Satellite-based field tour navigation positioning method and system

Abstract

The embodiment of the application provides a satellite-based field travel navigation positioning method and system, and belongs to the technical field of satellite navigation and positioning. The method comprises the following steps: acquiring a satellite positioning result of a field travel terminal, combining a terminal motion state to perform credibility discrimination on the satellite positioning result, and obtaining an effective positioning point that can participate in navigation calculation; extracting a return anchor point; outputting navigation guide information based on a navigation guide track, and outputting a deviation prompt when a current position deviates from the navigation guide track; when a help triggering condition is met, generating a help sending strategy based on the current position, the effective positioning point and a satellite communication link state, and sending help information according to the help sending strategy. The scheme of the application realizes accurate deviation recognition, direction guidance and satellite communication help in a field scene.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation and positioning technology, and specifically to a satellite-based navigation and positioning method and system for outdoor tourism. Background Technology

[0002] Outdoor tourism, hiking, and mountaineering activities typically take place in open but complexly obstructed environments such as forests, valleys, canyons, and high-altitude slopes. While ordinary mobile devices can rely on satellite positioning to obtain location, in areas with tree canopy obstruction, rock wall reflections, or significant terrain undulations, the positioning results are prone to drift, jumps, or short-term interruptions. If the navigation process directly uses the original positioning points to generate the travel trajectory, unreliable locations will be mixed into the trajectory. On the return trip, incorrect positioning points may be used as the route reference, causing the direction prompts to fluctuate repeatedly, or even leading the user astray from the actual travel route.

[0003] Existing outdoor navigation devices mostly focus on map display, track recording, and simple return-to-home functions, lacking sufficient judgment on the reliability of the positioning points themselves. In actual use, when users turn, rewind, temporarily stop, or orient themselves on mountain roads, the devices often struggle to distinguish between actual movement and positioning drift, and also find it difficult to extract truly useful key locations for the return journey from the complete track. Although the resulting track contains many data points, its usability is unstable, especially when there are no obvious roads, when traveling at night, or when the user's physical condition declines, the reliability of navigation prompts will be significantly reduced.

[0004] Furthermore, public network coverage is often lacking in remote areas, requiring distress signals to be transmitted via satellite communication. Satellite communication links suffer from low bandwidth, high latency, unstable connections, and high power consumption. Uploading the complete trajectory, environmental information, and status data all at once during a distress call is prone to failure and consumes significant battery power; sending only the current location is insufficient to provide a reliable reference for rescue efforts if the location is unreliable or the positioning is interrupted. Therefore, there is an urgent need for a wilderness navigation and positioning method capable of verifying the reliability of satellite positioning results, extracting return anchor points from the travel trajectory, and generating a distress call transmission strategy based on the satellite communication link status. Summary of the Invention

[0005] The purpose of this invention is to provide a satellite-based navigation and positioning method and system for outdoor tourism, so as to at least solve the problems of easy drift of satellite positioning results and insufficient availability of travel trajectory in outdoor tourism scenarios, which leads to unstable return navigation and low reliability of distress information transmission.

[0006] To achieve the above objectives, the first aspect of the present invention provides a satellite-based navigation and positioning method for outdoor tourism, the method comprising: The satellite positioning results of the outdoor tourism terminal are obtained, and the reliability of the satellite positioning results is judged in combination with the terminal's motion status to obtain effective positioning points that can participate in navigation calculations. A travel trajectory is constructed based on the effective positioning points, and return anchor points are extracted based on the directional changes and positional continuity in the travel trajectory. Based on the navigation selection mode of the outdoor tourism terminal, a navigation guidance trajectory is generated through the return anchor point and / or the current location, and navigation guidance information is output based on the navigation guidance trajectory. When the current location deviates from the navigation guidance trajectory, a deviation prompt is output. When the distress call triggering conditions are met, a distress call sending strategy is generated based on the current location, the effective positioning point, and the satellite communication link status, and distress call information is sent according to the distress call sending strategy.

[0007] A second aspect of the present invention provides a satellite-based navigation and positioning system for outdoor tourism, the system comprising: The data acquisition unit is used to acquire the satellite positioning results of the outdoor tourism terminal, and to determine the reliability of the satellite positioning results in combination with the terminal's motion status, so as to obtain the effective positioning points that can participate in navigation calculations. Anchor point extraction unit is used to construct a travel trajectory based on the effective positioning points, and extract return anchor points according to the direction changes and positional continuity in the travel trajectory; The yaw determination unit is used to generate a navigation guidance trajectory based on the navigation selection mode of the wilderness tourism terminal, through the return anchor point and / or the current position, and output navigation guidance information based on the navigation guidance trajectory, and output a yaw prompt when the current position deviates from the navigation guidance trajectory; The distress request unit is used to generate a distress request sending strategy based on the current location, the effective positioning point, and the satellite communication link status when the distress request triggering conditions are met, and to send distress request information according to the distress request sending strategy.

[0008] On the other hand, the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described satellite-based field navigation and positioning method.

[0009] Through the above technical solution, the present invention first performs a reliability assessment on the satellite positioning results, eliminating or removing interference from drift positioning on navigation calculations, ensuring that the travel trajectory is established based on valid positioning points, thus improving trajectory continuity and availability. Then, it extracts return anchor points from the travel trajectory, enabling return navigation to not rely on all original trajectory points and reducing the impact of positioning jump points on directional guidance. Simultaneously, it outputs yaw warnings based on the deviation relationship between the current position and the travel trajectory, facilitating timely correction of the travel direction by the user. In the event of a distress call, the solution further combines the current position, return anchor points, and satellite communication link status to generate a distress call transmission strategy, improving the reliability of distress message transmission under conditions of limited satellite communication.

[0010] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0011] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of the steps of a satellite-based navigation and positioning method for outdoor tourism provided by one embodiment of the present invention; Figure 2 This is a schematic diagram of a destination navigation mode scenario provided by one embodiment of the present invention; Figure 3 This is a schematic diagram of a return navigation mode scenario provided by one embodiment of the present invention; Figure 4 This is a system structure diagram of a satellite-based field tourism navigation and positioning system provided in one embodiment of the present invention. Detailed Implementation

[0013] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0014] like Figure 1 As shown, embodiments of the present invention provide a satellite-based navigation and positioning method for outdoor tourism, the method comprising: Step S100: Obtain the satellite positioning results of the outdoor tourism terminal, and combine the terminal's motion status to determine the reliability of the satellite positioning results, thereby obtaining valid positioning points that can participate in navigation calculations.

[0015] Specifically, the system acquires multiple satellite positioning results from a field tourism terminal within a preset sampling period, and simultaneously acquires terminal motion state information corresponding to each satellite positioning result. This terminal motion state information includes motion direction, speed, and attitude change information. Based on the positional change relationship between adjacent satellite positioning results and the corresponding terminal motion state information, the system calculates positional continuity parameters for each satellite positioning result. Based on these positional continuity parameters, the system determines whether each satellite positioning result meets a preset continuity condition, marking satellite positioning results that meet the preset continuity condition as valid positioning points and marking satellite positioning results that do not meet the preset continuity condition as drifting positioning points. The system then removes the drifting positioning points to obtain the remaining valid positioning points.

[0016] In this embodiment of the invention, the field tourism terminal receives satellite positioning results according to a preset sampling period during travel. Each satellite positioning result includes at least positioning coordinates and positioning time, and may also include positioning accuracy factor, number of visible satellites, or altitude information. The terminal's motion state information, collected synchronously with the satellite positioning results, can be obtained by an inertial measurement unit, electronic compass, or gait detection unit, specifically including motion direction, speed, and attitude change information. The above information needs to maintain a time correspondence so that the position change at the same sampling moment can be cross-checked with the actual motion state.

[0017] Specifically, the outdoor tourism terminal in this application can be a smartphone with satellite positioning and communication capabilities, or a handheld satellite navigation device, outdoor communication terminal, satellite walkie-talkie terminal, wearable positioning terminal, or a dedicated outdoor device integrating BeiDou short message communication functionality. The outdoor tourism terminal can have a built-in GNSS (Global Navigation Satellite System) positioning module, electronic compass, gyroscope, barometer, and wireless communication module to acquire satellite positioning results, terminal motion status information, and satellite communication link status. In some embodiments, the outdoor tourism terminal can also connect to an external positioning module or satellite communication module via Bluetooth, wired interface, or short-range wireless communication to extend positioning accuracy or communication capabilities. Any terminal device capable of acquiring location data and generating navigation guidance tracks can be used as the outdoor tourism terminal in this application.

[0018] In specific judgments, the change in position is calculated based on the coordinate difference and positioning time difference between two adjacent satellite positioning results. This change is then combined with the movement speed and direction within the corresponding time period to obtain the position continuity parameter. The position continuity parameter can be used to characterize the consistency between the displacement direction and distance reflected in the satellite positioning results and the terminal's movement state. For example, if adjacent positioning results show a large lateral jump in the terminal within a short period, but the terminal's movement state information only shows a slow turn or short-distance walking, then the satellite positioning result can be considered as not meeting the continuity requirement. Conversely, if the displacement direction of adjacent positioning results is basically consistent with the movement direction, and the displacement distance matches the displacement range corresponding to the movement speed, then the satellite positioning result can be retained.

[0019] Satellite positioning results that meet preset continuity conditions are marked as valid positioning points. These conditions can be defined by position change, direction deviation, and velocity matching; specific thresholds can be set based on usage scenarios such as hiking, mountaineering, or cycling. Satellite positioning results that do not meet the preset continuity conditions are marked as drifting positioning points and removed from subsequent trajectory construction. After this processing, the remaining valid positioning points serve as the data foundation for subsequent navigation calculations, used to construct the travel trajectory, extract return anchor points, and determine whether the current position deviates from the travel trajectory.

[0020] In this embodiment, the satellite positioning technology can employ GPS satellite positioning technology to obtain the latitude and longitude coordinates and positioning time of the outdoor tourism terminal; it can also employ the BeiDou satellite navigation system to obtain positioning coordinates, timing information, and short message communication capabilities; or it can employ the GLONASS or Galileo satellite navigation systems to achieve multi-constellation joint positioning. In some embodiments, the outdoor tourism terminal can simultaneously receive positioning signals from multiple satellite navigation systems, and improve positioning continuity in complex terrain based on a multi-constellation joint solution method.

[0021] The acquisition of satellite positioning results is not limited to a single positioning chip or a single positioning protocol. Any satellite positioning technology capable of outputting positioning coordinates, positioning time, velocity information, or direction information can be applied to the solution in this application. Similarly, the acquisition of terminal motion state information is not limited to a specific hardware form and can be obtained through an inertial measurement unit, accelerometer, electronic compass, gyroscope, or gait recognition module. The calculation method for position continuity parameters is not limited to a fixed mathematical model; as long as the reliability of the positioning results can be determined based on the correspondence between the satellite positioning results and the terminal's motion state, it falls within the scope of protection of this application.

[0022] In another implementation, the field tourism terminal periodically collects air pressure data at corresponding times while acquiring satellite positioning results, and constructs an air pressure change trend sequence based on the air pressure changes over multiple consecutive sampling periods. When the field tourism terminal is located in valleys, canyons, or dense forests, satellite signals are easily blocked, and some satellite positioning results may show abnormal drift along the mountainside. In this case, it may be difficult to completely identify the drifted positioning points based solely on the position continuity parameter.

[0023] In this embodiment, the field tourism terminal further determines whether the direction of the current location change is consistent with the direction of terrain change corresponding to the air pressure change trend. For example, when the air pressure value continuously decreases over multiple consecutive sampling periods, it indicates a trend of movement towards higher altitudes; if the satellite positioning result shows a continuous shift along a lower altitude direction, a mismatch is determined, and the drift risk level of the corresponding satellite positioning result is increased. For satellite positioning results with a drift risk level exceeding a preset threshold, the field tourism terminal reduces their weight in the calculation of location continuity parameters, or directly marks them as drifting positioning points. This embodiment is applicable to mountainous, canyon, and complex slope scenarios, and can utilize air pressure change trends to assist in the identification of satellite positioning drift.

[0024] Step S200: Construct a travel trajectory based on the effective positioning points, and extract return anchor points according to the direction changes and positional continuity in the travel trajectory.

[0025] Specifically, constructing a travel trajectory based on the effective positioning points includes: sorting multiple effective positioning points according to the acquisition time sequence, and determining the trajectory connection relationship between adjacent effective positioning points based on the position interval and time interval between adjacent effective positioning points; when the position interval and time interval between adjacent effective positioning points meet the preset trajectory continuity condition, directly connecting the adjacent effective positioning points to form a continuous trajectory segment; when the position interval and / or time interval between adjacent effective positioning points do not meet the preset trajectory continuity condition, supplementing the missing trajectory between adjacent effective positioning points based on the terminal movement state within the corresponding time period to form a supplemented trajectory segment; and splicing the continuous trajectory segment and the supplemented trajectory segment according to the acquisition time sequence to obtain the travel trajectory.

[0026] Furthermore, the return anchor point is extracted based on the directional changes and positional continuity in the travel trajectory, including: obtaining the directional change between adjacent trajectory segments in the time sequence of the travel trajectory, and obtaining the number of consecutive valid positioning points before and after the corresponding trajectory position; when the directional change is greater than the turning determination angle, and the number of consecutive valid positioning points before and after the corresponding trajectory position is greater than the consecutive positioning point number threshold, the corresponding trajectory position is determined as a candidate return anchor point; the trajectory distance between adjacent candidate return anchor points is calculated according to the order of the candidate return anchor points in the travel trajectory; when the trajectory distance between adjacent candidate return anchor points is less than the minimum anchor point interval distance, the candidate return anchor point with the larger directional change is retained, and the retained candidate return anchor point is used as the return anchor point for generating navigation guidance information.

[0027] In this embodiment of the invention, when constructing the travel trajectory, the position interval and time interval between adjacent valid positioning points are calculated respectively. The position interval can be the ground distance converted from latitude and longitude, or it can be combined with altitude changes to form a three-dimensional distance; the time interval is determined by the positioning time of adjacent valid positioning points. If the position interval and time interval between adjacent valid positioning points meet the preset trajectory continuity condition, it indicates that the positioning acquisition between the two valid positioning points is relatively continuous, and the two can be directly connected to form a continuous trajectory segment. The preset trajectory continuity condition can be set according to the type of travel. For example, in a hiking scenario, the distance between adjacent valid positioning points should not significantly exceed the normal walking distance of a human body within the corresponding time; in a mountaineering scenario, altitude changes can also be included in the judgment. Different modes can be preset for different scenarios, and users can trigger different modes through the operating system of the outdoor tourism terminal.

[0028] If the positional interval or time interval between adjacent valid positioning points does not meet the preset trajectory continuity condition, it indicates that there may be positioning interruption, satellite signal obstruction, or the removal of valid positioning points during that period. In this case, it is not advisable to directly connect adjacent valid positioning points into a straight line trajectory. Instead, the terminal motion status within the corresponding time period should be used to calculate the missing trajectory. The terminal motion status may include motion direction, movement speed, posture changes, or walking rhythm. The calculation process can accumulate displacement according to the sampling period, or it can calculate the missing segment based on changes in motion direction, thereby obtaining the calculated trajectory segment. Both the calculated trajectory segment and the continuous trajectory segment have a time sequence attribute, and they are subsequently spliced ​​together according to the acquisition time sequence to form a complete travel trajectory.

[0029] After the travel trajectory is formed, return anchor points are further extracted. Return anchor points are mainly used for subsequent navigation guidance and are not required to cover every trajectory location. The change in travel direction between adjacent trajectory segments is calculated sequentially along the travel trajectory. The change in travel direction can be obtained by subtracting the direction angle of the previous trajectory segment from the direction angle of the next trajectory segment. Simultaneously, the number of consecutive valid positioning points before and after a corresponding trajectory location is obtained to determine whether the trajectory near that location has sufficient positioning support. For example, if a location has a significant turn, but only a few valid positioning points before and after that location, and supplementary trajectory segments are interspersed in between, then that location may be affected by positioning gaps and should not be directly used as a return anchor point.

[0030] When the change in travel direction is greater than the turning angle, and the number of consecutive valid positioning points before and after the corresponding trajectory position is greater than the threshold for the number of consecutive positioning points, the trajectory position is determined as a candidate return anchor point. This rule ensures that return anchor points fall more frequently at actual turns, forks in the road, and turnaround points—locations that are indicative of the return journey. For continuous mountain roads, forest trails, or canyon routes, users typically rely more on these locations where direction changes occur rather than uniformly distributed ordinary trajectory points when returning.

[0031] After candidate return anchor points are generated, they need to be sorted out. The trajectory distance between adjacent candidate return anchor points is calculated according to their order in the travel trajectory. When the trajectory distance between adjacent candidate return anchor points is less than the minimum anchor point interval, it indicates that multiple close turning candidate points have appeared in that area. In this case, candidate return anchor points with larger changes in travel direction are retained, while candidate return anchor points that are close in location and have weak indicative significance are removed. The retained candidate return anchor points are then used as return anchor points for subsequent generation of navigation guidance information.

[0032] In this embodiment, the trajectory continuity condition, turning determination angle, threshold for the number of continuous positioning points, and minimum anchor point interval can be set according to the terminal application mode, or adjusted according to the user's selected scenarios such as hiking, mountain climbing, or cycling. The specific values ​​of the above parameters do not constitute a limitation on the scope of protection. As long as effective positioning points are used to construct the travel trajectory, and anchor points for return navigation are extracted by combining changes in travel direction and positioning continuity, the implementation scope of this application's solution can be included.

[0033] In another implementation, the wilderness tourism terminal acquires the dwell time corresponding to each valid positioning point and calculates the range of change in the terminal's orientation angle at the corresponding location. When the dwell time corresponding to a certain trajectory location exceeds a dwell time threshold, and the range of change in the terminal's orientation angle exceeds a direction observation threshold, it is determined that the user has engaged in path recognition, fork confirmation, or environmental observation behavior at that trajectory location, and the priority of identifying the corresponding trajectory location as a return anchor point is increased. For mountain forks, forest crossroads, or river valley bends, users typically pause briefly and adjust the orientation confirmation direction of the wilderness tourism terminal multiple times, a behavior characteristic that differs from normal continuous travel.

[0034] This implementation utilizes dwell time and orientation change behavior to assist in the identification of return anchor points, making them more likely to be located in areas with high actual navigation value. For candidate return anchor points that meet the dwell time criteria but are too close to adjacent tracks, the field tourism terminal retains candidate return anchor points with longer dwell times or larger orientation angle changes, and deletes the remaining candidate return anchor points. This implementation can reduce the number of invalid return anchor points and improve the accuracy of identifying critical path locations during return navigation.

[0035] Step S300: Based on the navigation selection mode of the outdoor tourism terminal, generate a navigation guidance trajectory through the return anchor point and / or the current location, and output navigation guidance information based on the navigation guidance trajectory. Output a deviation prompt when the current location deviates from the navigation guidance trajectory.

[0036] Specifically, the system obtains the current location and navigation selection mode of the outdoor tourism terminal, including a return navigation mode and a destination navigation mode. When the navigation selection mode is the return navigation mode, a navigation guidance trajectory is generated based on the current location and the arrangement order of the return anchor points in the travel trajectory. When the navigation selection mode is the destination navigation mode, a navigation guidance trajectory is generated based on the current location and a preset destination location. Navigation guidance information is generated based on the azimuth relationship between the current location and the navigation guidance trajectory. The trajectory offset distance from the current location to the navigation guidance trajectory is calculated, and the directional deviation between the movement direction corresponding to the current location and the guidance direction of the navigation guidance trajectory on adjacent trajectory segments is obtained. When the trajectory offset distance is greater than a deviation distance threshold and the directional deviation is greater than a deviation direction threshold, a yaw prompt containing the return azimuth of the navigation guidance trajectory and the trajectory offset distance is generated.

[0037] Furthermore, when the navigation selection mode is the return navigation mode, a navigation guidance trajectory is generated based on the current position and the arrangement order of the return anchor points in the travel trajectory, including: determining the trajectory position closest to the current position in the travel trajectory; selecting return anchor points from those located before the trajectory position in reverse order of the travel trajectory; and sequentially connecting the current position, the trajectory position, and the selected return anchor points to generate a navigation guidance trajectory in the return navigation mode. When the navigation selection mode is the destination navigation mode, a navigation guidance trajectory is generated based on the current position and a preset destination position, including: obtaining the preset destination position and determining candidate navigation segments between the current position and the preset destination position; determining whether the candidate navigation segments intersect or overlap with already passed trajectory segments based on the valid positioning points already formed in the travel trajectory; if there is an intersection or overlap, sequentially connecting the current position, the corresponding intersection position, and the preset destination position to generate a navigation guidance trajectory in the destination navigation mode; if there is no intersection or overlap, connecting the current position and the preset destination position to generate a navigation guidance trajectory in the destination navigation mode.

[0038] In this embodiment of the invention, after obtaining its current location, the outdoor tourism terminal also obtains the navigation selection mode currently determined by the user or the system. The navigation selection modes include a return navigation mode and a destination navigation mode. The return navigation mode is mainly suitable for scenarios where the user needs to return along a previously traveled route, while the destination navigation mode is mainly suitable for scenarios where the user has already set a destination and needs to continue traveling towards that destination.

[0039] When the navigation selection mode is set to return navigation mode, the wilderness tourism terminal determines the trajectory position closest to the current location from the travel trajectory formed in step S200. This trajectory position is used to map the current location onto the already formed actual travel trajectory. Subsequently, return anchor points are selected from those preceding this trajectory position, following the reverse order of the travel trajectory. Here, "preceding" is based on the time sequence or trajectory order of the travel trajectory. The terminal sequentially connects the current location, the trajectory position, and the selected return anchor points to generate the navigation guidance trajectory in return navigation mode. This trajectory is not required to include all the positioning points in the travel trajectory, but rather uses the return anchor points as the main connecting nodes to keep the navigation guidance trajectory relatively simple while retaining key locations such as turns, reversals, and forks in the road.

[0040] When the navigation selection mode is destination navigation mode, the wilderness tourism terminal obtains the preset destination location and determines candidate navigation segments between the current location and the preset destination location. Candidate navigation segments can be direct connections between the current location and the preset destination location, or initial navigation segments generated based on existing map data, offline terrain data, or the terminal's built-in path rules. To avoid a complete disconnect between the destination navigation mode and the actual route already traversed by the user, this implementation also determines whether the candidate navigation segment intersects or overlaps with the already traversed trajectory segment based on the valid positioning points already formed in the travel trajectory. If the candidate navigation segment intersects or overlaps with the already traversed trajectory segment, the current location, the corresponding intersection point, and the preset destination location are connected sequentially to generate a navigation guidance trajectory in the destination navigation mode. If there is no intersection or overlap, the current location and the preset destination location are connected to generate a navigation guidance trajectory in the destination navigation mode. This processing allows the destination navigation mode to utilize both the destination location and the already formed actual travel information as auxiliary references.

[0041] After the navigation guidance trajectory is generated, the terminal generates navigation guidance information based on the azimuth relationship between the current location and the navigation guidance trajectory. Specifically, it determines the target azimuth angle from the current location to the nearest location or the next target node on the navigation guidance trajectory, and combines this with the terminal's orientation angle to obtain the navigation steering angle. The navigation guidance information can be output through directional arrows, text prompts, voice prompts, vibration prompts, or indicator lights. The output content may include information such as turn left, turn right, maintain direction, move closer to the navigation guidance trajectory, or proceed to the next node.

[0042] Yaw warnings are based on the deviation of the current position relative to the navigation guidance trajectory. The terminal calculates the trajectory deviation distance from the current position to the navigation guidance trajectory and obtains the directional deviation between the current position's movement direction and the navigation guidance trajectory's guidance direction on adjacent trajectory segments. Adjacent trajectory segments can be the closest trajectory segment to the current position or local trajectory segments within a preset distance ahead of the current position. When the trajectory deviation distance exceeds a deviation distance threshold and the directional deviation exceeds a deviation direction threshold, a yaw warning is generated, including the return bearing of the navigation guidance trajectory and the trajectory deviation distance. The return bearing indicates the direction in which the user moves closer to the navigation guidance trajectory, and the trajectory deviation distance indicates the degree of deviation between the current position and the navigation guidance trajectory.

[0043] In one embodiment, such as Figure 2As shown, the outdoor tourism terminal is in destination navigation mode. After acquiring its current location, the terminal generates a navigation guidance trajectory based on the preset destination location, and uses the trajectory offset distance between the current location and the navigation guidance trajectory as the basis for deviation judgment. If there is a directional deviation between the terminal's movement direction and the guidance direction of the navigation trajectory, and the trajectory offset distance reaches the deviation distance threshold, a deviation prompt is output to guide the user back to the navigation guidance trajectory. This mode is suitable for scenarios where the user has already set a destination and needs to continue moving towards the target location.

[0044] like Figure 3 As shown, in another embodiment, the wilderness tourism terminal is in return navigation mode. Based on the established actual travel trajectory, the terminal identifies valid positioning points and return anchor points, and generates a return navigation guidance trajectory starting from the nearest trajectory position corresponding to the current location, following the reverse order of the actual travel trajectory. If the current location deviates from the return navigation guidance trajectory, the terminal outputs a prompt message based on the trajectory offset distance and direction deviation. Figure 2 and Figure 3 The comparison shows that the navigation guidance trajectory can be generated according to the navigation selection mode. It can point to the preset destination or guide the user in reverse along the historical trajectory.

[0045] In this embodiment, the number of return anchor points, the generation method of candidate navigation segments, the judgment rules for intersection or overlap, the deviation distance threshold, and the deviation direction threshold can all be set according to the terminal storage capacity, map availability, and field scene type. As long as a navigation guidance trajectory is generated according to the navigation selection mode, and navigation guidance information and deviation prompts are output based on the positional relationship between the current location and the navigation guidance trajectory, it falls within the implementation scope of this application.

[0046] Step S400: When the distress triggering condition is met, generate a distress sending strategy based on the current location, the effective positioning point and the satellite communication link status, and send distress information according to the distress sending strategy.

[0047] Specifically, when the distress call triggering condition is met, it is determined whether the current location is a valid location point. If the current location is a valid location point obtained after credibility assessment, then the current location is used as the distress call location point. If the current location is not a valid location point obtained after credibility assessment, then the valid location point in the travel trajectory that is closest to the current location is selected as the distress call location point. Based on the distress call location point, the corresponding distress call location data is determined, and based on the return anchor point, the corresponding return reference data is determined. According to the satellite communication link status, the transmission order of the distress call location data and the return reference data, the amount of data transmitted at one time, and the number of repeated transmissions are determined to generate a distress call transmission strategy.

[0048] The process of determining whether the distress call trigger condition is met includes: acquiring the distress call button status of the outdoor tourism terminal, the trajectory offset distance from the current location to the navigation guidance trajectory, the duration of the current location deviating from the navigation guidance trajectory, and the update status of the current location; when the distress call button status is in the triggered state, it is determined that the distress call trigger condition is met; or, when the deviation distance is greater than the deviation distance threshold and the duration is greater than the deviation duration threshold, it is determined that the distress call trigger condition is met; or, when the current location has not been updated within the positioning interruption determination time and there is no valid positioning point in the travel trajectory corresponding to the current sampling time, it is determined that the distress call trigger condition is met.

[0049] In this embodiment of the invention, the wilderness tourism terminal continuously records the status of the distress button, the deviation distance from the current location to the travel trajectory, the duration of the deviation, and the update status of the current location during operation. The distress trigger condition can consist of multiple trigger items, which are related by an OR condition; any one of these triggers will be considered to satisfy the distress trigger condition. When the distress button is in the triggered state, the distress trigger condition is directly satisfied. The distress trigger condition is also satisfied when the deviation distance from the current location to the travel trajectory is greater than a deviation distance threshold, and the duration of the deviation is greater than a deviation duration threshold. Similarly, the distress trigger condition is also satisfied when the current location has not been updated within the positioning interruption determination time, and there is no valid positioning point in the travel trajectory corresponding to the current sampling time.

[0050] After the distress call triggering conditions are met, a suitable distress call location point needs to be determined. If the current location is a valid location point obtained after the reliability assessment in step S100, then the current location is used as the distress call location point. If the current location is not a valid location point obtained after the reliability assessment, for example, if the current location comes from a short-term drift result, an abnormal update result after a location interruption, or fails the location continuity assessment, then the valid location point closest to the current location in the travel trajectory is selected as the distress call location point. This valid location point has already participated in the travel trajectory construction, has a clear collection time and trajectory position, and can serve as the basis for distress call location data.

[0051] The distress call location data can include the location coordinates, location time, and distance relationship between the distress call point and the current location. Return reference data is determined by return anchor points and can include the nearest return anchor point to the distress call point, the adjacent return anchor points in the travel trajectory, and the trajectory sequence information corresponding to the return anchor points. In this way, after receiving a distress call, the rescue end not only obtains a single location point but also understands the relationship between the distress call location and the original travel route.

[0052] Satellite communication link status is used to determine the transmission method. Satellite communication link status can include link connection status, signal strength, transmission acknowledgment results, transmission delay, and available transmission window. When the link status is good, distress location data can be sent first, followed by complete return reference data. When the link status is limited, the distress location point and the nearest return anchor point are sent first, followed by adjacent return anchor points in multiple transmissions. The amount of data sent in a single transmission is determined based on the current available transmission window, and the number of retransmissions can be adjusted based on whether acknowledgment results are received. If no acknowledgment results are received consecutively, the terminal retransmits distress location data according to the distress transmission strategy; if acknowledgment results are received, the number of retransmissions is reduced, and the remaining return reference data continues to be sent.

[0053] In this embodiment, the specific format of the distress message is not limited; it can be a short message, a satellite communication data packet, or a data message carried by a satellite telephone link. The deviation distance threshold, deviation duration threshold, and positioning interruption determination duration can be set according to the usage scenario. As long as the content and order of sending the distress message are determined based on the current location, return anchor point, and satellite communication link status when the distress triggering conditions are met, it falls within the scope of implementation of this application.

[0054] like Figure 4 As shown, this invention provides a satellite-based navigation and positioning system for outdoor tourism. The system includes: a data acquisition unit, used to acquire satellite positioning results from an outdoor tourism terminal and, in conjunction with the terminal's motion state, determine the reliability of the satellite positioning results to obtain valid positioning points that can participate in navigation calculations; an anchor point extraction unit, used to construct a travel trajectory based on the valid positioning points and extract return anchor points according to the direction changes and position continuity in the travel trajectory; a yaw determination unit, used to generate a navigation guidance trajectory based on the navigation selection mode of the outdoor tourism terminal, through the return anchor points and / or the current position, and output navigation guidance information based on the navigation guidance trajectory, and output a yaw warning when the current position deviates from the navigation guidance trajectory; and a distress call unit, used to generate a distress call sending strategy based on the current position, the valid positioning points, and the satellite communication link status when distress call triggering conditions are met, and send distress call information according to the distress call sending strategy.

[0055] The present invention also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described satellite-based field navigation and positioning method.

[0056] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0057] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details described above. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not describe the various possible combinations separately. Furthermore, various different embodiments of the present invention can also be arbitrarily combined, as long as they do not violate the spirit of the embodiments of the present invention, they should also be considered as the content disclosed by the embodiments of the present invention.

Claims

1. A satellite-based field tour navigation positioning method, characterized in that, The method includes: The satellite positioning results of the outdoor tourism terminal are obtained, and the reliability of the satellite positioning results is judged in combination with the terminal's motion status to obtain effective positioning points that can participate in navigation calculations. A travel trajectory is constructed based on the effective positioning points, and return anchor points are extracted based on the directional changes and positional continuity in the travel trajectory. Based on the navigation selection mode of the outdoor tourism terminal, a navigation guidance trajectory is generated through the return anchor point and / or the current location, and navigation guidance information is output based on the navigation guidance trajectory. When the current location deviates from the navigation guidance trajectory, a deviation prompt is output. When the distress call triggering conditions are met, a distress call sending strategy is generated based on the current location, the effective positioning point, and the satellite communication link status, and distress call information is sent according to the distress call sending strategy.

2. The satellite-based navigation and positioning method for outdoor tourism according to claim 1, characterized in that, The satellite positioning results of the outdoor tourism terminal are obtained, and the reliability of the satellite positioning results is judged in combination with the terminal's motion status to obtain valid positioning points that can participate in navigation calculations, including: The system acquires multiple satellite positioning results of the outdoor tourism terminal within a preset sampling period, and simultaneously acquires the terminal motion status information corresponding to each satellite positioning result. The terminal motion status information includes motion direction, movement speed, and attitude change information. Based on the positional change relationship between adjacent satellite positioning results and the corresponding terminal motion state information, the positional continuity parameters of each satellite positioning result are calculated. Based on the position continuity parameter, it is determined whether the corresponding satellite positioning results meet the preset continuity conditions, and the satellite positioning results that meet the preset continuity conditions are marked as valid positioning points, and the satellite positioning results that do not meet the preset continuity conditions are marked as drift positioning points. The drifting positioning points are removed to obtain the remaining valid positioning points.

3. The satellite-based navigation and positioning method for outdoor tourism according to claim 1, characterized in that, Constructing a travel trajectory based on the effective positioning points includes: The multiple valid positioning points are sorted according to the acquisition time sequence, and the trajectory connection relationship between adjacent valid positioning points is determined based on the position interval and time interval between adjacent valid positioning points. When the position interval and time interval between adjacent valid positioning points meet the preset trajectory continuity condition, the adjacent valid positioning points are directly connected to form a continuous trajectory segment. When the position interval and / or time interval between adjacent valid positioning points do not meet the preset trajectory continuity condition, the missing trajectory between adjacent valid positioning points is calculated based on the terminal motion state in the corresponding time period to form a supplementary trajectory segment. The continuous trajectory segment and the supplementary trajectory segment are spliced ​​together in the order of acquisition time to obtain the travel trajectory.

4. The satellite-based navigation and positioning method for outdoor tourism according to claim 3, characterized in that, Extracting return anchor points based on directional changes and positional continuity in the travel trajectory includes: The change in direction between adjacent trajectory segments is obtained in chronological order along the trajectory, and the number of consecutive valid positioning points before and after the corresponding trajectory position is obtained. When the change in the direction of travel is greater than the turning determination angle, and the number of consecutive valid positioning points before and after the corresponding trajectory position is greater than the threshold for the number of consecutive positioning points, the corresponding trajectory position is determined as a candidate return anchor point. Calculate the trajectory distance between adjacent candidate return anchor points according to the order of the candidate return anchor points in the travel trajectory; When the trajectory distance between adjacent candidate return anchor points is less than the minimum anchor point interval distance, the candidate return anchor point with the larger change in travel direction is retained, and the retained candidate return anchor point is used as the return anchor point for generating navigation guidance information.

5. The satellite-based navigation and positioning method for outdoor tourism according to claim 1, characterized in that, Based on the navigation selection mode of the wilderness tourism terminal, a navigation guidance trajectory is generated through the return anchor point and / or the current location, and navigation guidance information is output based on the navigation guidance trajectory. When the current location deviates from the navigation guidance trajectory, a deviation warning is output, including: The system obtains the current location and navigation selection mode of the outdoor tourism terminal, including a return navigation mode and a destination navigation mode. When the navigation selection mode is the return navigation mode, a navigation guidance trajectory is generated based on the current location and the arrangement order of the return anchor points in the travel trajectory. When the navigation selection mode is the destination navigation mode, a navigation guidance trajectory is generated based on the current location and the preset destination location; Based on the directional relationship between the current location and the navigation guidance trajectory, navigation guidance information is generated; Calculate the trajectory offset distance from the current position to the navigation guidance trajectory, and obtain the directional deviation between the movement direction corresponding to the current position and the guidance direction of the navigation guidance trajectory on the adjacent trajectory segment; When the trajectory offset distance is greater than the deviation distance threshold and the direction deviation is greater than the deviation direction threshold, a yaw warning is generated that includes the return orientation of the navigation guidance trajectory and the trajectory offset distance.

6. The satellite-based navigation and positioning method for outdoor tourism according to claim 5, characterized in that, When the navigation selection mode is the return navigation mode, a navigation guidance trajectory is generated based on the current location and the arrangement order of the return anchor points in the travel trajectory, including: Determine the trajectory position that is closest to the current position within the travel trajectory; From the return anchor points located before the trajectory position, select return anchor points in reverse order of the travel trajectory; The current location, the trajectory location, and the selected return anchor point are connected sequentially to generate a navigation guidance trajectory in the return navigation mode; When the navigation selection mode is destination navigation mode, a navigation guidance trajectory is generated based on the current location and the preset destination location, including: Obtain the preset destination location and determine candidate navigation segments between the current location and the preset destination location; Based on the valid positioning points already formed in the travel trajectory, determine whether the candidate navigation segment intersects or overlaps with the already passed trajectory segment; If there is an intersection or overlap, the current position, the corresponding intersection position, and the preset destination position are connected in sequence to generate a navigation guidance trajectory in the destination navigation mode. If there is no intersection or overlap, the current location is connected to the preset destination location to generate a navigation guidance trajectory in the destination navigation mode.

7. The satellite-based navigation and positioning method for outdoor tourism according to claim 1, characterized in that, When the distress call triggering conditions are met, a distress call sending strategy is generated based on the current location, the valid positioning point, and the satellite communication link status, including: When the distress call trigger condition is met, determine whether the current location is a valid location point; If the current location is a valid location obtained after credibility determination, then the current location is used as the distress location; if the current location is not a valid location obtained after credibility determination, then the valid location closest to the current location in the travel trajectory is selected as the distress location. Based on the distress location point, determine the corresponding distress location data, and based on the return anchor point, determine the corresponding return reference data; Based on the satellite communication link status, determine the order of transmission of the distress location data and the return reference data, the amount of data transmitted in a single transmission, and the number of repeated transmissions, and generate a distress transmission strategy.

8. The satellite-based navigation and positioning method for outdoor tourism according to claim 1, characterized in that, The process of determining whether the conditions for requesting assistance are met includes: The system obtains the status of the distress button on the outdoor tourism terminal, the trajectory offset distance from the current location to the navigation guidance trajectory, the duration of the current location deviating from the navigation guidance trajectory, and the update status of the current location. When the SOS button is in the triggered state, it is determined that the SOS trigger condition is met; or... When the deviation distance is greater than the deviation distance threshold and the duration is greater than the deviation duration threshold, the distress call trigger condition is determined to be met; or, If the current location is not updated within the location interruption determination time and there is no valid location point in the trajectory corresponding to the current sampling time, the distress call trigger condition is determined to be met.

9. A satellite-based navigation and positioning system for outdoor tourism, characterized in that, The system includes: The data acquisition unit is used to acquire the satellite positioning results of the outdoor tourism terminal, and to determine the reliability of the satellite positioning results in combination with the terminal's motion status, so as to obtain the effective positioning points that can participate in navigation calculations. Anchor point extraction unit is used to construct a travel trajectory based on the effective positioning points, and extract return anchor points according to the direction changes and positional continuity in the travel trajectory; The yaw determination unit is used to generate a navigation guidance trajectory based on the navigation selection mode of the wilderness tourism terminal, through the return anchor point and / or the current position, and output navigation guidance information based on the navigation guidance trajectory, and output a yaw prompt when the current position deviates from the navigation guidance trajectory; The distress request unit is used to generate a distress request sending strategy based on the current location, the effective positioning point, and the satellite communication link status when the distress request triggering conditions are met, and to send distress request information according to the distress request sending strategy.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the satellite-based field navigation and positioning method as described in any one of claims 1-8.

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