Navigation information processing method and device

Abstract

The present application provides a method and device for processing navigation information, the method comprising: receiving a first navigation signal from a target satellite; performing narrowband interference detection on the first navigation signal, and generating a second navigation signal according to the narrowband interference detection result of the first navigation signal; when the first signal-to-noise ratio corresponding to the first navigation signal is lower than a first preset threshold, obtaining a third navigation signal of a terminal device, and generating location information of a smart wearable device accordingly; then determining target navigation information to a navigation server according to the location information and destination information, and outputting the target navigation information according to an output hardware device. This can improve the diversity of outputting navigation information.

Description

Technical Field

[0001] The present application relates to the general field of data processing technology, and in particular to a method and device for processing navigation information. Background Art

[0002] At present, smart wearable devices can also realize positioning and destination navigation functions based on the Global Navigation Satellite System (GNSS). Smart wearable devices need to receive navigation signals sent by satellites to realize the positioning function. However, the receiving performance of the signal receiving device corresponding to the smart wearable device is weaker than that of terminal devices such as smart mobile devices, and there may be interference when the satellite sends navigation signals to the smart wearable device. As a result, when the smart wearable device realizes the positioning function by receiving the navigation signals sent by the satellite, there will be a problem of low positioning accuracy due to the weak signal receiving ability. Summary of the invention

[0003] The present application provides a method and device for processing navigation information, which can improve the navigation accuracy of a smart wearable device through anti-narrowband interference processing and auxiliary positioning through a terminal device that is communicatively connected to the smart wearable device.

[0004] In a first aspect, the present application provides a method for processing navigation information, which is applied to a smart wearable device, and the method includes:

[0005] receiving a first navigation signal from a target satellite and a first signal-to-noise ratio corresponding to the first navigation signal;

[0006] Performing narrowband interference detection on the first navigation signal, and generating a second navigation signal according to a narrowband interference detection result of the first navigation signal;

[0007] When the first signal-to-noise ratio is lower than a first preset threshold, acquiring a third navigation signal of a terminal device that is communicatively connected to the smart wearable device and a second signal-to-noise ratio corresponding to the third navigation signal;

[0008] Generate location information of the smart wearable device according to the second navigation signal, the third navigation signal, and a comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio;

[0009] Obtain destination information and send the location information and destination information to the navigation server;

[0010] Receive target navigation information from the navigation server and output the target navigation information through the output hardware device of the smart wearable device.

[0011] It can be seen that in the present application, by performing narrowband interference detection on the first navigation signal of the target satellite, and processing the first navigation signal according to the narrowband interference detection result to generate a second navigation signal, the signal quality of the first navigation signal can be improved, thereby further compensating for the influence of the weak signal receiving ability of the smart wearable device on the signal quality. And when the first signal-to-noise ratio corresponding to the first navigation signal is relatively low, auxiliary positioning is performed by obtaining the third navigation signal of the terminal device that is in communication with the smart wearable device, which can reduce the influence of the signal quality of the first navigation signal on the positioning of the smart wearable device due to the weak signal receiving ability of the smart wearable device. In summary, the aforementioned method improves the accuracy of positioning the smart wearable device, thereby improving the accuracy of navigation through the smart wearable device.

[0012] In a feasible example, the smart wearable device performs narrowband interference detection on the first navigation signal, and generates a second navigation signal according to the narrowband interference detection result of the first navigation signal, including: delaying the first navigation signal by a preset data length to obtain a fourth navigation signal; performing windowing processing and fast Fourier transform processing on the first navigation signal and the fourth navigation signal respectively to obtain a first frequency domain signal and a second frequency domain signal; performing interference detection on the first frequency domain signal and the second frequency domain signal respectively, and performing spectral line processing on the first frequency domain signal or the second frequency domain signal according to the interference detection result of the first frequency domain signal or the second frequency domain signal; performing inverse fast Fourier transform processing on the first frequency domain signal and the second frequency domain signal respectively to obtain a fifth navigation signal and a sixth navigation signal, and determining the interference flag values ​​of the fifth navigation signal and the sixth navigation signal according to the interference detection results of the first frequency domain signal and the second frequency domain signal, the interference flag value including a first flag value and a second flag value, the first flag value being used to characterize the presence of interference, and the second flag value being used to characterize the absence of interference; performing inverse windowing processing on the fifth navigation signal and the sixth navigation signal according to the interference flag values ​​of the fifth navigation signal and the sixth navigation signal to obtain the second navigation signal.

[0013] In the present application, the above method can be used to weaken or even eliminate narrowband interference in the first navigation signal, thereby improving the carrier-to-noise ratio of the first navigation signal.

[0014] In a feasible example, interference detection is performed on the first frequency domain signal and the second frequency domain signal respectively, and spectral line processing is performed on the first frequency domain signal or the second frequency domain signal respectively according to the interference detection result of the first frequency domain signal or the second frequency domain signal, including: interference detection is performed on the first frequency domain signal and the second frequency domain signal respectively according to a preset adaptive threshold, and the threshold value of the preset adaptive threshold is determined according to the frequency band of the narrowband signal corresponding to the first navigation signal; if the interference detection result of the first frequency domain signal is that interference exists, then the corresponding spectral line with interference in the first frequency domain signal is removed; if the interference detection result of the second frequency domain signal is that interference exists, then the corresponding spectral line with interference in the second frequency domain signal is removed.

[0015] In the present application, interference detection is performed on the first frequency domain signal and the second frequency domain signal respectively through a preset adaptive threshold, so that narrowband interference in the first frequency domain signal and the second frequency domain signal can be effectively removed.

[0016] In a feasible example, the fifth navigation signal and the sixth navigation signal are subjected to inverse windowing processing according to their interference flag values ​​to obtain a second navigation signal, including: if the interference flag values ​​of the fifth navigation signal and the sixth navigation signal are both the first flag values, determining the target navigation signal in the fifth navigation signal and the sixth navigation signal, and performing inverse windowing processing on the target navigation signal to obtain a second navigation signal; if the interference flag values ​​of the fifth navigation signal and the sixth navigation signal contain a second flag value, overlapping the fifth navigation signal and the sixth navigation signal to obtain a reference navigation signal, and performing inverse windowing processing on the reference navigation signal to obtain a second navigation signal.

[0017] In the present application, when the interference flag values ​​are all the first flag values, the target navigation signals in the fifth navigation signal and the sixth navigation signal are subjected to reverse windowing processing, which can reduce the amount of calculation and thus improve the efficiency of reverse windowing; when there is a second flag value in the interference flag value, the fifth navigation signal and the second navigation signal are overlapped to reduce the signal-to-noise ratio loss caused by spectrum processing.

[0018] In a feasible example, determining the target navigation signal among the fifth navigation signal and the sixth navigation signal includes: comparing the first frequency domain signal with the second frequency domain signal to determine the target frequency signal with the largest amplitude between the maximum amplitude corresponding to the first frequency domain signal and the maximum amplitude corresponding to the second frequency domain signal; and determining that the navigation signal corresponding to the target frequency domain signal among the fifth navigation signal and the sixth navigation signal is the target navigation signal.

[0019] In the present application, the target navigation signal in the fifth navigation signal and the sixth navigation signal is determined by the maximum amplitude value in the frequency spectrum, so that the signal quality of the second navigation signal can be improved.

[0020] In a feasible example, overlapping processing is performed on the fifth navigation signal and the sixth navigation signal to obtain a reference navigation signal, including: overlapping and adding the fifth navigation signal and the sixth navigation signal to obtain the reference navigation signal; or overlapping and selecting the fifth navigation signal and the sixth navigation signal to obtain the reference navigation signal.

[0021] In the present application, after the fifth navigation signal and the sixth navigation signal are overlapped by the aforementioned method, the signal-to-noise ratio loss caused by windowing can be reduced.

[0022] In a feasible example, the location information of the smart wearable device is generated according to the second navigation signal, the third navigation signal and the comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio, including: generating the first location information and the second location information according to the second navigation signal and the third navigation signal respectively; if the second signal-to-noise ratio is greater than the second preset threshold, determining that the second location information is the location information of the smart wearable device, and the second preset threshold is greater than the first preset threshold; if the second signal-to-noise ratio is not greater than the second preset threshold and the second signal-to-noise ratio is greater than the first signal-to-noise ratio, determining whether the distance between the first location information and the second location information is greater than the preset distance; if the distance between the first location information and the second location information is not greater than the preset distance, determining that the first location information is the location information of the smart wearable device; if the distance between the first location information and the second location information is greater than the preset distance, determining that the second location information is the location information of the smart wearable device; if it is determined that the second signal-to-noise ratio is not greater than the first signal-to-noise ratio, determining that the first location information is the location information of the smart wearable device.

[0023] In the present application, the location information of the smart wearable device is generated by comparing the second navigation signal, the third navigation signal, and the first signal-to-noise ratio with the second signal-to-noise ratio, which can reduce the impact of the signal quality on the positioning of the smart wearable device, thereby improving the accuracy of locating the smart wearable device.

[0024] In a second aspect, the present application provides a navigation information processing device, which is applied to a smart wearable device, and includes:

[0025] A receiving unit, configured to receive a first navigation signal from a target satellite and a first signal-to-noise ratio corresponding to the first navigation signal;

[0026] a processing unit, configured to perform narrowband interference detection on the first navigation signal, and generate a second navigation signal according to a narrowband interference detection result of the first navigation signal;

[0027] An acquiring unit, configured to acquire, when the first signal-to-noise ratio is lower than a first preset threshold, a third navigation signal of a terminal device that is communicatively connected to the smart wearable device and a second signal-to-noise ratio corresponding to the third navigation signal;

[0028] The processing unit is further used to generate location information of the smart wearable device according to the second navigation signal, the third navigation signal, and a comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio;

[0029] The acquiring unit is further used to acquire the destination information and send the location information and the destination information to the navigation server through the sending unit;

[0030] The receiving unit is further used to receive target navigation information from the navigation server;

[0031] The output unit is used to output the target navigation information through the output hardware device of the smart wearable device.

[0032] In a third aspect, the present application provides an electronic device comprising a processor, a memory, and a communication interface. The processor, the memory, and the communication interface are interconnected and perform communication with each other. The memory stores executable program code, the communication interface is used for wireless communication, and the processor is used to call the executable program code stored in the memory to execute, for example, some or all of the steps described in any method of the first aspect.

[0033] In a fourth aspect, the present application provides a computer-readable storage medium, in which electronic data is stored. When the electronic data is executed by a processor, it is used to execute the electronic data to implement some or all of the steps described in the first aspect of the present application.

[0034] In a fifth aspect, the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the present application. The computer program product may be a software installation package. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A schematic diagram of the structure of a navigation system provided in an embodiment of the present application;

[0037] Figure 2 A flowchart of a method for processing navigation information provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of the structure of a carrier spectrum provided in an embodiment of the present application;

[0039] Figure 4 A flowchart of a method for processing anti-narrowband interference provided in an embodiment of the present application;

[0040] Figure 5 A block diagram of the functional units of a navigation information processing device provided in an embodiment of the present application;

[0041] Figure 6 A block diagram of the functional units of another navigation information processing device provided in an embodiment of the present application;

[0042] Figure 7 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps is not limited to the listed steps, but optionally includes steps that are not listed, or optionally includes other steps inherent to these processes, methods, products or devices.

[0045] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0046] See also Figure 1 , Figure 1 A structural diagram of a navigation system provided in an embodiment of the present application is shown in FIG. Figure 1As shown, the navigation system includes a smart wearable device 101, a target satellite 102, a terminal device 103 and a navigation server 104.

[0047] The smart wearable device 101 may include a smart watch, and the output hardware device of the smart watch may include a screen for displaying navigation information and an audio module for playing the navigation information. At the same time, the smart wearable device 101 has an independent positioning module for receiving the navigation signal of the target satellite 102.

[0048] The target satellite 102 includes a plurality of satellites within the reception range of the smart wearable device 101 . For example, the target satellite 102 may include four satellites within the reception range of the smart wearable device 101 .

[0049] The terminal device 103 may include a mobile terminal device or other portable terminal device. At the same time, the terminal device 103 also has an independent positioning module, which can receive navigation signals from satellites corresponding to the terminal device 103. There is a communication connection between the terminal device 103 and the smart wearable device 101, such as a Bluetooth connection.

[0050] The navigation server 104 is used to implement the destination navigation function, that is, to generate a corresponding route map according to the current location information and the destination location information.

[0051] Among them, the smart wearable device 101 receives a first navigation signal from a target satellite 102 and a first signal-to-noise ratio corresponding to the first navigation signal; performs narrowband interference detection on the first navigation signal, and generates a second navigation signal according to the detection result; when the first signal-to-noise ratio is lower than a first preset threshold, the smart wearable device 101 obtains a third navigation signal from a terminal device 103 communicating with the smart wearable device 101 and a second signal-to-noise ratio corresponding to the third navigation signal; the smart wearable device 101 generates the location information of the smart wearable device 101 according to the second navigation signal, the third navigation signal, and the comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio; the smart wearable device 101 obtains the destination information, and sends the location information and the destination information to the navigation server 104, the navigation server 104 generates corresponding target navigation information according to the location information and the destination information, and sends the target navigation information to the smart wearable device 101, and the smart wearable device 101 outputs the target navigation information through an output hardware device. By adopting the above method, the navigation function is realized by the smart wearable device, the diversity of the output of the navigation information is improved, and the convenience of the user in obtaining the navigation information is improved.

[0052] Based on this, an embodiment of the present application provides a method for processing navigation information, and the embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0053] See also Figure 2 , Figure 2 A flowchart of a method for processing navigation information provided in an embodiment of the present application is provided, and the method is applied to the above-mentioned navigation system, such as Figure 2 As shown, the method comprises the following steps:

[0054] Step S201: The smart wearable device receives a first navigation signal from a target satellite and a first signal-to-noise ratio corresponding to the first navigation signal.

[0055] Among them, the target satellite includes multiple satellites within the receiving range of the smart wearable device, and the signal-to-noise ratio refers to the signal to interference plus noise ratio (SINR), which is used to indicate the signal quality of the navigation signal in this embodiment. The navigation signal may include the spatial coordinates of the target satellite and the time corresponding to when the target satellite sends the navigation signal. Therefore, the first navigation signal includes multiple first sub-navigation signals, and the multiple first sub-navigation signals correspond to multiple satellites. Each sub-navigation signal includes the spatial coordinates of the satellite corresponding to the sub-navigation signal and the sending time. The first signal-to-noise ratio can be the average of the signal-to-noise ratios corresponding to the multiple first sub-navigation signals.

[0056] Step S202: The smart wearable device performs narrowband interference detection on the first navigation signal, and generates a second navigation signal according to the narrowband interference detection result of the first navigation signal.

[0057] Among them, since the navigation signal is susceptible to other interference when it is sent from the satellite to the wearable device, the most common interference is narrowband interference. After weakening the narrowband interference signal, the carrier-to-noise ratio of the received navigation signal can be improved. Narrowband interference refers to interference with a smaller ratio of bandwidth to the bandwidth of the transmitted signal or a smaller absolute bandwidth. In other words, narrowband interference refers to interference with a ratio of bandwidth to the bandwidth of the transmitted signal that is less than a threshold ratio or an absolute bandwidth that is less than a preset bandwidth.

[0058] The following is a detailed description of the current steps:

[0059] In a feasible embodiment, the smart wearable device performs narrowband interference detection on the first navigation signal, and generates a second navigation signal according to the narrowband interference detection result of the first navigation signal, including: delaying the first navigation signal by a preset data length to obtain a fourth navigation signal; performing windowing processing and fast Fourier transform processing on the first navigation signal and the fourth navigation signal respectively to obtain a first frequency domain signal and a second frequency domain signal; performing interference detection on the first frequency domain signal and the second frequency domain signal respectively, and performing spectral line processing on the first frequency domain signal or the second frequency domain signal according to the interference detection result of the first frequency domain signal or the second frequency domain signal; performing inverse fast Fourier transform processing on the first frequency domain signal and the second frequency domain signal respectively to obtain a fifth navigation signal and a sixth navigation signal, and determining the interference flag values ​​of the fifth navigation signal and the sixth navigation signal according to the interference detection results of the first frequency domain signal and the second frequency domain signal, the interference flag value including a first flag value and a second flag value, the first flag value being used to characterize the presence of interference, and the second flag value being used to characterize the absence of interference; performing inverse windowing processing on the fifth navigation signal and the sixth navigation signal according to the interference flag values ​​of the fifth navigation signal and the sixth navigation signal to obtain the second navigation signal.

[0060] Among them, the preset data length can be one-half the data length, and the data length refers to the data length of the first navigation signal. The first navigation signal refers to the time domain signal. Directly performing inverse fast Fourier transform processing implies adding a rectangular window to truncate the time domain signal. When there is strong narrowband interference in the received signal, it will inevitably cause the interference energy to leak in the side lobe, thereby polluting the adjacent frequency point. In order to reduce the spectrum leakage of the interference, a non-rectangular window can be added to the received signal to smooth the boundary of the truncated sequence and reduce the side lobe leakage of the interference energy. Therefore, the window function corresponding to the windowing processing of the first navigation signal and the fourth navigation signal can be a non-rectangular window, such as a Hanning window. For the received signal, windowing is essentially a weighting of the time domain signal to be processed (the weighting value is a coefficient in mathematical expression, such as y=ax, where a is the weighted processing of x). After the first navigation signal and the fourth navigation signal are windowed, they are subjected to inverse fast Fourier transform (FFT) processing to convert the time domain signal into a frequency domain signal.

[0061] After converting the time domain signal into a frequency domain signal, narrowband interference detection is performed on the first frequency domain signal and the second frequency domain signal, and spectrum processing is performed on the frequency domain signal with narrowband interference, so as to weaken or even eliminate the narrowband interference. Subsequently, the frequency domain signal obtained after the spectrum processing is subjected to inverse fast Fourier transform (IFFT) to obtain the fifth navigation signal and the sixth navigation signal. The first flag value and the second flag value can be logical values, which are used to characterize the interference detection results of the first frequency domain signal and the second frequency domain signal, respectively. Finally, according to the interference flag values ​​corresponding to the fifth navigation signal and the sixth navigation signal, respectively, the fifth navigation signal and the sixth navigation signal are subjected to inverse windowing processing to obtain the second navigation signal, and inverse windowing refers to multiplying the fifth navigation signal and the sixth navigation signal by the inverse of the corresponding weighted value.

[0062] In the application, the above method can be used to weaken or even eliminate the narrowband interference in the first navigation signal, thereby improving the carrier-to-noise ratio of the first navigation signal.

[0063] The following is a detailed description of “performing interference detection on the first frequency domain signal and the second frequency domain signal respectively, and performing spectral line processing on the first frequency domain signal or the second frequency domain signal respectively according to the interference detection result of the first frequency domain signal or the second frequency domain signal” in the aforementioned embodiment:

[0064] Specifically, in a feasible embodiment, interference detection is performed on the first frequency domain signal and the second frequency domain signal, and spectral line processing is performed on the first frequency domain signal or the second frequency domain signal according to the interference detection result of the first frequency domain signal or the second frequency domain signal, including: interference detection is performed on the first frequency domain signal and the second frequency domain signal according to a preset adaptive threshold, and the threshold value of the preset adaptive threshold is determined according to the frequency band of the narrowband signal corresponding to the first navigation signal; if the interference detection result of the first frequency domain signal is that interference exists, then the corresponding spectral line with interference in the first frequency domain signal is removed; if the interference detection result of the second frequency domain signal is that interference exists, then the corresponding spectral line with interference in the second frequency domain signal is removed.

[0065] Among them, the interference detection of the first frequency domain signal and the second frequency domain signal is mainly performed according to a preset adaptive threshold, and the threshold value corresponding to the adaptive threshold can be determined according to the frequency band of the narrowband signal corresponding to the first navigation signal. Specifically, assuming that the channel is an ideal Gaussian white noise channel, the background noise estimation method can be used to calculate the background noise power under the condition of an ideal Gaussian white noise channel, and the background noise power is used as the threshold value for the initial interference detection. After the first frequency domain signal and the second frequency domain signal are respectively subjected to interference detection according to the threshold value of the initial interference detection, it is determined whether the spectral line value of the spectrum corresponding to the first frequency domain signal or the second frequency domain signal is greater than the threshold value.

[0066] If the spectral line value of the spectrum corresponding to the first frequency domain signal or the second frequency domain signal is greater than the threshold value, it is considered that the aforementioned assumption that the channel is an ideal Gaussian white noise channel is not valid, and it is considered that there is narrowband interference in the first frequency domain signal or the second frequency domain signal, and the frequency points whose spectral line values ​​in the spectrum corresponding to the first frequency domain signal or the second frequency domain signal are greater than the threshold value are removed, for example, they are set to zero. Subsequently, the corresponding threshold value can be determined again for the spectral line of the processed first frequency domain signal or the second frequency domain signal by the above method, and detection can be performed again until there is no interference.

[0067] In the present application, interference detection is performed on the first frequency domain signal and the second frequency domain signal respectively through a preset adaptive threshold, so that narrowband interference in the first frequency domain signal and the second frequency domain signal can be effectively removed.

[0068] The following is a detailed description of “performing inverse windowing processing on the fifth navigation signal and the sixth navigation signal according to the interference flag values ​​of the fifth navigation signal and the sixth navigation signal to obtain the second navigation signal” in the above embodiment:

[0069] Specifically, in a feasible embodiment, the fifth navigation signal and the sixth navigation signal are subjected to inverse windowing processing according to their interference flag values ​​to obtain a second navigation signal, including: if the interference flag values ​​of the fifth navigation signal and the sixth navigation signal are both the first flag values, determining the target navigation signal in the fifth navigation signal and the sixth navigation signal, and performing inverse windowing processing on the target navigation signal to obtain the second navigation signal; if the interference flag values ​​of the fifth navigation signal and the sixth navigation signal contain the second flag value, overlapping processing is performed on the fifth navigation signal and the sixth navigation signal to obtain a reference navigation signal, and inverse windowing processing is performed on the reference navigation signal to obtain the second navigation signal.

[0070] Among them, if the interference flag values ​​of the fifth navigation signal and the sixth navigation signal are both the first flag value, it means that there is no interference in the first navigation signal and the fourth navigation signal received by the smart wearable device. At this time, the target navigation signal with better signal quality in the fifth navigation signal and the sixth navigation signal can be selected for reverse windowing processing to obtain the fifth navigation signal. If there is a second flag value in the interference flag values ​​of the fifth navigation signal and the sixth navigation signal, it means that there is an interfering signal in the first navigation signal or the fourth navigation signal received by the smart wearable device. At this time, since the first frequency domain signal or the second frequency domain signal corresponding to the first navigation signal or the fourth navigation signal is over-spectrum processed, there may be a signal-to-noise ratio loss. Therefore, after the fifth navigation signal and the sixth navigation signal corresponding to the first frequency domain signal and the second frequency domain signal are overlapped to obtain the reference navigation signal, the reference navigation signal is reversely windowed to obtain the second navigation signal.

[0071] In the present application, when the interference flag values ​​are all the first flag values, the target navigation signals in the fifth navigation signal and the sixth navigation signal are subjected to reverse windowing processing, which can reduce the amount of calculation and thus improve the efficiency of reverse windowing; when there is a second flag value in the interference flag value, the fifth navigation signal and the second navigation signal are overlapped to reduce the signal-to-noise ratio loss caused by spectrum processing.

[0072] In addition, the following describes in detail the “determining the target navigation signal in the fifth navigation signal and the sixth navigation signal” in the aforementioned embodiment:

[0073] Specifically, in a feasible embodiment, determining the target navigation signal in the fifth navigation signal and the sixth navigation signal includes: comparing the first frequency domain signal with the second frequency domain signal to determine the target frequency signal with the largest amplitude between the maximum amplitude corresponding to the first frequency domain signal and the maximum amplitude corresponding to the second frequency domain signal; and determining that the navigation signal corresponding to the target frequency domain signal in the fifth navigation signal and the sixth navigation signal is the target navigation signal.

[0074] Among them, this embodiment determines the signal quality of the first frequency domain signal and the second frequency domain signal by determining the corresponding maximum amplitude value in the frequency spectrum of the first frequency domain signal and the second frequency domain signal, and the maximum amplitude value in the frequency spectrum also refers to the main lobe peak in the frequency spectrum. Since windowing will affect the main lobe peak in the spectrum, determining the signal quality of the first frequency domain signal and the second frequency domain signal by the size of the main lobe peak can also determine the degree of influence of windowing on the first frequency domain signal and the second frequency domain signal. Therefore, this embodiment selects the target frequency signal with the largest amplitude between the maximum amplitude corresponding to the first frequency domain signal and the maximum amplitude corresponding to the second frequency domain signal as the frequency domain signal with the best signal quality, and the navigation signal corresponding to the target frequency domain signal in the fifth navigation signal and the sixth navigation signal is the target navigation signal.

[0075] In the present application, the target navigation signal in the fifth navigation signal and the sixth navigation signal is determined by the maximum amplitude value in the frequency spectrum, so that the signal quality of the second navigation signal can be improved.

[0076] In addition, the following describes in detail the “overlapping the fifth navigation signal and the sixth navigation signal to obtain a reference navigation signal” in the above embodiment:

[0077] Specifically, in a feasible embodiment, the fifth navigation signal and the sixth navigation signal are overlapped to obtain a reference navigation signal, including: overlapping and adding the fifth navigation signal and the sixth navigation signal to obtain the reference navigation signal; or overlapping and selecting the fifth navigation signal and the sixth navigation signal to obtain the reference navigation signal.

[0078] Among them, overlap addition refers to the addition of the amplitudes of the fifth navigation signal and the sixth navigation signal at the corresponding time points, and then multiplying the addition by one-half to obtain a new reference navigation signal. Overlap selection refers to selecting the larger amplitude of the fifth navigation signal and the sixth navigation signal at the corresponding time points. For example, at the first time point, the signal amplitude corresponding to the fifth navigation signal is 50, and the signal amplitude corresponding to the sixth navigation signal is 40, then the signal amplitude corresponding to the reference navigation signal corresponding to the overlap addition at the first time point is 45, and the signal amplitude corresponding to the reference navigation signal corresponding to the overlap selection at the first time point is 50.

[0079] For example, see Figure 3 , Figure 3 A schematic diagram of the structure of a carrier spectrum provided in an embodiment of the present application is shown in FIG. Figure 3 As shown in the figure, the carrier spectrum after no windowing, overlap-addition, overlap-selection and direct windowing, the horizontal axis is the normalized frequency, and the vertical axis is the amplitude. It can be seen that after direct windowing, the carrier power is extended to a wider frequency band, and the main lobe peak of the carrier spectrum drops a lot, but after overlapping processing (overlap-addition and overlap-selection), the main lobe peak is greatly improved compared with direct windowing, but compared with the case of no windowing, the main lobe peak still has a certain loss.

[0080] In the present application, after the fifth navigation signal and the sixth navigation signal are overlapped by the aforementioned method, the signal-to-noise ratio loss caused by windowing can be reduced.

[0081] For example, see Figure 4 , Figure 4 A flowchart of a method for processing narrowband interference prevention provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, after the first navigation signal is input, one line is subjected to windowing processing, followed by fast Fourier transform processing (FFT), and then interference detection is performed through an adaptive threshold, and spectral line processing is performed according to the interference detection result, and then inverse fast Fourier transform processing (IFFT) is performed; the other line is subjected to delay processing, and then fast Fourier transform processing (FFT) is also performed, and then interference detection is performed through an adaptive threshold, and spectral line processing is performed according to the interference detection result, and then inverse fast Fourier transform processing (IFFT) is performed; according to the interference flag values ​​corresponding to the signals output by the two lines, it is determined whether to perform overlapping processing on the signals output by the two lines, and the processed signals are inversely windowed to obtain the final second navigation signal.

[0082] Step S203: when the first signal-to-noise ratio is lower than a first preset threshold, the smart wearable device obtains a third navigation signal of a terminal device communicating with the smart wearable device and a second signal-to-noise ratio corresponding to the third navigation signal.

[0083] Among them, since the first signal-to-noise ratio is related to the signal quality of the first navigation signal received by the smart wearable device, when the first signal-to-noise ratio is lower than the first preset threshold, it means that the signal quality of the first navigation signal is poor at this time, which has a certain impact on the subsequent positioning and navigation. At this time, in order to reduce this impact, the third navigation signal of the terminal device that is connected to the smart wearable device for communication and the second signal-to-noise ratio corresponding to the third navigation signal can be obtained, so that the location information of the current smart wearable device can be determined based on the third navigation signal and the first navigation signal, thereby reducing the impact of the poor signal quality of the first navigation signal. The terminal device can refer to a mobile terminal device.

[0084] It can be understood that the third navigation signal also includes multiple satellite navigation signals sent to the terminal device, that is, the third navigation signal also includes multiple third sub-navigation signals, and the second signal-to-noise ratio can also be the average of the signal-to-noise ratios corresponding to the multiple third sub-navigation signals.

[0085] Step S204: The smart wearable device generates location information of the smart wearable device according to the second navigation signal, the third navigation signal, and a comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio.

[0086] Among them, since the terminal device is a terminal device that has a communication connection with the smart wearable device, it means that the physical distance between the smart wearable device and the terminal device is relatively close, so it is convenient to assist in positioning the smart wearable device through the terminal device.

[0087] The following is a detailed description of the current steps:

[0088] Specifically, in a feasible embodiment, the location information of the smart wearable device is generated according to the second navigation signal, the third navigation signal and the comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio, including: generating the first location information and the second location information according to the second navigation signal and the third navigation signal respectively; if the second signal-to-noise ratio is greater than the second preset threshold, determining that the second location information is the location information of the smart wearable device, and the second preset threshold is greater than the first preset threshold; if the second signal-to-noise ratio is not greater than the second preset threshold and the second signal-to-noise ratio is greater than the first signal-to-noise ratio, determining whether the distance between the first location information and the second location information is greater than the preset distance; if the distance between the first location information and the second location information is not greater than the preset distance, determining that the first location information is the location information of the smart wearable device; if the distance between the first location information and the second location information is greater than the preset distance, determining that the second location information is the location information of the smart wearable device; if it is determined that the second signal-to-noise ratio is not greater than the first signal-to-noise ratio, determining that the first location information is the location information of the smart wearable device.

[0089] Among them, the second navigation signal and the third navigation signal respectively include the position coordinates and time of multiple satellites. Generating the first position information and the second position information according to the second navigation signal and the third navigation signal respectively means that the distance formula between the position coordinates of the smart wearable device and the position coordinates of the multiple satellites corresponding to the second navigation signal, and the product of the time between the multiple satellites sending the corresponding second navigation signals to the smart wearable device and the speed of light are listed as an equation, and the position coordinates of the smart wearable device in the equation are determined according to the position coordinates and time of the multiple satellites included in the second navigation information. Generally speaking, the number of the above-mentioned multiple satellites is four.

[0090] After generating the first location information and the second location information according to the second navigation signal and the third navigation signal respectively, determine which location information is determined as the location information of the smart wearable device according to the comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio. Specifically, when the second signal-to-noise ratio is greater than the second preset threshold, it means that the signal quality of the third navigation signal is good, but at this time, due to the poor signal of the second navigation signal, the calculated first location information may have a large deviation, and at this time, the second location information is determined as the location information of the smart wearable device. When the second signal-to-noise ratio is greater than the first signal-to-noise ratio but not greater than the second preset threshold, it means that the signal quality of the second signal-to-noise ratio is average, and at this time, it can be judged according to the distance between the first location information and the second location information. If the distance between the first location information and the second location information is large, it is difficult to ensure the accuracy of the first location information, and at this time, the second location information is determined as the location information of the smart wearable device; if the distance between the first location information and the second location information is small, and since the actual physical distance between the first location information and the second location information is small, it means that the actual error of the first location information may also be small, and at this time, the first location information is determined as the location information of the smart wearable device. When the second signal-to-noise ratio is not greater than the first signal-to-noise ratio, it indicates that the signal quality of the third navigation signal is poor, and there is no need to assist in positioning based on the third navigation signal. In this case, the first location information is determined as the location information of the smart wearable device.

[0091] In addition, the first signal-to-noise ratio may also include multiple first sub-signal-to-noise ratios, and the multiple first sub-signal-to-noise ratios correspond to multiple first sub-navigation signals. Similarly, the second signal-to-noise ratio may also include multiple second sub-signal-to-noise ratios, and the multiple second sub-signal-to-noise ratios correspond to multiple third sub-navigation signals. At this time, the first signal-to-noise ratio being less than the first preset threshold value means that the multiple first sub-signal-to-noise ratios are all less than the first preset threshold value. Then, the location information of the smart wearable device is generated according to the second navigation signal, the third navigation signal, and the comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio, including: determining multiple sub-signal-to-noise ratios with the largest signal-to-noise ratio among the first signal-to-noise ratio and the second signal-to-noise ratio; generating the location information of the smart wearable device according to the sub-navigation signals corresponding to the multiple sub-signal-to-noise ratios. Among them, the number of the multiple sub-signal-to-noise ratios is the number of navigation signals that can calculate the location information of the smart wearable device, and may also refer to the number of sub-navigation signals corresponding to the first navigation signal, for example, 4.

[0092] In the present application, the location information of the smart wearable device is generated by comparing the second navigation signal, the third navigation signal, and the first signal-to-noise ratio with the second signal-to-noise ratio, which can reduce the impact of the signal quality on the positioning of the smart wearable device, thereby improving the accuracy of locating the smart wearable device.

[0093] Step S205: the smart wearable device obtains destination information and sends the location information and destination information to the navigation server.

[0094] Among them, destination navigation requires determining the location information and destination information of the smart wearable device.

[0095] Step S206: The navigation server generates target navigation information according to the location information and the destination information, and sends the target navigation information to the smart wearable device. Correspondingly, the smart wearable device receives the target navigation information from the navigation server.

[0096] Among them, the navigation server generates corresponding navigation information on the existing map according to the location information and destination information of the smart wearable device, and sends it to the smart wearable device.

[0097] Step S207: the smart wearable device outputs the target navigation information through the output hardware device of the smart wearable device.

[0098] Among them, the output hardware device may include a screen and an audio module of a smart wearable device.

[0099] It can be seen that in the embodiment of the present application, the navigation function is realized by the smart wearable device, which can improve the diversity of the output of navigation information, thereby improving the convenience of users to obtain navigation information. At the same time, by performing narrowband interference detection on the first navigation signal of the target satellite, the signal quality of the first navigation signal can be improved, thereby improving the accuracy of positioning the smart wearable device. When the first signal-to-noise ratio corresponding to the first navigation signal is low, auxiliary positioning is performed by obtaining the third navigation signal of the terminal device that communicates with the smart wearable device. In this way, the influence of the signal quality of the first navigation signal on the positioning of the smart wearable device can be reduced, thereby improving the accuracy of positioning the smart wearable device, thereby improving the accuracy of navigation through the smart wearable device.

[0100] In accordance with the above-mentioned embodiment, please refer to Figure 5 , Figure 5 is a functional unit block diagram of a navigation information processing device provided in an embodiment of the present application, and the device is applied to the above-mentioned smart wearable device, such as Figure 5 As shown, the navigation information processing device 50 includes:

[0101] A receiving unit 501 is configured to receive a first navigation signal from a target satellite and a first signal-to-noise ratio corresponding to the first navigation signal;

[0102] The processing unit 502 is configured to perform narrowband interference detection on the first navigation signal, and generate a second navigation signal according to the narrowband interference detection result of the first navigation signal;

[0103] An acquiring unit 503 is configured to acquire, when the first signal-to-noise ratio is lower than a first preset threshold, a third navigation signal of a terminal device that is communicatively connected to the smart wearable device and a second signal-to-noise ratio corresponding to the third navigation signal;

[0104] The processing unit 502 is further configured to generate location information of the smart wearable device according to the second navigation signal, the third navigation signal, and a comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio;

[0105] The acquisition unit 503 is further used to acquire the destination information and send the location information and the destination information to the navigation server through the sending unit 504;

[0106] The receiving unit 501 is further used to receive target navigation information from the navigation server;

[0107] The output unit 505 is used to output the target navigation information through the output hardware device of the smart wearable device.

[0108] In a feasible embodiment, the processing unit 502 is used to perform narrowband interference detection on the first navigation signal and generate a second navigation signal based on the narrowband interference detection result of the first navigation signal, including: delaying the first navigation signal by a preset data length to obtain a fourth navigation signal; performing windowing processing and fast Fourier transform processing on the first navigation signal and the fourth navigation signal respectively to obtain a first frequency domain signal and a second frequency domain signal; performing interference detection on the first frequency domain signal and the second frequency domain signal respectively, and performing spectral line processing on the first frequency domain signal or the second frequency domain signal respectively according to the interference detection result of the first frequency domain signal or the second frequency domain signal; performing inverse fast Fourier transform processing on the first frequency domain signal and the second frequency domain signal respectively to obtain a fifth navigation signal and a sixth navigation signal, and determining interference flag values ​​of the fifth navigation signal and the sixth navigation signal according to the interference detection results of the first frequency domain signal and the second frequency domain signal, the interference flag value including a first flag value and a second flag value, the first flag value being used to characterize the presence of interference, and the second flag value being used to characterize the absence of interference; performing inverse windowing processing on the fifth navigation signal and the sixth navigation signal according to the interference flag values ​​of the fifth navigation signal and the sixth navigation signal to obtain the second navigation signal.

[0109] In a feasible embodiment, the processing unit 502 is used to perform interference detection on the first frequency domain signal and the second frequency domain signal respectively, and perform spectral line processing on the first frequency domain signal or the second frequency domain signal according to the interference detection result of the first frequency domain signal or the second frequency domain signal, including: performing interference detection on the first frequency domain signal and the second frequency domain signal according to a preset adaptive threshold, wherein the threshold value of the preset adaptive threshold is determined according to the frequency band of the narrowband signal corresponding to the first navigation signal; if the interference detection result of the first frequency domain signal is that interference exists, removing the corresponding spectral line with interference in the first frequency domain signal; if the interference detection result of the second frequency domain signal is that interference exists, removing the corresponding spectral line with interference in the second frequency domain signal.

[0110] In a feasible embodiment, the processing unit 502 is used to perform inverse windowing processing on the fifth navigation signal and the sixth navigation signal according to the interference flag values ​​of the fifth navigation signal and the sixth navigation signal to obtain a second navigation signal, including: if the interference flag values ​​of the fifth navigation signal and the sixth navigation signal are both the first flag values, determining the target navigation signal in the fifth navigation signal and the sixth navigation signal, and performing inverse windowing processing on the target navigation signal to obtain the second navigation signal; if the interference flag values ​​of the fifth navigation signal and the sixth navigation signal include the second flag value, overlapping the fifth navigation signal and the sixth navigation signal to obtain a reference navigation signal, and performing inverse windowing processing on the reference navigation signal to obtain the second navigation signal.

[0111] In a feasible embodiment, the processing unit 502 is used to determine the target navigation signal in the fifth navigation signal and the sixth navigation signal, including: comparing the first frequency domain signal with the second frequency domain signal to determine the target frequency signal with the largest amplitude between the maximum amplitude corresponding to the first frequency domain signal and the maximum amplitude corresponding to the second frequency domain signal; and determining that the navigation signal corresponding to the target frequency domain signal in the fifth navigation signal and the sixth navigation signal is the target navigation signal.

[0112] In a feasible embodiment, the processing unit 502 is used to perform overlapping processing on the fifth navigation signal and the sixth navigation signal to obtain a reference navigation signal, including: performing overlapping and adding processing on the fifth navigation signal and the sixth navigation signal to obtain the reference navigation signal; or performing overlapping and selecting processing on the fifth navigation signal and the sixth navigation signal to obtain the reference navigation signal.

[0113] In a feasible embodiment, the processing unit 502 is used to generate the location information of the smart wearable device according to the second navigation signal, the third navigation signal and the comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio, including: generating the first location information and the second location information according to the second navigation signal and the third navigation signal respectively; if the second signal-to-noise ratio is greater than the second preset threshold, determining that the second location information is the location information of the smart wearable device, and the second preset threshold is greater than the first preset threshold; if the second signal-to-noise ratio is not greater than the second preset threshold and the second signal-to-noise ratio is greater than the first signal-to-noise ratio, determining whether the distance between the first location information and the second location information is greater than the preset distance; if the distance between the first location information and the second location information is not greater than the preset distance, determining that the first location information is the location information of the smart wearable device; if the distance between the first location information and the second location information is greater than the preset distance, determining that the second location information is the location information of the smart wearable device; if it is determined that the second signal-to-noise ratio is not greater than the first signal-to-noise ratio, determining that the first location information is the location information of the smart wearable device.

[0114] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part and will not be repeated here.

[0115] In the case of integrated units, such as Figure 6 As shown, Figure 6 This is a block diagram of the functional units of another navigation information processing device provided by an embodiment of the present application. Figure 6In the embodiment, the navigation information processing device 50 includes: a processing module 612 and a communication module 611. The processing module 612 is used to control and manage the actions of the navigation information processing device, for example, the steps of the receiving unit 501, the processing unit 502, the acquiring unit 503, the sending unit 504 and the output unit 505, and / or other processes for executing the technology described herein. The communication module 611 is used to support the interaction between the navigation information processing device and other devices. Figure 6 As shown, the navigation information processing device 50 may further include a storage module 613, and the storage module 613 is used to store program codes and data of the navigation information processing device.

[0116] Among them, the processing module 612 can be a processor or a controller, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 611 can be a transceiver, an RF circuit or a communication interface, and the like. The storage module 613 can be a memory.

[0117] All relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here. Figure 2 The method for processing navigation information shown.

[0118] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When a computer instruction or computer program is loaded or executed on a computer, a process or function according to an embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center containing one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0119] Figure 7 is a structural block diagram of an electronic device provided in an embodiment of the present application. Figure 7 As shown, the electronic device 700 may include one or more of the following components: a processor 701, a memory 702 and a communication interface 703. The processor 701, the memory 702 and the communication interface 703 are interconnected and perform communication work with each other, wherein the memory 702 may store one or more computer programs, and the one or more computer programs may be configured to implement the methods described in the above embodiments when executed by one or more processors 701.

[0120] The processor 701 may include one or more processing cores. The processor 701 uses various interfaces and lines to connect the various parts of the entire electronic device 700, and executes various functions and processes data of the electronic device 700 by running or executing instructions, programs, code sets or instruction sets stored in the memory 702, and calling data stored in the memory 702. Optionally, the processor 701 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 701 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU) and a modem. It is understandable that the above-mentioned modem may not be integrated into the processor 701, and may be implemented separately through a communication chip.

[0121] The memory 702 may include a random access memory (RAM) or a read-only memory (ROM). The memory 702 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 702 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the electronic device 700 during use, etc.

[0122] It is understandable that the electronic device 700 may include more or fewer structural elements than those in the above structural block diagram, for example, including a power module, physical buttons, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, a sensor, etc., which are not limited here.

[0123] The electronic device 700 may be a smart wearable device in a navigation system or a part of a smart wearable device.

[0124] An embodiment of the present application provides a computer-readable storage medium, wherein program data is stored in the computer-readable storage medium, and when the program data is executed by a processor, the program data is used to execute part or all of the steps of any one of the navigation information processing methods recorded in the above method embodiments.

[0125] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any one of the navigation information processing methods described in the above method embodiments. The computer program product may be a software installation package.

[0126] It should be noted that, for the method embodiments of any of the aforementioned methods for processing navigation information, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the present application.

[0127] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude multiple situations. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0128] A person skilled in the art can understand that all or part of the steps in the various methods of the method embodiments of any of the above-mentioned methods for processing navigation information can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a disk or an optical disk, etc.

[0129] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of a method and device for processing navigation information of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​a method and device for processing navigation information of the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0130] The present application is described with reference to the flowcharts and / or block diagrams of the methods, hardware products, and computer program products of the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0131] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0133] It can be understood that any product that is controlled or configured to execute the processing method of the flowchart described in the method embodiment of a navigation information processing method of the present application, such as the terminal and computer program product in the above flowchart, falls within the scope of the related products described in the present application.

[0134] Obviously, those skilled in the art can make various changes and modifications to the navigation information processing method and device provided by the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for processing navigation information, characterized in that: The method is applied to a smart wearable device, and the method comprises: receiving a first navigation signal from a target satellite and a first signal-to-noise ratio corresponding to the first navigation signal; performing narrowband interference detection on the first navigation signal, and generating a second navigation signal according to a narrowband interference detection result of the first navigation signal; When the first signal-to-noise ratio is lower than a first preset threshold, acquiring a third navigation signal of a terminal device that is communicatively connected to the smart wearable device and a second signal-to-noise ratio corresponding to the third navigation signal; Generate location information of the smart wearable device according to the second navigation signal, the third navigation signal, and a comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio; Acquire destination information, and send the location information and the destination information to a navigation server; Receiving target navigation information from the navigation server, and outputting the target navigation information through the output hardware device of the smart wearable device; The generating the location information of the smart wearable device according to the second navigation signal, the third navigation signal, and a comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio includes: generating first position information and second position information according to the second navigation signal and the third navigation signal respectively; If the second signal-to-noise ratio is greater than a second preset threshold, determining that the second location information is the location information of the smart wearable device, and the second preset threshold is greater than the first preset threshold; If the second signal-to-noise ratio is not greater than the second preset threshold and the second signal-to-noise ratio is greater than the first signal-to-noise ratio, determining whether the distance between the first location information and the second location information is greater than a preset distance; If the distance between the first location information and the second location information is not greater than a preset distance, determining that the first location information is the location information of the smart wearable device; If the distance between the first location information and the second location information is greater than a preset distance, determining that the second location information is the location information of the smart wearable device; If it is determined that the second signal-to-noise ratio is not greater than the first signal-to-noise ratio, the first location information is determined to be the location information of the smart wearable device.

2. The method according to claim 1, characterized in that The performing narrowband interference detection on the first navigation signal and generating a second navigation signal according to a narrowband interference detection result of the first navigation signal includes: Delaying the first navigation signal by a preset data length to obtain a fourth navigation signal; Performing windowing processing and fast Fourier transform processing on the first navigation signal and the fourth navigation signal respectively to obtain a first frequency domain signal and a second frequency domain signal; Performing interference detection on the first frequency domain signal and the second frequency domain signal respectively, and performing spectral line processing on the first frequency domain signal or the second frequency domain signal respectively according to the interference detection result of the first frequency domain signal or the second frequency domain signal; performing inverse fast Fourier transform processing on the first frequency domain signal and the second frequency domain signal respectively to obtain a fifth navigation signal and a sixth navigation signal, and determining interference flag values ​​of the fifth navigation signal and the sixth navigation signal according to interference detection results of the first frequency domain signal and the second frequency domain signal, the interference flag values ​​including a first flag value and a second flag value, the first flag value being used to characterize the presence of interference, and the second flag value being used to characterize the absence of interference; The fifth navigation signal and the sixth navigation signal are subjected to inverse windowing processing according to the interference flag values ​​of the fifth navigation signal and the sixth navigation signal to obtain a second navigation signal.

3. The method according to claim 2, characterized in that The performing interference detection on the first frequency domain signal and the second frequency domain signal respectively, and performing spectral line processing on the first frequency domain signal or the second frequency domain signal respectively according to the interference detection result of the first frequency domain signal or the second frequency domain signal, comprises: performing interference detection on the first frequency domain signal and the second frequency domain signal respectively according to a preset adaptive threshold, wherein a threshold value of the preset adaptive threshold is determined according to a frequency band of a narrowband signal corresponding to the first navigation signal; If the interference detection result of the first frequency domain signal is that interference exists, removing the corresponding spectrum line with interference in the first frequency domain signal; If the interference detection result of the second frequency domain signal is that interference exists, the corresponding spectrum line with interference in the second frequency domain signal is removed.

4. The method according to claim 2 or 3, characterized in that: The performing inverse windowing processing on the fifth navigation signal and the sixth navigation signal according to the interference flag values ​​of the fifth navigation signal and the sixth navigation signal to obtain the second navigation signal includes: If the interference flag values ​​of the fifth navigation signal and the sixth navigation signal are both the first flag value, determining a target navigation signal in the fifth navigation signal and the sixth navigation signal, and performing inverse windowing processing on the target navigation signal to obtain a second navigation signal; If there is a second flag value in the interference flag values ​​of the fifth navigation signal and the sixth navigation signal, the fifth navigation signal and the sixth navigation signal are overlapped to obtain a reference navigation signal, and the reference navigation signal is inversely windowed to obtain a second navigation signal.

5. The method according to claim 4, characterized in that The determining of the target navigation signal in the fifth navigation signal and the sixth navigation signal comprises: Comparing the first frequency domain signal with the second frequency domain signal, determining a target frequency signal with the largest amplitude between a maximum amplitude corresponding to the first frequency domain signal and a maximum amplitude corresponding to the second frequency domain signal; It is determined that, among the fifth navigation signal and the sixth navigation signal, the navigation signal corresponding to the target frequency domain signal is the target navigation signal.

6. The method according to claim 4, characterized in that The overlapping processing of the fifth navigation signal and the sixth navigation signal to obtain a reference navigation signal includes: The fifth navigation signal and the sixth navigation signal are overlap-added to obtain the reference navigation signal.

7. The method according to claim 4, characterized in that The overlapping processing of the fifth navigation signal and the sixth navigation signal to obtain a reference navigation signal includes: The reference navigation signal is obtained by performing overlapping selection processing on the fifth navigation signal and the sixth navigation signal.

8. A navigation information processing device, characterized in that: The device is applied to a smart wearable device, and the device comprises: A receiving unit, configured to receive a first navigation signal from a target satellite and a first signal-to-noise ratio corresponding to the first navigation signal; a processing unit, configured to perform narrowband interference detection on the first navigation signal, and generate a second navigation signal according to a narrowband interference detection result of the first navigation signal; An acquiring unit, configured to acquire, when the first signal-to-noise ratio is lower than a first preset threshold, a third navigation signal of a terminal device that is communicatively connected to the smart wearable device and a second signal-to-noise ratio corresponding to the third navigation signal; The processing unit is further configured to generate location information of the smart wearable device according to the second navigation signal, the third navigation signal, and a comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio; The acquisition unit is further used to acquire the destination information, and send the location information and the destination information to the navigation server through the sending unit; The receiving unit is further used to receive target navigation information from the navigation server; An output unit, configured to output the target navigation information through an output hardware device of the smart wearable device; Wherein, in the aspect of generating the location information of the smart wearable device according to the second navigation signal, the third navigation signal, and the comparison relationship between the first signal-to-noise ratio and the second signal-to-noise ratio, the processing unit is specifically used for: generating first position information and second position information according to the second navigation signal and the third navigation signal respectively; If the second signal-to-noise ratio is greater than a second preset threshold, determining that the second location information is the location information of the smart wearable device, and the second preset threshold is greater than the first preset threshold; If the second signal-to-noise ratio is not greater than the second preset threshold and the second signal-to-noise ratio is greater than the first signal-to-noise ratio, determining whether the distance between the first location information and the second location information is greater than a preset distance; If the distance between the first location information and the second location information is not greater than a preset distance, determining that the first location information is the location information of the smart wearable device; If the distance between the first location information and the second location information is greater than a preset distance, determining that the second location information is the location information of the smart wearable device; If it is determined that the second signal-to-noise ratio is not greater than the first signal-to-noise ratio, the first location information is determined to be the location information of the smart wearable device.

9. An electronic device, characterized in that: The device comprises: A processor, a memory, and a communication interface, wherein the processor, the memory, and the communication interface are connected to each other and perform communication work between them; The memory stores executable program code, and the communication interface is used for wireless communication; The processor is used to call the executable program code stored in the memory to execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 7.

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