Lightweight navigation method, device, apparatus and storage medium

Abstract

The application discloses a lightweight navigation method and device, equipment and storage medium, and relates to the technical field of augmented reality, which comprises the following steps: determining the current speed according to the inertial measurement data of a lightweight intelligent device and the current heading angle when the current state of a navigation mobile device is a non-use state; predicting the current navigation position according to the inertial measurement data of the lightweight intelligent device when the navigation data is determined to be abnormal; and performing lightweight navigation according to the current heading angle and the current navigation position. In the foregoing manner, the inertial measurement data of the lightweight intelligent device and the inertial measurement data of the navigation mobile device are combined, the current heading angle and the current navigation position are predicted by using the lightweight intelligent device when the navigation data of the navigation mobile device is abnormal, the user does not need to hold the navigation mobile device to position the direction, then the navigation is performed according to the predicted navigation parameters, and therefore, continuous navigation in a complex scene can be realized, and the experience of the user is improved.

Description

Technical Field

[0001] The present application relates to the field of augmented reality technology, and in particular to lightweight navigation methods, devices, equipment, and storage media. Background Art

[0002] Lightweight smart devices combined with mobile navigation devices are a new navigation method, especially suitable for navigation scenarios such as walking and cycling. However, lightweight smart devices are usually not equipped with GPS (Global Positioning System) positioning systems and need to rely on the GPS data of the mobile phone for navigation. In this scenario, users need to continuously hold the mobile navigation device to obtain direction data, but users generally do not do this. For example, after holding the mobile navigation device for a while, they will put it in their pocket, which will cause the heading angle to be invalid. In complex scenarios such as urban canyons and tunnels, users are prone to GPS signal loss or drift, resulting in navigation interruption and inability to achieve continuous navigation in complex scenarios.

[0003] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of this application is to provide a lightweight navigation method, device, equipment and storage medium, aiming to solve the technical problem that the existing technology cannot achieve continuous navigation in complex scenarios.

[0005] To achieve the above objectives, the present application proposes a lightweight navigation method, which includes:

[0006] When the current state of the mobile navigation device is not in use, predicting the current heading angle based on the inertial measurement data of the lightweight smart device and the previous heading angle of the mobile navigation device;

[0007] determining a current speed of a user wearing the lightweight smart device according to the inertial measurement data of the lightweight smart device and the current heading angle;

[0008] When it is determined that the navigation data of the navigation mobile device is abnormal according to the current speed, predicting the current navigation position according to the inertial measurement data of the lightweight smart device;

[0009] Lightweight navigation is performed according to the current heading angle and the current navigation position.

[0010] In one embodiment, before the step of predicting the current heading angle based on the inertial measurement data of the lightweight smart device and the previous heading angle of the navigation mobile device when the current state of the navigation mobile device is not in use, the method further includes:

[0011] When it is detected that the lightweight smart device and the navigation mobile device are successfully paired, the coordinate systems of the lightweight smart device and the navigation mobile device are projected using a gravity vector;

[0012] Obtaining the current angle between the direction of the gravity sensor device in the mobile navigation device and the direction of the first axis after the projected coordinate system is obtained;

[0013] When the current angle is greater than a preset angle threshold, it is determined that the current state of the mobile navigation device is a non-use state.

[0014] In one embodiment, the step of predicting the current heading angle based on the inertial measurement data of the lightweight smart device and the previous heading angle of the navigation mobile device includes:

[0015] Obtaining the timestamp of the inertial measurement data of the lightweight smart device and the timestamp of the inertial measurement data of the navigation mobile device;

[0016] Synchronizing the timestamp of the inertial measurement data of the lightweight smart device and the timestamp of the inertial measurement data of the navigation mobile device by using a multivariate interpolation algorithm;

[0017] Determine the last moment heading angle of the navigation mobile device according to the inertial measurement data of the navigation mobile device after synchronization of the timestamp;

[0018] The current heading angle is predicted based on the inertial measurement data of the lightweight smart device after synchronization time stamp and the previous heading angle of the navigation mobile device.

[0019] In one embodiment, the step of predicting the current heading angle based on the inertial measurement data of the lightweight smart device after synchronization timestamp and the previous heading angle of the navigation mobile device includes:

[0020] Obtain gyroscope angular velocity and gyroscope zero bias based on the inertial measurement data of the lightweight smart device after synchronization time stamp;

[0021] Calculate navigation time based on the previous moment and the current moment;

[0022] Based on the lightweight intelligent device after synchronization timestamp, the current heading angle is predicted according to the heading angle of the navigation mobile device at the previous moment, the gyroscope angular velocity, the gyroscope zero bias and the navigation time.

[0023] In one embodiment, the step of determining the current speed of a user wearing the lightweight smart device based on the inertial measurement data of the lightweight smart device and the current heading angle includes:

[0024] Obtaining gyroscope acceleration based on inertial measurement data of the lightweight smart device;

[0025] Obtaining an acceleration component of the gyroscope acceleration in a first axis direction and an acceleration component in a second axis direction;

[0026] Determining a historical speed of a user wearing the lightweight smart device based on inertial measurement data of the navigation mobile device after synchronization timestamp;

[0027] The current speed of the user wearing the lightweight smart device is determined according to the historical speed, the current heading angle, the navigation time, the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction.

[0028] In one embodiment, when determining that the navigation data of the mobile navigation device is abnormal based on the current speed, the step of predicting the current navigation position based on the inertial measurement data of the lightweight smart device includes:

[0029] When the current speed is not a preset threshold and the navigation position of the navigation interface has not changed, or the navigation position is lost, determining that the navigation data of the navigation mobile device is abnormal;

[0030] Determining a last moment navigation position of the navigation mobile device in the direction of a first number axis and a last moment navigation position of the navigation mobile device in the direction of a second number axis according to the inertial measurement data of the navigation mobile device after the synchronization time stamp;

[0031] Obtaining an acceleration component of a gyroscope acceleration in a first axis direction and an acceleration component in a second axis direction according to inertial measurement data of the lightweight smart device;

[0032] Predicting a navigation position of the mobile navigation device in the first axis direction based on a previous navigation position, a historical speed, a current heading angle, a navigation time, an acceleration component of a gyroscope acceleration in the first axis direction and an acceleration component in the second axis direction;

[0033] Predicting a navigation position of the mobile navigation device in the second axis direction based on the previous navigation position, historical speed, current heading angle, navigation time, acceleration component of gyroscope acceleration in the first axis direction and acceleration component in the second axis direction;

[0034] The current navigation position is determined according to the navigation position in the first number axis direction and the navigation position in the second number axis direction.

[0035] In one embodiment, after the step of performing lightweight navigation according to the current heading angle and the current navigation position, the method further includes:

[0036] When it is detected that the navigation data of the navigation mobile device returns to normal, resetting the navigation parameter prediction model in the navigation mobile device;

[0037] The navigation parameter prediction model after reset is used to respectively predict the heading angle at the target moment and the navigation position at the target moment;

[0038] Navigation is performed according to the target moment heading angle and the target moment navigation position.

[0039] In addition, to achieve the above objectives, the present application also proposes a lightweight navigation device, which includes:

[0040] A prediction module, configured to predict a current heading angle based on inertial measurement data of the lightweight smart device and a previous heading angle of the navigation mobile device when the current state of the navigation mobile device is not in use;

[0041] a determination module, configured to determine a current speed of a user wearing the lightweight smart device based on the inertial measurement data of the lightweight smart device and the current heading angle;

[0042] The prediction module is further configured to predict a current navigation position based on the inertial measurement data of the lightweight smart device when it is determined that the navigation data of the mobile navigation device is abnormal based on the current speed;

[0043] The navigation module is used to perform lightweight navigation according to the current heading angle and the current navigation position.

[0044] In addition, to achieve the above-mentioned purpose, the present application also proposes a lightweight navigation device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program is configured to implement the steps of the lightweight navigation method as described above.

[0045] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the lightweight navigation method described above are implemented.

[0046] One or more technical solutions proposed in this application have at least the following technical effects: when the current state of the navigation mobile device is not in use, the current heading angle is predicted based on the inertial measurement data of the lightweight smart device and the heading angle of the navigation mobile device at the previous moment; the current speed of the user wearing the lightweight smart device is determined based on the inertial measurement data of the lightweight smart device and the current heading angle; when the navigation data of the navigation mobile device is determined to be abnormal based on the current speed, the current navigation position is predicted based on the inertial measurement data of the lightweight smart device; and lightweight navigation is performed based on the current heading angle and the current navigation position. Through the above method, the inertial measurement data of the lightweight smart device and the inertial measurement data of the navigation mobile device are combined, and when the navigation data of the navigation mobile device is abnormal, the lightweight smart device is used to predict the current heading angle and the current navigation position, without the user having to hold the navigation mobile device to locate the direction, and then navigation is performed based on the predicted navigation parameters, thereby achieving continuous navigation in complex scenarios and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 A flowchart of the first embodiment of the lightweight navigation method of this application is provided;

[0050] Figure 2 A flowchart of the second embodiment of the lightweight navigation method of this application is provided;

[0051] Figure 3 This is a schematic diagram of the module structure of the lightweight navigation device according to an embodiment of the present application;

[0052] Figure 4 Schematic diagram of the device structure of the hardware operating environment involved in the lightweight navigation method in the embodiment of the present application.

[0053] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of implementing the above functions, a lightweight navigation device, etc. The following uses a lightweight navigation device as an example to illustrate this embodiment and the following embodiments.

[0055] Based on this, the embodiment of the present application provides a lightweight navigation method, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the lightweight navigation method of the present application.

[0056] In this embodiment, the lightweight navigation method includes steps S10 to S40:

[0057] Step S10 : when the current state of the mobile navigation device is the non-use state, predicting the current heading angle according to the inertial measurement data of the lightweight smart device and the previous heading angle of the mobile navigation device.

[0058] It should be noted that the navigation mobile device can be a mobile phone, a portable tablet, etc., and the lightweight smart device can be a lightweight AR glasses. When it is determined that the current state of the navigation mobile device is not in use, it indicates that the user is not holding the navigation mobile device to obtain direction data, and the navigation mobile device may be placed in a pocket or a backpack. At this time, it is necessary to use the lightweight smart device to predict the current heading angle. The data used to predict the current heading angle can be the inertial measurement data of the lightweight smart device and the heading angle of the previous moment determined by the inertial measurement data of the navigation mobile device, that is, the inertial measurement data of the lightweight smart device and the inertial measurement data of the navigation mobile device are combined to achieve lightweight navigation.

[0059] Furthermore, before step S10, it also includes: when it is detected that the lightweight smart device and the navigation mobile device are successfully paired, projecting the coordinate system of the lightweight smart device and the navigation mobile device through the gravity vector; obtaining the direction of the gravity sensing device in the navigation mobile device after the projected coordinate system and the current angle between the navigation mobile device and the first number axis direction; when the current angle is greater than a preset angle threshold, determining that the current state of the navigation mobile device is a non-use state.

[0060] It should be understood that upon detecting successful pairing between the lightweight smart device and the mobile navigation device, the coordinate axes of the lightweight smart device and the mobile navigation device are projected onto the direction of the gravity vector to achieve coordinate system alignment. The first axis can be the Y-axis. After obtaining the angle between the orientation of the gravity sensor device within the mobile navigation device after projecting the coordinate system and the current orientation of the first axis, a determination is made as to whether the current angle is greater than a preset angle threshold. If so, the current state of the mobile navigation device is determined to be non-use; otherwise, the current state of the mobile navigation device is determined to be use. The preset angle threshold can be 45°.

[0061] Furthermore, the step of predicting the heading angle at the current moment based on the inertial measurement data of the lightweight smart device and the heading angle of the navigation mobile device at the previous moment includes: obtaining the timestamp of the inertial measurement data of the lightweight smart device and the timestamp of the inertial measurement data of the navigation mobile device; synchronizing the timestamp of the inertial measurement data of the lightweight smart device and the timestamp of the inertial measurement data of the navigation mobile device through a multivariate interpolation algorithm; determining the heading angle of the navigation mobile device at the previous moment based on the inertial measurement data of the navigation mobile device after the synchronization of the timestamp; predicting the heading angle at the current moment based on the inertial measurement data of the lightweight smart device after the synchronization of the timestamp and the heading angle of the navigation mobile device at the previous moment.

[0062] It should be noted that in order to reduce prediction errors, before using the lightweight smart device to predict the current heading angle, the timestamp of the inertial measurement data of the lightweight smart device and the timestamp of the inertial measurement data of the navigation mobile device will be synchronized through a multivariate interpolation algorithm. The multivariate interpolation algorithm can be a quaternion interpolation algorithm.

[0063] It can be understood that the heading angle at the last moment refers to the heading angle determined when the navigation mobile device could perform normal navigation at the last moment. After determining the heading angle of the navigation mobile device at the last moment, the inertial measurement data of the lightweight smart device after the synchronization timestamp is combined to predict the heading angle at the current moment.

[0064] Furthermore, the step of predicting the heading angle at the current moment based on the inertial measurement data of the lightweight smart device after the synchronization timestamp and the heading angle of the navigation mobile device at the previous moment includes: obtaining the gyroscope angular velocity and the gyroscope zero bias based on the inertial measurement data of the lightweight smart device after the synchronization timestamp; calculating the navigation time based on the previous moment and the current moment; and predicting the heading angle at the current moment based on the heading angle of the navigation mobile device at the previous moment, the gyroscope angular velocity, the gyroscope zero bias and the navigation time based on the lightweight smart device after the synchronization timestamp.

[0065] It should be understood that navigation time refers to the time it takes for the user to navigate while wearing the lightweight smart device from the previous moment to the current moment. After obtaining the gyroscope angular velocity and gyroscope zero bias based on the inertial measurement data of the lightweight smart device after synchronization timestamp, the current moment heading angle is predicted by combining the previous moment heading angle of the navigation mobile device and the navigation time. Specifically, it is:

[0066] .

[0067] in, Indicates the current heading angle, Indicates the last moment heading angle of the navigation mobile device. represents the gyroscope angular velocity, Indicates the gyroscope zero bias, Indicates navigation time.

[0068] Step S20 , determining a current speed of a user wearing the lightweight smart device according to the inertial measurement data of the lightweight smart device and the current heading angle.

[0069] It can be understood that the current speed refers to the walking or cycling speed of the user wearing the lightweight smart device at the current moment. After predicting the heading angle at the current moment, the current speed of the user wearing the lightweight smart device during navigation is determined in combination with the inertial measurement data of the lightweight smart device.

[0070] Step S30 : When it is determined that the navigation data of the mobile navigation device is abnormal according to the current speed, the navigation position at the current moment is predicted according to the inertial measurement data of the lightweight smart device.

[0071] It should be understood that when the navigation data of the navigation mobile device is determined to be abnormal based on the current speed, it indicates that the navigation mobile device cannot navigate normally. At this time, it is necessary to use a lightweight smart device to predict the current navigation position, that is, to predict the current navigation position based on the inertial measurement data of the lightweight smart device.

[0072] Furthermore, step S30 includes: when the current speed is not a preset threshold and the navigation position of the navigation interface has not changed, or the navigation position is lost, determining that the navigation data of the navigation mobile device is abnormal; determining the navigation position of the navigation mobile device at the last moment in the first axis direction and the navigation position of the navigation mobile device at the last moment in the second axis direction according to the inertial measurement data of the navigation mobile device after the synchronization timestamp; obtaining the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction according to the inertial measurement data of the lightweight intelligent device; and determining the navigation position of the navigation mobile device at the last moment in the first axis direction according to the inertial measurement data of the lightweight intelligent device. The navigation position in the first axis direction is predicted based on the navigation position, historical speed, heading angle at the current moment, navigation time, acceleration component of gyroscope acceleration in the first axis direction and acceleration component in the second axis direction; the navigation position in the second axis direction is predicted based on the navigation position of the navigation mobile device at the previous moment in the second axis direction, historical speed, heading angle at the current moment, navigation time, acceleration component of gyroscope acceleration in the first axis direction and acceleration component in the second axis direction; the navigation position at the current moment is determined based on the navigation position in the first axis direction and the navigation position in the second axis direction.

[0073] It can be understood that the preset threshold value can be 0. When it is determined that the current speed is not the preset threshold value and the navigation position of the navigation interface has not changed, or the navigation position is lost, it indicates that the navigation data of the navigation mobile device is abnormal. At this time, the navigation position of the navigation mobile device at the last moment in the first axis direction and the navigation position of the navigation mobile device at the last moment in the second axis direction are determined, wherein the first axis can be the Y axis and the second axis can be the X axis. After obtaining the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction, the navigation position in the first axis direction and the navigation position in the second axis direction are predicted respectively, specifically:

[0074] .

[0075] in, Indicates the navigation position in the direction of the second axis, Indicates the navigation position of the mobile navigation device at the last moment in the direction of the second axis. represents the historical speed, represents the acceleration component of the gyroscope acceleration in the direction of the first axis, represents the acceleration component of the gyroscope acceleration in the direction of the second axis, Indicates navigation time, Indicates the navigation position in the direction of the first axis, Indicates the last navigation position of the navigation mobile device in the direction of the first number axis.

[0076] It should be noted that after respectively predicting the navigation position in the first axis direction and the navigation position in the second axis direction, the navigation position in the first axis direction and the navigation position in the second axis direction are combined to determine the current navigation position. For example, the current navigation position can be expressed as .

[0077] Step S40: performing lightweight navigation according to the current heading angle and the current navigation position.

[0078] It's understandable that by using a lightweight smart device to predict the current heading angle and navigation position, lightweight navigation based on these two predictions can avoid navigation issues caused by GPS data drift and loss, enabling continuous navigation in a variety of complex scenarios, such as urban canyons and tunnels. Furthermore, in the lightweight smart device + mobile navigation device scenario, navigation errors and power consumption can be reduced, and data update frequency can be increased.

[0079] Furthermore, after step S40, it also includes: when it is detected that the navigation data of the navigation mobile device has returned to normal, resetting the navigation parameter prediction model in the navigation mobile device; predicting the target moment heading angle and the target moment navigation position respectively through the reset navigation parameter prediction model; and navigating according to the target moment heading angle and the target moment navigation position.

[0080] It should be understood that in order to avoid error accumulation, after lightweight navigation is performed based on the current heading angle and navigation position predicted by the lightweight smart device, the navigation data of the navigation mobile device is detected in real time to see if it has returned to normal. If so, it indicates that the GPS has resumed updating and the position change exceeds the preset change threshold. At this time, the navigation parameter prediction model in the navigation mobile device can be reset, where the preset distance threshold can be 2 meters. The navigation parameter prediction model refers to the model that predicts the heading angle and navigation position in the navigation mobile device. Navigation is then performed based on the heading angle and navigation position at the target time. In addition, the navigation interface of the lightweight smart device will be rendered before navigation is performed.

[0081] In this embodiment, when the current state of the navigation mobile device is not in use, the current heading angle is predicted based on the inertial measurement data of the lightweight smart device and the heading angle of the navigation mobile device at the previous moment; the current speed of the user wearing the lightweight smart device is determined based on the inertial measurement data of the lightweight smart device and the heading angle at the current moment; when it is determined that the navigation data of the navigation mobile device is abnormal based on the current speed, the current navigation position is predicted based on the inertial measurement data of the lightweight smart device; and lightweight navigation is performed based on the heading angle at the current moment and the navigation position at the current moment. Through the above method, combined with the inertial measurement data of the lightweight smart device and the inertial measurement data of the navigation mobile device, when the navigation data of the navigation mobile device is abnormal, the lightweight smart device is used to predict the heading angle at the current moment and the navigation position at the current moment, without the user holding the navigation mobile device to locate the direction, and then navigation is performed based on the predicted navigation parameters, thereby achieving continuous navigation in complex scenarios and improving the user experience.

[0082] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 2 Step S20 includes steps S201 to S204:

[0083] Step S201: Obtain gyroscope acceleration according to inertial measurement data of the lightweight smart device.

[0084] Step S202: Acquire the acceleration component of the gyroscope acceleration in the direction of the first axis and the acceleration component in the direction of the second axis.

[0085] It is understandable that the first axis can be the Y axis and the second axis can be the X axis. In this case, the gyroscope acceleration The acceleration component in the direction of the first axis can be expressed as , gyroscope acceleration The acceleration component in the direction of the second axis can be expressed as .

[0086] Step S203 : determining the historical speed of the user wearing the lightweight smart device according to the inertial measurement data of the navigation mobile device after the synchronization time stamp.

[0087] It should be understood that the historical speed refers to the walking or cycling speed of the user wearing the lightweight smart device at the last moment. The historical speed can be determined by the inertial measurement data of the navigation mobile device after the synchronization time stamp and fed back to the lightweight navigation device.

[0088] Step S204: determining a current speed of the user wearing the lightweight smart device based on the historical speed, the current heading angle, the navigation time, the acceleration component of the gyroscope acceleration in the first axis direction, and the acceleration component in the second axis direction.

[0089] It is understandable that after determining the historical speed, the current speed of the user wearing the lightweight smart device is determined by combining the current heading angle, navigation time, the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction, specifically:

[0090] .

[0091] in, Indicates the current speed of the user wearing a lightweight smart device. represents the historical speed, represents the acceleration component of the gyroscope acceleration in the direction of the first axis, represents the acceleration component of the gyroscope acceleration in the direction of the second axis, Indicates navigation time.

[0092] This embodiment obtains gyroscope acceleration based on the inertial measurement data of the lightweight smart device; obtains the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction; determines the historical speed of the user wearing the lightweight smart device based on the inertial measurement data of the navigation mobile device after synchronization with the timestamp; determines the current speed of the user wearing the lightweight smart device based on the historical speed, the heading angle at the current moment, the navigation time, the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction. In the above manner, after obtaining the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction, the current speed of the user wearing the lightweight smart device is determined in combination with the historical speed, the heading angle at the current moment, and the navigation time, thereby effectively improving the accuracy of determining the current speed.

[0093] This application also provides a lightweight navigation device, please refer to Figure 3 , the lightweight navigation device includes:

[0094] The prediction module 10 is configured to predict the current heading angle based on the inertial measurement data of the lightweight smart device and the previous heading angle of the navigation mobile device when the current state of the navigation mobile device is not in use.

[0095] The determination module 20 is configured to determine a current speed of a user wearing the lightweight smart device based on the inertial measurement data of the lightweight smart device and the current heading angle.

[0096] The prediction module 10 is further configured to predict the current navigation position based on the inertial measurement data of the lightweight smart device when it is determined that the navigation data of the mobile navigation device is abnormal based on the current speed.

[0097] The navigation module 30 is configured to perform lightweight navigation according to the current heading angle and the current navigation position.

[0098] In this embodiment, when the current state of the navigation mobile device is not in use, the current heading angle is predicted based on the inertial measurement data of the lightweight smart device and the heading angle of the navigation mobile device at the previous moment; the current speed of the user wearing the lightweight smart device is determined based on the inertial measurement data of the lightweight smart device and the heading angle at the current moment; when it is determined that the navigation data of the navigation mobile device is abnormal based on the current speed, the current navigation position is predicted based on the inertial measurement data of the lightweight smart device; and lightweight navigation is performed based on the heading angle at the current moment and the navigation position at the current moment. Through the above method, combined with the inertial measurement data of the lightweight smart device and the inertial measurement data of the navigation mobile device, when the navigation data of the navigation mobile device is abnormal, the lightweight smart device is used to predict the heading angle at the current moment and the navigation position at the current moment, without the user holding the navigation mobile device to locate the direction, and then navigation is performed based on the predicted navigation parameters, thereby achieving continuous navigation in complex scenarios and improving the user experience.

[0099] The lightweight navigation device provided in this application, utilizing the lightweight navigation method described in the aforementioned embodiments, can address the technical issue of prior art inability to achieve continuous navigation in complex scenarios. Compared to prior art, the lightweight navigation device provided in this application has the same beneficial effects as the lightweight navigation method described in the aforementioned embodiments. Other technical features of the lightweight navigation device are the same as those disclosed in the aforementioned embodiments and are not further elaborated upon here.

[0100] In one embodiment, the prediction module 10 is further used to project the coordinate system of the lightweight smart device and the navigation mobile device through the gravity vector when detecting that the lightweight smart device and the navigation mobile device are successfully paired; obtain the direction of the gravity sensing device in the navigation mobile device after the projected coordinate system and the current angle between the navigation mobile device and the first axis direction; and determine that the current state of the navigation mobile device is a non-use state when the current angle is greater than a preset angle threshold.

[0101] In one embodiment, the prediction module 10 is further used to obtain the timestamp of the inertial measurement data of the lightweight smart device and the timestamp of the inertial measurement data of the navigation mobile device; synchronize the timestamp of the inertial measurement data of the lightweight smart device and the timestamp of the inertial measurement data of the navigation mobile device through a multivariate interpolation algorithm; determine the heading angle of the navigation mobile device at the previous moment based on the inertial measurement data of the navigation mobile device after the synchronization timestamp; predict the heading angle at the current moment based on the inertial measurement data of the lightweight smart device after the synchronization timestamp and the heading angle of the navigation mobile device at the previous moment.

[0102] In one embodiment, the prediction module 10 is further used to obtain the gyroscope angular velocity and the gyroscope zero bias based on the inertial measurement data of the lightweight smart device after the synchronization time stamp; calculate the navigation time based on the previous moment and the current moment; and based on the lightweight smart device after the synchronization time stamp, predict the current moment heading angle based on the previous moment heading angle of the navigation mobile device, the gyroscope angular velocity, the gyroscope zero bias and the navigation time.

[0103] In one embodiment, the prediction module 10 is further used to determine that the navigation data of the navigation mobile device is abnormal when the current speed is not a preset threshold and the navigation position of the navigation interface has not changed, or the navigation position is lost; determine the navigation position of the navigation mobile device at the last moment in the first axis direction and the navigation position of the navigation mobile device at the last moment in the second axis direction based on the inertial measurement data of the navigation mobile device after the synchronization timestamp; obtain the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction based on the inertial measurement data of the lightweight smart device; and obtain the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction based on the inertial measurement data of the lightweight smart device. The navigation position in the first axis direction is predicted based on the moment navigation position, historical speed, current heading angle, navigation time, acceleration component of gyroscope acceleration in the first axis direction and acceleration component in the second axis direction; the navigation position in the second axis direction is predicted based on the last moment navigation position of the navigation mobile device in the second axis direction, historical speed, current heading angle, navigation time, acceleration component of gyroscope acceleration in the first axis direction and acceleration component in the second axis direction; the navigation position at the current moment is determined based on the navigation position in the first axis direction and the navigation position in the second axis direction.

[0104] In one embodiment, the determination module 20 is further used to obtain the gyroscope acceleration based on the inertial measurement data of the lightweight smart device; obtain the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction; determine the historical speed of the user wearing the lightweight smart device based on the inertial measurement data of the navigation mobile device after synchronization timestamp; determine the current speed of the user wearing the lightweight smart device based on the historical speed, the current heading angle, navigation time, the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction.

[0105] In one embodiment, the navigation module 30 is further used to reset the navigation parameter prediction model in the navigation mobile device when it is detected that the navigation data of the navigation mobile device has returned to normal; predict the heading angle at the target moment and the navigation position at the target moment respectively through the reset navigation parameter prediction model; and navigate according to the heading angle at the target moment and the navigation position at the target moment.

[0106] The present application provides a lightweight navigation device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the lightweight navigation method in the above-mentioned embodiment one.

[0107] Reference below Figure 4 , which shows a schematic diagram of the structure of a lightweight navigation device suitable for implementing embodiments of the present application. The lightweight navigation device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 4 The lightweight navigation device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0108] like Figure 4As shown, the lightweight navigation device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a ROM (Read Only Memory) 1002 or programs loaded from a storage device 1003 into a RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the lightweight navigation device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to I / O interface 1006: input devices 1007, such as a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008, such as a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003, such as a magnetic tape or hard disk; and communication device 1009. Communication device 1009 can allow the lightweight navigation device to communicate with other devices wirelessly or wired to exchange data. Although the figure shows a lightweight navigation device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0109] In particular, according to the embodiments disclosed herein, the processes described above with reference to the flowcharts can be implemented as computer software programs. The computer programs contain program code for executing the methods shown in the flowcharts. In such embodiments, the computer programs can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer programs are executed by processing device 1001, the above-described functions defined in the methods of the embodiments disclosed herein are performed.

[0110] The lightweight navigation device provided in this application, utilizing the lightweight navigation method described in the aforementioned embodiment, can resolve the technical issue of prior art inability to achieve continuous navigation in complex scenarios. Compared to prior art, the beneficial effects of the lightweight navigation device provided in this application are the same as those of the lightweight navigation method described in the aforementioned embodiment. Other technical features of this lightweight navigation device are the same as those disclosed in the aforementioned embodiment and are not further elaborated upon here.

[0111] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0112] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0113] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the lightweight navigation method in the above-mentioned embodiment.

[0114] The computer-readable storage medium provided herein may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including, but not limited to, wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0115] The computer-readable storage medium may be included in the lightweight navigation device; or may exist independently without being assembled into the lightweight navigation device.

[0116] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0117] The flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems and methods according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0118] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0119] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the lightweight navigation method described above. This computer-readable storage medium can address the technical issues with existing technologies that prevent continuous navigation in complex scenarios. Compared to existing technologies, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the lightweight navigation method provided in the aforementioned embodiments and are not further elaborated here.

[0120] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A lightweight navigation method, characterized in that: The method comprises: When the current state of the mobile navigation device is not in use, predicting the current heading angle based on the inertial measurement data of the lightweight smart device and the previous heading angle of the mobile navigation device; determining a current speed of a user wearing the lightweight smart device according to the inertial measurement data of the lightweight smart device and the current heading angle; When it is determined that the navigation data of the navigation mobile device is abnormal according to the current speed, predicting the current navigation position according to the inertial measurement data of the lightweight smart device; Perform lightweight navigation according to the current heading angle and the current navigation position; Wherein, before the step of predicting the current heading angle based on the inertial measurement data of the lightweight smart device and the previous heading angle of the navigation mobile device when the current state of the navigation mobile device is not in use, the method further includes: When it is detected that the lightweight smart device and the navigation mobile device are successfully paired, the coordinate systems of the lightweight smart device and the navigation mobile device are projected using a gravity vector; Obtaining the current angle between the direction of the gravity sensor device in the mobile navigation device and the direction of the first axis after the projected coordinate system is obtained; When the current angle is greater than a preset angle threshold, it is determined that the current state of the mobile navigation device is a non-use state.

2. The method according to claim 1, wherein The step of predicting the current heading angle based on the inertial measurement data of the lightweight smart device and the previous heading angle of the navigation mobile device includes: Obtaining the timestamp of the inertial measurement data of the lightweight smart device and the timestamp of the inertial measurement data of the navigation mobile device; Synchronizing the timestamp of the inertial measurement data of the lightweight smart device and the timestamp of the inertial measurement data of the navigation mobile device by using a multivariate interpolation algorithm; Determine the last moment heading angle of the navigation mobile device according to the inertial measurement data of the navigation mobile device after synchronization of the timestamp; The current heading angle is predicted based on the inertial measurement data of the lightweight smart device after synchronization time stamp and the previous heading angle of the navigation mobile device.

3. The method according to claim 2, wherein The step of predicting the current heading angle based on the inertial measurement data of the lightweight smart device after synchronization timestamp and the previous heading angle of the navigation mobile device includes: Obtain gyroscope angular velocity and gyroscope zero bias based on the inertial measurement data of the lightweight smart device after synchronization time stamp; Calculate navigation time based on the previous moment and the current moment; Based on the lightweight intelligent device after synchronization timestamp, the current heading angle is predicted according to the heading angle of the navigation mobile device at the previous moment, the gyroscope angular velocity, the gyroscope zero bias and the navigation time.

4. The method according to claim 1, wherein The step of determining the current speed of a user wearing the lightweight smart device based on the inertial measurement data of the lightweight smart device and the current heading angle includes: Obtaining gyroscope acceleration based on inertial measurement data of the lightweight smart device; Obtaining an acceleration component of the gyroscope acceleration in a first axis direction and an acceleration component in a second axis direction; Determining a historical speed of a user wearing the lightweight smart device based on inertial measurement data of the navigation mobile device after synchronization timestamp; The current speed of the user wearing the lightweight smart device is determined according to the historical speed, the current heading angle, the navigation time, the acceleration component of the gyroscope acceleration in the first axis direction and the acceleration component in the second axis direction.

5. The method according to claim 1, wherein The step of predicting the navigation position at the current moment based on the inertial measurement data of the lightweight smart device when the navigation data of the mobile navigation device is determined to be abnormal based on the current speed includes: When the current speed is not a preset threshold and the navigation position of the navigation interface has not changed, or the navigation position is lost, determining that the navigation data of the navigation mobile device is abnormal; Determining a last moment navigation position of the navigation mobile device in the direction of a first number axis and a last moment navigation position of the navigation mobile device in the direction of a second number axis according to the inertial measurement data of the navigation mobile device after the synchronization time stamp; Obtaining an acceleration component of a gyroscope acceleration in a first axis direction and an acceleration component in a second axis direction according to inertial measurement data of the lightweight smart device; Predicting a navigation position of the mobile navigation device in the first axis direction based on a previous navigation position, a historical speed, a current heading angle, a navigation time, an acceleration component of a gyroscope acceleration in the first axis direction and an acceleration component in the second axis direction; Predicting a navigation position of the mobile navigation device in the second axis direction based on the previous navigation position, historical speed, current heading angle, navigation time, acceleration component of gyroscope acceleration in the first axis direction and acceleration component in the second axis direction; The current navigation position is determined according to the navigation position in the first number axis direction and the navigation position in the second number axis direction.

6. The method according to any one of claims 1 to 5, characterized in that After the step of performing lightweight navigation according to the current heading angle and the current navigation position, the method further includes: When it is detected that the navigation data of the navigation mobile device returns to normal, resetting the navigation parameter prediction model in the navigation mobile device; The navigation parameter prediction model after reset is used to predict the heading angle and navigation position at the target moment respectively; Navigation is performed according to the target time heading angle and the target time navigation position.

7. A lightweight navigation device, characterized in that: The device comprises: A prediction module, configured to predict a current heading angle based on the inertial measurement data of the lightweight smart device and the previous heading angle of the navigation mobile device when the current state of the navigation mobile device is not in use; a determination module, configured to determine a current speed of a user wearing the lightweight smart device based on the inertial measurement data of the lightweight smart device and the current heading angle; The prediction module is further configured to predict the current navigation position based on the inertial measurement data of the lightweight smart device when it is determined that the navigation data of the mobile navigation device is abnormal based on the current speed; A navigation module, configured to perform lightweight navigation based on the current heading angle and the current navigation position; The prediction module is also used to project the coordinate system of the lightweight smart device and the navigation mobile device through the gravity vector when detecting that the lightweight smart device and the navigation mobile device are successfully paired; obtain the direction of the gravity sensing device in the navigation mobile device after the projected coordinate system and the current angle between the navigation mobile device and the first number axis direction; when the current angle is greater than a preset angle threshold, determine that the current state of the navigation mobile device is a non-use state.

8. A lightweight navigation device, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the lightweight navigation method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the lightweight navigation method according to any one of claims 1 to 6 are implemented.

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