Navigation method, device, equipment and storage medium

Abstract

The invention discloses a navigation method and device, equipment and a storage medium. The method comprises the following steps: respectively filtering an original GPS signal, an original dead reckoning DR signal and an original WIFI positioning signal to obtain filtered signals; determining a first position difference between the GPS filtering position and the DR filtering position, and performing filtering fusion on the signal of the GPS filtering position and the signal of the DR filtering position according to the first position difference to obtain a to-be-determined position signal; and determining a target position by using the position in the to-be-determined position signal and the WIFI positioning filtering position, and performing navigation by using the target position. According to the technical scheme provided by the embodiment of the invention, the probability that the position signal is tampered successfully is greatly reduced, the attack difficulty is improved, the accuracy of the obtained position is ensured, the navigation safety is improved, and the potential safety hazard risk is reduced.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular, to a navigation method, device, equipment and storage medium. Background Art

[0002] Navigation is the process of guiding a carrier from one position to another. Common navigation fields include land navigation, marine navigation, aviation navigation and space navigation. With the development of technology, many new navigation technologies have emerged. For example, inertial navigation, astronomical navigation, radio navigation and integrated navigation of multiple methods.

[0003] Current navigation mainly relies on GPS signals. However, GPS signals are plain text information and standard structured data, which are very easy to simulate, easy to be tampered with, and the cost of attack is relatively small. The potential safety hazards caused by the distortion of navigation signals cannot be ignored. Summary of the Invention

[0004] The present invention provides a navigation method, device, equipment and storage medium to solve the problem of insufficient safety of navigation.

[0005] In a first aspect, the present invention provides a navigation method, including:

[0006] Filtering the original GPS signal, the original dead reckoning (DR) signal and the original WIFI positioning signal respectively to obtain filtered signals, wherein the filtered signals include GPS filtered positions, DR filtered positions and WIFI positioning filtered positions;

[0007] Determining a first position difference between the GPS filtered position and the DR filtered position, and filtering and fusing the signals of the GPS filtered position and the DR filtered position according to the first position difference to obtain a signal of a position to be determined;

[0008] Determining a target position by using the position in the signal of the position to be determined and the WIFI positioning filtered position, and performing navigation by using the target position.

[0009] In a second aspect, the present invention provides a navigation device, including:

[0010] A filtering module, configured to filter the original GPS signal, the original dead reckoning (DR) signal and the original WIFI positioning signal respectively to obtain filtered signals, wherein the filtered signals include GPS filtered positions, DR filtered positions and WIFI positioning filtered positions;

[0011] A module for determining a position to be determined, used for determining a first position difference between the GPS filtering position and the DR filtering position, and filtering and fusing the signal of the GPS filtering position and the signal of the DR filtering position according to the first position difference to obtain a signal of the position to be determined;

[0012] The navigation module is used to determine the target position by using the position in the position signal to be determined and the WIFI positioning filter position, and to perform navigation by using the target position.

[0013] In a third aspect, the present invention provides an electronic device, the electronic device comprising:

[0014] at least one processor;

[0015] and a memory communicatively coupled to the at least one processor;

[0016] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the navigation method of the first aspect mentioned above.

[0017] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to implement the navigation method of the first aspect when executed by a processor.

[0018] By adopting the above technical solution, the original position signal is first filtered to filter out the signal with large deviation, and then the position signal to be determined is obtained by filtering and fusion according to the position difference between the filtered GPS signal and the DR signal, and then the filtered WIFI positioning signal and the position signal to be determined are combined to obtain accurate position information, and finally navigation can be achieved using the position information. Through the filtering and fusion of the position signal by this solution, and the comprehensive reference to the WIFI positioning position, the probability of successful tampering of the position signal is greatly reduced, the difficulty of attack is increased, and the accuracy of the obtained position information is guaranteed, thereby improving the safety of navigation and reducing the risk of safety hazards.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flowchart of a navigation method provided according to Embodiment 1 of the present invention;

[0022] Figure 2 is a flowchart of a navigation method provided according to Embodiment 2 of the present invention;

[0023] Figure 3 is a structural schematic diagram of a navigation device provided according to Embodiment 3 of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of an electronic device provided according to Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In the description of the present invention, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are an "or" relationship. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1 A flowchart of a navigation method is provided for the first embodiment of the present invention. This embodiment is applicable to navigation situations, such as vehicle navigation. The method can be executed by a navigation device. The navigation device can be implemented in the form of hardware and / or software. The navigation device can be configured in an electronic device, such as an electronic device in a car. The electronic device can be composed of two or more physical entities, or can be composed of one physical entity.

[0029] like Figure 1 As shown, a navigation method provided in the first embodiment of the present invention specifically includes the following steps:

[0030] S101. Filtering the original GPS signal, the original dead reckoning DR signal and the original WIFI positioning signal respectively to obtain filtered signals, wherein the filtered signals include a GPS filtered position, a DR filtered position and a WIFI positioning filtered position.

[0031] In this embodiment, when the vehicle needs to navigate, it can first obtain positioning-related signals in different ways, such as obtaining the original GPS signal, dead reckoning (DR) signal and WIFI positioning signal. Then filter these signals to obtain filtered signals. The filtered signals include GPS filtered signals (including filtered GPS positions), DR filtered signals (including DR filtered positions) and WIFI positioning filtered signals (including WIFI positioning filtered positions). Among them, the WIFI positioning signal can be understood as a positioning signal obtained using WIFI positioning technology. The GPS signal can include frame number, current frame state, relative time, latitude, longitude, altitude, altitude angle, speed and heading. The original dead reckoning DR signal includes IMU signal and CAN signal, and the CAN signal can include displacement, speed and driving time.

[0032] S102, determining a first position difference between the GPS filtering position and the DR filtering position, and filtering and fusing the signal of the GPS filtering position and the signal of the DR filtering position according to the first position difference to obtain a position signal to be determined.

[0033] In this embodiment, the (first) position difference between the GPS filter position and the DR filter position can be determined by a preset operation. For example, in the ENU coordinate system, if the GPS filter position coordinates are (e1, n1) and the DR filter position coordinates are (e2, n2), the first position difference P1 can be expressed as:

[0034]

[0035] According to the value of the first position difference, the signal of the GPS filter position and the signal of the DR filter position are filtered and fused to obtain the position signal to be determined. For example, if the first position difference is large, it means that the original GPS signal may be tampered with. The signal of the GPS filter position can be processed into an interference signal in a preset manner, and then the processed signal of the GPS filter position and the signal of the DR filter position are filtered and fused to obtain the position signal to be determined.

[0036] S103: Determine a target position by using the position in the to-be-determined position signal and the WIFI positioning filter position, and use the target position for navigation.

[0037] In this embodiment, the position in the position signal to be determined can be corrected with reference to the WIFI positioning filter position to obtain the target position. For example, the difference between the WIFI positioning filter position and the position in the position signal to be determined can be compared. If the difference between the two is large, it usually means that the WIFI positioning filter position may be inaccurate. The position in the position signal to be determined and the WIFI positioning filter position can be weighted and summed to obtain the target position, that is, the current position of the vehicle. The target position can be used to realize the navigation and positioning functions of the vehicle.

[0038] The technical solution of the embodiment of the present invention first filters the original position signal to filter out the signal with large deviation, and then obtains the position signal to be determined by filtering and fusing according to the position gap between the filtered GPS signal and the DR signal, and then combines the filtered WIFI positioning signal and the position signal to be determined to obtain accurate position information, and finally uses the position information to achieve navigation. Through the filtering and fusion of the position signal by this solution, and the comprehensive reference to the WIFI positioning position, the probability of successful tampering of the position signal is greatly reduced, the difficulty of attack is increased, and the accuracy of the obtained position information is guaranteed, thereby improving the security of navigation and reducing the risk of potential safety hazards.

[0039] Optionally, filtering and fusing the signal of the GPS filter position and the signal of the DR filter position according to the first position difference to obtain the signal of the position to be determined, including: judging whether the first position difference is greater than a first preset threshold; if so, updating the signal of the GPS filter position to reduce the weight of the signal of the GPS filter position in the fusion filter; and using the fusion filter to process the updated signal of the GPS filter position and the signal of the DR filter position to obtain the signal of the position to be determined.

[0040] Specifically, when the first position difference is greater than the first preset threshold, it means that the difference between the GPS filter position and the DR filter position is large, and the GPS filter position may be tampered with. At this time, the signal of the GPS filter position can be updated by amplifying the accuracy of the signal of the GPS filter position, so that the weight of the signal of the GPS filter position in the fusion filter can be reduced, and the interference of the error or weak signal to the accurate signal can be reduced. The updated signal of the GPS filter position and the signal of the DR filter position are input into the fusion filter, and the position signal to be determined can be output.

[0041] Optionally, determining the target position by using the position in the position signal to be determined and the WIFI positioning filter position includes: determining a second position difference between the position in the position signal to be determined and the WIFI positioning filter position; judging whether the second position difference is greater than a second preset threshold; if so, determining the position in the position signal to be determined as the target position.

[0042] Specifically, when the second position difference is greater than the second preset threshold, it means that the position in the position signal to be determined and the WIFI positioning filter position have a large difference, and the WIFI positioning filter position may be inaccurate. At this time, the position in the position signal to be determined can be determined as the target position.

[0043] Optionally, the method for determining the original WIFI positioning signal includes: obtaining an original WIFI signal, wherein the original WIFI signal includes a MAC address and a signal strength; matching the MAC address with a sample MAC address in a preset WIFI hotspot address database to determine sample location information corresponding to the target sample MAC address, wherein the preset WIFI hotspot address database includes a correspondence between the sample MAC address and the sample location information; and generating the original WIFI positioning signal using the sample location information corresponding to the target sample MAC address with the highest signal strength.

[0044] Specifically, when a vehicle is driving on the road, it can first obtain the original WIFI signal from the WIFI hotspot, which may include the MAC address, SSID, and signal strength of the WIFI hotspot. Then, the MAC address is matched with the sample MAC address in the preset WIFI hotspot address database to obtain the sample location information corresponding to the successfully matched target sample MAC address in the preset WIFI hotspot address database. The sample location corresponding to the target sample MAC address with the highest signal strength is the original WIFI positioning signal.

[0045] Embodiment 2

[0046] Figure 2This is a flowchart of a navigation method provided in the second embodiment of the present invention. The technical solution of the embodiment of the present invention is further optimized on the basis of the above-mentioned optional technical solutions, and provides a specific method for vehicle navigation.

[0047] Optionally, the use of the fusion filter to process the updated GPS filter position signal and the DR filter position signal to obtain the position signal to be determined includes: using the fusion filter to determine the first product of the covariance of the GPS filter position at the historical moment and the updated GPS filter position; using the fusion filter to determine the covariance of the DR filter position at the historical moment and the second product of the DR filter position; using the fusion filter to generate the position signal to be determined according to the sum of the first product and the second product. The advantage of this setting is that, through the above method, the fusion filtering of the GPS filter position signal and the DR filter position signal is reasonably and quickly realized, further ensuring the reliability of the position data.

[0048] Optionally, the determining of the difference between the position in the position signal to be determined and the second position of the WIFI positioning filter position includes: determining the first target position on the east coordinate axis and the north coordinate axis in the position signal to be determined, and determining the second target position on the east coordinate axis and the north coordinate axis in the WIFI positioning filter position in the ENU coordinate system; and determining the second position difference according to the difference between the first target position and the second target position. The advantage of such a setting is that the difference between the position in the position signal to be determined and the WIFI positioning filter position is accurately determined in the above manner.

[0049] Optionally, filtering the original GPS signal, the original dead reckoning DR signal and the original WIFI positioning signal respectively to obtain filtered signals includes: performing Kalman filtering on the original GPS signal, the original dead reckoning DR signal and the original WIFI positioning signal respectively to obtain filtered signals.

[0050] like Figure 2 As shown, a navigation method provided by Embodiment 2 of the present invention specifically includes the following steps:

[0051] S201 , performing Kalman filtering on the original GPS signal, the original dead reckoning DR signal, and the original WIFI positioning signal respectively to obtain filtered signals.

[0052] S202: Determine a first position difference between the GPS filtered position and the DR filtered position.

[0053] S203 , determining whether the first position difference is greater than a first preset threshold, if so, executing step 204 , if not, executing step 206 .

[0054] S204: Update the signal of the GPS filtering position to reduce the weight of the signal of the GPS filtering position in the fusion filter.

[0055] S205. Use the fusion filter to determine the first product of the covariance of the GPS filter position at the historical moment and the updated GPS filter position; use the fusion filter to determine the covariance of the DR filter position at the historical moment and the second product of the DR filter position; use the fusion filter to generate a position signal to be determined based on the sum of the first product and the second product, and execute step 207.

[0056] Specifically, to determine the X at position k k Methods of determination include:

[0057]

[0058] in, is the covariance of the GPS filtered position at time k-1, X g is the updated GPS filtered position, is the covariance of the DR filter position at time k-1, X d is the DR filter position.

[0059] S206 , determining the GPS filtering position as the updated GPS filtering position, and executing step 205 .

[0060] S207. In the ENU coordinate system, determine the first target position on the east coordinate axis and the north coordinate axis in the position signal to be determined, and determine the second target position on the east coordinate axis and the north coordinate axis in the WIFI positioning filter position; determine the second position difference according to the difference between the first target position and the second target position.

[0061] Specifically, in the ENU coordinate system, the second position difference P2 is determined by:

[0062]

[0063] Among them, the first target position on the east coordinate axis and the north coordinate axis in the position signal to be determined is (e3, n3), and the second target position on the east coordinate axis and the north coordinate axis in the WIFI positioning filter position is (e4, n4).

[0064] S208 , determining whether the second position difference is greater than a second preset threshold, if so, executing step 209 , if not, executing step 210 .

[0065] S209: Determine the position in the to-be-determined position signal as a target position, and use the target position for navigation.

[0066] S210. Determine the WIFI positioning filtering position as the target position, and use the target position for navigation.

[0067] Specifically, coordinate conversion can be performed on the target position, such as converting ENU coordinates to ECEF coordinates, and then converting to WGS-84 coordinates.

[0068] The navigation method provided by the embodiment of the present invention reasonably and quickly realizes the fusion filtering of the signals of the GPS filtering position and the DR filtering position, accurately determines the difference between the position in the to-be-determined position signal and the WIFI positioning filtering position, screens out the tampered distorted position data, and further ensures the reliability and accuracy of the position data.

[0069] Embodiment III

[0070] Figure 3 It is a schematic structural diagram of a navigation device provided by Embodiment III of the present invention. As Figure 3 shown, the device includes: a filtering module 301, a to-be-determined position determination module 302, and a navigation module 303, where:

[0071] The filtering module is configured to filter the original GPS signal, the original dead reckoning DR signal, and the original WIFI positioning signal respectively to obtain filtered signals, where the filtered signals include a GPS filtering position, a DR filtering position, and a WIFI positioning filtering position;

[0072] The to-be-determined position determination module is configured to determine a first position difference between the GPS filtering position and the DR filtering position, and perform filtering fusion on the signals of the GPS filtering position and the DR filtering position according to the first position difference to obtain a to-be-determined position signal;

[0073] The navigation module is configured to determine a target position by using the position in the to-be-determined position signal and the WIFI positioning filtering position, and perform navigation by using the target position.

[0074] The navigation device provided by the embodiment of the present invention first filters the original position signal to filter out the signal with large deviation, and then obtains the position signal to be determined by filtering and fusing according to the difference between the position in the filtered GPS signal and the DR signal, and then combines the filtered WIFI positioning signal and the position signal to be determined to obtain accurate position information, and finally uses the position information to achieve navigation. Through the filtering and fusion of the position signal by the device, and the comprehensive reference to the WIFI positioning position, the probability of successful tampering of the position signal is greatly reduced, the difficulty of attack is increased, and the accuracy of the obtained position information is guaranteed, thereby improving the safety of navigation and reducing the risk of potential safety hazards.

[0075] Optionally, the module for determining the position to be determined includes:

[0076] A first judging unit, configured to judge whether the first position difference is greater than a first preset threshold;

[0077] an updating unit, configured to update the signal of the GPS filtering position if the information returned by the first judging unit is yes, so as to reduce the weight of the signal of the GPS filtering position in the fusion filter;

[0078] The fusion filter unit is used to process the updated GPS filter position signal and the DR filter position signal by using the fusion filter to obtain the position signal to be determined.

[0079] Furthermore, the method of using the fusion filter to process the signal of the updated GPS filter position and the signal of the DR filter position to obtain the position signal to be determined includes: using the fusion filter to determine the first product of the covariance of the GPS filter position at a historical moment and the updated GPS filter position; using the fusion filter to determine the second product of the covariance of the DR filter position at a historical moment and the DR filter position; and using the fusion filter to generate the position signal to be determined based on the sum of the first product and the second product.

[0080] Optionally, the navigation module includes:

[0081] A gap determination unit, used to determine a second position gap between the position in the to-be-determined position signal and the WIFI positioning filter position;

[0082] A second judging unit, used to judge whether the second position difference is greater than a second preset threshold;

[0083] The target position determining unit is configured to determine the position in the to-be-determined position signal as the target position if the information returned by the second determining unit is yes.

[0084] Furthermore, the determining of the second position difference between the position in the position signal to be determined and the WIFI positioning filter position includes: determining the first target position on the east coordinate axis and the north coordinate axis in the position signal to be determined in the ENU coordinate system, and determining the second target position on the east coordinate axis and the north coordinate axis in the WIFI positioning filter position; determining the second position difference according to the difference between the first target position and the second target position.

[0085] Optionally, the method for determining the original WIFI positioning signal includes: obtaining an original WIFI signal, wherein the original WIFI signal includes a MAC address and a signal strength; matching the MAC address with a sample MAC address in a preset WIFI hotspot address database to determine sample location information corresponding to the target sample MAC address, wherein the preset WIFI hotspot address database includes a correspondence between the sample MAC address and the sample location information; and generating the original WIFI positioning signal using the sample location information corresponding to the target sample MAC address with the highest signal strength.

[0086] Optionally, the filtering module is specifically used to perform Kalman filtering on the original GPS signal, the original dead reckoning DR signal and the original WIFI positioning signal respectively to obtain filtered signals.

[0087] The navigation device provided by the embodiment of the present invention can execute the navigation method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0088] Embodiment 4

[0089] Figure 4 A schematic diagram of an electronic device 40 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as vehicle-mounted computers, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0090] like Figure 4As shown, the electronic device 40 includes at least one processor 41, and a memory connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 to the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0091] A number of components in the electronic device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0092] The processor 41 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as a navigation method.

[0093] In some embodiments, the navigation method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the navigation method described above may be performed. Alternatively, in other embodiments, the processor 41 may be configured to perform the navigation method in any other suitable manner (e.g., by means of firmware).

[0094] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0095] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0096] The computer device provided above can be used to execute the navigation method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0097] Embodiment 5

[0098] In the context of the present invention, a computer-readable storage medium may be a tangible medium, wherein the computer-executable instructions, when executed by a computer processor, are used to perform a navigation method, the method comprising:

[0099] Filtering the original GPS signal, the original dead reckoning DR signal and the original WIFI positioning signal respectively to obtain filtered signals, wherein the filtered signals include the GPS filtered position, the DR filtered position and the WIFI positioning filtered position;

[0100] Determine a first position difference between the GPS filter position and the DR filter position, and filter and fuse the signal of the GPS filter position and the signal of the DR filter position according to the first position difference to obtain a position signal to be determined;

[0101] The target position is determined by using the position in the to-be-determined position signal and the WIFI positioning filter position, and the target position is used for navigation.

[0102] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by an instruction execution system, device or equipment or used with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0103] The computer device provided above can be used to execute the navigation method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0104] It is worth noting that in the embodiment of the above-mentioned navigation device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0105] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A navigation method, characterized in that: include: Filtering the original GPS signal, the original dead reckoning DR signal and the original WIFI positioning signal respectively to obtain filtered signals, wherein the filtered signals include the GPS filtered position, the DR filtered position and the WIFI positioning filtered position; Determine a first position difference between the GPS filter position and the DR filter position, and filter and fuse the signal of the GPS filter position and the signal of the DR filter position according to the first position difference to obtain a position signal to be determined; The target position is determined by using the position in the to-be-determined position signal and the WIFI positioning filter position, and the target position is used for navigation.

2. The method according to claim 1, characterized in that The filtering and fusing the signal of the GPS filtered position and the signal of the DR filtered position according to the first position gap to obtain the position signal to be determined includes: Determining whether the first position difference is greater than a first preset threshold; If yes, then updating the signal of the GPS filtering position to reduce the weight of the signal of the GPS filtering position in the fusion filter; The fusion filter is used to process the updated GPS filtered position signal and the DR filtered position signal to obtain a position signal to be determined.

3. The method according to claim 2, characterized in that The method of using the fusion filter to process the updated GPS filter position signal and the DR filter position signal to obtain the position signal to be determined includes: Determine the first product of the covariance of the GPS filtered position at the historical moment and the updated GPS filtered position using the fusion filter; Determine the covariance of the DR filter position at the historical moment and the second product of the DR filter position by using the fusion filter; The fusion filter is used to generate a position signal to be determined according to the sum of the first product and the second product.

4. The method according to any one of claims 1 to 3, characterized in that The determining the target position by using the position in the to-be-determined position signal and the WIFI positioning filter position includes: Determine a second position difference between the position in the to-be-determined position signal and the WIFI positioning filter position; Determining whether the second position difference is greater than a second preset threshold; If so, the position in the to-be-determined position signal is determined as the target position.

5. The method according to claim 4, characterized in that The determining a second position difference between the position in the to-be-determined position signal and the WIFI positioning filter position includes: In the ENU coordinate system, determine the first target position on the east coordinate axis and the north coordinate axis in the position signal to be determined, and determine the second target position on the east coordinate axis and the north coordinate axis in the WIFI positioning filter position; A second position difference is determined according to a difference between the first target position and the second target position.

6. The method according to claim 1, characterized in that The method of determining the original WIFI positioning signal includes: Obtaining an original WIFI signal, wherein the original WIFI signal includes a MAC address and a signal strength; Matching the MAC address with sample MAC addresses in a preset WIFI hotspot address database to determine sample location information corresponding to the target sample MAC address, wherein the preset WIFI hotspot address database includes a correspondence between the sample MAC addresses and the sample location information; The original WIFI positioning signal is generated using the sample location information corresponding to the target sample MAC address with the highest signal strength.

7. The method according to claim 1, characterized in that The filtering of the original GPS signal, the original dead reckoning DR signal and the original WIFI positioning signal respectively to obtain filtered signals includes: Kalman filtering is performed on the original GPS signal, the original dead reckoning DR signal and the original WIFI positioning signal to obtain filtered signals.

8. A navigation device, characterized in that: include: A filtering module, used to filter the original GPS signal, the original dead reckoning DR signal and the original WIFI positioning signal respectively to obtain a filtered signal, wherein the filtered signal includes a GPS filtered position, a DR filtered position and a WIFI positioning filtered position; A module for determining a position to be determined, used to determine a first position difference between the GPS filtering position and the DR filtering position, and filter and fuse the signal of the GPS filtering position and the signal of the DR filtering position according to the first position difference to obtain a signal of the position to be determined; The navigation module is used to determine the target position by using the position in the position signal to be determined and the WIFI positioning filter position, and to perform navigation by using the target position.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the navigation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the navigation method according to any one of claims 1 to 7 when executed.

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