CN103900600A - Method and system for navigating indoor paths of maps across floors - Google Patents
Method and system for navigating indoor paths of maps across floors Download PDFInfo
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- CN103900600A CN103900600A CN201310211589.5A CN201310211589A CN103900600A CN 103900600 A CN103900600 A CN 103900600A CN 201310211589 A CN201310211589 A CN 201310211589A CN 103900600 A CN103900600 A CN 103900600A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention relates to a method and a system for navigating indoor paths of maps across floors. The method comprises the following steps: receiving a request for navigating a path which comprises a map starting point and a map target point; inquiring a connection matrix of a plurality of maps of floors according to a floor of the map starting point and a floor of the map target point, and determining a connection relation between maps of the floors of the map starting point and the map target point; generating a shortest path between path points of maps of connected floors between the map starting point and the map target point, and taking the shortest path as a subpath of maps of the connected floors according to a connected map connecting table if the map starting point and the map target point are not on the same-floor map; combining all the subpaths after generating all the subpaths to form a navigation path between the map starting point and the map target point. Through the method and the system, the problem of calculating the path under indoor multi-map environment is solved, thus the requirement of a current indoor map service system on calculating paths across the maps can be met.
Description
Technical field
The present invention relates to map path planning field, relate in particular to a kind of indoor across floor maps path navigation method and system.
Background technology
Concerning the path planning of the outer map of conventional chamber, if the map quantity from relating to is all to carry out shortest path calculating on a map.Be exactly its ultimate principle is by calling complicated path topology database, total search out by optimum path search method the path that cost is minimum between the plane starting point of same map and impact point.
Along with the appearance of indoor Map service system, start to occur carrying out the demand of path navigation between many floor maps.Indoor map normally has multiple floor maps, and there is annexation between different floor maps, this need to carry out the path computing across map between the starting point of different floor maps and impact point, and obviously the path planning of the outer map of conventional chamber cannot adapt to this indoor Map service system, need badly and a kind ofly support the indoor scheme across floor maps path navigation to meet current demand.
Summary of the invention
The object of the invention is to propose one indoor across floor maps path navigation method and system, can solve the problem of path computing under indoor many map environment.
For achieving the above object, the invention provides one indoor across floor maps path navigation method, comprising:
Reception comprises the path navigation request of map starting point and map objects point;
According to the place floor inquiry multilayer map connection matrix of described map starting point place floor and described map objects point, determine the connected relation of the floor maps at described map starting point and described map objects point place;
If described map starting point and described map objects point be not at same floor, according to the map connection table that is connected, generate shortest path between the path point of the each connected floor maps between described map starting point and the described map objects point subpath as described each connected floor maps;
Generating after all subpaths, all subpaths are merged, form described map starting point to the guidance path between described map objects point.
Further, if described map starting point and described map objects point, at same floor map, calculate the guidance path of described map starting point to described map objects point according to the path planning algorithm of single map.
Further, if described map starting point is directly connected with the floor maps at described map objects point place, the described basis map connection table that is connected, the shortest path generating between the path point of the each connected floor maps between described map starting point and described map objects point is specially as the operation of the subpath of described each connected floor maps:
According to described map starting point and the described map connection table that is connected of described map objects point place floor inquiry, determine that described map starting point place floor can arrive the stairs port of described map objects point place floor;
According to the path planning algorithm of single map calculate described map starting point to the shortest path of the stairs port of nearest described map starting point place floor as the first subpath;
In using the stairs port of described nearest described map starting point place floor to described connected map connection table, the path of the stairs port of corresponding described map objects point place floor is as the second subpath;
The stairs port that calculates described map objects point place floor according to the path planning algorithm of single map to the shortest path of described map objects point as the 3rd subpath.
Further, described all subpaths are merged, form described map starting point and be specially to the operation of the guidance path between described map objects point:
Using the corridor mouth of described map starting point, described map objects point and corresponding floor as map path point, described the first subpath, the second sub cost sum the 3rd subpath are merged in order, form from described map starting point to the guidance path described map objects point.
Further, if described map starting point is not directly connected with the floor maps at described map objects point place, and the floor maps of determining described map starting point place can communicate with the floor maps at described map objects point place by intermediate floor map, the described basis map connection table that is connected, the shortest path generating between the path point of the each connected floor maps between described map starting point and described map objects point is specially as the operation of the subpath of described each connected floor maps:
Calculate respectively described map starting point place floor, described map objects point place floor by iterative process, and in floor corresponding to intermediate floor map the shortest path between each path point as subpath;
In iterative process each time, inquire about described multilayer map connection matrix, determine the connected relation of the floor maps at intermediate floor map and described map objects point place;
Inquire about described connected map connection table and determine the stairs port that is connected and is communicated with between floor maps, and calculate described map starting point according to the path planning algorithm of single map and arrive shortest path between described map objects point as subpath to the stairs port of the shortest path between stairs port in floor corresponding to shortest path, described intermediate floor map between the stairs port of nearest described map starting point place floor and described map objects point place floor.
Further, described multilayer map connection matrix comprises in multiple floor maps the connected relation value between each floor maps in each floor maps and described multiple floor maps, and described connected map connection table comprises in multiple floor maps and the corridor mouth that is connected and is communicated with between floor maps.
For achieving the above object, the invention provides one indoor across floor maps path guiding system, comprising:
Navigation requests receiver module, for receiving the path navigation request that comprises map starting point and map objects point;
Connected relation determination module, for according to the place floor inquiry multilayer map connection matrix of described map starting point place floor and described map objects point, determines the connected relation of the floor maps at described map starting point and described map objects point place;
Subpath generation module, for at definite described map starting point and described map objects point during not at same floor, according to connected map connection table, generate shortest path between the path point of the each connected floor maps between described map starting point and the described map objects point subpath as described each connected floor maps;
Subpath merges module, for generating after all subpaths, all subpaths is merged, and forms described map starting point to the guidance path between described map objects point.
Further, also comprise:
With map path computing module, for during at same floor map, calculating described map starting point guidance path to described map objects point according to the path planning algorithm of single map at definite described map starting point and described map objects point.
Further, described subpath generation module specifically comprises:
Stairs port determining unit, for in the time that definite described map starting point is directly connected with the floor maps at described map objects point place, according to described map starting point and the described map connection table that is connected of described map objects point place floor inquiry, determine that described map starting point place floor can arrive the stairs port of described map objects point place floor;
The first subpath determining unit, for calculate according to the path planning algorithm of single map described map starting point to the shortest path of the stairs port of nearest described map starting point place floor as the first subpath;
The second subpath determining unit, for the path using the stairs port of described nearest described map starting point place floor to the stairs port of described map objects point place floor corresponding to described connected map connection table as the second subpath;
The 3rd subpath determining unit, for the stairs port that calculates described map objects point place floor according to the path planning algorithm of single map to the shortest path of described map objects point as the 3rd subpath.
Further, described subpath merging module specifically comprises:
Path point determining unit, for using the corridor mouth of described map starting point, described map objects point and corresponding floor as map path point;
Guidance path forming unit, for described the first subpath, the second sub cost sum the 3rd subpath are merged in order, forms from described map starting point to the guidance path described map objects point.
Further, described subpath generation module specifically comprises:
Iteration unit, for calculate respectively described map starting point place floor, described map objects point place floor by iterative process, and in floor corresponding to intermediate floor map the shortest path between each path point as subpath;
Described iteration unit, in iterative process each time, is inquired about described multilayer map connection matrix, determines the connected relation of the floor maps at intermediate floor map and described map objects point place;
Inquire about described connected map connection table and determine the stairs port that is connected and is communicated with between floor maps, and calculate described map starting point according to the path planning algorithm of single map and arrive shortest path between described map objects point as subpath to the stairs port of the shortest path between stairs port in floor corresponding to shortest path, described intermediate floor map between the stairs port of nearest described map starting point place floor and described map objects point place floor.
Further, described multilayer map connection matrix comprises in multiple floor maps the connected relation value between each floor maps in each floor maps and described multiple floor maps, and described connected map connection table comprises in multiple floor maps and the corridor mouth that is connected and is communicated with between floor maps.
Based on technique scheme, the present invention utilizes the indoor subpath that generates the each floor maps that is connected between map starting point and map objects point across multilayer map connection matrix corresponding to floor maps and connected map connection table, and form from map starting point to the guidance path map objects point by merging each subpath, thereby solve the problem of path computing under indoor many map environment, met current indoor Map service system to the demand of calculating across map path.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms the application's a part, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic flow sheet of the indoor embodiment across floor maps path navigation method of the present invention.
Fig. 2 is the schematic flow sheet of indoor another embodiment across floor maps path navigation method of the present invention.
Fig. 3 is the schematic flow sheet of the indoor another embodiment across floor maps path navigation method of the present invention.
Fig. 4 is the indoor map structure schematic diagram that Fig. 3 embodiment is applicable to.
Fig. 5 is the schematic flow sheet of the indoor embodiment across floor maps path guiding system of the present invention.
Fig. 6 is the schematic flow sheet of indoor another embodiment across floor maps path guiding system of the present invention.
Fig. 7 is the schematic flow sheet of the indoor another embodiment across floor maps path guiding system of the present invention.
Embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
As shown in Figure 1, be the schematic flow sheet of the indoor embodiment across floor maps path navigation method of the present invention.In the present embodiment, indoorly comprise across floor maps path navigation method:
Step 102, according to the place floor inquiry multilayer map connection matrix of described map starting point place floor and described map objects point, determine the connected relation of the floor maps at described map starting point and described map objects point place;
If the described map starting point of step 103 and described map objects point be not at same floor map, according to the map connection table that is connected, generate shortest path between the path point of the each connected floor maps between described map starting point and the described map objects point subpath as described each connected floor maps;
In the present embodiment, path navigation request in step 101 can be sent to the indoor Map service system of network side by the client in mobile phone or PC by user, in path navigation request, mainly comprise the information of map starting point and map objects point, and for map starting point or map objects point, its information comprising comprises floor and floor maps and the coordinate points in this floor maps at this place, and starting point and map objects point just can be determined start position and the final position of guidance path according to the map.
In step 102, multilayer map connection matrix comprises in multiple floor maps the connected relation value between each floor maps in each floor maps and the plurality of floor maps, is an example of this matrix below:
| ? | F1 | F2 | F3 | F4 |
| F1 | -1 | 0 | 2 | 2 |
| F2 | 0 | -1 | 0 | 3 |
| |
2 | 0 | -1 | 0 |
| |
3 | 3 | 0 | -1 |
Wherein, in multilayer map connection matrix, the Fx of left side one tandem represents initial floor maps, and the Fy of upside one horizontally-arranged represents terminal floor map, why do this differentiation, be because two directly connected floor maps is not necessarily not identical at the coconnected intermediate floor map of different initial directions.
In multilayer map connection matrix, connected relation value is just in order to carry out the connected relation judgement of two floor maps, do not need to carry out actual matrix computing, therefore the implication of connected relation value representative only needs agreement in advance, its form adopting can be numeral, symbol or Chinese character etc., in order to programme conveniently, preferably adopt numeral as connected relation value, and the concrete numerical value of connected relation value is not defined as following lifted example yet, anything numeral corresponding with clear and definite connected relation that first arrange can.In order to illustrate, provide an example below.
In this example, connected relation value comprises three kinds ,-1,0 and N(N be positive integer).
In the time that connected relation value is-1, expression is same map;
In the time that connected relation value is 0, represent that corresponding map is to be directly connected;
In the time that connected relation value is N, represents that corresponding map is not to be directly connected, but can communicate by other map.
Suppose that initial floor maps is F1, terminal floor map is F1, and can find connected relation value is-1, therefore can determine that initial floor maps and terminal floor map are same map; Suppose that initial floor maps is F2, terminal floor map is F3, and can find connected relation value is 0, therefore can determine that initial floor maps is directly connected with terminal floor map; Suppose that initial floor maps is F1, terminal floor map is F4, and can find connected relation value is 2, therefore can determine that initial floor maps wants to be communicated with terminal floor map, need to first pass through F2; Conversely, if initial floor maps is F4, terminal floor map is F1, and can find connected relation value is 3, therefore can determine that initial floor maps wants to be communicated with terminal floor map, need to first pass through F3.
Determine in step 101 after the map starting point and map objects point of this path navigation request, just can inquire according to above-mentioned multilayer map connection matrix the connected relation of the floor maps at map starting point and described map objects point place.
Step 103 has provided map starting point and the not processing mode in the situation that of same floor map of map objects point, is mainly the subpath as each connected floor maps according to the shortest path between the path point of the each connected floor maps between map connection table generation map starting point and map objects point that is connected.The connected map connection table here comprises in multiple floor maps the information with the corridor mouth that is communicated with between floor maps of being connected, in the following example shown in form:
| Starting point | Initial floor maps | Terminal | Terminal floor map |
| LT1-1 | F1 | LT2-1 | F2 |
| LT1-2 | F1 | LT2-2 | F2 |
| LT2-1 | F2 | LT1-1，LT3-1 | F1，F3 |
| LT2-2 | F2 | LT1-2，LT3-2 | F1，F3 |
| LT3-1 | F3 | LT2-1，LT4-1 | F2，F4 |
| LT3-2 | F3 | LT2-2，LT4-2 | F2，F4 |
| … | … | … | … |
Wherein, LT1-1 represents No. 1 stairs port of floor maps F1, the LT2-1 being attached thereto represents No. 1 stairs port of floor maps F2, and two stairs ports in walks crosswise represent to complete by the stair between stairs port both connections, and the path between this stairs port is also as one of subpath.
For the stairs port LT2-1 of floor maps F2, owing to being connected with F3 with floor maps F1 respectively, therefore it can be connected with the stairs port LT1-1 of floor maps F1 and the stairs port LT3-1 of floor maps F3 respectively.
Just the subpath of the connected floor maps between map starting point and map objects point can be determined by inquiry multilayer map connection matrix and connected map connection table, generally include the subpath of two aspects, be on the one hand shortest path in same floor map as subpath, be to be connected the path communicating between stairs port of floor maps as subpath on the other hand.
When generating after all subpaths, just can in step 104, all subpaths be merged, form from map starting point to the guidance path map objects point.Be a coordinate points string that comprises continuous multiple path points at this guidance path, comprise map starting point and map objects point, also comprise the path point that each stairs port is corresponding.
Can find out from the explanation of above-described embodiment, the present embodiment can solve the problem of path computing under indoor many map environment well, meets current indoor Map service system to the demand of calculating across map path.
Suppose in the time of inquiry multilayer map connection matrix, find that map starting point and map objects point are actual in same floor map, now map path navigation problem is just converted into the path planning problem of general single map, therefore can calculate the guidance path of described map starting point to described map objects point according to the path planning algorithm of single map, and the path planning algorithm of single map has the algorithm of a lot of maturations, such as dijkstra's algorithms etc., have just repeated no more here.
As shown in Figure 2, be the schematic flow sheet of indoor another embodiment across floor maps path navigation method of the present invention.Compared with a upper embodiment, the step 103 in the present embodiment specifically comprises:
If step 103a map starting point is directly connected with the floor maps at map objects point place,, according to described map starting point and the described map connection table that is connected of described map objects point place floor inquiry, determine that described map starting point place floor can arrive the stairs port of described map objects point place floor;
Step 103b, according to the path planning algorithm of single map calculate described map starting point to the shortest path of the stairs port of nearest described map starting point place floor as the first subpath;
Step 103c, in using the stairs port of described nearest described map starting point place floor to described connected map connection table the path of the stairs port of corresponding described map objects point place floor as the second subpath;
Step 103d, calculate described map objects point place floor according to the path planning algorithm of single map stairs port to the shortest path of described map objects point as the 3rd subpath.
Forming map starting point after three subpaths between map objects point, just can be using the corridor mouth of described map starting point, described map objects point and corresponding floor as map path point, described the first subpath, the second sub cost sum the 3rd subpath are merged in order, form from described map starting point to the guidance path described map objects point.
If described map starting point is not directly connected with the floor maps at described map objects point place, and the floor maps of determining described map starting point place can communicate with the floor maps at described map objects point place by intermediate floor map, can calculate respectively described map starting point place floor, described map objects point place floor by iterative process, and in floor corresponding to intermediate floor map the shortest path between each path point as subpath.
In iterative process each time, inquire about described multilayer map connection matrix, determine the connected relation of the floor maps at intermediate floor map and described map objects point place; Inquire about described connected map connection table and determine the stairs port that is connected and is communicated with between floor maps, and calculate described map starting point according to the path planning algorithm of single map and arrive shortest path between described map objects point as subpath to the stairs port of the shortest path between stairs port in floor corresponding to shortest path, described intermediate floor map between the stairs port of nearest described map starting point place floor and described map objects point place floor.
Be illustrated across floor maps path navigation embodiment of the method below by of Fig. 3 is indoor, wherein Fig. 4 is the indoor map structure schematic diagram that Fig. 3 embodiment is applicable to.As can see from Figure 4, comprised four layers at this buildings, had four floor maps, and two adjacent floor gaps have one or two can be identical stair.In the present embodiment, indoorly specifically comprise across floor maps path navigation flow process:
The floor inquiry multilayer map connection matrix at step 202, according to the map starting point A and map objects point B place, the value of matrix [1] [4] is 2, show that floor maps F1 is not directly connected with floor maps F4, and want from floor maps F1 arrival floor map F4, need to first arrive intermediate floor map F2.
Step 204, according to the path planning algorithm of single map calculate map starting point A to the shortest path between nearest stairs port as subpath, wherein going out the nearest stairs port of liftoff figure starting point A by calculative determination is LT1-1, determine thus the subpath a from map starting point A to stairs port LT1-1, and subpath b from stairs port LT1-1 to stairs port LT2-1.
Step 207, according to the path planning algorithm of single map calculate stairs port LT2-1 to the shortest path between stairs port L2-2 as subpath, determine the subpath c from stairs port LT2-1 to stairs port LT2-2, and subpath d from stairs port LT2-2 to stairs port LT3-2.
Step 208, according to the floor inquiry multilayer map connection matrix at intermediate floor map F3 and map objects point B place, the value of matrix [3] [4] is 0, shows that intermediate floor map F3 is directly connected with the floor maps F4 at map objects point B place.
Step 210, according to the path planning algorithm of single map calculate stairs port LT3-2 to the shortest path between stairs port L3-1 as subpath, determine the subpath e from stairs port LT3-2 to stairs port LT3-1, and subpath f from stairs port LT3-1 to stairs port LT4-1.
Step 211, according to the path planning algorithm of single map calculate stairs port LT4-1 to the shortest path between map objects point B as subpath g.
Step 212, using map starting point A, corridor mouth LT1-1, LT2-1, LT2-2, LT3-2, LT3-1, LT4-1 and map objects point B as map path point, subpath is merged into from a to g to coordinate points string according to these map path dot sequencies, forms the guidance path from map starting point A to map objects point B.
This is returned to the client or the fixed terminal that send path navigation request from map starting point A to the information of the guidance path of map objects point B by step 213, indoor Map service system.
Can see to step 211 from the step 202 of the present embodiment, if according to the calculated direction from map starting point A to map objects point B, after the subpath of each corridor mouth of determining current floor and last floor, substantially all can repeat to inquire about multilayer map connection matrix and the map connection table that is connected, to determine next floor maps and the corridor mouth that can be communicated with, then use the path planning algorithm of single map to calculate the shortest path in current floor maps, the iterative process of these repetitions can realize by program, so just make the complicated indoor path navigation problem reduction across floor maps become to table look-up and the process of the path computing of single map, solve the problem of path computing under indoor many map environment, meet current indoor Map service system to the demand of calculating across map path.
One of ordinary skill in the art will appreciate that: all or part of step that realizes said method embodiment can complete by the relevant hardware of programmed instruction, aforesaid program can be stored in a computer read/write memory medium, this program, in the time carrying out, is carried out the step that comprises said method embodiment; And aforesaid storage medium comprises: various media that can be program code stored such as ROM, RAM, magnetic disc or CDs.
As shown in Figure 5, be the schematic flow sheet of the indoor embodiment across floor maps path guiding system of the present invention.In the present embodiment, indoor subsystem or the autonomous system that can be used as indoor Map service system across floor maps path guiding system.Indoorly specifically comprise across floor maps path guiding system: navigation requests receiver module 1, connected relation determination module 2, subpath generation module 3 and subpath merge module 4.
Navigation requests receiver module 1 is for receiving the path navigation request that comprises map starting point and map objects point.Connected relation determination module 2, for according to the place floor inquiry multilayer map connection matrix of described map starting point place floor and described map objects point, is determined the connected relation of the floor maps at described map starting point and described map objects point place.
In the present embodiment, multilayer map connection matrix can comprise in multiple floor maps the connected relation value between each floor maps in each floor maps and described multiple floor maps, and described connected map connection table can comprise in multiple floor maps and the corridor mouth that is connected and is communicated with between floor maps.
As shown in Figure 6, be the schematic flow sheet of indoor another embodiment across floor maps path guiding system of the present invention.Compared with a upper embodiment, the present embodiment also comprises same map path computing module 5, this module is at definite described map starting point and described map objects point during at same floor map, calculates described map starting point and arrive the guidance path of described map objects point according to the path planning algorithm of single map.
As shown in Figure 7, be the schematic flow sheet of the indoor another embodiment across floor maps path guiding system of the present invention.Compared with the system embodiment of Fig. 5, the subpath generation module 3 in the present embodiment specifically comprises: stairs port determining unit 31, the first subpath determining unit 32, the second subpath determining unit 33 and the 3rd subpath determining unit 34.
Stairs port determining unit 31 is in the time that definite described map starting point is directly connected with the floor maps at described map objects point place, according to described map starting point and the described map connection table that is connected of described map objects point place floor inquiry, determine that described map starting point place floor can arrive the stairs port of described map objects point place floor.
The first subpath determining unit 32 for calculate according to the path planning algorithm of single map described map starting point to the shortest path of the stairs port of nearest described map starting point place floor as the first subpath.The second subpath determining unit 33 for the path using the stairs port of described nearest described map starting point place floor to the stairs port of described map objects point place floor corresponding to described connected map connection table as the second subpath.The 3rd subpath determining unit 34 for the stairs port that calculates described map objects point place floor according to the path planning algorithm of single map to the shortest path of described map objects point as the 3rd subpath.
Accordingly, subpath merging module 4 can specifically comprise: path point determining unit 41 and guidance path forming unit 42.Wherein, path point determining unit 41 is for using the corridor mouth of described map starting point, described map objects point and corresponding floor as map path point.Guidance path forming unit 42, for described the first subpath, the second sub cost sum the 3rd subpath are merged in order, forms from described map starting point to the guidance path described map objects point.
In another embodiment, subpath generation module can also specifically comprise iteration unit, for calculating respectively described map starting point place floor, described map objects point place floor by iterative process, and in floor corresponding to intermediate floor map the shortest path between each path point as subpath.And this iteration unit is in iterative process each time, inquire about described multilayer map connection matrix, determine the connected relation of the floor maps at intermediate floor map and described map objects point place, inquire about described connected map connection table and determine the stairs port that is connected and is communicated with between floor maps, and calculate described map starting point to the shortest path between the stairs port of nearest described map starting point place floor according to the path planning algorithm of single map, shortest path in floor corresponding to described intermediate floor map between stairs port and the stairs port of described map objects point place floor arrive shortest path between described map objects point as subpath.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; Although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the field are to be understood that: still can modify or part technical characterictic is equal to replacement the specific embodiment of the present invention; And not departing from the spirit of technical solution of the present invention, it all should be encompassed in the middle of the technical scheme scope of request protection of the present invention.
Claims (12)
1. indoor across a floor maps path navigation method, comprising:
Reception comprises the path navigation request of map starting point and map objects point;
According to the place floor inquiry multilayer map connection matrix of described map starting point place floor and described map objects point, determine the connected relation of the floor maps at described map starting point and described map objects point place;
If described map starting point and described map objects point be not at same floor map, according to the map connection table that is connected, generate shortest path between the path point of the each connected floor maps between described map starting point and the described map objects point subpath as described each connected floor maps;
Generating after all subpaths, all subpaths are merged, form described map starting point to the guidance path between described map objects point.
2. according to claim 1 indoor across floor maps path navigation method, if wherein described map starting point and described map objects point are at same floor map, calculate the guidance path of described map starting point to described map objects point according to the path planning algorithm of single map.
3. according to claim 1 indoor across floor maps path navigation method, wherein, if described map starting point is directly connected with the floor maps at described map objects point place, the described basis map connection table that is connected, the shortest path generating between the path point of the each connected floor maps between described map starting point and described map objects point is specially as the operation of the subpath of described each connected floor maps:
According to described map starting point and the described map connection table that is connected of described map objects point place floor inquiry, determine that described map starting point place floor can arrive the stairs port of described map objects point place floor;
According to the path planning algorithm of single map calculate described map starting point to the shortest path of the stairs port of nearest described map starting point place floor as the first subpath;
In using the stairs port of described nearest described map starting point place floor to described connected map connection table, the path of the stairs port of corresponding described map objects point place floor is as the second subpath;
The stairs port that calculates described map objects point place floor according to the path planning algorithm of single map to the shortest path of described map objects point as the 3rd subpath.
4. according to claim 3 indoor across floor maps path navigation method, wherein, described all subpaths are merged, form described map starting point and be specially to the operation of the guidance path between described map objects point:
Using the corridor mouth of described map starting point, described map objects point and corresponding floor as map path point, described the first subpath, the second sub cost sum the 3rd subpath are merged in order, form from described map starting point to the guidance path described map objects point.
5. city according to claim 1 interior span floor maps path navigation method, wherein, if described map starting point is not directly connected with the floor maps at described map objects point place, and the floor maps of determining described map starting point place can communicate with the floor maps at described map objects point place by intermediate floor map, the described basis map connection table that is connected, the shortest path generating between the path point of the each connected floor maps between described map starting point and described map objects point is specially as the operation of the subpath of described each connected floor maps:
Calculate respectively described map starting point place floor, described map objects point place floor by iterative process, and in floor corresponding to intermediate floor map the shortest path between each path point as subpath;
In iterative process each time, inquire about described multilayer map connection matrix, determine the connected relation of the floor maps at intermediate floor map and described map objects point place;
Inquire about described connected map connection table and determine the stairs port that is connected and is communicated with between floor maps, and calculate described map starting point according to the path planning algorithm of single map and arrive shortest path between described map objects point as subpath to the stairs port of the shortest path between stairs port in floor corresponding to shortest path, described intermediate floor map between the stairs port of nearest described map starting point place floor and described map objects point place floor.
6. city according to claim 1 interior span floor maps path navigation method, wherein, described multilayer map connection matrix comprises in multiple floor maps the connected relation value between each floor maps in each floor maps and described multiple floor maps, and described connected map connection table comprises in multiple floor maps and the corridor mouth that is connected and is communicated with between floor maps.
7. indoor across a floor maps path guiding system, comprising:
Navigation requests receiver module, for receiving the path navigation request that comprises map starting point and map objects point;
Connected relation determination module, for according to the place floor inquiry multilayer map connection matrix of described map starting point place floor and described map objects point, determines the connected relation of the floor maps at described map starting point and described map objects point place;
Subpath generation module, for at definite described map starting point and described map objects point during not at same floor, according to connected map connection table, generate shortest path between the path point of the each connected floor maps between described map starting point and the described map objects point subpath as described each connected floor maps;
Subpath merges module, for generating after all subpaths, all subpaths is merged, and forms described map starting point to the guidance path between described map objects point.
8. according to claim 7 indoor across floor maps path guiding system, wherein also comprise:
With map path computing module, for during at same floor map, calculating described map starting point guidance path to described map objects point according to the path planning algorithm of single map at definite described map starting point and described map objects point.
9. according to claim 7 indoor across floor maps path guiding system, wherein, described subpath generation module specifically comprises:
Stairs port determining unit, for in the time that definite described map starting point is directly connected with the floor maps at described map objects point place, according to described map starting point and the described map connection table that is connected of described map objects point place floor inquiry, determine that described map starting point place floor can arrive the stairs port of described map objects point place floor;
The first subpath determining unit, for calculate according to the path planning algorithm of single map described map starting point to the shortest path of the stairs port of nearest described map starting point place floor as the first subpath;
The second subpath determining unit, for the path using the stairs port of described nearest described map starting point place floor to the stairs port of described map objects point place floor corresponding to described connected map connection table as the second subpath;
The 3rd subpath determining unit, for the stairs port that calculates described map objects point place floor according to the path planning algorithm of single map to the shortest path of described map objects point as the 3rd subpath.
10. according to claim 9 indoor across floor maps path guiding system, wherein, described subpath merges module and specifically comprises:
Path point determining unit, for using the corridor mouth of described map starting point, described map objects point and corresponding floor as map path point;
Guidance path forming unit, for described the first subpath, the second sub cost sum the 3rd subpath are merged in order, forms from described map starting point to the guidance path described map objects point.
11. is according to claim 7 indoor across floor maps path guiding system, and wherein said subpath generation module specifically comprises:
Iteration unit, for calculate respectively described map starting point place floor, described map objects point place floor by iterative process, and in floor corresponding to intermediate floor map the shortest path between each path point as subpath;
Described iteration unit, in iterative process each time, is inquired about described multilayer map connection matrix, determines the connected relation of the floor maps at intermediate floor map and described map objects point place;
Inquire about described connected map connection table and determine the stairs port that is connected and is communicated with between floor maps, and calculate described map starting point according to the path planning algorithm of single map and arrive shortest path between described map objects point as subpath to the stairs port of the shortest path between stairs port in floor corresponding to shortest path, described intermediate floor map between the stairs port of nearest described map starting point place floor and described map objects point place floor.
12. city according to claim 7 interior span floor maps path guiding systems, wherein, described multilayer map connection matrix comprises in multiple floor maps the connected relation value between each floor maps in each floor maps and described multiple floor maps, and described connected map connection table comprises in multiple floor maps and the corridor mouth that is connected and is communicated with between floor maps.
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