Processing method and device for intelligent navigation based on multi-source data

Abstract

This invention relates to the field of navigation and positioning technology, and in particular to a processing method and apparatus for intelligent navigation based on multi-source data. The method involves receiving satellite pseudorange signals using a BeiDou chip installed on a user terminal to obtain current BeiDou positioning data, and simultaneously collecting current Bluetooth positioning data using a Bluetooth chip on the user terminal. The method analyzes the current BeiDou and Bluetooth positioning data to obtain the corresponding current BeiDou and Bluetooth signal strengths. Based on the current BeiDou signal strength and a preset BeiDou signal strength, the method determines the Bluetooth signal weight and the BeiDou signal weight. Finally, based on the current BeiDou positioning data and BeiDou signal weights corresponding to the user terminal, and the current Bluetooth positioning data and Bluetooth signal weights corresponding to the user terminal, the method locates the current position of the person in the current area. This improves the accuracy of indoor and outdoor positioning within the exhibition hall, thereby enhancing navigation accuracy inside and outside the exhibition hall and ultimately improving the safety of personnel within the exhibition hall.

Description

Technical Field

[0001] This invention relates to the field of navigation and positioning technology, and in particular to a processing method and apparatus for intelligent navigation based on multi-source data. Background Technology

[0002] As a public space with dense crowds and complex environments, accurate navigation services are one of the key conditions for the safety and smooth operation of people in large exhibition halls.

[0003] Currently, exhibition hall positioning and navigation methods mainly fall into two categories: single satellite positioning and basic Bluetooth broadcasting solutions. Specifically, the single satellite positioning solution uses BeiDou / GPS as its core, calculating the user's location by receiving satellite pseudorange signals, while the basic Bluetooth broadcasting solution relies on iBeacon devices to estimate distance by receiving Bluetooth signal strength. However, in practice, it has been found that outdoor satellite positioning accuracy generally only reaches a little over 10 meters, which is insufficient for precise positioning at the exhibition area level, while indoor positioning accuracy relying on iBeacon technology is only 3-5 meters, which cannot meet the precise navigation needs at the booth level.

[0004] Therefore, it is particularly important to propose a new navigation and positioning technology for exhibition halls to improve the accuracy of indoor and outdoor positioning, thereby improving the accuracy of navigation inside and outside the exhibition halls, and thus improving the safety of personnel inside the exhibition halls and facilitating the smooth opening of the exhibition halls. Summary of the Invention

[0005] This invention provides a processing method and device for intelligent navigation based on multi-source data, which can improve the accuracy of indoor and outdoor positioning in exhibition halls, thereby improving the accuracy of navigation inside and outside exhibition halls, and further improving the safety of personnel inside exhibition halls, which helps to ensure the smooth opening of exhibition halls.

[0006] To address the aforementioned technical problems, a first aspect of this invention discloses a processing method for intelligent navigation based on multi-source data, the method comprising:

[0007] Based on the BeiDou chip installed on the user terminal held by the target person, satellite pseudorange signals are received to obtain the target person's current BeiDou positioning data. At the same time, the current Bluetooth positioning data of the user terminal is collected based on the Bluetooth chip of the user terminal.

[0008] Analyze the current BeiDou positioning data corresponding to the user terminal to obtain the current BeiDou signal strength corresponding to the user terminal, and analyze the current Bluetooth positioning data corresponding to the user terminal to obtain the current Bluetooth signal strength corresponding to the user terminal.

[0009] The Bluetooth signal weight and the BeiDou signal weight are determined based on the current BeiDou signal strength and the preset BeiDou signal strength corresponding to the user terminal.

[0010] Based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal are used to locate the current location of the target person in the current area.

[0011] As an optional implementation, in the first aspect of the present invention, the preset BeiDou signal strength includes a first preset BeiDou signal strength and a second preset BeiDou signal strength that is less than the first preset BeiDou signal strength;

[0012] The step of determining the Bluetooth signal weight and the BeiDou signal weight based on the current BeiDou signal strength corresponding to the user terminal and the preset BeiDou signal strength includes:

[0013] When the current BeiDou signal strength corresponding to the user terminal is greater than or equal to the first preset BeiDou signal strength, the first BeiDou signal weight is determined to be the BeiDou signal weight of the current BeiDou signal strength corresponding to the user terminal and the first Bluetooth signal weight is the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal, wherein the first BeiDou signal weight is greater than the first Bluetooth signal weight.

[0014] When the current BeiDou signal strength corresponding to the user terminal is between the second preset BeiDou signal strength and the first preset BeiDou signal strength, the first BeiDou signal weight and the first Bluetooth signal weight are adjusted according to the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, so as to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight, which are respectively used as the BeiDou signal weight and the Bluetooth signal weight of the current BeiDou signal strength corresponding to the user terminal.

[0015] When the current BeiDou signal strength corresponding to the user terminal is less than the second preset BeiDou signal strength, the second BeiDou signal weight is determined to be the BeiDou signal weight of the current BeiDou signal strength corresponding to the user terminal and the second Bluetooth signal weight is the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal, wherein the second BeiDou signal weight is less than the second Bluetooth signal weight.

[0016] As an optional implementation, in the first aspect of the present invention, the step of adjusting the first BeiDou signal weight and the first Bluetooth signal weight based on the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight includes:

[0017] Based on the current Bluetooth signal strength corresponding to the user terminal, analyze the current Bluetooth signal-to-noise ratio; and based on the current BeiDou signal strength corresponding to the user terminal, analyze the current BeiDou signal-to-noise ratio.

[0018] The base signal-to-noise ratio is obtained by analyzing the current Bluetooth signal signal-to-noise ratio and the current BeiDou signal signal-to-noise ratio, and the target signal-to-noise ratio is obtained by analyzing the BeiDou signal signal-to-noise ratio and the base signal-to-noise ratio.

[0019] The first BeiDou signal weight is adjusted according to the target signal-to-noise ratio to obtain the adjusted dynamic BeiDou signal weight. Based on the dynamic BeiDou signal weight, the first Bluetooth signal weight is adjusted to obtain the adjusted dynamic Bluetooth signal weight.

[0020] As an optional implementation, in the first aspect of the present invention, the step of adjusting the first BeiDou signal weight and the first Bluetooth signal weight based on the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight includes:

[0021] Based on the collected BeiDou positioning data corresponding to the user terminal, a BeiDou signal fitting curve is established, and based on the collected Bluetooth positioning data corresponding to the user terminal, a Bluetooth signal fitting curve is established.

[0022] Based on the BeiDou signal fitting curve and the Bluetooth signal fitting curve, the signal overlap region between the two is analyzed. Based on the signal overlap region, the minimum signal strength and maximum signal strength of the signal overlap region are analyzed. Based on the minimum signal strength and maximum signal strength of the signal overlap region, the maximum signal-to-noise ratio and minimum signal-to-noise ratio of the signal overlap region are analyzed.

[0023] Based on the current signal strength corresponding to the user terminal, the minimum signal strength, the maximum signal strength in the signal overlap area, and the first BeiDou signal weight, a first confidence level is analyzed. Based on the current signal-to-noise ratio (SNR) corresponding to the user terminal, the minimum SNR, the maximum SNR in the signal overlap area, and the first Bluetooth signal weight, a second confidence level is analyzed. Based on the first confidence level and the second confidence level, a current confidence level of the current signal strength corresponding to the user terminal is determined. The current signal strength corresponding to the user terminal includes the current Bluetooth signal strength or the current BeiDou signal strength, and the current confidence level corresponding to the user terminal includes the current Bluetooth confidence level or the current BeiDou confidence level.

[0024] The current confidence level of the current Bluetooth signal strength and the current confidence level of the current BeiDou signal strength are compared with preset confidence levels to obtain Bluetooth confidence comparison results and BeiDou confidence comparison results.

[0025] Based on the Bluetooth confidence comparison result and the BeiDou confidence comparison result, an adjustment operation is performed on the first BeiDou signal weight and the first Bluetooth signal weight to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight.

[0026] As an optional implementation, in the first aspect of the present invention, when the Bluetooth chip of the user terminal includes a Bluetooth AOA chip, the method further includes:

[0027] When the current BeiDou signal strength corresponding to the user terminal is between the second preset BeiDou signal strength and the first preset BeiDou signal strength, the signal phase difference of the current Bluetooth positioning data corresponding to the user terminal is extracted based on the current Bluetooth positioning data.

[0028] The Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station are obtained based on the Bluetooth AOA chip, and the current relative angle of the user terminal relative to the Bluetooth AOA base station is calculated based on the Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station and the signal phase difference of the current Bluetooth positioning data.

[0029] Based on the current relative angle corresponding to the user terminal, the base station coordinates of the Bluetooth AOA base station, and the current Bluetooth signal strength corresponding to the user terminal, the Bluetooth positioning accuracy corresponding to the user terminal is analyzed. A correction operation is then performed on the Bluetooth signal weight based on the Bluetooth positioning accuracy to obtain a corrected Bluetooth signal weight. A correction operation is then performed on the BeiDou signal weight based on the corrected Bluetooth signal weight to obtain a corrected BeiDou signal weight. Finally, the operation of locating the current position of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength, and BeiDou signal weight corresponding to the user terminal, as well as the current Bluetooth positioning data, current Bluetooth signal strength, and Bluetooth signal weight corresponding to the user terminal, is executed.

[0030] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0031] Determine whether the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is greater than or equal to the preset signal difference and / or whether the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is greater than or equal to the preset phase difference threshold;

[0032] When it is determined that the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is less than the preset signal difference and the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is less than the preset phase difference threshold, the operation of locating the current location of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal is executed.

[0033] When it is determined that the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is greater than or equal to the preset signal difference and / or the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is greater than or equal to the preset phase difference threshold, it is determined whether the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is greater than or equal to the preset duration.

[0034] When it is determined that the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is less than the preset duration, the operation of locating the current location of the target person in the current area is performed based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal.

[0035] When it is determined that the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is greater than or equal to the preset duration, the current inertial motion parameters of the user terminal and the historical position of the target person at the previous moment are obtained. Based on the inertial motion parameters of the user terminal and the historical position of the target person, the predicted position of the target person is predicted. Based on the predicted position of the target person, the historical position of the target person, and the preset inertial coefficient, the current position of the target person is located.

[0036] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0037] Determine the target location that the target person needs to go to, and obtain all path nodes in the navigation area between the target person and the target location based on the target person's current location and the target location;

[0038] Based on the current location of the target person, the target location, and the node locations of all the path nodes, generate multiple navigation paths and the distance of each navigation path;

[0039] Based on the distance of all the navigation paths, the shortest target navigation path is selected from all the navigation paths, and the target navigation path is output to the target person;

[0040] The method further includes:

[0041] During the process of the target personnel traveling to the target location according to the target navigation path, the population density of the target navigation area that the target personnel have not traversed on the target navigation path is monitored to obtain the population density monitoring results.

[0042] When the crowd density monitoring result indicates that the crowd density in the target navigation area is greater than or equal to a preset crowd density threshold, the target navigation path is adjusted according to the crowd density in the target navigation area to obtain a new navigation path, and the new navigation path is output to the target person.

[0043] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0044] When an update of a target area in the overall region is detected, the target layout parameters to be displayed on the map corresponding to the overall region and the current layout parameters of the target area are obtained.

[0045] Analyze the layout difference parameters between the target layout parameters and the current layout parameters, and perform an update operation on the target region and the region formed by a preset distance outward from the boundary of the target region based on the layout difference parameters to obtain the updated region;

[0046] Obtain the layout parameters and region identifier of the updated region, and generate the corresponding target digital twin model based on the layout parameters and region identifier of the updated region;

[0047] On the map corresponding to the overall area, the existing digital twin model of the updated area is updated to the target digital twin model to obtain the updated target map, and the target map is output to the target personnel.

[0048] A second aspect of this invention discloses a processing apparatus for intelligent navigation based on multi-source data, the apparatus comprising:

[0049] The acquisition module is used to receive satellite pseudorange signals based on the Beidou chip installed on the user terminal held by the target person to obtain the target person's current Beidou positioning data, and at the same time to acquire the current Bluetooth positioning data of the user terminal based on the Bluetooth chip of the user terminal;

[0050] The analysis module is used to analyze the current BeiDou positioning data corresponding to the user terminal to obtain the current BeiDou signal strength corresponding to the user terminal, and to analyze the current Bluetooth positioning data corresponding to the user terminal to obtain the current Bluetooth signal strength corresponding to the user terminal.

[0051] The determination module is used to determine the Bluetooth signal weight and the BeiDou signal weight based on the current BeiDou signal strength corresponding to the user terminal and the preset BeiDou signal strength.

[0052] The positioning module is used to locate the current location of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal.

[0053] As an optional implementation, in a second aspect of the present invention, the preset BeiDou signal strength includes a first preset BeiDou signal strength and a second preset BeiDou signal strength that is less than the first preset BeiDou signal strength;

[0054] The specific method by which the determining module determines the Bluetooth signal weight and the BeiDou signal weight based on the current BeiDou signal strength corresponding to the user terminal and the preset BeiDou signal strength includes:

[0055] When the current BeiDou signal strength corresponding to the user terminal is greater than or equal to the first preset BeiDou signal strength, the first BeiDou signal weight is determined to be the BeiDou signal weight of the current BeiDou signal strength corresponding to the user terminal and the first Bluetooth signal weight is the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal, wherein the first BeiDou signal weight is greater than the first Bluetooth signal weight.

[0056] When the current BeiDou signal strength corresponding to the user terminal is between the second preset BeiDou signal strength and the first preset BeiDou signal strength, the first BeiDou signal weight and the first Bluetooth signal weight are adjusted according to the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, so as to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight, which are respectively used as the BeiDou signal weight and the Bluetooth signal weight of the current BeiDou signal strength corresponding to the user terminal.

[0057] When the current BeiDou signal strength corresponding to the user terminal is less than the second preset BeiDou signal strength, the second BeiDou signal weight is determined to be the BeiDou signal weight of the current BeiDou signal strength corresponding to the user terminal and the second Bluetooth signal weight is the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal, wherein the second BeiDou signal weight is less than the second Bluetooth signal weight.

[0058] As an optional implementation, in a second aspect of the present invention, the determining module performs an adjustment operation on the first BeiDou signal weight and the first Bluetooth signal weight based on the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, and obtains the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight in a specific manner, including:

[0059] Based on the current Bluetooth signal strength corresponding to the user terminal, analyze the current Bluetooth signal-to-noise ratio; and based on the current BeiDou signal strength corresponding to the user terminal, analyze the current BeiDou signal-to-noise ratio.

[0060] The base signal-to-noise ratio is obtained by analyzing the current Bluetooth signal signal-to-noise ratio and the current BeiDou signal signal-to-noise ratio, and the target signal-to-noise ratio is obtained by analyzing the BeiDou signal signal-to-noise ratio and the base signal-to-noise ratio.

[0061] The first BeiDou signal weight is adjusted according to the target signal-to-noise ratio to obtain the adjusted dynamic BeiDou signal weight. Based on the dynamic BeiDou signal weight, the first Bluetooth signal weight is adjusted to obtain the adjusted dynamic Bluetooth signal weight.

[0062] As an optional implementation, in a second aspect of the present invention, the determining module performs an adjustment operation on the first BeiDou signal weight and the first Bluetooth signal weight based on the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, and obtains the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight in a specific manner, including:

[0063] Based on the collected BeiDou positioning data corresponding to the user terminal, a BeiDou signal fitting curve is established, and based on the collected Bluetooth positioning data corresponding to the user terminal, a Bluetooth signal fitting curve is established.

[0064] Based on the BeiDou signal fitting curve and the Bluetooth signal fitting curve, the signal overlap region between the two is analyzed. Based on the signal overlap region, the minimum signal strength and maximum signal strength of the signal overlap region are analyzed. Based on the minimum signal strength and maximum signal strength of the signal overlap region, the maximum signal-to-noise ratio and minimum signal-to-noise ratio of the signal overlap region are analyzed.

[0065] Based on the current signal strength corresponding to the user terminal, the minimum signal strength, the maximum signal strength in the signal overlap area, and the first BeiDou signal weight, a first confidence level is analyzed. Based on the current signal-to-noise ratio (SNR) corresponding to the user terminal, the minimum SNR, the maximum SNR in the signal overlap area, and the first Bluetooth signal weight, a second confidence level is analyzed. Based on the first confidence level and the second confidence level, a current confidence level of the current signal strength corresponding to the user terminal is determined. The current signal strength corresponding to the user terminal includes the current Bluetooth signal strength or the current BeiDou signal strength, and the current confidence level corresponding to the user terminal includes the current Bluetooth confidence level or the current BeiDou confidence level.

[0066] The current confidence level of the current Bluetooth signal strength and the current confidence level of the current BeiDou signal strength are compared with preset confidence levels to obtain Bluetooth confidence comparison results and BeiDou confidence comparison results.

[0067] Based on the Bluetooth confidence comparison result and the BeiDou confidence comparison result, an adjustment operation is performed on the first BeiDou signal weight and the first Bluetooth signal weight to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight.

[0068] As an optional implementation, in a second aspect of the invention, the apparatus further includes:

[0069] The acquisition module is used to extract the signal phase difference of the current Bluetooth positioning data corresponding to the user terminal based on the current Bluetooth positioning data when the Bluetooth chip of the user terminal includes a Bluetooth AOA chip and when the current Beidou signal strength corresponding to the user terminal is between the second preset Beidou signal strength and the first preset Beidou signal strength.

[0070] The acquisition module is also used to acquire the Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station based on the Bluetooth AOA chip.

[0071] The calculation module is used to calculate the current relative angle of the user terminal relative to the Bluetooth AOA base station based on the Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station and the signal phase difference of the current Bluetooth positioning data.

[0072] The calculation module is also used to analyze the Bluetooth positioning accuracy of the user terminal based on the current relative angle corresponding to the user terminal, the base station coordinates of the Bluetooth AOA base station, and the current Bluetooth signal strength corresponding to the user terminal.

[0073] The correction module is used to perform a correction operation on the Bluetooth signal weight according to the Bluetooth positioning accuracy to obtain the corrected Bluetooth signal weight, and perform a correction operation on the BeiDou signal weight based on the corrected Bluetooth signal weight to obtain the corrected BeiDou signal weight, and trigger the positioning module to perform the operation of locating the current location of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal.

[0074] As an optional implementation, in a second aspect of the invention, the apparatus further includes:

[0075] The judgment module is used to determine whether the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is greater than or equal to a preset signal difference value and / or whether the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference value is greater than or equal to a preset phase difference threshold value; when it is determined that the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is less than the preset signal difference value and the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference value is less than the preset phase difference threshold value, the positioning module is triggered to perform the operation of locating the current location of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal;

[0076] The judgment module is further configured to, when it is determined that the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is greater than or equal to the preset signal difference and / or the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is greater than or equal to the preset phase difference threshold, determine whether the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is greater than or equal to a preset duration; when it is determined that the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is less than the preset duration, trigger the positioning module to perform the operation of locating the current location of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal.

[0077] The acquisition module is further configured to acquire the current inertial motion parameters of the user terminal and the historical position of the target person at the previous moment when it is determined that the duration for which the signal sampling point in the current area of ​​the target person has not acquired a signal is greater than or equal to the preset duration.

[0078] The device further includes:

[0079] The prediction module is used to predict the predicted position of the target person based on the inertial motion parameters of the user terminal and the historical position of the target person.

[0080] The positioning module is also used to locate the current position of the target person based on the predicted position of the target person, the historical position of the target person, and the preset inertia coefficient.

[0081] As an optional implementation, in a second aspect of the invention, the determining module is further configured to determine the target location that the target person needs to go to;

[0082] The acquisition module is also used to obtain all path nodes in the navigation area between the target person and the target location based on the target person's current location and the target location;

[0083] The device further includes:

[0084] The first generation module is used to generate multiple navigation paths and the distance of each navigation path based on the current location of the target person, the target location, and the node positions of all the path nodes.

[0085] The filtering module is used to filter the shortest target navigation path from all the navigation paths based on the distance of all the navigation paths;

[0086] The output module is used to output the target navigation path to the target personnel;

[0087] The device further includes:

[0088] The monitoring module is used to monitor the crowd density in the target navigation area that the target person has not traversed on the target navigation path as the target person travels to the target location according to the target navigation path, and obtain the crowd density monitoring result;

[0089] The adjustment module is used to perform an adjustment operation on the target navigation path according to the pedestrian density of the target navigation area when the pedestrian density monitoring result indicates that the pedestrian density of the target navigation area is greater than or equal to a preset pedestrian density threshold, so as to obtain a new navigation path after adjustment.

[0090] The output module is also used to output the new navigation path to the target person.

[0091] As an optional implementation, in a second aspect of the present invention, the acquisition module is further configured to, when an update of a target area in the overall area is detected, acquire the target layout parameters to be displayed on the map corresponding to the overall area and the current layout parameters of the target area.

[0092] The analysis module is also used to analyze the layout difference parameters between the target layout parameters and the current layout parameters;

[0093] The device further includes:

[0094] The update module is used to perform an update operation on the target area and the area formed by a preset distance outward from the boundary of the target area according to the layout difference parameters, so as to obtain the updated area;

[0095] The acquisition module is also used to obtain the layout parameters and region identifier of the updated region;

[0096] The second generation module is used to generate a corresponding target digital twin model based on the layout parameters and region identifier of the updated region.

[0097] The update module is further configured to update the existing digital twin model of the updated area to the target digital twin model on the map corresponding to the overall area, thereby obtaining the updated target map, and output the target map to the target personnel.

[0098] A third aspect of this invention discloses a processing device for intelligent navigation based on multi-source data, the device comprising:

[0099] Memory containing executable program code;

[0100] A processor coupled to the memory;

[0101] The processor calls the executable program code stored in the memory to execute some or all of the steps in any of the processing methods for intelligent navigation based on multi-source data disclosed in the first aspect of the present invention.

[0102] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in any of the processing methods for intelligent navigation based on multi-source data disclosed in the first aspect of the present invention.

[0103] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0104] In this embodiment of the invention, the target person's current BeiDou positioning data is obtained by receiving satellite pseudorange signals through the BeiDou chip installed on the user terminal held by the target person. Simultaneously, the target person's current Bluetooth positioning data is collected based on the Bluetooth chip of the user terminal. The current BeiDou positioning data corresponding to the user terminal is analyzed to obtain the current BeiDou signal strength, and the current Bluetooth positioning data corresponding to the user terminal is analyzed to obtain the current Bluetooth signal strength. Based on the current BeiDou signal strength corresponding to the user terminal and a preset BeiDou signal strength, the Bluetooth signal weight and BeiDou signal weight are determined. Based on the current BeiDou positioning data and BeiDou signal weight, and the current Bluetooth positioning data and Bluetooth signal weight, the target person's current location in the current area is determined. As can be seen, this invention integrates BeiDou satellite positioning data and Bluetooth positioning data, dynamically allocates the weights of BeiDou satellite positioning and Bluetooth positioning according to the signal strength of BeiDou satellite positioning, and then performs navigation and positioning based on the allocated weights and the corresponding BeiDou satellite positioning data and Bluetooth positioning data. This improves the accuracy and efficiency of indoor and outdoor positioning in the exhibition hall. Specifically, it achieves a smooth transition between outdoor and indoor signal switching, resulting in a smooth positioning transition, enabling precise positioning at the exhibition area level and booth level. This improves the accuracy and efficiency of navigation inside and outside the exhibition hall, thereby enhancing the safety of personnel inside the exhibition hall, improving the personnel experience, and facilitating the smooth opening of the exhibition. Attached Figure Description

[0105] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0106] Figure 1 This is a flowchart illustrating a method for intelligent navigation based on multi-source data disclosed in an embodiment of the present invention.

[0107] Figure 2 This is a schematic diagram of the structure of a processing device for intelligent navigation based on multi-source data disclosed in an embodiment of the present invention;

[0108] Figure 3 This is a schematic diagram of another processing device for intelligent navigation based on multi-source data disclosed in an embodiment of the present invention;

[0109] Figure 4 This is a schematic diagram of the structure of another intelligent navigation processing device based on multi-source data disclosed in an embodiment of the present invention. Detailed Implementation

[0110] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0111] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0112] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0113] This invention discloses a processing method and apparatus for intelligent navigation based on multi-source data. By fusing BeiDou satellite positioning data and Bluetooth positioning data, and dynamically allocating the weights of BeiDou satellite positioning and Bluetooth positioning according to the signal strength of BeiDou satellite positioning, navigation and positioning are performed based on the allocated weights and the corresponding BeiDou satellite positioning data and Bluetooth positioning data. This improves the accuracy and efficiency of indoor and outdoor positioning in exhibition halls. Specifically, it achieves a smooth transition between outdoor and indoor signal switching, resulting in smooth positioning transitions and enabling precise positioning at the exhibition area and booth levels. This improves the accuracy and efficiency of navigation inside and outside the exhibition hall, thereby enhancing the safety of personnel within the exhibition hall, improving the visitor experience, and facilitating a smooth opening. Detailed explanations follow.

[0114] Example 1

[0115] Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for intelligent navigation based on multi-source data, as disclosed in an embodiment of the present invention. This method is applied to scenarios requiring positioning and navigation, such as exhibition hall visits. Figure 1 As shown, the method may include the following operations:

[0116] 101. Based on the BeiDou chip installed on the user terminal held by the target personnel, the target personnel's current BeiDou positioning data is obtained by receiving satellite pseudorange signals. At the same time, the target personnel's current Bluetooth positioning data is collected based on the Bluetooth chip of the user terminal.

[0117] In this embodiment of the invention, the overall area that the target personnel need to visit or are located in is divided into an outdoor area and an indoor area. Each outdoor and indoor area is further divided into multiple sub-areas, and each sub-area is equipped with a corresponding base station. Specifically, for each outdoor sub-area, multiple BeiDou satellite base stations are set up. The BeiDou chip can be any chip with positioning capabilities, such as the BeiDou-3 dual-mode chip (compatible with GPS). For each indoor sub-area, multiple Bluetooth base stations, such as Bluetooth iBeacon, are set up. Furthermore, all indoor sub-areas can be divided into core areas (e.g., areas with a large number of visitors) and non-core areas (e.g., areas with a small number of visitors). For the core areas, Bluetooth AOA base stations are also set up. The number of base stations can be determined based on the area's size; the larger the area, the more base stations are needed. Preset distances are also used for each interval, such as: Bluetooth AOA base stations: 10-meter interval, 10-meter height, horizontal installation, PoE power supply; Bluetooth iBeacon: 15-meter interval, 1.5-meter wall installation, 5-year battery life; 5G transmission: DAS system antenna deployment density 20 meters / unit, covering the entire exhibition area.

[0118] 102. Analyze the current BeiDou positioning data corresponding to the user terminal to obtain the current BeiDou signal strength corresponding to the user terminal, and analyze the current Bluetooth positioning data corresponding to the user terminal to obtain the current Bluetooth signal strength corresponding to the user terminal.

[0119] 103. Determine the Bluetooth signal weight and the BeiDou signal weight based on the current BeiDou signal strength corresponding to the user terminal and the preset BeiDou signal strength.

[0120] 104. Based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal, locate the current location of the target person in the current area.

[0121] In this embodiment of the invention, for BeiDou satellite positioning, the current BeiDou positioning data corresponding to the user terminal is further analyzed to obtain the current BeiDou parameters of each BeiDou satellite. The current BeiDou parameters of each BeiDou satellite include the current BeiDou signal strength, BeiDou satellite identifier, current BeiDou pseudorange observation value, and current BeiDou coordinates. Based on the current BeiDou coordinates and current BeiDou pseudorange observation values ​​of all BeiDou satellites, the current BeiDou positioning coordinates corresponding to the user terminal are determined. Furthermore, CORS (Continuously Operating Reference Stations) are also set up in the area where the target personnel are located. The user terminal obtains the current BeiDou differential data from the CORS stations in the area where the target personnel are located. The current BeiDou differential data included in the CORS stations includes the current BeiDou differential pseudorange relative to each BeiDou satellite. Specifically, for any BeiDou satellite, the corresponding current pseudorange is obtained based on the BeiDou satellite identifier, and the BeiDou pseudorange observation value is corrected based on this current pseudorange to obtain the corrected current BeiDou pseudorange. Based on the corrected current BeiDou pseudorange and current BeiDou coordinates, the current BeiDou positioning coordinates corresponding to the user terminal are determined.

[0122] In this embodiment of the invention, for Bluetooth iBeacon devices, the current Bluetooth positioning data corresponding to the user terminal is further analyzed to obtain the broadcast power and device coordinates of each iBeacon device. For each Bluetooth iBeacon device, the device distance between the user terminal and the iBeacon device is calculated based on the current Bluetooth signal strength and broadcast power. Based on the device coordinates and device distance of each Bluetooth iBeacon device, the current Bluetooth positioning coordinates corresponding to the user terminal are calculated.

[0123] In this embodiment of the invention, for the Bluetooth AOA base station, the current Bluetooth positioning data corresponding to the user terminal is further analyzed to obtain the signal phase difference and base station coordinates corresponding to each Bluetooth AOA base station. The Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station are obtained based on the Bluetooth AOA chip. Based on the Bluetooth wavelength, antenna spacing, and signal phase difference corresponding to the Bluetooth AOA base station, the current relative angle of the user terminal relative to the Bluetooth AOA base station is calculated. Based on the current Bluetooth signal strength, the base station distance between the Bluetooth AOA base station and the user terminal is predicted. Based on the base station coordinates of all Bluetooth AOA base stations, the current relative angle, and the base station spacing, the current Bluetooth positioning coordinates corresponding to the user terminal are calculated.

[0124] It is evident that implementation Figure 1The described method integrates BeiDou satellite positioning data and Bluetooth positioning data, and dynamically allocates the weights of BeiDou satellite positioning and Bluetooth positioning according to the signal strength of BeiDou satellite positioning. Then, based on the allocated weights and the corresponding BeiDou satellite positioning data and Bluetooth positioning data, navigation and positioning are performed, which improves the accuracy and efficiency of indoor and outdoor positioning in the exhibition hall. Specifically, it achieves a smooth transition between outdoor and indoor signal switching, resulting in a smooth positioning transition, enabling precise positioning at the exhibition area level and booth level. This improves the accuracy and efficiency of navigation inside and outside the exhibition hall, thereby enhancing the safety of personnel in the exhibition hall, improving the personnel experience, and facilitating the smooth opening of the exhibition.

[0125] In this embodiment of the invention, optionally, determining the Bluetooth signal weight and the BeiDou signal weight based on the current BeiDou signal strength corresponding to the user terminal and the preset BeiDou signal strength includes:

[0126] When the current BeiDou signal strength corresponding to the user terminal is greater than or equal to the first preset BeiDou signal strength, the first BeiDou signal weight is determined to be the BeiDou signal weight of the current BeiDou signal strength corresponding to the user terminal and the first Bluetooth signal weight is determined to be the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal, wherein the first BeiDou signal weight is greater than the first Bluetooth signal weight.

[0127] When the current BeiDou signal strength corresponding to the user terminal is between the second preset BeiDou signal strength and the first preset BeiDou signal strength, the first BeiDou signal weight and the first Bluetooth signal weight are adjusted according to the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, so as to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight, which are respectively used as the BeiDou signal weight and the Bluetooth signal weight of the current BeiDou signal strength corresponding to the user terminal.

[0128] When the current BeiDou signal strength corresponding to the user terminal is less than the second preset BeiDou signal strength, the second BeiDou signal weight is determined to be the BeiDou signal weight of the current BeiDou signal strength corresponding to the user terminal and the second Bluetooth signal weight is the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal, and the second BeiDou signal weight is less than the second Bluetooth signal weight.

[0129] In this embodiment of the invention, optionally, the preset BeiDou signal strength includes a first preset BeiDou signal strength (e.g., -100dBm) and a second preset BeiDou signal strength less than the first preset BeiDou signal strength (e.g., -120dBm).

[0130] As can be seen, the embodiments of the present invention compare the current BeiDou signal strength with two preset BeiDou signals to dynamically determine the weights of the BeiDou satellite signals and Bluetooth signals based on whether the person is outdoors or indoors. This improves the accuracy of determining the weights and allows for accurate switching to either BeiDou or Bluetooth signals based on the person's location. This achieves seamless signal switching between indoor and outdoor environments, reduces signal interruptions, and ensures accurate positioning anywhere.

[0131] In this embodiment of the invention, optionally, an adjustment operation is performed on the first BeiDou signal weight and the first Bluetooth signal weight based on the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight, including:

[0132] Based on the current Bluetooth signal strength corresponding to the user terminal, analyze the current Bluetooth signal-to-noise ratio; and based on the current BeiDou signal strength corresponding to the user terminal, analyze the current BeiDou signal-to-noise ratio.

[0133] Analyze the current Bluetooth signal signal-to-noise ratio and the current BeiDou signal signal-to-noise ratio to obtain the basic signal-to-noise ratio, and analyze the BeiDou signal signal-to-noise ratio and the basic signal-to-noise ratio to obtain the target signal-to-noise ratio;

[0134] The first BeiDou signal weight is adjusted according to the target signal-to-noise ratio to obtain the adjusted dynamic BeiDou signal weight. Based on the dynamic BeiDou signal weight, the first Bluetooth signal weight is adjusted to obtain the adjusted dynamic Bluetooth signal weight.

[0135] In this optional embodiment, the dynamic Bluetooth signal weight and dynamic BeiDou signal weight can optionally be calculated using the following formula:

[0136] a = N*a1 + a0;

[0137] N=S1 / M;

[0138] M = S1 + S2;

[0139] b = 1 - a;

[0140] In the formula, a and b are the dynamic BeiDou signal weight and the dynamic Bluetooth signal weight, respectively; N is the target signal-to-noise ratio; M is the basic signal-to-noise ratio; S1 and S2 are the current BeiDou signal signal-to-noise ratio and the current Bluetooth signal signal-to-noise ratio, respectively; and a1 and a0 are the first BeiDou signal weight and the preset basic BeiDou signal weight, respectively. The preset basic BeiDou signal weight can be a fixed value, such as 0.1.

[0141] As can be seen, the embodiments of the present invention analyze the basic signal-to-noise ratio and the target signal-to-noise ratio sequentially based on the current Bluetooth signal signal-to-noise ratio and the current BeiDou signal signal-to-noise ratio at the current location of the person, and adjust the BeiDou signal weight first based on the preset basic BeiDou signal weight, and then adjust the Bluetooth signal weight based on the adjusted BeiDou signal weight, thereby improving the accuracy and reliability of the dynamic adjustment of the BeiDou signal weight and the Bluetooth signal weight, thereby further improving the switching efficiency and accuracy of seamless signal switching between indoor and outdoor environments, and further reducing the occurrence of signal interruptions.

[0142] In this embodiment of the invention, optionally, an adjustment operation is performed on the first BeiDou signal weight and the first Bluetooth signal weight based on the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight, including:

[0143] Based on the collected BeiDou positioning data corresponding to the user terminal, a BeiDou signal fitting curve is established, and based on the collected Bluetooth positioning data corresponding to the user terminal, a Bluetooth signal fitting curve is established.

[0144] Based on the fitting curves of BeiDou signals and Bluetooth signals, the signal overlap region between the two is analyzed. Based on the signal overlap region, the minimum and maximum signal strengths of the signal overlap region are analyzed. Based on the minimum and maximum signal strengths of the signal overlap region, the maximum and minimum signal-to-noise ratios of the signal overlap region are analyzed.

[0145] Based on the current signal strength corresponding to the user terminal, the minimum and maximum signal strengths of the signal overlap area, and the first BeiDou signal weight, a first confidence level is analyzed. Based on the current signal-to-noise ratio (SNR) corresponding to the user terminal, the minimum and maximum SNRs of the signal overlap area, and the first Bluetooth signal weight, a second confidence level is analyzed. Based on the first and second confidence levels, the current confidence level of the current signal strength corresponding to the user terminal is determined. The current signal strength corresponding to the user terminal includes the current Bluetooth signal strength or the current BeiDou signal strength, and the current confidence level corresponding to the user terminal includes the current Bluetooth confidence level or the current BeiDou confidence level.

[0146] The current confidence levels of the current Bluetooth signal strength and the current confidence levels of the current BeiDou signal strength are compared with preset confidence levels to obtain the Bluetooth confidence comparison result and the BeiDou confidence comparison result.

[0147] Based on the Bluetooth confidence comparison results and the BeiDou confidence comparison results, the first BeiDou signal weight and the first Bluetooth signal weight are adjusted to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight.

[0148] In this optional embodiment, the BeiDou positioning data corresponding to the user terminal includes current BeiDou positioning data and historical BeiDou positioning data for this positioning. The Bluetooth positioning data corresponding to the user terminal includes current Bluetooth positioning data and historical Bluetooth positioning data for this positioning. For the BeiDou signal fitting curve, or the Bluetooth signal fitting curve, the corresponding positioning coordinates are used as the abscissa, and the corresponding signal strength or signal-to-noise ratio is used as the ordinate. A polynomial or exponential fitting method is used for fitting. For example, for BeiDou signals, in outdoor areas, the signal strength may gradually decrease with increasing distance, so an exponential fitting curve can be established. For Bluetooth AOA signals, in indoor core areas, they may be affected by multipath effects, so a polynomial fitting curve can be established. The signal overlap area is the area where both Bluetooth and BeiDou signals can cover the target person's current location. For example, at the entrance of an exhibition hall, there may be an overlap area between outdoor BeiDou signals and indoor Bluetooth signals.

[0149] In this optional embodiment, the current confidence level can optionally be calculated using the following method:

[0150] c = C1*a1 + C2*b1;

[0151] C1 = D1 / D2;

[0152] D1=D 11 -D 12 ;

[0153] D2=D 21 -D 12 ;

[0154] C2 = E1 / E2;

[0155] E1=E 11 -E 12 ;

[0156] E2=E 21 -E 12 ;

[0157] In the formula, c is the current confidence level, and D 11 Given the current signal strength, D 12 D represents the minimum signal strength in the signal overlap region. 21 The maximum signal strength is given by a1, where a1 is the first BeiDou signal weight, and E is the weight of the first BeiDou signal. 11 E represents the current signal-to-noise ratio. 12 E represents the minimum signal-to-noise ratio in the signal overlap region. 21 b1 represents the maximum signal-to-noise ratio, and b1 represents the weight of the first Bluetooth signal.

[0158] In this optional embodiment, the preset confidence level is predetermined and can be a fixed value, such as 0.55. If the current confidence level of the current Bluetooth signal strength is higher than the preset confidence level and the current confidence level of the current BeiDou signal strength is lower than the preset confidence level, then the weight of the Bluetooth signal is increased and the weight of the BeiDou signal is decreased; conversely, the weight of the BeiDou signal is increased and the weight of the Bluetooth signal is decreased.

[0159] As can be seen, this embodiment of the invention constructs signal fitting curves based on the collected BeiDou and Bluetooth positioning data, analyzes the signal overlap area, calculates the minimum and maximum signal strength and the corresponding minimum and maximum signal-to-noise ratio within the overlap area, and then calculates the first and second confidence levels of the BeiDou / Bluetooth signals by combining the current BeiDou / Bluetooth signal strength of the user terminal, the signal parameters of the overlap area, and the existing BeiDou / Bluetooth signal weights. The two are then fused to obtain the current signal confidence level. Finally, the current confidence level of Bluetooth / BeiDou is compared with a preset confidence threshold, and the signal weights of the two are dynamically adjusted based on the comparison results. This achieves adaptive optimization of the BeiDou signal weight and Bluetooth signal weight, thereby improving the accuracy and reliability of the dynamic adjustment of the BeiDou signal weight and Bluetooth signal weight, further improving the switching efficiency and accuracy of seamless signal switching between indoor and outdoor environments, and further reducing the occurrence of signal interruptions.

[0160] In an optional embodiment, when the user terminal's Bluetooth chip includes a Bluetooth AOA chip, the method may further include the following steps:

[0161] When the current BeiDou signal strength corresponding to the user terminal is between the second preset BeiDou signal strength and the first preset BeiDou signal strength, the signal phase difference of the current Bluetooth positioning data corresponding to the user terminal is extracted based on the current Bluetooth positioning data.

[0162] The Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station are obtained based on the Bluetooth AOA chip. The current relative angle between the user terminal and the Bluetooth AOA base station is calculated based on the Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station and the signal phase difference of the current Bluetooth positioning data.

[0163] Based on the current relative angle of the user terminal, the base station coordinates of the Bluetooth AOA base station, and the current Bluetooth signal strength of the user terminal, the Bluetooth positioning accuracy of the user terminal is analyzed. A correction operation is then performed on the Bluetooth signal weights based on the Bluetooth positioning accuracy to obtain the corrected Bluetooth signal weights. A correction operation is then performed on the BeiDou signal weights based on the corrected Bluetooth signal weights to obtain the corrected BeiDou signal weights. Finally, the aforementioned operation of locating the current position of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weights, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weights of the user terminal is performed.

[0164] In this optional embodiment, when the current BeiDou signal strength corresponding to the user terminal is between the second preset BeiDou signal strength and the first preset BeiDou signal strength, the current Bluetooth positioning data can be collected based on a preset collection frequency, such as 100Hz.

[0165] In this optional embodiment, the current relative angle can optionally be calculated using the following formula:

[0166] θ=arcsinλΔ 2πd;

[0167] In the formula, θ is the current relative angle, and Δ λ represents the signal phase difference, λ represents the Bluetooth wavelength (e.g., 0.125 meters), and d represents the antenna spacing (e.g., 0.05 meters).

[0168] In this optional embodiment, specifically, a first positioning accuracy is analyzed based on the current relative angle corresponding to the user terminal, a second positioning accuracy is analyzed based on the base station coordinates of the Bluetooth AOA base station, and a third positioning accuracy is analyzed based on the current Bluetooth signal strength corresponding to the user terminal. The Bluetooth positioning accuracy of the Bluetooth AOA base station is calculated based on the first, second, and third positioning accuracies and their respective preset accuracy coefficients, and is used as the Bluetooth positioning accuracy corresponding to the user terminal. All preset accuracy coefficients sum to 1 and are predetermined; for example, the current relative angle, base station coordinates, and current Bluetooth signal strength are 0.45, 0.3, and 0.25, respectively.

[0169] In this optional embodiment, the Bluetooth positioning accuracy is compared with the preset Bluetooth positioning accuracy. If the positioning accuracy comparison result indicates that the Bluetooth positioning accuracy is greater than the preset Bluetooth positioning accuracy, the Bluetooth signal weight is increased and the BeiDou signal weight is decreased. If the positioning accuracy comparison result indicates that the Bluetooth positioning accuracy is less than or equal to the preset Bluetooth positioning accuracy, the current Bluetooth signal weight and BeiDou signal weight are maintained.

[0170] As can be seen, this optional embodiment analyzes the collected Bluetooth positioning data, extracts the signal phase difference, and calculates the current relative angle of the user terminal relative to the Bluetooth AOA base station by combining the Bluetooth wavelength and antenna spacing. Based on the current relative angle, base station coordinates, and current Bluetooth signal strength, it analyzes the first / second / third positioning accuracy respectively, and obtains the comprehensive Bluetooth positioning accuracy by combining the corresponding positioning accuracy coefficients. Then, it compares the analyzed Bluetooth positioning accuracy with the preset positioning accuracy. If the analyzed Bluetooth positioning accuracy is larger, the Bluetooth signal weight is dynamically increased and the Beidou signal weight is reduced; otherwise, the current signal weight is maintained. This improves the accuracy of determining the Bluetooth / Beidou signal weight, thereby improving the accuracy and stability of personnel positioning and enhancing the continuity and accuracy of positioning and navigation.

[0171] In this optional embodiment, when multiple Bluetooth AOA base stations exist, the Bluetooth distance between the base station coordinates of each Bluetooth AOA base station and the current location of the target person in the current area is calculated. The Bluetooth distance values ​​of each Bluetooth AOA base station are analyzed to obtain a Bluetooth distance ranking from smallest to largest or largest to smallest. The current Bluetooth signal strength corresponding to each Bluetooth AOA base station is also analyzed to obtain a Bluetooth signal strength ranking from smallest to largest or largest to smallest. Based on the base station identifier of each Bluetooth AOA base station, the ranking position of each Bluetooth AOA base station in the Bluetooth distance ranking and Bluetooth signal strength ranking is analyzed according to the same ranking direction (smallest to largest or largest to smallest). If they are found to be the same, the average Bluetooth positioning accuracy of all Bluetooth AOA base stations is calculated as the user's final positioning accuracy. The Bluetooth positioning accuracy corresponding to the terminal is determined as follows: When Bluetooth AOA base stations with different ranking positions in Bluetooth distance sorting and Bluetooth signal strength sorting are identified, for each Bluetooth AOA base station, a normalization operation is performed on its Bluetooth distance value and current Bluetooth signal strength to obtain a normalized Bluetooth distance value and current Bluetooth signal strength. The normalized current Bluetooth signal strength is then divided by the normalized Bluetooth distance value to obtain the positioning accuracy value. Based on the positioning accuracy value of each Bluetooth AOA base station, a corresponding accuracy weight is set for each Bluetooth AOA base station. The higher the positioning accuracy value, the higher the accuracy weight, and the sum of all accuracy weights equals 1. Based on the Bluetooth positioning accuracy of each Bluetooth AOA base station and its corresponding accuracy weight, the final Bluetooth positioning accuracy is analyzed and used as the Bluetooth positioning accuracy corresponding to the user terminal.

[0172] As can be seen, this optional embodiment comprehensively analyzes the Bluetooth distance and current Bluetooth signal strength corresponding to each AOA base station. When the Bluetooth distance and signal strength are ranked in the same order, the average value is used to calculate the positioning accuracy, which can effectively filter out the random errors of a single base station and improve the accuracy of the Bluetooth positioning analysis of the user terminal, thereby improving the stability and accuracy of the positioning results. When there are differences in the ranking, the difference in the dimensions of Bluetooth distance and Bluetooth signal strength is eliminated by normalization processing. Then, each Bluetooth AOA base station is assigned a corresponding accuracy weight based on the ratio of Bluetooth signal strength to Bluetooth distance. This allows Bluetooth AOA base stations with better positioning performance to occupy a higher weight in the fusion calculation, further reducing the impact of multipath interference, signal blockage and other factors on the positioning results. This further improves the accuracy and reliability of the Bluetooth positioning analysis of the user terminal, thereby improving the accuracy and stability of personnel positioning and contributing to the improvement of the continuity and accuracy of positioning and navigation.

[0173] In another alternative embodiment, the method may further include the following steps:

[0174] Determine whether the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is greater than or equal to the preset signal difference and / or whether the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is greater than or equal to the preset phase difference threshold.

[0175] When it is determined that the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is less than the preset signal difference and the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is less than the preset phase difference threshold, the above-mentioned operation of locating the current location of the target person in the current area is performed based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal.

[0176] When it is determined that the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is greater than or equal to the preset signal difference and / or the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is greater than or equal to the preset phase difference threshold, it is determined whether the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is greater than or equal to the preset duration, such as 2 seconds. The signal sampling point includes the preset BeiDou / Bluetooth signal collection node in the current area.

[0177] When it is determined that the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is less than the preset duration, the above-mentioned operation of locating the current location of the target person in the current area is performed based on the current Beidou positioning data, current Beidou signal strength and Beidou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal.

[0178] When it is determined that the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is greater than or equal to the preset duration, the current inertial motion parameters of the user terminal and the historical position of the target person at the last moment are obtained. Based on the inertial motion parameters of the user terminal and the historical position of the target person, the predicted position of the target person is predicted. Based on the predicted position of the target person, the historical position of the target person and the preset inertial coefficient, the current position of the target person is located.

[0179] In this optional embodiment, the current preset BeiDou signal includes a first preset BeiDou signal or a second preset BeiDou signal, the preset signal difference is a fixed value, such as 30dBm, and the preset phase difference threshold is such as 0.7.

[0180] In this optional embodiment, the current inertial motion parameters include the acceleration of the inertial sensor and the angular velocity of the gyroscope. Both the historical and predicted positions of the target person include x-axis and y-axis positions. Optionally, the current position of the target person can be calculated using the following formula:

[0181] x1 = x0 + v x *t+k1*a x *t 2 ;

[0182] y1=y0+v y *t+k2*a y *t 2 ;

[0183] x2 = x1*k1 + x0*k2;

[0184] y2 = y1*k1 + y0*k2;

[0185] In the formula, (x2,y2), (x1,y1), and (x0,y0) represent the current predicted location and historical location of the target personnel, respectively, and v x and v y The movement speed of the target personnel can be collected through the user terminal. x and a y Let t be the acceleration of the inertial sensor, k1 and k2 be preset inertial coefficients and their sum equals 1, and t be time.

[0186] As can be seen, this optional embodiment determines whether a signal has been continuously not collected for a period of time when a sudden change occurs in the BeiDou signal or the Bluetooth phase difference. If so, it predicts the next location of the person based on the current inertial motion parameters of the user terminal and the person's historical location at the last moment. Furthermore, it combines the person's historical location and preset inertial coefficient to locate the person's current location, so as to compensate for the positioning error when the signal is blocked, and achieve the continuity and stability of positioning.

[0187] In yet another optional embodiment, the method may further include the following steps:

[0188] Determine the target location that the target person needs to go to, and based on the target person's current location and the target location, obtain all path nodes in the navigation area between the two. Each path node is a node location that the target person can choose to pass through to reach the target location.

[0189] Based on the target person's current location, the target location, and the node locations of all path nodes, generate multiple navigation paths and the distance of each navigation path;

[0190] Based on the distance of all navigation paths, the shortest target navigation path is selected from all navigation paths, and the target navigation path is output to the target personnel.

[0191] In this optional embodiment, the target location can be manually or voice-triggered by the target person on the map displayed on the user terminal, or it can be automatically determined for the target person based on the actual situation. For example, in the event of an emergency, such as a fire, a safe location can be automatically determined for the target person. Furthermore, when filtering the path, the navigation path is planned in combination with the channel width of the area where each path node is located, such as selecting the target navigation path with a short distance and a large channel.

[0192] As can be seen, this optional embodiment analyzes the current location of the person and the target location to be traveled to, as well as the locations of the path nodes between them, to filter out the shortest path and output it to the person for navigation, so that the person can reach the destination as quickly as possible.

[0193] In yet another optional embodiment, the method may further include the following steps:

[0194] During the process of the target personnel traveling to the target location according to the target navigation path, the population density of the target navigation area that the target personnel have not traversed on the target navigation path is monitored, and the population density monitoring results are obtained.

[0195] When the pedestrian density monitoring results indicate that the pedestrian density in the target navigation area is greater than or equal to the preset pedestrian density threshold, such as 3 people / square meter, the target navigation path is adjusted according to the pedestrian density in the target navigation area to obtain the adjusted new navigation path, and the new navigation path is output to the target personnel.

[0196] In this optional embodiment, the number of people in the target navigation area is detected by a Bluetooth AOA base station, and the crowd density is obtained by dividing the detected number of people by the area of ​​the target navigation area. If the crowd density is greater than or equal to a preset crowd density threshold, the path weight of the path nodes in the target navigation area is reduced, the navigation path is replanned, and an adjusted new navigation path is obtained.

[0197] As can be seen, this optional embodiment monitors the pedestrian density along the navigation path taken by people to the target location, and adjusts the navigation path to a suitable location in real time to achieve dynamic navigation, thereby improving navigation accuracy and increasing the efficiency and safety of people reaching the target location.

[0198] In yet another optional embodiment, the method may further include the following steps:

[0199] When an update of a target area in the overall region is detected, obtain the target layout parameters that the target area needs to be displayed on the map corresponding to the overall region, as well as the current layout parameters of the target area on the map corresponding to the overall region.

[0200] Analyze the layout difference parameters between the target layout parameters and the current layout parameters, and perform an update operation on the target area and the area formed by a preset distance (such as 2 meters) outward from the boundary of the target area based on the layout difference parameters to obtain the updated area.

[0201] Obtain the layout parameters and area identifiers (such as booth identifiers, color identifiers, etc.) of the updated area, and generate the corresponding target digital twin model based on the layout parameters and area identifiers of the updated area;

[0202] On the map corresponding to the overall region, the existing digital twin model of the updated region is updated to the target digital twin model to obtain the updated target map, and the target map is output to the target personnel.

[0203] In this optional embodiment, the parameter types of the target layout parameters and the current layout parameters may include, but are not limited to, one or more of the following: layout size, layout shape, layout color, layout function (such as displaying a washing machine), and layout channel parameters (such as size, curvature, etc.).

[0204] As can be seen, this optional embodiment, by adopting an incremental update method, only updates the location data of the areas that need to be updated in the existing area on the map, reducing the amount of map update data. This is beneficial to improving the efficiency and accuracy of map updates, thereby improving the efficiency and accuracy of personnel obtaining the latest map in a timely manner, and further improving the accuracy and efficiency of personnel's navigation and positioning.

[0205] Example 2

[0206] Please see Figure 2 , Figure 2 This is a schematic diagram of a processing device for intelligent navigation based on multi-source data, as disclosed in an embodiment of the present invention. This device is applied to scenarios requiring positioning and navigation, such as exhibition hall visits, etc. Figure 2 As shown, the device may include:

[0207] The acquisition module 201 is used to receive satellite pseudorange signals based on the Beidou chip installed on the user terminal held by the target person to obtain the target person's current Beidou positioning data, and at the same time to acquire the user terminal's current Bluetooth positioning data based on the user terminal's Bluetooth chip.

[0208] Analysis module 202 is used to analyze the current BeiDou positioning data corresponding to the user terminal to obtain the current BeiDou signal strength corresponding to the user terminal, and analyze the current Bluetooth positioning data corresponding to the user terminal to obtain the current Bluetooth signal strength corresponding to the user terminal.

[0209] The determination module 203 is used to determine the Bluetooth signal weight and the BeiDou signal weight based on the current BeiDou signal strength corresponding to the user terminal and the preset BeiDou signal strength.

[0210] The positioning module 204 is used to locate the current location of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal.

[0211] It is evident that implementation Figure 2 The described device integrates BeiDou satellite positioning data and Bluetooth positioning data, and dynamically allocates the weights of BeiDou satellite positioning and Bluetooth positioning according to the signal strength of BeiDou satellite positioning. Then, based on the allocated weights and the corresponding BeiDou satellite positioning data and Bluetooth positioning data, it performs navigation and positioning, which improves the accuracy and efficiency of indoor and outdoor positioning in the exhibition hall. Specifically, it achieves a smooth transition between outdoor and indoor signal switching, resulting in a smooth positioning transition, enabling precise positioning at the exhibition area level and booth level. This improves the accuracy and efficiency of navigation inside and outside the exhibition hall, thereby enhancing the safety of personnel in the exhibition hall, improving the personnel experience, and facilitating the smooth opening of the exhibition.

[0212] In this embodiment of the invention, optionally, the preset BeiDou signal strength includes a first preset BeiDou signal strength and a second preset BeiDou signal strength that is less than the first preset BeiDou signal strength;

[0213] The determination module determines the Bluetooth signal weight and the BeiDou signal weight based on the current BeiDou signal strength of the user terminal and the preset BeiDou signal strength using the following specific methods:

[0214] When the current BeiDou signal strength corresponding to the user terminal is greater than or equal to the first preset BeiDou signal strength, the first BeiDou signal weight is determined to be the BeiDou signal weight of the current BeiDou signal strength corresponding to the user terminal and the first Bluetooth signal weight is determined to be the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal, wherein the first BeiDou signal weight is greater than the first Bluetooth signal weight.

[0215] When the current BeiDou signal strength corresponding to the user terminal is between the second preset BeiDou signal strength and the first preset BeiDou signal strength, the first BeiDou signal weight and the first Bluetooth signal weight are adjusted according to the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, so as to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight, which are respectively used as the BeiDou signal weight and the Bluetooth signal weight of the current BeiDou signal strength corresponding to the user terminal.

[0216] When the current BeiDou signal strength corresponding to the user terminal is less than the second preset BeiDou signal strength, the second BeiDou signal weight is determined to be the BeiDou signal weight of the current BeiDou signal strength corresponding to the user terminal and the second Bluetooth signal weight is the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal, and the second BeiDou signal weight is less than the second Bluetooth signal weight.

[0217] It is evident that implementation Figure 2 The described device compares the current BeiDou signal strength with two preset BeiDou signals to dynamically determine the weights of the BeiDou satellite signals and Bluetooth signals based on whether the person is outdoors or indoors. This improves the accuracy of determining the weights and allows for accurate switching between BeiDou and Bluetooth signals based on the person's location. This achieves seamless signal switching between indoor and outdoor environments, reduces signal interruptions, and ensures accurate positioning anywhere.

[0218] In this embodiment of the invention, optionally, the determining module 203 performs an adjustment operation on the first BeiDou signal weight and the first Bluetooth signal weight based on the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, and obtains the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight in the following specific ways:

[0219] Based on the current Bluetooth signal strength corresponding to the user terminal, analyze the current Bluetooth signal-to-noise ratio; and based on the current BeiDou signal strength corresponding to the user terminal, analyze the current BeiDou signal-to-noise ratio.

[0220] Analyze the current Bluetooth signal signal-to-noise ratio and the current BeiDou signal signal-to-noise ratio to obtain the basic signal-to-noise ratio, and analyze the BeiDou signal signal-to-noise ratio and the basic signal-to-noise ratio to obtain the target signal-to-noise ratio;

[0221] The first BeiDou signal weight is adjusted according to the target signal-to-noise ratio to obtain the adjusted dynamic BeiDou signal weight. Based on the dynamic BeiDou signal weight, the first Bluetooth signal weight is adjusted to obtain the adjusted dynamic Bluetooth signal weight.

[0222] It is evident that implementation Figure 2 The described device analyzes the base signal-to-noise ratio (SNR) and target signal-to-noise ratio (SNR) sequentially based on the current Bluetooth signal SNR and the current BeiDou signal SNR at the current location of the person. It then adjusts the BeiDou signal weight based on the preset base BeiDou signal weight, and finally adjusts the Bluetooth signal weight based on the adjusted BeiDou signal weight. This improves the accuracy and reliability of the dynamic adjustment of the BeiDou and Bluetooth signal weights, thereby further improving the switching efficiency and accuracy of seamless signal switching between indoor and outdoor environments and further reducing the occurrence of signal interruptions.

[0223] In this embodiment of the invention, optionally, the determining module 203 performs an adjustment operation on the first BeiDou signal weight and the first Bluetooth signal weight based on the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, and obtains the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight in the following specific ways:

[0224] Based on the collected BeiDou positioning data corresponding to the user terminal, a BeiDou signal fitting curve is established, and based on the collected Bluetooth positioning data corresponding to the user terminal, a Bluetooth signal fitting curve is established.

[0225] Based on the fitting curves of BeiDou signals and Bluetooth signals, the signal overlap region between the two is analyzed. Based on the signal overlap region, the minimum and maximum signal strengths of the signal overlap region are analyzed. Based on the minimum and maximum signal strengths of the signal overlap region, the maximum and minimum signal-to-noise ratios of the signal overlap region are analyzed.

[0226] Based on the current signal strength corresponding to the user terminal, the minimum and maximum signal strengths of the signal overlap area, and the first BeiDou signal weight, a first confidence level is analyzed. Based on the current signal-to-noise ratio (SNR) corresponding to the user terminal, the minimum and maximum SNRs of the signal overlap area, and the first Bluetooth signal weight, a second confidence level is analyzed. Based on the first and second confidence levels, the current confidence level of the current signal strength corresponding to the user terminal is determined. The current signal strength corresponding to the user terminal includes the current Bluetooth signal strength or the current BeiDou signal strength, and the current confidence level corresponding to the user terminal includes the current Bluetooth confidence level or the current BeiDou confidence level.

[0227] The current confidence levels of the current Bluetooth signal strength and the current confidence levels of the current BeiDou signal strength are compared with preset confidence levels to obtain the Bluetooth confidence comparison result and the BeiDou confidence comparison result.

[0228] Based on the Bluetooth confidence comparison results and the BeiDou confidence comparison results, the first BeiDou signal weight and the first Bluetooth signal weight are adjusted to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight.

[0229] It is evident that implementation Figure 2 The described device constructs signal fitting curves based on collected BeiDou and Bluetooth positioning data, analyzes the overlapping areas of the signals, calculates the minimum and maximum signal strengths and corresponding minimum and maximum signal-to-noise ratios within these overlapping areas, and then calculates the first and second confidence levels of the BeiDou / Bluetooth signals by combining the current BeiDou / Bluetooth signal strength of the user terminal, the signal parameters of the overlapping areas, and the existing BeiDou / Bluetooth signal weights. The two are then fused to obtain the current signal confidence level. Finally, the current confidence level of Bluetooth / BeiDou is compared with a preset confidence threshold, and the signal weights of both are dynamically adjusted based on the comparison results. This achieves adaptive optimization of the BeiDou and Bluetooth signal weights, improving the accuracy and reliability of the dynamic adjustment of the BeiDou and Bluetooth signal weights. This further enhances the switching efficiency and accuracy of seamless signal handover between indoor and outdoor environments, and further reduces the occurrence of signal interruptions.

[0230] In an optional embodiment, such as Figure 3 As shown, the device may further include:

[0231] The acquisition module 205 is used to extract the signal phase difference of the current Bluetooth positioning data corresponding to the user terminal when the Bluetooth chip of the user terminal includes a Bluetooth AOA chip and when the current Beidou signal strength corresponding to the user terminal is between the second preset Beidou signal strength and the first preset Beidou signal strength.

[0232] The acquisition module 205 is also used to acquire the Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station based on the Bluetooth AOA chip.

[0233] The calculation module 206 is used to calculate the current relative angle between the user terminal and the Bluetooth AOA base station based on the Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station and the signal phase difference of the current Bluetooth positioning data.

[0234] The calculation module 206 is also used to analyze the Bluetooth positioning accuracy of the user terminal based on the current relative angle of the user terminal, the base station coordinates of the Bluetooth AOA base station and the current Bluetooth signal strength of the user terminal.

[0235] The correction module 207 is used to perform a correction operation on the Bluetooth signal weight according to the Bluetooth positioning accuracy to obtain the corrected Bluetooth signal weight, and to perform a correction operation on the Beidou signal weight based on the corrected Bluetooth signal weight to obtain the corrected Beidou signal weight. It also triggers the positioning module 204 to perform the above-mentioned operation of locating the current location of the target person in the current area based on the current Beidou positioning data, current Beidou signal strength and Beidou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal.

[0236] It is evident that implementation Figure 3 The described device analyzes the collected Bluetooth positioning data, extracts the signal phase difference, and calculates the current relative angle of the user terminal relative to the Bluetooth AOA base station by combining the Bluetooth wavelength and antenna spacing. Based on the current relative angle, base station coordinates, and current Bluetooth signal strength, it analyzes the first / second / third positioning accuracy respectively, and obtains the comprehensive Bluetooth positioning accuracy by combining the corresponding positioning accuracy coefficients. The analyzed Bluetooth positioning accuracy is then compared with the preset positioning accuracy. If the analyzed Bluetooth positioning accuracy is higher, the Bluetooth signal weight is dynamically increased and the BeiDou signal weight is decreased; otherwise, the current signal weight is maintained. This improves the accuracy of determining the Bluetooth / BeiDou signal weights, thereby improving the precision and stability of personnel positioning and enhancing the continuity and accuracy of positioning and navigation.

[0237] In another alternative embodiment, such as Figure 3 As shown, the device may further include:

[0238] The judgment module 208 is used to determine whether the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is greater than or equal to the preset signal difference and / or whether the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is greater than or equal to the preset phase difference threshold; when it is determined that the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is less than the preset signal difference and the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is less than the preset phase difference threshold, the positioning module 204 is triggered to perform the above-mentioned operation of locating the current location of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal;

[0239] The judgment module 208 is further configured to, when it is determined that the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is greater than or equal to the preset signal difference and / or the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is greater than or equal to the preset phase difference threshold, determine whether the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is greater than or equal to the preset duration; when it is determined that the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is less than the preset duration, trigger the positioning module 204 to perform the above-mentioned operation of locating the current location of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal;

[0240] The acquisition module 205 is also used to acquire the current inertial motion parameters of the user terminal and the historical position of the target person at the last moment when it is determined that the duration for which the signal sampling point in the current area of ​​the target person has not acquired a signal is greater than or equal to a preset duration.

[0241] The prediction module 209 is used to predict the predicted position of the target person based on the inertial motion parameters of the user terminal and the historical position of the target person.

[0242] The positioning module 204 is also used to locate the current position of the target person based on the predicted position of the target person, the historical position of the target person and the preset inertia coefficient.

[0243] It is evident that implementation Figure 3The described device determines whether a signal has been continuously uncollected for a period of time when a sudden change occurs in the BeiDou signal or the Bluetooth phase difference. If so, it predicts the next location of the person based on the current inertial motion parameters of the user terminal and the person's historical location at the last moment. It further combines the person's historical location and preset inertial coefficient to locate the person's current location, so as to compensate for the positioning error when the signal is blocked, and achieve the continuity and stability of positioning.

[0244] In yet another alternative embodiment, such as Figure 3 As shown, the determining module 203 is also used to determine the target location that the target personnel need to go to;

[0245] The acquisition module 201 is also used to obtain all path nodes in the navigation area between the target person and the target location based on the target person's current location and the target location;

[0246] like Figure 3 As shown, the device may further include:

[0247] The first generation module 210 is used to generate multiple navigation paths and the distance of each navigation path based on the current location of the target person, the target location, and the node positions of all path nodes.

[0248] The filtering module 211 is used to filter the shortest target navigation path from all navigation paths based on the distance of all navigation paths;

[0249] Output module 212 is used to output the target navigation path to the target personnel;

[0250] like Figure 3 As shown, the device may further include:

[0251] Monitoring module 213 is used to monitor the crowd density in the target navigation area that the target personnel have not traversed on the target navigation path as the target personnel travel to the target location according to the target navigation path, and obtain the crowd density monitoring results;

[0252] The adjustment module 214 is used to perform an adjustment operation on the target navigation path according to the pedestrian density of the target navigation area when the pedestrian density monitoring result indicates that the pedestrian density of the target navigation area is greater than or equal to the preset pedestrian density threshold, so as to obtain the new navigation path after adjustment.

[0253] Output module 212 is also used to output new navigation paths to the target personnel.

[0254] It is evident that implementation Figure 3The described device analyzes the location of a person's current location, the desired destination, and the locations of the path nodes between them to select the shortest path and output it to the person for navigation, so that the person can reach the destination as quickly as possible; and by monitoring the population density on the navigation path traveled by the person to the destination, it adjusts the navigation path to a suitable location for the person in real time to achieve dynamic navigation, thereby improving navigation accuracy and increasing the efficiency and safety of the person reaching the destination.

[0255] In yet another alternative embodiment, such as Figure 3 As shown, the acquisition module 201 is also used to obtain the target layout parameters to be displayed on the map corresponding to the overall region and the current layout parameters of the target region when an update of a target region in the overall region is detected.

[0256] Analysis module 202 is also used to analyze the layout difference parameters between the target layout parameters and the current layout parameters;

[0257] like Figure 3 As shown, the device may further include:

[0258] The update module 215 is used to perform an update operation on the target area and the area formed by a preset distance outward from the boundary of the target area according to the layout difference parameters, so as to obtain the updated area;

[0259] The acquisition module 201 is also used to acquire the layout parameters and region identifier of the update region;

[0260] The second generation module 216 is used to generate the corresponding target digital twin model based on the layout parameters and region identifier of the updated region.

[0261] The update module 215 is also used to update the existing digital twin model of the update area to the target digital twin model on the map corresponding to the overall area, obtain the updated target map, and output the target map to the target personnel.

[0262] It is evident that implementation Figure 3 The described device uses an incremental update method to update only the location data of the areas that need updating in the existing area on the map, reducing the amount of map update data. This helps improve the efficiency and accuracy of map updates, thereby improving the efficiency and accuracy of personnel obtaining the latest map in a timely manner, and further improving the accuracy and efficiency of personnel's navigation and positioning.

[0263] Example 3

[0264] Please see Figure 4 , Figure 4This is a schematic diagram of another processing device for intelligent navigation based on multi-source data disclosed in an embodiment of the present invention. This device is applied to scenarios requiring positioning and navigation, such as exhibition hall visits, etc. Figure 4 As shown, the device may include:

[0265] Memory 301 storing executable program code;

[0266] Processor 302 coupled to memory 301;

[0267] Furthermore, it may also include an input interface 303 and an output interface 304 coupled to the processor 302;

[0268] The processor 302 calls the executable program code stored in the memory 301 to execute the steps in the intelligent navigation processing method based on multi-source data described in Embodiment 1.

[0269] Example 4

[0270] This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the intelligent navigation processing method based on multi-source data described in Embodiment 1.

[0271] Example 5

[0272] This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the processing method for intelligent navigation based on multi-source data described in Embodiment 1.

[0273] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0274] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0275] Finally, it should be noted that the processing method and apparatus for intelligent navigation based on multi-source data disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A processing method for intelligent navigation based on multi-source data, characterized in that, The method includes: Based on the BeiDou chip installed on the user terminal held by the target person, satellite pseudorange signals are received to obtain the target person's current BeiDou positioning data. At the same time, the current Bluetooth positioning data of the user terminal is collected based on the Bluetooth chip of the user terminal. Analyze the current BeiDou positioning data corresponding to the user terminal to obtain the current BeiDou signal strength corresponding to the user terminal, and analyze the current Bluetooth positioning data corresponding to the user terminal to obtain the current Bluetooth signal strength corresponding to the user terminal. The Bluetooth signal weight and the BeiDou signal weight are determined based on the current BeiDou signal strength and the preset BeiDou signal strength corresponding to the user terminal. Based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal, the current location of the target person in the current area is located; The preset BeiDou signal strength includes a first preset BeiDou signal strength and a second preset BeiDou signal strength that is less than the first preset BeiDou signal strength; The method of determining the Bluetooth signal weight and the BeiDou signal weight based on the current BeiDou signal strength corresponding to the user terminal and the preset BeiDou signal strength includes: When the current BeiDou signal strength corresponding to the user terminal is between the second preset BeiDou signal strength and the first preset BeiDou signal strength, the first BeiDou signal weight and the first Bluetooth signal weight are adjusted according to the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal, so as to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight, which are respectively used as the BeiDou signal weight of the current BeiDou signal strength and the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal; The step of adjusting the first BeiDou signal weight and the first Bluetooth signal weight based on the current Bluetooth signal strength and the current BeiDou signal strength corresponding to the user terminal to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight includes: Based on the collected BeiDou positioning data corresponding to the user terminal, a BeiDou signal fitting curve is established, and based on the collected Bluetooth positioning data corresponding to the user terminal, a Bluetooth signal fitting curve is established. Based on the BeiDou signal fitting curve and the Bluetooth signal fitting curve, the signal overlap region between the two is analyzed. Based on the signal overlap region, the minimum signal strength and maximum signal strength of the signal overlap region are analyzed. Based on the minimum signal strength and maximum signal strength of the signal overlap region, the maximum signal-to-noise ratio and minimum signal-to-noise ratio of the signal overlap region are analyzed. Based on the current signal strength corresponding to the user terminal, the minimum signal strength, the maximum signal strength in the signal overlap area, and the first BeiDou signal weight, a first confidence level is analyzed. Based on the current signal-to-noise ratio (SNR) corresponding to the user terminal, the minimum SNR, the maximum SNR in the signal overlap area, and the first Bluetooth signal weight, a second confidence level is analyzed. Based on the first confidence level and the second confidence level, a current confidence level of the current signal strength corresponding to the user terminal is determined. The current signal strength corresponding to the user terminal includes the current Bluetooth signal strength or the current BeiDou signal strength, and the current confidence level corresponding to the user terminal includes the current Bluetooth confidence level or the current BeiDou confidence level. The current confidence level of the current Bluetooth signal strength and the current confidence level of the current BeiDou signal strength are compared with preset confidence levels to obtain Bluetooth confidence comparison results and BeiDou confidence comparison results. Based on the Bluetooth confidence comparison result and the BeiDou confidence comparison result, an adjustment operation is performed on the first BeiDou signal weight and the first Bluetooth signal weight to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight.

2. The processing method for intelligent navigation based on multi-source data according to claim 1, characterized in that, The method of determining the Bluetooth signal weight and the BeiDou signal weight based on the current BeiDou signal strength corresponding to the user terminal and the preset BeiDou signal strength further includes: When the current BeiDou signal strength corresponding to the user terminal is greater than or equal to the first preset BeiDou signal strength, the first BeiDou signal weight is determined to be the BeiDou signal weight of the current BeiDou signal strength corresponding to the user terminal and the first Bluetooth signal weight is the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal, wherein the first BeiDou signal weight is greater than the first Bluetooth signal weight. When the current BeiDou signal strength corresponding to the user terminal is less than the second preset BeiDou signal strength, the second BeiDou signal weight is determined to be the BeiDou signal weight of the current BeiDou signal strength corresponding to the user terminal and the second Bluetooth signal weight is the Bluetooth signal weight of the current Bluetooth signal strength corresponding to the user terminal, wherein the second BeiDou signal weight is less than the second Bluetooth signal weight.

3. The processing method for intelligent navigation based on multi-source data according to claim 2, characterized in that, The step of adjusting the first BeiDou signal weight and the first Bluetooth signal weight based on the current Bluetooth signal strength and the current BeiDou signal strength of the user terminal to obtain the adjusted dynamic BeiDou signal weight and dynamic Bluetooth signal weight further includes: Based on the current Bluetooth signal strength corresponding to the user terminal, analyze the current Bluetooth signal-to-noise ratio; and based on the current BeiDou signal strength corresponding to the user terminal, analyze the current BeiDou signal-to-noise ratio. The base signal-to-noise ratio is obtained by analyzing the current Bluetooth signal signal-to-noise ratio and the current BeiDou signal signal-to-noise ratio, and the target signal-to-noise ratio is obtained by analyzing the BeiDou signal signal-to-noise ratio and the base signal-to-noise ratio. The first BeiDou signal weight is adjusted according to the target signal-to-noise ratio to obtain the adjusted dynamic BeiDou signal weight. Based on the dynamic BeiDou signal weight, the first Bluetooth signal weight is adjusted to obtain the adjusted dynamic Bluetooth signal weight.

4. The processing method for intelligent navigation based on multi-source data according to any one of claims 1-3, characterized in that, When the Bluetooth chip of the user terminal includes a Bluetooth AOA chip, the method further includes: When the current BeiDou signal strength corresponding to the user terminal is between the second preset BeiDou signal strength and the first preset BeiDou signal strength, the signal phase difference of the current Bluetooth positioning data corresponding to the user terminal is extracted based on the current Bluetooth positioning data. The Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station are obtained based on the Bluetooth AOA chip, and the current relative angle of the user terminal relative to the Bluetooth AOA base station is calculated based on the Bluetooth wavelength and antenna spacing corresponding to the Bluetooth AOA base station and the signal phase difference of the current Bluetooth positioning data. Based on the current relative angle corresponding to the user terminal, the base station coordinates of the Bluetooth AOA base station, and the current Bluetooth signal strength corresponding to the user terminal, the Bluetooth positioning accuracy corresponding to the user terminal is analyzed. A correction operation is then performed on the Bluetooth signal weight based on the Bluetooth positioning accuracy to obtain a corrected Bluetooth signal weight. A correction operation is then performed on the BeiDou signal weight based on the corrected Bluetooth signal weight to obtain a corrected BeiDou signal weight. Finally, the operation of locating the current position of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength, and BeiDou signal weight corresponding to the user terminal, as well as the current Bluetooth positioning data, current Bluetooth signal strength, and Bluetooth signal weight corresponding to the user terminal, is executed.

5. The processing method for intelligent navigation based on multi-source data according to claim 4, characterized in that, The method further includes: Determine whether the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is greater than or equal to the preset signal difference and / or whether the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is greater than or equal to the preset phase difference threshold; When it is determined that the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is less than the preset signal difference and the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is less than the preset phase difference threshold, the operation of locating the current location of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal is executed. When it is determined that the signal difference between the current BeiDou signal strength of the user terminal and the current preset BeiDou signal is greater than or equal to the preset signal difference and / or the phase difference between the current signal phase difference of the current Bluetooth positioning data and the preset signal phase difference is greater than or equal to the preset phase difference threshold, it is determined whether the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is greater than or equal to the preset duration. When it is determined that the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is less than the preset duration, the operation of locating the current location of the target person in the current area is performed based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, and the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal. When it is determined that the duration for which the signal sampling point in the current area of ​​the target person has not collected a signal is greater than or equal to the preset duration, the current inertial motion parameters of the user terminal and the historical position of the target person at the previous moment are obtained. Based on the inertial motion parameters of the user terminal and the historical position of the target person, the predicted position of the target person is predicted. Based on the predicted position of the target person, the historical position of the target person, and the preset inertial coefficient, the current position of the target person is located.

6. The processing method for intelligent navigation based on multi-source data according to any one of claims 1-3 and 5, characterized in that, The method further includes: Determine the target location that the target person needs to go to, and obtain all path nodes in the navigation area between the target person and the target location based on the target person's current location and the target location; Based on the current location of the target person, the target location, and the node locations of all the path nodes, generate multiple navigation paths and the distance of each navigation path; Based on the distance of all the navigation paths, the shortest target navigation path is selected from all the navigation paths, and the target navigation path is output to the target person; The method further includes: During the process of the target personnel traveling to the target location according to the target navigation path, the population density of the target navigation area that the target personnel have not traversed on the target navigation path is monitored to obtain the population density monitoring results. When the crowd density monitoring result indicates that the crowd density in the target navigation area is greater than or equal to a preset crowd density threshold, the target navigation path is adjusted according to the crowd density in the target navigation area to obtain a new navigation path, and the new navigation path is output to the target person.

7. The processing method for intelligent navigation based on multi-source data according to any one of claims 1-3 and 5, characterized in that, The method further includes: When an update of a target area in the overall region is detected, the target layout parameters to be displayed on the map corresponding to the overall region and the current layout parameters of the target area are obtained. Analyze the layout difference parameters between the target layout parameters and the current layout parameters, and perform an update operation on the target region and the region formed by a preset distance outward from the boundary of the target region based on the layout difference parameters to obtain the updated region; Obtain the layout parameters and region identifier of the updated region, and generate the corresponding target digital twin model based on the layout parameters and region identifier of the updated region; On the map corresponding to the overall area, the existing digital twin model of the updated area is updated to the target digital twin model to obtain the updated target map, and the target map is output to the target personnel.

8. A processing device for intelligent navigation based on multi-source data, characterized in that, The apparatus is used to implement the intelligent navigation processing method based on multi-source data as described in any one of claims 1-7, the apparatus comprising: The acquisition module is used to receive satellite pseudorange signals based on the Beidou chip installed on the user terminal held by the target person to obtain the target person's current Beidou positioning data, and at the same time to acquire the current Bluetooth positioning data of the user terminal based on the Bluetooth chip of the user terminal; The analysis module is used to analyze the current BeiDou positioning data corresponding to the user terminal to obtain the current BeiDou signal strength corresponding to the user terminal, and to analyze the current Bluetooth positioning data corresponding to the user terminal to obtain the current Bluetooth signal strength corresponding to the user terminal. The determination module is used to determine the Bluetooth signal weight and the BeiDou signal weight based on the current BeiDou signal strength corresponding to the user terminal and the preset BeiDou signal strength. The positioning module is used to locate the current location of the target person in the current area based on the current BeiDou positioning data, current BeiDou signal strength and BeiDou signal weight corresponding to the user terminal, the current Bluetooth positioning data, current Bluetooth signal strength and Bluetooth signal weight corresponding to the user terminal.

9. A processing device for intelligent navigation based on multi-source data, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the intelligent navigation processing method based on multi-source data as described in any one of claims 1-7.

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