Navigation method and apparatus, device, and storage medium
Patent Information
- Application Number
- PCT/CN2025/104582
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-02-18
- Filing Date
- 2025-06-27
- Publication Date
- 2026-08-27
Smart Images
Figure CN2025104582_27082026_PF_FP_ABST
Abstract
Description
Navigation methods, devices, equipment and storage media
[0001] This application claims priority to Chinese Patent Application No. 202510175412.7, filed on February 18, 2025, the entire contents of which are incorporated herein by reference. Technical Field
[0002] This application relates to the field of navigation technology, such as a navigation method, apparatus, device, and storage medium. Background Technology
[0003] Navigation is the process of guiding a vehicle from one location to another. Common areas of navigation include land navigation, marine navigation, air navigation, and space navigation. With the development of technology, many new navigation technologies have emerged. These include inertial navigation, celestial navigation, radio navigation, and navigation combining multiple methods.
[0004] Current navigation primarily relies on GPS signals. However, GPS signals are plaintext information and standard structured data, making them easy to simulate and tamper with, and the cost of attack is relatively low. The security risks caused by distortion of navigation signals cannot be ignored. Summary of the Invention
[0005] This application provides a navigation method, apparatus, device, and storage medium to address the problem of insufficient navigation safety.
[0006] Firstly, this application provides a navigation method, including:
[0007] The original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal are filtered respectively to obtain a filtered signal, wherein the filtered signal includes the GPS filtered position, the DR filtered position, and the WIFI positioning filtered position.
[0008] A first position difference between the GPS filtered position and the DR filtered position is determined, and the signals from the GPS filtered position and the DR filtered position are filtered and fused based on the first position difference to obtain the position signal to be determined.
[0009] The target location is determined by using the location in the signal to be determined and the WIFI positioning filter location, and navigation is performed using the target location.
[0010] Secondly, this application provides a navigation device, comprising:
[0011] The filtering module is configured to filter the original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal respectively to obtain a filtered signal, wherein the filtered signal includes the GPS filtered position, the DR filtered position, and the WIFI positioning filtered position.
[0012] The location determination module is configured to determine a first location difference between the GPS filtered location and the DR filtered location, and to filter and fuse the signals of the GPS filtered location and the DR filtered location based on the first location difference to obtain the location signal to be determined.
[0013] The navigation module is configured to determine the target location using the location in the location signal to be determined and the WIFI positioning filter location, and to use the target location for navigation.
[0014] Thirdly, this application provides an electronic device comprising:
[0015] At least one processor;
[0016] and memory that is communicatively connected to at least one processor;
[0017] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the navigation method of the first aspect described above.
[0018] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing a processor to execute the navigation method described in the first aspect. Attached Figure Description
[0019] Figure 1 is a flowchart of a navigation method provided according to Embodiment 1 of this application;
[0020] Figure 2 is a flowchart of a navigation method provided according to Embodiment 2 of this application;
[0021] Figure 3 is a schematic diagram of a navigation device according to Embodiment 3 of this application;
[0022] Figure 4 is a schematic diagram of the structure of an electronic device according to Embodiment 4 of this application. Detailed Implementation
[0023] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. In the description of this application, unless otherwise stated, "a plurality of" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.
[0024] Example 1
[0025] Figure 1 is a flowchart of a navigation method provided in Embodiment 1 of this application. This embodiment is applicable to navigation situations, such as vehicle navigation. The method can be executed by a navigation device, which can be implemented in hardware and / or software. The navigation device can be configured in an electronic device, such as an electronic device in a vehicle. The electronic device can be composed of two or more physical entities, or it can be composed of a single physical entity.
[0026] As shown in Figure 1, the navigation method provided in Embodiment 1 of this application specifically includes the following steps:
[0027] S101. Filter the original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal respectively to obtain a filtered signal, wherein the filtered signal includes the GPS filtered position, the DR filtered position, and the WIFI positioning filtered position.
[0028] In this embodiment, when a vehicle needs navigation, it can first acquire positioning-related signals through different methods, such as acquiring the original GPS signal, dead reckoning (DR) signal, and WIFI positioning signal. These signals are then filtered to obtain filtered signals. The filtered signals include GPS filtered signals (containing filtered GPS positions), DR filtered signals (containing DR filtered positions), and WIFI positioning filtered signals (containing WIFI positioned positions). The WIFI positioning signal can be understood as a positioning signal acquired using WIFI positioning technology. The GPS signal may include frame number, current frame status, relative time, latitude, longitude, altitude, altitude angle, speed, and heading. The original dead reckoning (DR) signal includes IMU signals and CAN signals; the CAN signal may contain displacement, speed, and travel time.
[0029] S102. Determine the first position difference between the GPS filtered position and the DR filtered position, and filter and fuse the signals of the GPS filtered position and the DR filtered position according to the first position difference to obtain the position signal to be determined.
[0030] In this embodiment, the (first) positional difference between the GPS filtered position and the DR filtered position can be determined first through preset calculations. For example, in the ENU coordinate system, if the GPS filtered position coordinates are (e1, n1) and the DR filtered position coordinates are (e2, n2), then the first positional difference P1 can be expressed as:
[0031] Based on the numerical value of the first position difference, the signals from the GPS filtered position and the DR filtered position are filtered and fused to obtain the position signal to be determined. For example, if the first position difference is large, it indicates that the original GPS signal may have been tampered with. The signal from the GPS filtered position can be processed into an interference signal using a preset method, and then the processed GPS filtered position signal and the DR filtered position signal are filtered and fused to obtain the position signal to be determined.
[0032] S103. Determine the target location using the location in the location signal to be determined and the WIFI positioning filter location, and use the target location for navigation.
[0033] In this embodiment, the position in the location signal to be determined can be corrected by referring to the WIFI positioning filter position to obtain the target position. For example, the difference between the WIFI positioning filter position and the position in the location signal to be determined can be compared. If the difference is large, it usually indicates that the WIFI positioning filter position may be inaccurate. The position in the location signal to be determined and the WIFI positioning filter position can be weighted and summed to obtain the target position, that is, the current position of the vehicle. The vehicle's navigation and positioning functions can be realized using this target position.
[0034] The technical solution of this application first filters the original location signal to remove signals with large deviations. Then, based on the position difference between the filtered GPS signal and the DR signal, the location signal to be determined is obtained through filtering and fusion. Finally, by combining the filtered WIFI positioning signal and the location signal to be determined, accurate location information can be obtained. Navigation can then be achieved using this location information. By filtering and fusing the location signal in this solution, and comprehensively referencing WIFI positioning, the probability of successful location signal tampering is greatly reduced, the difficulty of attack is increased, and the accuracy of the obtained location information is guaranteed, thereby improving navigation security and reducing security risks.
[0035] In some embodiments, the step of filtering and fusing the signals of the GPS-filtered position and the DR-filtered position based on the first position difference to obtain the position signal to be determined includes: determining whether the first position difference is greater than a first preset threshold; if so, updating the signal of the GPS-filtered position to reduce the weight of the signal of the GPS-filtered position in the fusion filter; and using the fusion filter to process the updated signal of the GPS-filtered position and the signal of the DR-filtered position to obtain the position signal to be determined.
[0036] Specifically, when the first position difference exceeds a first preset threshold, it indicates a significant discrepancy between the GPS filtered position and the DR filtered position, suggesting that the GPS filtered position may have been tampered with. In this case, the precision of the GPS filtered position signal can be increased to update the signal. This reduces the weight of the GPS filtered position signal in the fusion filter, minimizing interference from erroneous or weak signals on the accurate signal. The updated GPS filtered position signal and the DR filtered position signal are then input into the fusion filter to output the position signal to be determined.
[0037] In some embodiments, determining the target location using the location in the location signal to be determined and the WIFI positioning filter location includes: determining a second location difference between the location in the location signal to be determined and the WIFI positioning filter location; determining whether the second location difference is greater than a second preset threshold; if so, determining the location in the location signal to be determined as the target location.
[0038] Specifically, when the difference between the second position and the second preset threshold is greater than a certain threshold, it indicates that the difference between the position in the location signal to be determined and the WIFI positioning filter position is large, and the WIFI positioning filter position may be inaccurate. In this case, the position in the location signal to be determined can be determined as the target position.
[0039] In some embodiments, determining the original WIFI positioning signal includes: acquiring an original WIFI signal, wherein the original WIFI signal contains a MAC address and a signal strength; matching the MAC address with sample MAC addresses in a preset WIFI hotspot address database to determine sample location information corresponding to a target sample MAC address, wherein the preset WIFI hotspot address database includes a correspondence between sample MAC addresses and sample location information; and generating an original WIFI positioning signal using the sample location information corresponding to the target sample MAC address with the highest signal strength.
[0040] Specifically, when a vehicle is driving on the road, it first obtains the raw Wi-Fi signal from a Wi-Fi hotspot. This raw Wi-Fi signal may contain data such as the Wi-Fi hotspot's MAC address, SSID, and signal strength. Then, this MAC address is matched against sample MAC addresses in a pre-defined Wi-Fi hotspot address database to obtain the sample location information corresponding to the successfully matched target sample MAC address in the database. The sample location corresponding to the target sample MAC address with the highest signal strength is the raw Wi-Fi positioning signal.
[0041] Example 2
[0042] Figure 2 is a flowchart of a navigation method provided in Embodiment 2 of this application. The technical solution of this embodiment is further optimized based on the above-described implementation methods, and a specific method for vehicle navigation is given.
[0043] In some embodiments, processing the updated GPS filtered position signal and the DR filtered position signal using the fusion filter to obtain the position signal to be determined includes: using the fusion filter to determine the covariance of the GPS filtered position at a historical time and a first product of the updated GPS filtered position; using the fusion filter to determine the covariance of the DR filtered position at a historical time and a second product of the DR filtered position; and using the fusion filter to generate the position signal to be determined based on the sum of the first product and the second product. The advantage of this configuration is that, through the above method, the fusion filtering of the GPS filtered position signal and the DR filtered position signal is achieved reasonably and quickly, further ensuring the reliability of the position data.
[0044] In some embodiments, determining the second position difference between the position in the location signal to be determined and the WIFI positioning filter position includes: determining a first target position on the east and north axes of the location signal to be determined in the ENU coordinate system, and determining a second target position on the east and north axes of the WIFI positioning filter position; and determining the second position difference based on the difference between the first target position and the second target position. The advantage of this configuration is that, through the above method, the difference between the position in the location signal to be determined and the WIFI positioning filter position is accurately determined.
[0045] In some embodiments, filtering the original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal to obtain a filtered signal includes performing Kalman filtering on the original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal to obtain a filtered signal.
[0046] As shown in Figure 2, the navigation method provided in Embodiment 2 of this application specifically includes the following steps:
[0047] S201. Perform Kalman filtering on the original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal respectively to obtain the filtered signal.
[0048] S202. Determine the first position difference between the GPS filtered position and the DR filtered position.
[0049] S203. Determine whether the first position difference is greater than the first preset threshold. If yes, proceed to step 204; otherwise, proceed to step 206.
[0050] S204. Update the signal at the GPS filtered location to reduce the weight of the signal at the GPS filtered location in the fusion filter.
[0051] S205. Use the fusion filter to determine the covariance of the GPS filtered position at a historical time and the first product of the updated GPS filtered position; use the fusion filter to determine the covariance of the DR filtered position at a historical time and the second product of the DR filtered position; use the fusion filter to generate a position signal to be determined based on the sum of the first product and the second product, and execute step 207.
[0052] Specifically, the method for determining Xk at the position k to be determined includes: Xk = Pgk-1*Xg + Pdk-1*Xd
[0053] Where Pgk-1 is the covariance of the GPS filtered position at time k-1, Xg is the updated GPS filtered position, Pdk-1 is the covariance of the DR filtered position at time k-1, and Xd is the DR filtered position.
[0054] S206. Determine the GPS filtered position as the updated GPS filtered position, and proceed to step 205.
[0055] S207. In the ENU coordinate system, determine the first target position on the east and north coordinate axes of the position signal to be determined, and determine the second target position on the east and north coordinate axes of the WIFI positioning filter position; determine the second position difference based on the difference between the first target position and the second target position.
[0056] Specifically, in the ENU coordinate system, the methods for determining the second positional difference P2 include:
[0057] Among them, the first target position on the east and north coordinate axes in the location signal to be determined is (e3, n3), and the second target position on the east and north coordinate axes in the WIFI positioning filtering position is (e4, n4).
[0058] S208. Determine whether the difference between the second positions is greater than the second preset threshold. If yes, proceed to step 209; otherwise, proceed to step 210.
[0059] S209. Determine the position in the position signal to be determined as the target position, and use the target position for navigation.
[0060] S210. Determine the WIFI positioning filtering position as the target position, and use the target position for navigation.
[0061] Specifically, coordinate transformations can be performed on the target location, such as converting ENU coordinates to ECEF coordinates, and then converting them to WGS-84 coordinates.
[0062] The navigation method provided in this application embodiment reasonably and quickly achieves the fusion filtering of signals from GPS filtered positions and DR filtered positions, accurately determines the difference between the position in the position signal to be determined and the WIFI positioning filtered position, filters out tampered and distorted position data, and further ensures the reliability and accuracy of position data.
[0063] Example 3
[0064] Figure 3 is a schematic diagram of a navigation device provided in Embodiment 3 of this application. As shown in Figure 3, the device includes: a filtering module 301, a position determination module 302, and a navigation module 303, wherein:
[0065] The filtering module is configured to filter the original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal respectively to obtain a filtered signal, wherein the filtered signal includes the GPS filtered position, the DR filtered position, and the WIFI positioning filtered position.
[0066] The location determination module is configured to determine a first location difference between the GPS filtered location and the DR filtered location, and to filter and fuse the signals of the GPS filtered location and the DR filtered location based on the first location difference to obtain the location signal to be determined.
[0067] The navigation module is configured to determine the target location using the location in the location signal to be determined and the WIFI positioning filter location, and to use the target location for navigation.
[0068] The navigation device provided in this application first filters the original position signal to remove signals with large deviations. Then, based on the position difference between the filtered GPS signal and the DR signal, it obtains the position signal to be determined through filtering and fusion. Finally, by combining the filtered WIFI positioning signal and the position signal to be determined, accurate position information can be obtained. Navigation can then be achieved using this position information. By filtering and fusing the position signal and comprehensively referencing the WIFI positioning location, this device significantly reduces the probability of successful tampering with the position signal, increases the difficulty of attacks, ensures the accuracy of the obtained position information, thereby improving navigation security and reducing security risks.
[0069] In some embodiments, the location determination module includes:
[0070] The first judgment unit is configured to determine whether the difference between the first positions is greater than a first preset threshold.
[0071] The update unit is configured to update the signal of the GPS filter location if the information returned by the first judgment unit is yes, so as to reduce the weight of the signal of the GPS filter location in the fusion filter.
[0072] The fusion filtering unit is configured to process the updated GPS filtered position signal and the DR filtered position signal using the fusion filter to obtain the position signal to be determined.
[0073] Furthermore, the step of processing the updated GPS filtered position signal and the DR filtered position signal using the fusion filter to obtain the position signal to be determined includes: using the fusion filter to determine the covariance of the GPS filtered position at a historical time and the first product of the updated GPS filtered position; using the fusion filter to determine the covariance of the DR filtered position at a historical time and the second product of the DR filtered position; and using the fusion filter to generate the position signal to be determined based on the sum of the first product and the second product.
[0074] In some embodiments, the navigation module includes:
[0075] The difference determination unit is configured to determine a second position difference between the position in the position signal to be determined and the WIFI positioning filter position.
[0076] The second judgment unit is configured to determine whether the difference between the second positions is greater than a second preset threshold.
[0077] The target location determination unit is configured to determine the location in the location signal to be determined as the target location if the information returned by the second judgment unit is yes.
[0078] Furthermore, determining the second position difference between the position in the location signal to be determined and the WIFI positioning filter position includes: determining the first target position on the east and north coordinate axes in the location signal to be determined in the ENU coordinate system, and determining the second target position on the east and north coordinate axes in the WIFI positioning filter position; and determining the second position difference based on the difference between the first target position and the second target position.
[0079] In some embodiments, determining the original WIFI positioning signal includes: acquiring an original WIFI signal, wherein the original WIFI signal contains a MAC address and a signal strength; matching the MAC address with sample MAC addresses in a preset WIFI hotspot address database to determine sample location information corresponding to a target sample MAC address, wherein the preset WIFI hotspot address database includes a correspondence between sample MAC addresses and sample location information; and generating an original WIFI positioning signal using the sample location information corresponding to the target sample MAC address with the highest signal strength.
[0080] In some embodiments, the filtering module is configured to perform Kalman filtering on the original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal respectively to obtain the filtered signal.
[0081] The navigation device provided in this application embodiment can execute the navigation method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the execution method.
[0082] Example 4
[0083] Figure 4 illustrates a schematic diagram of an electronic device 40 that can be used to implement embodiments of this application. The electronic device is intended to represent various forms of digital computers, such as in-vehicle computers, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.
[0084] As shown in Figure 4, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded into the RAM 43 from storage unit 48. The RAM 43 can also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.
[0085] Multiple components in electronic device 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.
[0086] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Processor 41 may include a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 41 performs the various methods and processes described above, such as navigation methods.
[0087] In some embodiments, the navigation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the navigation method described above may be performed. In other embodiments, processor 41 may be configured to execute the navigation method by any other suitable means (e.g., by means of firmware).
[0088] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.
[0089] Computer programs used to implement the methods of this application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.
[0090] The computer equipment provided above can be used to execute the navigation method provided in any of the above embodiments, and has corresponding functions and beneficial effects.
[0091] Example 5
[0092] In the context of this application, a computer-readable storage medium may be a tangible medium, and the computer-executable instructions, when executed by a computer processor, are used to perform a navigation method, the method comprising:
[0093] The original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal are filtered respectively to obtain a filtered signal, wherein the filtered signal includes the GPS filtered position, the DR filtered position, and the WIFI positioning filtered position.
[0094] A first position difference between the GPS filtered position and the DR filtered position is determined, and the signals from the GPS filtered position and the DR filtered position are filtered and fused based on the first position difference to obtain the position signal to be determined.
[0095] The target location is determined by using the location in the signal to be determined and the WIFI positioning filter location, and navigation is performed using the target location.
[0096] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by, or in conjunction with, an instruction execution system, apparatus, or device. A computer-readable storage medium may include electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. In some embodiments, a computer-readable storage medium may be a machine-readable signal medium. A machine-readable storage medium may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
[0097] The computer equipment provided above can be used to execute the navigation method provided in any of the above embodiments, and has corresponding functions and beneficial effects.
[0098] In the above-described embodiments of the navigation device, the various units and modules are divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of this application.
Claims
1. A navigation method, comprising: The original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal are filtered respectively to obtain a filtered signal, wherein the filtered signal includes the GPS filtered position, the DR filtered position, and the WIFI positioning filtered position. A first position difference between the GPS filtered position and the DR filtered position is determined, and the signals from the GPS filtered position and the DR filtered position are filtered and fused based on the first position difference to obtain the position signal to be determined. The target location is determined by using the location in the signal to be determined and the WIFI positioning filter location, and navigation is performed using the target location.
2. The method according to claim 1, wherein, The step of filtering and fusing the signals from the GPS filtered position and the DR filtered position based on the first position difference to obtain the position signal to be determined includes: Determine whether the difference between the first positions is greater than a first preset threshold; If so, update the signal at the GPS filtered location to reduce the weight of the signal at the GPS filtered location in the fusion filter; The updated GPS filtered position signal and the DR filtered position signal are processed using the fusion filter to obtain the position signal to be determined.
3. The method according to claim 2, wherein, The process of using the fusion filter to process the updated GPS filtered position signal and the DR filtered position signal to obtain the position signal to be determined includes: The covariance of the GPS filtered position at a historical moment and the first product of the updated GPS filtered position are determined using the fusion filter. The covariance of the DR filtering position at a historical moment and the second product of the DR filtering position are determined using the fusion filter. The fusion filter is used to generate the position signal to be determined based on the sum of the first product and the second product.
4. The method according to any one of claims 1-3, wherein, The step of determining the target location using the location in the location signal to be determined and the WIFI positioning filter location includes: Determine the second position difference between the position in the location signal to be determined and the WIFI positioning filter position; Determine whether the difference between the second positions is greater than a second preset threshold; If so, the position in the position signal to be determined is determined as the target position.
5. The method according to claim 4, wherein, The step of determining the second position difference between the position in the location signal to be determined and the WIFI positioning filter position includes: In the ENU coordinate system, determine the first target position on the east and north coordinate axes of the location signal to be determined, and determine the second target position on the east and north coordinate axes of the WIFI positioning filtering position; The second position gap is determined based on the difference between the first target position and the second target position.
6. The method according to claim 1, wherein, The methods for determining the original WIFI location signal include: Obtain the raw WIFI signal, wherein the raw WIFI signal contains the MAC address and signal strength; The MAC address is matched with the sample MAC addresses in the preset WIFI hotspot address database to determine the sample location information corresponding to the target sample MAC address. The preset WIFI hotspot address database includes the correspondence between sample MAC addresses and sample location information. The original WIFI positioning signal is generated using the sample location information corresponding to the MAC address of the target sample with the highest signal strength.
7. The method according to claim 1, wherein, The process of filtering the original GPS signal, the original dead reckoning (DR) signal, and the original Wi-Fi positioning signal to obtain the filtered signal includes: Kalman filtering was performed on the original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal to obtain the filtered signal.
8. A navigation device, comprising: The filtering module is configured to filter the original GPS signal, the original dead reckoning (DR) signal, and the original WIFI positioning signal respectively to obtain a filtered signal, wherein the filtered signal includes the GPS filtered position, the DR filtered position, and the WIFI positioning filtered position. The location determination module is configured to determine a first location difference between the GPS filtered location and the DR filtered location, and to filter and fuse the signals of the GPS filtered location and the DR filtered location based on the first location difference to obtain the location signal to be determined. The navigation module is configured to determine the target location using the location in the location signal to be determined and the WIFI positioning filter location, and to use the target location for navigation.
9. An electronic device, the electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the navigation method according to any one of claims 1-7.
10. A computer-readable storage medium storing computer instructions that, when executed by a processor, implement the navigation method of any one of claims 1-7.