Energy-saving positioning method and system for riding intelligent glasses

Abstract

The invention discloses an energy-saving positioning method and system for riding intelligent glasses, and the method comprises the steps: loading target route data, determining a key topological point set based on a road connection relation, and building a direction sequence template of a route; when the positioning module is in a dormant state, acquiring an angular velocity and an accelerated velocity of the inertial measurement unit, and calculating a course sequence of a current time window; matching the course sequence with the direction sequence template to obtain a fitting confidence value and a course deviation value, and determining a position index of the current position in the template according to the fitting confidence value and the course deviation value; awakening or closing the positioning module according to the condition that the fitting confidence value meets the condition; and executing positioning and performing map matching within the limited duration when the positioning module is awakened. According to the technical scheme, the average starting time of the positioning module and the energy consumption of the whole machine are remarkably reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of smart glasses, and particularly relates to an energy-saving positioning method and system for smart glasses for cycling. BACKGROUND

[0002] Smart glasses for cycling are wearable terminals integrating display, inertial measurement and positioning modules, and are used for navigation prompting and deviation correction. Existing solutions often keep the positioning module on for a long time, or intermittently turn it on at fixed intervals. A few solutions use an inertial odometer as the main line and then periodically correct the deviation, but generally use time intervals or rough distance thresholds as the basis for starting and stopping, and it is difficult to determine when the positioning is really needed by combining the road topology and the direction change characteristics of the known route of the user, resulting in high energy consumption on long straight and familiar routes, and the deviation correction may not be timely when reaching a fork, a branch or a blocked entrance. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide an energy-saving positioning method and system for smart glasses for cycling, to solve the technical problem of high energy consumption of smart glasses positioning.

[0004] To solve the above technical problems, the embodiments of the present application provide an energy-saving positioning method for smart glasses for cycling, which adopts the technical solution as follows: An energy-saving positioning method for smart glasses for cycling, comprising the following steps: loading target route data, determining a set of key topological points based on the road connectivity relationship, and establishing a direction sequence template of the route; when the positioning module is in a dormant state, obtaining the angular velocity and acceleration of an inertial measurement unit, and calculating the heading sequence of the current time window; matching the heading sequence with the direction sequence template to obtain a fitting confidence value and a heading deviation value, and determining the position index of the current position in the template according to the fitting confidence value and the heading deviation value; when the fitting confidence value meets a preset fitting threshold and the heading deviation value is within a preset deviation threshold, and no key topological point is passed within a preset prediction lead time, keeping the positioning module dormant; when at least one of the following situations occurs, waking up the positioning module for short-time positioning, the situations include that the fitting confidence value is lower than the preset fitting threshold, the heading deviation value exceeds the preset deviation threshold, a key topological point will be passed within the preset prediction lead time, and a turning mode mutation is detected; performing positioning and map matching within a limited time length when the positioning module is woken up, to correct the position index and the heading, and after the positioning is completed, determining the next predicted wake-up interval according to the current speed and the estimated distance to the next key topological point, and making the positioning module return to the dormant state to form an adaptive duty cycle.

[0005] In a possible implementation, the step of loading target route data, determining a set of key topological points based on road connectivity, and establishing a direction sequence template of the route specifically includes: Uniformly sampling along the target route by mile, recording the heading angle of each sampling point, and forming a direction sequence indexed by mile; Periodically unfolding and zero-point offset correcting the direction sequence to obtain a direction sequence template with drift suppression; Labeling intersection nodes, branchings, and shelter-sensitive positions according to road topology to form a set of key topological points; Storing the direction sequence template and the set of key topological points in a unified data structure for subsequent matching and control.

[0006] In a possible implementation, the step of matching the heading sequence with the direction sequence template to obtain a fitting confidence value and a heading deviation value, and determining the position index of the current position in the template based on the fitting confidence value and the heading deviation value specifically includes: Extracting the heading sequence of the current window with a sliding window, aligning and matching it with the direction sequence template, obtaining an alignment cost and a fitting confidence value based on the alignment cost; Based on the alignment path, calculating the direction difference between the current window and the corresponding segment of the template to obtain a heading deviation value; Mapping the matching result to a mile position index, and setting a continuity mark for the position index when the matching is continuous and stable.

[0007] In a possible implementation, the step of the wake-up positioning module performing short-time positioning includes: Setting different prediction lead times for key topological points according to risk levels, and triggering pre-wakeup in an earlier distance range for high-risk positions; Performing trend judgment on the fitting confidence value and the heading deviation value, and upgrading the one-time condition to a trend trigger when a worsening trend appears in consecutive multiple windows; When approaching a position with a satellite signal shelter risk, preferentially performing pre-wakeup, and keeping the positioning module open until map matching correction is completed at the shelter entrance.

[0008] In a possible implementation, after positioning is completed, the rhythm control of the predicted wake-up interval in the step of determining the next predicted wake-up interval according to the current speed and the estimated distance to the next key topological point includes: According to the estimated distance to the next key topological point and the density of key point distribution, dividing the road segment into three categories: near-distance dense, middle-distance general, and far-distance sparse, and setting a shorter, moderate, and longer predicted wake-up interval, respectively; When the long straight road segment and the fitting confidence value are stable in consecutive multiple windows and meet the fitting threshold, the predicted wake-up interval is extended; Shorten the expected wake-up interval in a section with dense branches or frequent turns; Set upper and lower limits for the limited duration and the expected wake-up interval, and enter sleep immediately after map matching to avoid invalid wake-up time.

[0009] In one possible implementation, after the positioning is completed, the next expected wake-up interval step is determined according to the current speed and the estimated distance to the next key topological point, and further includes: Statistical alignment accuracy, deviation correction times and error hotspot distribution in the sleep phase; When the alignment accuracy improves within a set period, increase the fitting threshold and correspondingly tighten the deviation threshold; When the deviation correction times increase or the error hotspots concentrate, reduce the fitting threshold and relax the deviation threshold; According to the statistical results, make small adjustments to the limited duration and the expected wake-up interval, so as to reduce wake-up on familiar road sections and wake up in advance on complex road sections; When abnormal fluctuations occur, restore to the last stable parameter set.

[0010] In one possible implementation, the method further includes: When stable matching cannot be established after multiple short wake-ups and corrections, or when it is detected that the current position is not within the coverage range of the target route, enter a low-duty cruise mode; In the low-duty cruise mode, perform short wake-up and map matching at a fixed period, while maintaining inertial tracking to ensure basic continuity; When the fitting confidence value and the heading deviation value in a plurality of consecutive windows recover to the corresponding threshold requirements, exit the low-duty cruise mode and restore the control strategy of wake-up on demand.

[0011] To solve the above technical problems, the embodiments of the present application also provide an energy-saving positioning system for riding intelligent glasses, which adopts the technical solutions as follows: An energy-saving positioning system for riding intelligent glasses, comprising: An establishment module, configured to load target route data, determine a key topological point set based on road connectivity, and establish a direction sequence template of the route; A calculation module, configured to, when the positioning module is in a sleep state, acquire angular velocity and acceleration of an inertial measurement unit, and calculate a heading sequence of a current time window; A matching module, configured to match the heading sequence with the direction sequence template to obtain a fitting confidence value and a heading deviation value, and determine a position index of the current position in the template according to the fitting confidence value and the heading deviation value; a judging module, configured to keep the positioning module in hibernation when the fitting confidence value meets the preset fitting threshold and the heading deviation value is within the preset deviation threshold and no key topological point will be passed within the preset prediction lead time; and wake up the positioning module for short-time positioning when at least one of the following situations occurs, including that the fitting confidence value is lower than the preset fitting threshold, the heading deviation value exceeds the preset deviation threshold, a key topological point will be passed within the preset prediction lead time, and a turning mode mutation is detected. a correcting module, configured to perform positioning and map matching within a limited time length when the positioning module is woken up, so as to correct the position index and the heading, and determine a next predicted wake-up interval according to a current speed and an estimated distance to a next key topological point, so that the positioning module returns to hibernation to form an adaptive duty cycle.

[0012] To solve the above technical problems, the embodiment of the present application further provides a computer device, which adopts the technical scheme as follows: A computer device, comprising a memory and a processor, the memory stores computer readable instructions, and the processor executes the computer readable instructions to realize the steps of the energy-saving positioning method for the riding intelligent glasses.

[0013] To solve the above technical problems, the embodiment of the present application further provides a computer readable storage medium, which adopts the technical scheme as follows: A computer readable storage medium, the computer readable storage medium stores computer readable instructions, and the computer readable instructions are executed by a processor to realize the steps of the energy-saving positioning method for the riding intelligent glasses.

[0014] Compared with the prior art, the embodiment of the present application has the following beneficial effects: The energy-saving positioning method for the riding intelligent glasses disclosed in the present application continuously fits the inertial heading sequence under the baseline of the default hibernation of the positioning module by taking the direction sequence template of the target route as a reference, and only short-time wakes up to complete positioning and map matching when the fitting confidence is unstable, the heading deviation is out of limit, or a key topological point is approached, and then immediately returns to hibernation after adaptively arranging the next wake-up according to the current speed and the distance to the next key point, so that the average opening time length of the positioning module and the overall energy consumption are significantly reduced in the known route scenario without reducing the path tracking accuracy and the timeliness of key node correction. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the scheme in the present application, the drawings needed in the description of the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0016] Figure 1 is a flow chart of one embodiment of the energy-saving positioning method for the riding smart glasses according to the present application; Figure 2 is a structural schematic diagram of one embodiment of the energy-saving positioning system for the riding smart glasses according to the present application; Figure 3 is a structural schematic diagram of one embodiment of the computer device according to the present application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0018] Reference Figure 1 , shows a flow chart of one embodiment of the energy-saving positioning method for the riding smart glasses according to the present application. The energy-saving positioning method for the riding smart glasses includes the following steps: Step S101, loading target route data, determining a set of key topological points based on road connectivity relationship, and establishing a direction sequence template of the route.

[0019] In the present embodiment, the target route data is first loaded before departure or at the starting stage, and the route center line determined in the navigation engine output or the historical trajectory is preferentially used; on the basis of road connectivity relationship, the intersection with a degree not less than three, the interchange split / merging, the ring island entrance, the tunnel or the shaded entrance, etc. are identified as key topological points, and are listed according to the mileage position, type and priority. The heading change of each sampling point is recorded by sampling at a fixed mileage interval along the whole route, and a direction sequence template for alignment determination is formed, while the sampling interval and the mileage index are reserved. It should be noted that the necessary pretreatment includes: continuous heading angle, one-time correction of zero-point offset, and increasing the sampling density at the presence of ring islands or continuous bends.

[0020] Step S102, when the positioning module is in a dormant state, the angular velocity and acceleration of the inertial measurement unit are obtained, and the heading sequence of the current time window is calculated.

[0021] In the embodiment, the angular velocity and acceleration of the inertial measurement unit are read at a set sampling rate in a state where the positioning module remains dormant, and the current heading sequence is calculated within a sliding time window. To implement, first, a bias calibration and gravity direction estimation are completed in a short stationary or uniform linear phase; in operation, the heading change is obtained by gyro integration, the attitude is constrained by the gravity component of the acceleration, and the magnetometer is used for soft correction when necessary (the magnetometer can be turned off when the magnetic environment is different); the window length is recommended to cover the time scale of a common turn, so that the output heading sequence can reflect the current direction pattern and suppress transient noise. In this way, even if the high-power GNSS is not enabled, the system always holds a latest direction trajectory, providing input for subsequent matching and decision-making.

[0022] In step S103, the heading sequence is matched with the direction sequence template to obtain a fitting confidence value and a heading deviation value, and the current position in the template is determined according to the position index.

[0023] In the embodiment, the heading sequence obtained in the current window is matched with the direction sequence template generated in step S101 to find the most consistent segment in the candidate segment of the template, and three quantities are output: one is the fitting confidence value, which is used to measure the similarity between the current heading and the template heading in the pattern level; the second is the heading deviation value, which is used to measure the average deviation between the two in the direction level; the third is the mileage position index of the current position on the template, which is used to determine which segment the current position is approximately in. The search range can be limited to advance around the last index in engineering to reduce calculation and avoid jumping; the fitting confidence and the heading deviation are simply smoothed to eliminate abnormal windows in a very short time; the update of the index follows the principle of monotonic forward to avoid shaking between adjacent similar segments. Through this matching, low-power inertial information is converted into executable decision quantities, which can judge whether it is still on the intended route and estimate the relative distance to the key topological point.

[0024] In step S104, when the fitting confidence value meets the preset fitting threshold and the heading deviation value is within the preset deviation threshold, and no key topological point is passed within the preset prediction lead time, the positioning module remains dormant; when at least one of the following situations occurs, the positioning module is awakened for short-time positioning, including the fitting confidence value being lower than the preset fitting threshold, the heading deviation value exceeding the preset deviation threshold, the key topological point being predicted to be passed within the preset prediction lead time, and the turning mode mutation being detected.

[0025] In this embodiment, after obtaining the fitting confidence, the heading deviation and the mileage position index, a switch control strategy is executed: when the fitting confidence is not lower than a preset fitting threshold, the heading deviation is not more than a preset deviation threshold, and the mileage position index is calculated to not pass any key topological point within a preset prediction lead time, the positioning module is maintained in sleep; once any risk situation occurs, for example, the fitting confidence falls below the threshold (matching instability), the heading deviation exceeds the threshold (suspected deviation), the mileage position is calculated to be about to enter a key topological point according to the key point table, or a significant turning mode mutation (the amplitude and frequency of direction change within a short time are significantly increased) is detected in the inertial data, the short-time wake-up is triggered immediately. In order to suppress the false triggering caused by incidental noise, the trend judgment (continuous multiple windows deteriorate to trigger) can be introduced to the fitting confidence and the heading deviation, and different prediction lead times can be set for different types of key points (for example, the tunnel entrance is earlier, and the ordinary T-shaped road is moderate).

[0026] In step S105, the positioning is performed and the map matching is performed within a limited time length when the positioning module is woken up, to correct the position index and the heading. After the positioning is completed, the next predicted wake-up interval is determined according to the current speed and the estimated distance to the next key topological point, so that the positioning module returns to sleep to form an adaptive duty cycle.

[0027] In this embodiment, the positioning module is started within a limited time length after being triggered, a small amount of high-confidence position points are quickly obtained, and the map matching is performed to fit them to the road center line. According to this, the foregoing mileage position index and the current heading are corrected, and the inertial cumulative error is eliminated. The positioning module is immediately turned off after the correction is completed, to avoid continuous consumption. Then, the time interval of the next predicted wake-up is determined by combining the current speed estimation and the mileage distance to the next key topological point: the time interval is short when the key points are dense or the distance is short, and the time interval is long when the road is straight and the matching is stable. Upper and lower limits are set for the starting time length and the interval to prevent excessive prolongation or frequent jitter. If necessary, the error before and after the correction and whether the deviation occurs are recorded, which are used for subsequent fine adjustment of the threshold and the interval value.

[0028] In this application, the inertial heading sequence is continuously fitted under the baseline of the default sleep of the positioning module by referring to the direction sequence template of the target route, and the positioning and map matching are completed only when the fitting confidence is unstable, the heading deviation is out of limit, or the key topological point is approached, and the positioning module returns to sleep immediately after the next wake-up is adaptively arranged according to the current speed and the distance to the next key point, so that the average starting time length of the positioning module and the overall power consumption are significantly reduced in the known route scenario without reducing the path tracking accuracy and the timeliness of the key node correction.

[0029] In some optional implementations of the embodiment, the steps of loading target route data, determining a set of key topological points based on road connectivity, and establishing a direction sequence template of the route specifically include: Uniformly sampling along the target route by mile, recording the heading angle of each sampling point, and forming a direction sequence indexed by mile; Periodically unfolding and zero-point offset correcting the direction sequence to obtain a direction sequence template with drift suppression; Labeling intersection nodes, bifurcations, and shelter-sensitive positions according to road topology to form a set of key topological points; Storing the direction sequence template and the set of key topological points in a unified data structure for subsequent matching and control.

[0030] In the embodiment, first, sampling by fixed mile intervals along the target route directly obtains a direction sequence indexed by mile, avoiding the problem of uneven sampling caused by speed changes when using time as the scale; the sampling points should cover turns, roundabouts, continuous bends, and the like, and sampling should be densified on road segments with large curvature if necessary to prevent the shape from being lost during matching. Second, periodically continuous and zero-point offset correction is performed on the direction sequence, aiming to eliminate the drift of the magnet / gyroscope and angle jumps, so that the subsequent matching compares the shape rather than the value affected by the zero point. Third, labeling intersection nodes, bifurcations, tunnel / forest entrance, and other satellite easily-sheltered or easily-lost positions on the center line of the route according to road topology to form a set of key topological points, and saving the type, mile position, and priority of each point. Fourth, storing the direction sequence template and the set of key points in a unified data structure (e.g., two tables in the same memory block or the same file, using mile index as the common key) so that the matching module can directly take the template segment by mile index and the control module can find the key point position according to the same index. In this way, the template is used for likeness determination, and the key point is used for determination of when to confirm, and the two are coupled in the common mile coordinate system, reducing cross-module conversion errors and overhead.

[0031] In some optional implementations of the embodiment, the steps of matching the heading sequence with the direction sequence template to obtain a fitting confidence value and a heading deviation value, and determining the position index of the current position in the template based on the fitting confidence value and the heading deviation value specifically include: Taking the heading sequence of the current window with a sliding window, aligning and matching it with the direction sequence template to obtain an alignment cost and a fitting confidence value based on the alignment cost; Based on the alignment path, the direction difference between the current window and the corresponding segment of the template is calculated to obtain a heading deviation value; Mapping the matching result to a mile position index, and setting a continuity mark for the position index when the matching is continuous and stable.

[0032] In this embodiment, first, the latest sequence of the heading is intercepted by a sliding window, and the closest segment in the template is searched in the template; the alignment can be performed by using mature methods such as dynamic time registration or windowed cross-correlation, and an alignment cost is output, which is then normalized to a fitting confidence in the range of 0-1 or the like, so that the matching results of different road segments and different speeds can be compared. Second, the direction difference of the two sequences is calculated based on the optimal alignment path, and the heading deviation is obtained, which reflects how much the deviation is, and the fitting confidence is complementary: the former looks at the amplitude, and the latter looks at the shape consistency. Third, the start and end positions of the closest segment in the template are mapped to the mileage position index as an estimate of the current approximate segment; to avoid jumping due to local similarity, continuity marks can be introduced when updating the index (for example, only forward small steps are allowed, and reverse or large span jumps are inhibited). Through the linkage of the three quantities, the system can still determine “whether it is on the given route” “how much deviation” “how far from the key point” when the GNSS is dormant, and provide quantitative basis for the on-off decision.

[0033] In some optional implementations of the embodiment, the step of the wake-up positioning module performing short-time positioning includes: Different prediction lead times are set for key topological points according to risk levels, and high-risk positions trigger pre-wakeup in a longer distance range; The trend of the fitting confidence value and the heading deviation value is judged, and when a deterioration trend appears in a plurality of consecutive windows, the one-time condition is upgraded to a trend trigger; When approaching a position with a satellite signal blocking risk, pre-wakeup is preferentially performed, and the positioning module is kept on until the map matching correction is completed at the blocking entrance.

[0034] In this embodiment, first, risk levels and corresponding prediction lead times are set for key topological points: for example, earlier lead times are set for tunnel entrances and roundabout exits, and medium lead times are set for ordinary T-shaped intersections; in this way, pre-wakeup is performed earlier when approaching high-risk points, and the probability of missing the window is reduced. Second, the trend of the fitting confidence and the heading deviation is judged: if a deterioration trend appears in a plurality of consecutive windows rather than occasional noise, the trend trigger is upgraded, and the false opening or false closing caused by single-frame jitter is avoided. Third, for blocking-sensitive positions (tunnel / forest entrance), pre-wakeup is preferentially performed before reaching the position, and the positioning module is kept on until the map matching correction is completed at the blocking entrance, so as to prevent instantaneous loss of lock caused by blocking. The technical effect of the combination of the three is that the wake-up time is aligned with the objective risk of the route structure and follows the real deterioration of the running state, and the satellite-easy-to-block environment is specially protected, and the risk of invalid opening and delayed correction is reduced from the source.

[0035] In some optional implementations of the embodiment, after the positioning is completed, the rhythm control of the predicted wake-up interval in the step of determining the next predicted wake-up interval according to the current speed and the estimated distance to the next key topological point includes: According to the estimated distance to the next key topological point and the key point distribution density, the road section is divided into three categories of near-distance dense, medium-distance general, and far-distance sparse, and a shorter, moderate, and longer predicted wake-up interval is respectively set; When the long straight road section and the fitting confidence value in the continuous multiple windows stably meet the fitting threshold, the predicted wake-up interval is extended; When the road section is dense in branch roads or frequent in turning, the predicted wake-up interval is shortened; The upper and lower limits of the limited time length and the predicted wake-up interval are set, and the system enters sleep immediately after the map matching is completed to avoid invalid opening time.

[0036] In the embodiment, first, according to the estimated distance to the next key point and the key point density along the line, the current road section is divided into three categories of near-distance dense, medium-distance general, and far-distance sparse, and a shorter, moderate, and longer predicted wake-up interval is respectively configured for the three categories to match the rhythm and structural complexity. Secondly, when the long straight road section and the fitting confidence value in the recent period of time are continuously good, the interval is actively extended to avoid excessive disturbance to stable straight driving; on the contrary, when the road section is dense in branch roads or frequent in turning, the interval is shortened to increase the confirmation frequency. Thirdly, the upper and lower limits of the opening time length and the interval are set: the upper limit avoids the accumulation of errors caused by "too long without checking", and the lower limit avoids the energy consumption caused by "too frequent"; the system sleeps immediately after the map matching is completed to avoid the invalid period of "opening but not using". Through the mechanism of combination of grading and limiting, the system firmly binds the duty cycle to "road section complexity x current stability" to achieve the optimal compromise between energy saving and reliability.

[0037] In some optional implementations of the embodiment, after the positioning is completed, the step of determining the next predicted wake-up interval according to the current speed and the estimated distance to the next key topological point further includes: The alignment accuracy, the number of yaw corrections, and the error hotspot distribution in the sleep phase are counted; When the alignment accuracy improves within a set period, the fitting threshold is increased and the deviation threshold is correspondingly tightened; When the number of yaw corrections increases or the error hotspots concentrate, the fitting threshold is reduced and the deviation threshold is relaxed; According to the statistical results, the limited time length and the predicted wake-up interval are slightly adjusted to reduce the wake-up on familiar road sections and to wake up in advance on complex road sections; When abnormal fluctuations occur, the system is restored to the last stable parameter set.

[0038] In the embodiment, the alignment accuracy, the number of yaw corrections, and the error hotspot distribution of the hibernation stage are counted as quality feedback; when the accuracy continuously increases in a set period, it indicates that the template is consistent with the actual height, and the fitting threshold can be moderately increased and the deviation threshold can be tightened to make the system more "comfortable to close"; when the number of yaw corrections increases or the error is concentrated in some positions, it indicates that the current threshold is too strict or the environment is poor, and the fitting threshold can be moderately reduced and the deviation threshold can be relaxed, and the predicted wake-up interval can be correspondingly shortened or the single opening time is slightly extended; the adjustment range of the above-mentioned adjustment is limited in a safe range, and when abnormal fluctuations occur, the last set of stable parameters can be returned to by one key to ensure robustness. Thus, the more familiar the route is, the more power saving is achieved, and the more complex or larger the route is, the earlier the correction is made, and the whole process is operated in the track of "steady state-fine tuning-backup", to avoid overfitting or oscillation.

[0039] In some optional implementations of the embodiment, the method further includes: When stable matching cannot be established after multiple short-time wake-ups and corrections, or it is detected that the current position is not within the coverage range of the target route, the low-duty cruise mode is entered; In the low-duty cruise mode, short-time wake-up and map matching are performed at a fixed period, and inertial tracking is maintained to ensure basic continuity; When the fitting confidence value and the heading deviation value in multiple consecutive windows recover to the corresponding threshold requirements, the low-duty cruise mode is exited and the control strategy of on-demand wake-up is restored.

[0040] In the embodiment, the system provides a bottom-line process in abnormal situations to ensure that the system can still provide acceptable navigation continuity when the template is missing, the environment changes dramatically, or multiple short openings fail to establish stable alignment. The entry conditions are two types: stable matching cannot be established after multiple short-time wake-ups and corrections, or it is detected that the current position has exceeded the coverage range of the target route. Once the low-duty cruise mode is entered, short-time wake-up and map matching are forced at a fixed period, and inertial tracking is maintained without interruption to ensure basic trajectory continuity and periodic correction in the "position not very determined" state. The exit condition is that the fitting confidence and the heading deviation return to the threshold requirement in multiple consecutive windows, indicating that the route is found back and the alignment stability is restored, at which time the main control strategy of on-demand wake-up is restored. The significance of such a setting is that in the worst case, the availability is maintained at the lowest necessary duty cycle, and as soon as the stability is restored, the energy-saving mode is returned, taking into account reliability and endurance.

[0041] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by computer readable instructions instructing related hardware, and the computer readable instructions can be stored in a computer readable storage medium. When the program is executed, the processes of the above-mentioned embodiment methods can be included. The storage medium can be a non-volatile storage medium such as a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0042] It should be understood that although each step in the flowchart of the accompanying drawings is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and they can be executed in other sequences. Moreover, at least part of the steps in the flowchart of the accompanying drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be alternately executed with other steps or sub-steps or stages of other steps.

[0043] Further referring to Figure 2 , as an implementation of the method shown in the above Figure 1 , the present application provides an embodiment of an energy-saving positioning system for riding smart glasses, which corresponds to the method embodiment shown in Figure 1 , and the system can be applied to various electronic devices.

[0044] As shown in Figure 2 , the energy-saving positioning system for riding smart glasses 200 comprises an establishing module 201, a calculating module 202, a matching module 203, a judging module 204, and a correcting module 205. Wherein: The establishing module 201 is configured to load target route data, determine a set of key topological points based on road connectivity, and establish a direction sequence template of the route; The calculating module 202 is configured to obtain angular velocity and acceleration of an inertial measurement unit when the positioning module is in a dormant state, and calculate a heading sequence of a current time window; The matching module 203 is configured to match the heading sequence with the direction sequence template to obtain a fitting confidence value and a heading deviation value, and determine a position index of the current position in the template according to the fitting confidence value and the heading deviation value; The judging module 204 is configured to keep the positioning module in sleep mode when the fitting confidence value meets the preset fitting threshold value, the heading deviation value is within the preset deviation threshold value, and no key topological point will be passed within the preset prediction lead time; and wake up the positioning module to perform short-time positioning when at least one of the following conditions occurs, including that the fitting confidence value is lower than the preset fitting threshold value, the heading deviation value exceeds the preset deviation threshold value, a key topological point will be passed within the preset prediction lead time, and a turning mode mutation is detected. The correcting module 205 is configured to perform positioning and map matching within a limited time length when the positioning module is woken up, to correct the position index and the heading, and determine a next predicted wake-up interval according to a current speed and an estimated distance to a next key topological point after the positioning is completed, so as to make the positioning module return to sleep mode to form an adaptive duty cycle.

[0045] The energy-saving positioning system for the riding smart glasses provided in the embodiment can implement all processes of the energy-saving positioning method for the riding smart glasses in the above embodiment, and the functions and technical effects of each module in the device are the same as those of the energy-saving positioning method for the riding smart glasses in the above embodiment, which will not be repeated here.

[0046] To solve the above technical problems, the embodiment of the present application further provides a computer device. For details, please refer to Figure 3 , Figure 3 The basic structure block diagram of the computer device in the embodiment is shown in the figure.

[0047] The computer device 3 includes a memory 31, a processor 32, and a network interface 33 which are connected to each other through a system bus. It should be noted that only the computer device 3 with components 31-33 is shown in the figure, but it should be understood that it is not required to implement all the shown components, and more or fewer components can be alternatively implemented. Among them, those skilled in the art can understand that the computer device here is a device capable of automatically performing numerical calculation and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0048] The computer device can be a desktop computer, a notebook computer, a palm computer, a cloud server, and other computing devices. The computer device can interact with the user through a keyboard, a mouse, a remote controller, a touchpad, a voice control device, and the like.

[0049] The memory 31 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 31 can be an internal storage unit of the computer device 3, such as a hard disk or memory of the computer device 3. In other embodiments, the memory 31 can also be an external storage device of the computer device 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on the computer device 3. Of course, the memory 31 can also include both the internal storage unit and the external storage device of the computer device 3. In this embodiment, the memory 31 is generally used to store an operating system and various application software installed on the computer device 3, such as computer readable instructions for the energy-saving positioning method for smart glasses for cycling, etc. In addition, the memory 31 can also be used to temporarily store various data that has been output or will be output.

[0050] The processor 32 can be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip in some embodiments. The processor 32 is generally used to control the overall operation of the computer device 3. In this embodiment, the processor 32 is used to run computer readable instructions or process data stored in the memory 31, such as running computer readable instructions for the energy-saving positioning method for smart glasses for cycling.

[0051] The network interface 33 can include a wireless network interface or a wired network interface, which is generally used to establish a communication connection between the computer device 3 and other electronic devices.

[0052] The computer device provided in the present application significantly reduces the average opening time of the positioning module and the overall power consumption by using the direction sequence template of the target route as a reference, continuously fitting the inertial heading sequence under the default baseline of the positioning module in sleep mode, and only short-time waking up to complete positioning and map matching when the fitting confidence is unstable, the heading deviation is out of limit, or a key topological point is approached, and then immediately returning to sleep after adaptively arranging the next wake-up according to the current speed and the distance to the next key point.

[0053] The application also provides another implementation, namely providing a computer readable storage medium, the computer readable storage medium stores computer readable instructions, the computer readable instructions can be executed by at least one processor, so that the at least one processor executes the steps of the energy-saving positioning method for the riding smart glasses as described above.

[0054] The computer readable storage medium provided by the application, by taking the direction sequence template of the target route as a reference, continuously fitting the inertial heading sequence under the baseline of the positioning module default hibernation, and only when the fitting confidence is unstable, the heading deviation is out of limit or close to the key topological point, short-time wake-up is completed to complete the positioning and map matching, and according to the current speed and the distance to the next key point, the next wake-up is adaptively arranged, and then immediately returns to hibernate, thereby in the known route scene, the average opening time of the positioning module and the whole machine energy consumption are significantly reduced without reducing the path tracking accuracy and the key node correction and timeliness.

[0055] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the method described in each embodiment of the application.

[0056] The above is only a preferred embodiment of the application, and is not used to limit the application, any modification, equivalent replacement and improvement made within the spirit and principle of the application should be included in the protection scope of the application.

Claims

1. An energy-saving positioning method for smart cycling glasses, characterized in that, Includes the following steps: Load the target route data, determine the set of key topological points based on road connectivity, and establish a direction sequence template for the route; When the positioning module is in sleep mode, the angular velocity and acceleration of the inertial measurement unit are acquired, and the heading sequence of the current time window is calculated. The heading sequence is matched with the direction sequence template to obtain the fitting confidence value and heading deviation value, and the position index of the current position in the template is determined accordingly. When the fitting confidence value meets the preset fitting threshold and the heading deviation value is within the preset deviation threshold, and the key topology point is not passed within the preset prediction lead, the positioning module remains dormant; when at least one of the following situations occurs, the positioning module is woken up for short-term positioning, the situations include the fitting confidence value being lower than the preset fitting threshold, the heading deviation value exceeding the preset deviation threshold, the prediction that the key topology point will be passed within the preset prediction lead, and a sudden change in the steering mode is detected. Within a limited time after the positioning module is awakened, positioning and map matching are performed to correct the location index and heading. After positioning is completed, the next expected wake-up interval is determined based on the current speed and the estimated distance to the next key topology point, so that the positioning module returns to sleep to form an adaptive duty cycle.

2. The energy-saving positioning method for cycling smart glasses according to claim 1, characterized in that, The steps of loading the target route data, determining the set of key topological points based on road connectivity, and establishing a direction sequence template for the route specifically include: Sample evenly along the target route by mileage, record the heading angle of each sampling point and form a direction sequence indexed by mileage; The direction sequence is periodically expanded and zero-point offset is corrected to obtain a drift-suppressed direction sequence template; By labeling intersections, forks, and occlusion-sensitive locations according to road topology, a set of key topological points is formed. The direction sequence template and the set of key topological points are stored in a unified data structure for subsequent matching and control.

3. The energy-saving positioning method for cycling smart glasses according to claim 1, characterized in that, The step of matching the heading sequence with the direction sequence template to obtain a fitting confidence value and a heading deviation value, and determining the position index of the current position in the template accordingly, specifically includes: The heading sequence of the current window is captured by a sliding window, and aligned with the direction sequence template to obtain the alignment cost and thus obtain the fitting confidence value. The heading deviation value is obtained by calculating the direction difference between the current window and the corresponding segment of the template based on the alignment path. The matching results are mapped to mileage location indices, and a continuity flag is set on the location indices when the matching is continuous and stable.

4. The energy-saving positioning method for cycling smart glasses according to claim 1, characterized in that, The steps for short-term positioning by the wake-up positioning module include: Different prediction lead times are set for key topological points according to risk level, and pre-wake is triggered at a higher distance range for high-risk locations. The trend of the fitted confidence value and the heading deviation value is judged. When a deteriorating trend appears in multiple consecutive windows, the one-time condition is upgraded to a trend trigger. When approaching a location with a risk of satellite signal obstruction, pre-wake-up is performed first, and the positioning module remains active at the obstruction entrance until map matching and correction are completed.

5. The energy-saving positioning method for cycling smart glasses according to claim 1, characterized in that, After the positioning is completed, in the step of determining the next expected wake-up interval based on the current speed and the estimated distance to the next key topology point, the rhythm control of the expected wake-up interval includes: Based on the estimated distance to the next key topology point and the distribution density of key points, road segments are divided into three categories: close-range dense, medium-range moderate, and long-range sparse, and short, moderate, and long expected wake-up intervals are set respectively. In long straight road sections, when the fitted confidence value stably meets the fitted threshold for multiple consecutive windows, the expected wake-up interval is extended; In road sections with dense intersections or frequent turns, shorten the expected wake-up interval; Set upper and lower limits for the duration and expected wake-up interval, and immediately enter hibernation after map matching to avoid invalid startup time.

6. The energy-saving positioning method for cycling smart glasses according to claim 5, characterized in that, After the positioning is completed, following the step of determining the next estimated wake-up interval based on the current speed and the estimated distance to the next key topology point, the method further includes: The alignment accuracy, yaw correction count, and error hotspot distribution during the dormant phase were statistically analyzed. When the alignment accuracy improves within a set period, the fitting threshold is increased and the deviation threshold is tightened accordingly. When the number of yaw corrections increases or error hotspots are concentrated, the fitting threshold is reduced and the deviation threshold is relaxed. Based on the statistical results, the time limit and the expected wake-up interval were slightly adjusted to reduce wake-ups on familiar road sections and to wake up earlier on complex road sections. When abnormal fluctuations occur, the system will revert to the previous stable parameter set.

7. The energy-saving positioning method for cycling smart glasses according to any one of claims 1 to 6, characterized in that, The method further includes: If a stable match cannot be established after multiple short wake-ups and corrections, or if the current location is detected to be outside the coverage area of ​​the target route, the system enters a low duty cruise mode. In low duty cruise mode, short wake-up is performed at fixed intervals to perform map matching, while inertial tracking is maintained to ensure basic continuity. When the fit confidence value and heading deviation value recover to the corresponding threshold requirements within multiple consecutive windows, the low duty cruise mode is exited and the on-demand wake-up control strategy is restored.

8. An energy-saving positioning system for smart cycling glasses, characterized in that, include: A module is established to load target route data, determine the set of key topological points based on road connectivity, and establish a direction sequence template for the route. The calculation module is used to acquire the angular velocity and acceleration of the inertial measurement unit and calculate the heading sequence for the current time window when the positioning module is in a dormant state. The matching module is used to match the heading sequence with the direction sequence template to obtain a fitting confidence value and a heading deviation value, and thereby determine the position index of the current position in the template. The judgment module is used to keep the positioning module in sleep mode when the fitting confidence value meets the preset fitting threshold and the heading deviation value is within the preset deviation threshold, and the key topology point is not passed within the preset prediction lead; when at least one of the following situations occurs, the positioning module is woken up for short-term positioning, the situation includes the fitting confidence value being lower than the preset fitting threshold, the heading deviation value exceeding the preset deviation threshold, the prediction that the key topology point will be passed within the preset prediction lead, and the detection of a sudden change in the steering mode; The correction module is used to perform positioning and map matching within a limited time after the positioning module is awakened, so as to correct the location index and heading. After positioning is completed, the next expected wake-up interval is determined based on the current speed and the estimated distance to the next key topology point, so that the positioning module returns to sleep to form an adaptive duty cycle.

9. A computer device, characterized in that, The device includes a memory and a processor, wherein the memory stores computer-readable instructions, and the processor executes the computer-readable instructions to implement the steps of the energy-saving positioning method for cycling smart glasses as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-readable instructions, which, when executed by a processor, implement the steps of the energy-saving positioning method for cycling smart glasses as described in any one of claims 1 to 7.

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