identification module is used for identifying the data calculated by the position calculation module, continuously identifying the current position as the current position of the user changes, and identifying and helping the subsequent retrieval of the panoramic photo; the navigation image extraction module extracts the panoramic picture of the current position according to the data of the current position, as a reference in the navigation process; the panoramic picture storage module is used for recording and storing the panoramic picture recorded in advance, for the direct taking out of the subsequent user and as a reference for the navigation personnel; the navigation image sending module sends the panoramic picture corresponding to the current position of the user to the user receiving end.

[0017] Preferably, the navigation image sending module comprises a visual data extraction unit, a visual angle dead angle marking unit, a navigation direction determination unit, a navigation early warning prompt unit and a navigation data sending unit, wherein:

[0018] The visual data extraction unit is used for visual positioning of the panoramic picture of the current position, determining the observation visual angle of the panoramic picture, and at the same time, obtaining the driving observation visual angle of the user at the current position;

[0019] The visual angle dead angle marking unit is used for comparing the observation visual angle with the driving observation visual angle, obtaining the visual angle error, determining the observation difference between the observation image of the user and the panoramic picture based on the visual angle error, marking the visual angle dead angle position of the user on the panoramic picture according to the observation difference, and obtaining the marked panoramic picture.

[0020] The navigation direction determination unit is configured to obtain the driving environment features in the longitudinal viewing range according to the global features of the panoramic picture, obtain the actual driving data of the road in front of the current position, determine the to-be-traveled region of the user, mark the navigation direction corresponding to the current position in the to-be-traveled region according to the positional relationship between the current position and the destination position of the user, and obtain the panoramic picture pointing to the panoramic picture.

[0021] The navigation warning prompt unit is configured to mark the visual dead angle position on the panoramic picture pointing to the panoramic picture as a reference picture, obtain the final panoramic picture, determine the driving environment risk corresponding to each visual dead angle position based on the global features of the panoramic picture, determine the effective driving environment risk according to the actual driving range of the user at the current position, and generate the navigation prompt voice according to the effective driving environment risk.

[0022] The navigation data sending unit is configured to send the final panoramic picture corresponding to the current position of the user and the navigation prompt voice as the accompanying data to the user receiving end.

[0023] Preferably, the flow recording system comprises a timing position recording module, a position connecting module and a binding module, wherein: the timing position recording module records the trajectory of the user movement in a timing manner; the position connecting module connects the points of the timing recorded positions with adjacent recorded points, thereby generating a trajectory conforming to the movement of the user; and the binding module is used for combining and binding the panoramic pictures recorded by the timing image recording module with the corresponding movement trajectory, and binding and storing and recording, which helps to improve the reuse of the current trajectory subsequently, avoids the need to repeatedly calculate the position and repeatedly extract the panoramic picture, and improves the efficiency.

[0024] Preferably, the system further comprises a return assistance system, the return assistance system comprising a flow reversing module and a panoramic picture reversing module, wherein: the flow reversing module reverses the trajectory flow connected by the position connecting module, and directly converts the original starting point into the terminal point and converts the original terminal point into the starting point; and the panoramic picture reversing module is used for mirror reversing the orientation of the panoramic pictures recorded by the timing image recording module, and can correspond to the movement trajectory reversed by the flow reversing module, so as to avoid the need for the system to retrieve the position again and extract the panoramic picture from the panoramic picture storage module through the navigation image extraction module during the continuous movement of the user.

[0025] Preferably, the ground monitoring system comprises a monitoring station, a master station and an injection station, wherein: the monitoring station is configured to receive information transmitted by the satellite in space; the master station is configured to process the information received by the monitoring station, process satellite orbit clock parameters and other data, and determine the position of the satellite in space; and the injection station is configured to transmit the data calculated by the master station to the satellite in space.

[0026] Preferably, the space monitoring system comprises a first Beidou positioning module, a second Beidou positioning module, a third Beidou positioning module, a time difference elimination Beidou satellite and a rear intersection point determination module, wherein: the first Beidou positioning module, the second Beidou positioning module and the third Beidou positioning module are configured to broadcast satellite signals containing time and self-position information to a user terminal receiver; the time difference elimination Beidou satellite is configured to eliminate the clock difference between the local receiver clock and the satellite clock, and eliminate the influence of the clock difference on positioning; and the rear intersection point determination module is configured to determine the intersection point of a circle with the satellite as the center and the satellite and the receiving end as the radius, and accurately determine the current position of the receiving end.

[0027] Preferably, the binding module comprises:

[0028] The picture feature acquisition unit is configured to establish a coordinate sequence on the panoramic picture, determine coordinate features, and determine a first color feature corresponding to each coordinate feature.

[0029] The picture rotation unit is configured to rotate the panoramic picture at multiple angles, and determine a second color feature corresponding to each coordinate feature after rotation.

[0030] The calculation formula of the second color feature is as follows:

[0031]

[0032] wherein, B(x ij ) represents the second color feature of the panoramic picture after rotation at the i-th row and the j-th column, A(x ij ) represents the first color feature of the panoramic picture before rotation at the i-th row and the j-th column, θ represents the rotation angle of the panoramic picture, m represents the number of columns of the coordinate features of the panoramic picture, n represents the number of rows of the coordinate features of the panoramic picture, arctan represents an inverse tangent function, π represents a natural constant and takes a value of 3.14, σ 00 represents a rotation center feature value and takes a value of (0, 1);

[0033] The feature determination unit is configured to determine a binding feature of the panoramic picture according to the coordinate features, the first color features and the second color features.

[0034] binding unit, for binding the binding feature of the panoramic picture with the coordinate point corresponding to the moving track;

[0035] The calculation formula of the binding feature is as follows:

[0036]

[0037] Wherein, C represents the binding feature, and S represents the standard detection color feature number;

[0038] The storage unit is used for storing and recording the binding result.

[0039] Compared with the prior art, the beneficial effects of the present application are:

[0040] 1、The present application extracts the current panoramic picture of the current position of the user in the actual navigation process and sends it to the receiving end of the user, so that the user can assist in navigation according to the current position and the extracted panoramic picture, improve the efficiency in the navigation process, avoid the user needing to refer to the surrounding environment and compare with the overhead angle navigation track, and through the extraction of the panoramic picture, the complex traffic track can be coped with, the navigation accuracy and the navigation efficiency of the user are improved, the navigation can be coped with a wider population, and the navigation is convenient for the public to use.

[0041] 2、The present application records the corresponding panoramic picture of the corresponding position in the previous navigation process by the timing image recording module during the process of returning to the current navigation track after single navigation, and the mirror surface of the panoramic image is reversed by the panoramic picture reversing module in the return auxiliary system, so that the panoramic picture of the same corresponding position does not need to be repeatedly extracted by the navigation image extraction module in the panoramic picture storage module, and the whole navigation mode is complex. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The navigation method flowchart of the present application;

[0043] Figure 2 The navigation system schematic diagram based on the navigation image database of the present application;

[0044] Figure 3 The return auxiliary system schematic diagram of the present application;

[0045] Figure 4 The user positioning system, image positioning system and flow recording system schematic diagram of the present application. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of the present application.

[0047] For further understanding of the present application, please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 The present embodiment provides the following technical solutions:

[0048] A navigation method based on a navigation image database, comprising the following steps:

[0049] Step one, the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module and the time difference elimination Beidou satellite broadcast signals to the monitoring station, the monitoring station transmits data to the main control station, and the main control station processes satellite orbit clock parameter data;

[0050] Step two, data processing and determining the position of the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module and the time difference elimination Beidou satellite, the four positions are respectively transmitted to the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module and the time difference elimination Beidou satellite by the injection station, and the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module and the time difference elimination Beidou satellite broadcast their own positions to the user's position receiving module;

[0051] Step three, the position calculation module calculates the distance between itself and the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module and the time difference elimination Beidou satellite;

[0052] Step four, the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module form a spherical region with the corresponding distance as the radius, determine an intersection point through the three spherical regions, and eliminate the time difference caused by the first Beidou star positioning module, the second Beidou star positioning module, the third Beidou star positioning module relative to the user's distance by the time difference elimination Beidou satellite;

[0053] Step five, the user's current position and the set target are connected by the position connection module to provide a path, and after the position calculation module calculates the current position, the position data is recognized by the positioning data recognition module, and the corresponding panoramic image corresponding to the position is extracted in the panoramic picture storage module by the navigation image extraction module, and the image is sent to the user by the navigation image sending module.

[0054] Step six, in the process of returning by using the same section, the image and the process recorded by the image positioning system and the process recording system are bound by the binding module, and the process and the image are reversed by the process reversing module and the panoramic picture reversing module in the return auxiliary system respectively;

[0055] Step seven, in the process of returning, only the space monitoring system needs to continuously locate the position of the user, and move according to the reversed process and image of the process reversing module and the panoramic picture reversing module.

[0056] In order to solve the problem that the existing navigation method only displays the navigation track and adjusts in time according to the existing position in the actual navigation process, and the user cannot clearly identify the direction by referring to the current environment in the navigation process, and the effect is poor when used by the user with poor sense of direction, please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , the embodiment provides the following technical scheme:

[0057] The navigation system based on the navigation image database includes a user positioning system, an image positioning system, a timing image recording module, a process recording system and a process storage module, wherein: the timing image recording module is used for temporarily recording the extracted panoramic image, which helps the user to repeatedly view, avoids repeated extraction of the required panoramic picture, and avoids the waste of the overall operation of the system, thereby avoiding the repeated operation of the system and making the system bulky; the process storage module is used for recording the trajectory and image during the process, recording and quickly extracting when needed later, avoiding repeated extraction and detection of the position and corresponding image later, the user positioning system includes a position receiving module and a position calculation module, wherein: the position receiving module receives and records the current position information of the user detected, and serves as the receiving end of the user in the whole system; the position calculation module summarizes the position information received by the position receiving module, calculates and obtains the position information of the user at the current time, the image positioning system includes a positioning data identification module, a navigation image extraction module, a panoramic picture storage module and a navigation image sending module, wherein: the positioning data identification module is used for identifying the data calculated by the position calculation module, continuously identifying the current position as the current position of the user changes, and identifying and helping the subsequent retrieval of panoramic photos; the navigation image extraction module extracts the panoramic picture of the current position according to the data of the current position, which serves as a reference during navigation; the panoramic picture storage module is used for recording and storing the panoramic picture recorded in advance, which is convenient for the user to take out directly and serve as a reference for the navigation personnel; the navigation image sending module sends the panoramic picture corresponding to the current position of the user to the user receiving end, and through the extraction of the panoramic picture, the complex traffic trajectory can be coped with, the navigation accuracy and efficiency of the user can be improved, the navigation can be applied to a wider group of people, and the navigation is convenient for the public to use.

[0058] In one embodiment, the navigation image sending module includes a visual data extraction unit, a visual angle dead angle marking unit, a navigation direction determination unit, a navigation early warning prompt unit and a navigation data sending unit, wherein:

[0059] The visual data extraction unit is used for visually positioning the panoramic picture of the current position, determining the observation visual angle of the panoramic picture, and obtaining the driving observation visual angle of the user at the current position;

[0060] The visual angle dead angle marking unit is used for comparing the observation visual angle with the driving observation visual angle, obtaining the visual angle error, determining the observation difference between the observation image of the user and the panoramic picture based on the visual angle error, marking the visual angle dead angle position of the user on the panoramic picture according to the observation difference, and obtaining the marked panoramic picture;

[0061] The navigation direction determination unit is configured to obtain the driving environment features in the longitudinal viewing range according to the global features of the panoramic picture, obtain the actual driving data of the road ahead of the current position, determine the to-be-traveled region of the user, mark the navigation direction corresponding to the current position in the to-be-traveled region according to the positional relationship between the current position and the destination position of the user, and obtain the panoramic picture pointing to the current position.

[0062] The navigation warning prompt unit is configured to mark the visual dead angle position on the panoramic picture pointing to the current position, obtain the final panoramic picture, determine the driving environment risk corresponding to each visual dead angle position based on the global features of the panoramic picture, determine the effective driving environment risk according to the actual driving range of the user at the current position, and generate the navigation prompt voice according to the effective driving environment risk.

[0063] The navigation data sending unit is configured to send the final panoramic picture corresponding to the current position of the user and the navigation prompt voice as the accompanying data to the user receiving end.

[0064] In this embodiment, the observation visual angle refers to the visual angle of the panoramic picture at the current position.

[0065] In this embodiment, the driving observation visual angle refers to the visual angle of the panoramic picture that can be seen by the naked eye of the user at the current position.

[0066] In this embodiment, the visual angle error refers to the difference between the observation visual angle and the driving observation visual angle.

[0067] In this embodiment, the observation difference refers to the difference between the image visible to the naked eye of the user at the current position and the panoramic image according to the visual angle error.

[0068] In this embodiment, the visual angle dead angle position refers to a position that cannot be observed in the actual driving process of the user compared with the panoramic picture.

[0069] In this embodiment, the marked panoramic picture refers to the panoramic picture in which the visual angle dead angle position of the user is marked.

[0070] In this embodiment, the longitudinal viewing range refers to the region included in the entire longitudinal direction of the current driving direction of the user.

[0071] In this embodiment, the driving environment feature refers to the environment feature in the longitudinal viewing range of the current position of the user.

[0072] In this embodiment, the actual driving data includes the road extension direction at the current position, the driving conditions of the adjacent driving vehicles in front and behind, road damage, and the like.

[0073] In the embodiment, the to-be-traveled region refers to a region in which the user can safely travel on the road in front of the current position.

[0074] In the embodiment, the pointing panoramic picture refers to a panoramic picture in which a navigation direction of the current position is marked.

[0075] In the embodiment, the final panoramic picture refers to a panoramic picture in which a navigation direction of the current position is marked and a visual dead angle of the user at the current position is also marked.

[0076] In the embodiment, the driving environment risk refers to a risk existing in the visual dead angle of the user at the current position.

[0077] In the embodiment, the actual driving range refers to a road occupation area of the vehicle driven by the user at the current position.

[0078] In the embodiment, the effective driving environment risk refers to a driving environment risk corresponding to a visual dead angle position within a preset distance of the actual driving range of the user.

[0079] In the embodiment, the navigation prompt voice refers to a prompt voice for prompting the user to pay attention to the effective driving environment risk at the current driving position.

[0080] Working principle of the above embodiment: the present application determines the observation angle of the panoramic picture and the user at the current position through the visual data extraction unit positioning the shooting angle of the panoramic picture, and then determines the difference between the images observed by the observation image and the panoramic image through the angle dead angle marking unit to obtain the visual dead angle of the user at the current position and mark it on the panoramic image to obtain the panoramic image indicating the visual dead angle of the user. Then, the navigation direction determination unit obtains the driving environment features in the longitudinal viewing range according to the global features of the panoramic picture, obtains the actual driving data of the road in front of the current position, determines the to-be-traveled region of the user, marks the navigation direction corresponding to the current position in the driving region according to the positional relationship between the current position and the destination position of the user, obtains the pointing panoramic picture indicating the driving direction of the current position, and then processes the marked panoramic picture as a reference picture through the navigation early warning prompt unit to obtain the final panoramic picture that can be actually used for navigation by the user. At the same time, the global features of the panoramic image are determined, the driving environment risk corresponding to each angle dead angle position is determined, the effective driving environment risk is determined according to the actual driving range of the user, the navigation prompt voice is generated according to the effective driving environment risk, and finally the final panoramic image corresponding to the current position of the user and the navigation prompt voice as the accompanying data are sent to the user receiving end through the navigation data sending unit.

[0081] The beneficial effects of the above embodiments are that the present application processes the panoramic picture of the current position to determine the navigation direction of the current position, indicates the next driving direction to the user in real time, avoids the situation that the user with poor sense of direction cannot clearly understand the navigation direction, enables the user to find the correct driving direction at any time even on a complex traffic track, improves the navigation accuracy and navigation use efficiency of the user, determines the visual angle dead angle of the user according to the observation visual angle of the panoramic picture and the driving observation visual angle of the user at the current position, determines the driving environment risk, determines the effective driving environment risk according to the actual driving range of the user, generates a navigation prompt voice, and reminds the user of the potential danger in the driving process in real time, effectively avoids the driving environment risk, improves the travel safety of the user, and reduces the probability of accidents.

[0082] In order to solve the problem that the existing navigation process needs to repeatedly extract data and corresponding panoramic images when returning to the same path, please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , the embodiment provides the following technical scheme:

[0083] The flow recording system comprises a timing position recording module, a position connecting module and a binding module, wherein: the timing position recording module records the track of the user movement in time; the position connecting module connects the points of the timing recorded positions with adjacent recorded points, thereby generating a track consistent with the movement of the user; the binding module is used for combining and binding the panoramic pictures recorded by the timing image recording module with the corresponding movement track, and binding, storing and recording, which helps to improve the reuse of the current track subsequently, avoids the need to repeatedly calculate positions and extract panoramic pictures, improves the efficiency, and a navigation system based on a navigation image database further comprises a return auxiliary system, the return auxiliary system comprises a flow reversing module and a panoramic picture reversing module, wherein: the flow reversing module reverses the track flow connected by the position connecting module, and can directly convert the original starting point into the terminal point and convert the original terminal point into the starting point; the panoramic picture reversing module is used for mirror reversing the direction of the panoramic pictures recorded by the timing image recording module, and can correspond to the movement track reversed by the flow reversing module, avoids the need for the system to retrieve positions again and extract panoramic pictures from the panoramic picture storage module by the navigation image extraction module during the continuous movement of the user, mirror reverses the panoramic images by the panoramic picture reversing module in the return auxiliary system, avoids the need to repeatedly extract panoramic pictures from the panoramic picture storage module by the navigation image extraction module for the same corresponding panoramic pictures, and makes the navigation mode as a whole complex.

[0084] The navigation system based on the navigation image database further comprises a ground monitoring system, the ground monitoring system comprising a monitoring station, a master station and an injection station, wherein: the monitoring station is used for receiving information sent by a satellite flying in space; the master station is used for processing information received by the monitoring station, processing satellite orbit clock parameters and other data, so as to determine the position of the satellite in space; and the injection station is used for transmitting data calculated by the master station to the satellite in space. The navigation system based on the navigation image database further comprises a space monitoring system, the space monitoring system comprising a first Beidou star positioning module, a second Beidou star positioning module, a third Beidou star positioning module, a time difference elimination Beidou satellite and a rear intersection point determination module, wherein: the first Beidou star positioning module, the second Beidou star positioning module and the third Beidou star positioning module are used for broadcasting satellite signals containing time and self-position information to a user terminal receiver; the time difference elimination Beidou satellite is used for eliminating clock difference between a local receiver clock and a satellite clock, and eliminating the influence of the clock difference on positioning; and the rear intersection point determination module is used for determining the intersection point of a circle with the satellite as the center and the satellite and the receiving end as the radius, and accurately knowing the current position of the receiving end. Through the space monitoring system, the current position of the user receiving end is continuously detected, so that continuous positioning in the navigation process is facilitated, and deviation from the original navigation track is avoided.

[0085] In one embodiment, the binding module comprises:

[0086] The picture feature acquisition unit is configured to establish a coordinate sequence on the panoramic picture, determine coordinate features, and determine a first color feature corresponding to each coordinate feature.

[0087] The picture rotation unit is configured to rotate the panoramic picture at multiple angles, and determine a second color feature corresponding to each coordinate feature after rotation.

[0088] The calculation formula of the second color feature is as follows:

[0089]

[0090] wherein B(x ij ) represents the second color feature of the panoramic picture after rotation at the i-th row and the j-th column, A(x ij ) represents the first color feature of the panoramic picture before rotation at the i-th row and the j-th column, θ represents the rotation angle of the panoramic picture, m represents the number of columns of the coordinate features of the panoramic picture, n represents the number of rows of the coordinate features of the panoramic picture, arctan represents an inverse tangent function, π represents a natural constant and takes a value of 3.14, and σ 00 represents a rotation center feature value and takes a value of (0, 1).

[0091] The feature determination unit is configured to determine a binding feature of the panoramic picture according to the coordinate feature, the first color feature, and the second color feature.

[0092] The binding unit is configured to bind the binding feature of the panoramic picture with a coordinate point corresponding to the movement track.

[0093] The calculation formula of the binding feature is as follows:

[0094]

[0095] In the formula, C represents the binding feature, and S represents a standard detection color feature number.

[0096] The storage unit is configured to store and record the binding result.

[0097] In this embodiment, the closer the rotation center of the panoramic picture is to the picture center, the smaller the corresponding rotation center feature value is.

[0098] In this embodiment, the second color feature under the same coordinate feature is different from the first color feature.

[0099] In this embodiment, the closer the rotation center of the panoramic picture is to the picture center, the smaller the corresponding rotation center feature value is.

[0100] In this embodiment, the second color feature under the same coordinate feature is different from the first color feature.

[0101] In this embodiment, the standard detection color feature number is determined according to the size and color richness of the panoramic picture.

[0102] The working principle of the above design scheme is that the rotation center feature of the panoramic picture is determined by analyzing the color feature of the panoramic picture. In the process of determining the color feature, the color feature of the panoramic picture at the current angle is further extracted, and the panoramic picture is further rotated at multiple angles to determine the corresponding color feature at each rotation angle. The final binding feature is determined by combining the coordinate feature with the color feature at all angles. Then, the binding feature is bound to the corresponding track point, and the binding of the panoramic picture on the track is completed.

[0103] The above design scheme has the following beneficial effects: by rotating the panoramic picture at multiple angles to determine the corresponding color feature at each rotation angle, the color feature is added to the binding feature for storage and recording. When the track direction changes, the corresponding change and recognition of the panoramic picture are realized. The panoramic picture can be applied to subsequent track navigation to improve the efficiency of navigation display. Through the extraction of the panoramic picture, complex traffic tracks can be handled, the navigation accuracy and efficiency of the user are improved, the navigation can be applied to a wider population, and the panoramic picture is convenient for the public to use.

[0104] It has to be noted that, in the present document, the terms "first", "second", etc. merely serve to identify different entities or actions from each other, without necessarily requiring or implying any actual relationship or order between these entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0105] While embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, combinations, and variations of the embodiments can be undertaken without departing from the spirit and scope of the present application, which is defined by the appended claims and their equivalents.

Claims

1. A navigation method based on a navigation image database, characterized by, It comprises the following steps: Step one, the first Beidou positioning module, the second Beidou positioning module, the third Beidou positioning module and the time difference elimination Beidou satellite broadcast signal to the monitoring station, the monitoring station transmits data to the main control station, and the main control station processes satellite orbit clock parameter data; Step two, data processing and determining the position of the first Beidou positioning module, the second Beidou positioning module, the third Beidou positioning module and the time difference elimination Beidou satellite, the four positions are respectively transmitted to the first Beidou positioning module, the second Beidou positioning module, the third Beidou positioning module and the time difference elimination Beidou satellite by the injection station, and the first Beidou positioning module, the second Beidou positioning module, the third Beidou positioning module and the time difference elimination Beidou satellite broadcast their own position to the user's position receiving module; Step three, the position calculation module calculates the distance between itself and the first Beidou positioning module, the second Beidou positioning module, the third Beidou positioning module and the time difference elimination Beidou satellite; Step four, the first Beidou positioning module, the second Beidou positioning module, the third Beidou positioning module form a spherical region with the corresponding distance as the radius, determine an intersection point through the three spherical regions, and eliminate the time difference caused by the first Beidou positioning module, the second Beidou positioning module, the third Beidou positioning module relative to the user due to the long distance by the time difference elimination Beidou satellite; Step five, the user's current position and the set target are connected by the position connection module to provide the path, and at the same time, the position calculation module calculates the current position, identifies the position data through the positioning data recognition module, and extracts the corresponding panoramic image of the corresponding position in the panoramic image storage module through the navigation image extraction module, and sends the image to the user through the navigation image sending module; Step six, in the process of returning on the same section, the image positioning system and the process recording system recorded by the binding module are bound, and the process and the image are reversed by the process reversing module and the panoramic picture reversing module in the return auxiliary system respectively; Step seven, only the space monitoring system needs to continuously position the user's position during the return process, and move according to the reversed process and image of the process reversing module and the panoramic picture reversing module; The navigation image sending module comprises a visual data extraction unit, a visual angle dead angle marking unit, a navigation direction determination unit, a navigation early warning prompt unit and a navigation data sending unit, wherein: The visual data extraction unit is used for visual positioning of the panoramic picture of the current position, determining the observation visual angle of the panoramic picture, and obtaining the driving observation visual angle of the user at the current position; The visual angle dead angle marking unit is used for comparing the observation visual angle with the driving observation visual angle to obtain the visual angle error, determining the observation difference between the observation image of the user and the panoramic picture based on the visual angle error, marking the visual angle dead angle position of the user on the panoramic picture according to the observation difference, and obtaining the marked panoramic picture; The navigation direction determination unit is configured to obtain the actual driving data of the road in front of the current position according to the global features of the panoramic picture, determine the to-be-traveled region of the user, mark the navigation direction corresponding to the current position in the to-be-traveled region according to the positional relationship between the current position and the destination position of the user, and obtain the panoramic picture pointing to the navigation direction. The navigation warning prompt unit is configured to mark the visual dead angle position on the panoramic picture pointing to the navigation direction as a reference picture, obtain the final panoramic picture, determine the driving environment risk corresponding to each visual dead angle position based on the global features of the panoramic picture, determine the effective driving environment risk according to the actual driving range of the user at the current position, and generate a navigation prompt voice according to the effective driving environment risk. The navigation data sending unit is configured to send the final panoramic picture corresponding to the current position of the user and the navigation prompt voice as the accompanying data to the user receiving end.

2. The navigation method based on a navigation image database according to claim 1, characterized by: The navigation system based on the navigation image database comprises a user positioning system, an image positioning system, a timing image recording module, a process recording system and a process storage module, wherein: The timing image recording module is configured to temporarily record the extracted panoramic picture, so as to facilitate repeated viewing by the user. The process storage module is configured to record the trajectory and the image in the process and quickly extract the same when needed in the future.

3. The navigation method based on a navigation image database according to claim 2, characterized by: The user positioning system comprises a position receiving module and a position calculation module, wherein: The position receiving module receives and records the current position information of the user detected and serves as the receiving end of the user in the entire system. The position calculation module summarizes the position information received by the position receiving module, calculates and obtains the position information of the user at the current time.

4. The navigation method based on a navigation image database according to claim 3, characterized by: The image positioning system comprises a positioning data identification module, a navigation image extraction module, a panoramic picture storage module and a navigation image sending module, wherein: The positioning data identification module is configured to identify the data calculated by the position calculation module, continuously identify the current position as the current position of the user changes, and facilitate the retrieval of the panoramic picture in the future. The navigation image extraction module extracts the panoramic picture of the current position as a reference in the navigation process. The panoramic picture storage module is configured to record and store the panoramic picture recorded in advance, so as to facilitate the direct taking out of the panoramic picture by the user in the future and serve as a reference for the navigation personnel. The navigation image sending module sends the panoramic picture corresponding to the current position of the user to the user receiving end.

5. The navigation method based on a navigation image database according to claim 4, characterized by: The process recording system comprises a timing position recording module, a position connection module and a binding module, wherein: The timing position recording module records the trajectory of the movement of the user. The position connection module connects the recorded position points with adjacent recorded points, thereby generating a trajectory conforming to the movement of the user. The binding module binds the trajectory and the panoramic picture corresponding to the trajectory. Binding module: used for combining and binding the panoramic picture recorded by the timing image recording module with the corresponding moving track, and binding and storing and recording.

6. The navigation method based on a navigation image database according to claim 5, characterized by: The navigation system further comprises a return assisting system, and the return assisting system comprises a process reversing module and a panoramic picture reversing module, wherein: The process reversing module reverses the track process connected by the position connecting module, converts the original starting point into the end point, and converts the original end point into the starting point; The panoramic picture reversing module is used for mirroring the orientation of the panoramic picture recorded by the timing image recording module, and the panoramic picture reversing module can correspond to the moving track reversed by the process reversing module, so that the system needs to retrieve the position again during the continuous movement of the user, and the panoramic picture is extracted by the navigation image extraction module in the panoramic picture storage module.

7. The navigation method based on a navigation image database according to claim 6, characterized in that: The navigation system further comprises a ground monitoring system, and the ground monitoring system comprises a monitoring station, a master control station and an injection station, wherein: The monitoring station is used for receiving information transmitted by the flying satellite in space; The master control station is used for processing the information received by the monitoring station, processing the satellite orbit clock parameter data, and determining the position of the satellite in space; The injection station is used for transmitting the data calculated by the master control station to the satellite in space.

8. The navigation method based on a navigation image database according to claim 7, characterized by: The navigation system further comprises a space monitoring system, and the space monitoring system comprises a first Beidou star positioning module, a second Beidou star positioning module, a third Beidou star positioning module, a time difference elimination Beidou satellite and a rear intersection point determination module, wherein: The first Beidou star positioning module, the second Beidou star positioning module and the third Beidou star positioning module are used for broadcasting satellite signals containing time and own position to user terminal receivers; The time difference elimination Beidou satellite eliminates the clock difference between the local receiver clock and the satellite clock, and eliminates the influence of the clock difference on positioning; The rear intersection point determination module determines the intersection point of the circle generated by taking the satellite as the center and taking the satellite and the receiving end as the radius, and accurately knows the current position of the receiving end.

9. The navigation method based on a database of navigation images according to claim 8, characterized in that: The binding module comprises: A picture feature acquisition unit is configured to establish a coordinate sequence on the panoramic picture, determine coordinate features, and determine first color features corresponding to each coordinate feature; A picture rotation unit is configured to rotate the panoramic picture at multiple angles, and determine second color features corresponding to each coordinate feature after rotation; The calculation formula of the second color feature is as follows: wherein, represents the second color feature of the rotated panoramic picture at the i-th row and the j-th column, represents the first color feature of the panoramic picture before rotation at the i-th row and the j-th column, represents the rotation angle of the panoramic picture, m represents the number of columns of the coordinate features of the panoramic picture, and n represents the number of rows of the coordinate features of the panoramic picture, represents an arc tangent function, represents a natural constant, and has a value of 3.14, represents a rotation center feature value, and has a value of (0, 1); A feature determination unit is configured to determine binding features of the panoramic picture according to the coordinate features, the first color features and the second color features; A binding unit is configured to bind the binding features of the panoramic picture with coordinate points corresponding to the moving track; The calculation formula of the binding feature is as follows: wherein, represents a binding feature, represents a standard detection color feature number; A storage unit is configured to store and record the binding result.

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