CN105806347B - A kind of true three-dimensional navigation method of gradient section and a kind of true three-dimensional navigation equipment - Google Patents
A kind of true three-dimensional navigation method of gradient section and a kind of true three-dimensional navigation equipment Download PDFInfo
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- CN105806347B CN105806347B CN201410850608.3A CN201410850608A CN105806347B CN 105806347 B CN105806347 B CN 105806347B CN 201410850608 A CN201410850608 A CN 201410850608A CN 105806347 B CN105806347 B CN 105806347B
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Abstract
The present invention provides a kind of true three-dimensional navigation method of gradient section, including：Step 1, the true three-dimensional navigation database for being stored with trivector data (X, Y, Z) is provided；Step 2, the exact position for being navigated object is determined；Step 3, judge to be navigated in front of object in lower a road section and be marked with the presence or absence of ramp；Step 4, the special road attribute data of minimum unit grid are read；Step 5, the road scene of each minimum unit lattice is generated, and combines connected minimum unit trellis into gradient road scene；Step 6, addition induction line and/or induction arrow in gradient road scene, synthesize three-dimensional induction scene.The induction line and/or induction arrow have bending change identical with the fluctuations of gradient road scene in the three-dimensional induction scene.The present invention also provides a kind of true three-dimensional navigation equipment for realizing above-mentioned air navigation aid.
Description
Technical field
The invention belongs to technical field of electronic navigation, and in particular to a kind of method of true three-dimensional navigation.Particularly, it is navigating
In can clearly be reflected in the induction of gradient road in true three-dimensional navigation scene.
Background technology
In recent years, due to the fast development of urban road, directional bridge, city expressway and the quantity of expressway increase
Add.These complicated highway systems usually give the motorist for the being unfamiliar with road conditions puzzlement for causing route selection mistake.On the other hand,
With the development of dilly industry, there is more and more people's selection voluntarily to drive out.So for common driver,
Electronic navigation system is increasingly becoming indispensable travelling facility.
Traditional electronic navigation system can be turned to, pass in and out the guiding such as main road action, but can not reflect ramp road
Face information, so, when vehicle is unable to get good guide when driving on gradient road.Especially, it is driven into up and down in vehicle
When the multilayer overpass of layer separation or high fast loop, since the latitude and longitude coordinates of upper layer and lower layer road are consistent, so traditional
It is to be susceptible to mispriming, or need to drive in overhead upper layer road or underpass highway that user, which cannot be distinguished out, in navigation
Person reselects self-position on the navigation system.
In order to solve the booting problem on multiple layer high speed road, some new navigation system are in multilayer overpass or through street one
At the entrance of the small range gradient road of class, the state for entering or sailing out of is showed by static crossing enlarged drawing, or
Person is prompted by voice broadcast, it is intended to the correct guiding of gradient road is preferably provided for driver.But this use
There is no the thin portion forms of actual conditions and gradient road on real navigation path for the mode that amplification picture guides.
In actually driving, the crossing picture of navigation system be often difficult to it is accurately corresponding with actual scene, for example, driver may be
Multiple slope road entrances to same direction different height are seen in actual scene, and the picture of navigation system is only schematically shown
Show some entrance for needing to enter, causes driver that can not determine correct path.
Thus, it is necessary to develop a kind of novel navigation equipment, during driver drives a vehicle, which can
The steering position being currently located with driver, intuitive, dynamic continuously carry out real-time gradient road guide, in navigation equipment
It should show picture corresponding with the actual scene that driver can observe.
Invention content
The present invention to solve the above problems, propose a kind of true three-dimensional navigation method of gradient section, including：
Step 1, the true three-dimensional navigation database for being stored with trivector data, including true scene data library are provided
Very three-dimensional induction data library, record has the ramp in each section to mark in the very three-dimensional induction data library, described very three-dimensional
Scene database records in minimum unit grid special road attribute data, and the special road attribute data are with minimum single
First lattice are unit；
Step 2, the exact position for being navigated object is determined；
Step 3, judge to be navigated in front of object in lower a road section and be marked with the presence or absence of ramp；
Step 4, if there are ramp label, all minimums for being navigated that next continuous section is included in front of object are read
The special road attribute data of unit grid；
Step 5, according to the special road attribute data in minimum unit lattice, the road of each minimum unit lattice is generated
Scene, and connected minimum unit trellis is combined into gradient road scene；
Step 6, special road attribute data and induction information data are read and in conjunction with the gradient road scene, addition lures
Conducting wire and/or induction arrow synthesize three-dimensional induction scene；
It is described to induce line and/or induce arrow that there is with the gradient road scene in the three-dimensional induction scene
Volt changes identical bending change.The true scene data library can also include crossing contextual data.
It can also include step A after the step 5, the boundary of connected gradient road scene is spliced, is made
Stitching portion adjacent both sides cut-point position and density are consistent.
It can also include step 7 after the step 6, play the three-dimensional induction scene.It in step 7, can be with 1:
500 meters or 1:1000 meters of engineer's scale plays the three-dimensional induction scene.
On the other hand, the very three-dimensional of the true three-dimensional navigation method of above-mentioned gradient section may be implemented the present invention also provides a kind of
Navigation equipment may include with lower part：
True three-dimensional navigation database, for storing trivector data (X, Y, Z), including true scene data library and
Very three-dimensional induction data library, record has the ramp in each section to mark in the very three-dimensional induction data library, the true three dimensional field
Scape database records in minimum unit grid special road attribute data, and the special road attribute data are with minimum unit
Lattice are unit；
Locating module, for determining the exact position for being navigated object；
Gradient road data management module is marked in lower a road section with the presence or absence of ramp for judging to be navigated in front of object
If note reads the special road attribute number for being navigated the minimum unit grid of lower a road section in front of object there are ramp label
According to；
Minimum unit lattice gradient road scene processing module, for according to the special road attribute in minimum unit lattice
Data generate the road scene of each minimum unit lattice；
Gradient road induces scene synthesis module, the road scene in minimum unit lattice for will be connected to combine to form slope
Road scene is spent, and reads the special road attribute data and induction information data, addition induction line and/or induction arrow,
The three-dimensional induction scene of synthesis.The true three-dimensional navigation database further includes crossing contextual data.
Furthermore it is also possible to include edge fit processing module, splices for the boundary to gradient road scene, make splicing
The position and density for locating adjacent both sides cut-point are consistent.
Scene display module is induced, for playing the three-dimensional induction scene in the three-dimensional navigation equipment.It is described to lure
It leads scene display module and uses 1:500 meters or 1:1000 meters of engineer's scale plays the three-dimensional induction scene.
The true three-dimensional navigation method of gradient section provided by the invention by using trivector data, can generate with very
The navigation picture that real field scape matches particularly can clearly react fluctuating, climb and fall and the grade separation traffic system on road surface
Level.The induction line and induction arrow formed using the method for the present invention, can be as road surface be in the fluctuating, curved of short transverse
Song, generates bending effect upward or downward together, accurately reflects and is guided the guidance path of object in space, especially
It is the situation in short transverse.
Description of the drawings
The specific implementation mode of the present invention is referred in conjunction with the accompanying drawings, and feature of the invention, purpose and realization method will
It can become readily apparent from, and being more readily understood of will also becoming of present invention itself.
Fig. 1 is the step flow diagram according to the gradient road three-dimensional navigation method of the embodiment of the present invention；
Fig. 2 is the schematic diagram according to incidence relation between the database composed structure and data of the embodiment of the present invention；
Fig. 3 is according to gradient road type schematic diagram, wherein Fig. 3 (a) in the true three-dimensional navigation scene of the embodiment of the present invention
It is the schematic diagram to go up a slope for gradient road type, Fig. 3 (b) is the schematic diagram that gradient road type is descending, and Fig. 3 (c) is the gradient
Road type is the schematic diagram of flat slope；
Fig. 4 is the interface view according to the gradient road of the embodiment of the present invention, and Fig. 4 (a) is of the present invention when not splicing
Gradient road boundary plan view, Fig. 4 (b) be it is of the present invention splicing adjustment after gradient road interface view；
Fig. 5 is according to the embodiment of the present invention on the same road model, and the dot matrix segmentation number of gradient road is 1 and segmentation
Number is the design sketch under conditions of 10, and Fig. 5 (a) is two dimension view contrast schematic diagram under the conditions of two kinds of the present invention, Fig. 5 (b)
For the 3-D view effect under the conditions of two kinds of the present invention；
Fig. 6 (a) to (c) is the three-dimensional induction scene shown in navigation equipment according to the specific implementation method of the present invention
Design sketch, Fig. 6 (a) are the design sketch that induction enters that multilevel traffic is gone up a slope, and Fig. 6 (b) is effect of the induction into multilevel traffic descending
Fruit is schemed, and Fig. 6 (c) is to induce the design sketch above path with other cross-pressure formula bridges；
Fig. 7 is the structure diagram according to the three-dimensional navigation equipment of the embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar component or component with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Signified true three-dimensional map of the invention and navigation are different from the three-dimensional map mentioned in the prior art and navigation.Existing
There is so-called three-dimensional navigation electronic map in technology to mostly use three-dimensional symbol of the orthophotoquad superposition with stereoscopic visual effect
The mode of property building model is made, and orthophotoquad is by two-dimentional room exterior feature figure and relative to the relative elevation on mean-trace road surface
It is generated after data processing.Expression for Road form is all life after the essential attribute for reading two dimensional navigation data by navigation engine
At.These three-dimensional navigation electronic map mechanism be all placed some three-dimensional building models on two dimensional navigation electronic map, and
Non-real three-dimensional navigation electronic map.And the true three-dimensional navigation electronic map of present invention meaning is answered based on independent three-dimensional navigation
With database, with (X, Y, Z) vector quantization data of three dimensions of high-precision, dynamic has reproduced navigation road in a manner of really modeling
The three-dimensional scenic on road.
The true three-dimensional navigation method of gradient section of the present invention, can clearly reflect and be navigated object with different height
The road that specific location and needs on the road of level when driving enter.The operation principle of this method for convenience of description, with
Under the true three-dimensional navigation method of the gradient section will be described in conjunction with actual device and block diagram 1.
Step 1, the true three-dimensional navigation database for being stored with trivector data is provided, including true three-dimensional scenic number
According to library and very three-dimensional induction data library, the true scene data library includes section contextual data and crossing contextual data, institute
Stating section contextual data can be stored with cell web form.Standard block grid is included at least in the unit grid and is incited somebody to action
The minimum unit grid of standard block lattice subdivision.The section contextual data can be divided into standard road attribute data and special road
Road attribute data, the standard road attribute data is using standard block grid as range, and the special road attribute data are with most
Junior unit grid is range, wherein standard block lattice can be divided into N number of minimum unit lattice (N is more than or equal to 1).Minimum single
Record has special road attribute data in the minimum unit lattice of first grid.Particularly, the special road attribute data can be down to
Include two types less, one is for recording upward slope, descending and the common descent attribute data in flat slope section, this kind of data
Have recorded common situations such as rising or falling of road surface appearance.Another kind is that multilayer overpass, tunnel etc. are three-dimensional to be handed over for recording
The opposite cross-pressure road attribute data of passway, this kind of data record occur in intersection system section it is interspersed, rise and fall, be horizontal
Across etc. information.Those skilled in the art can carry out classification processing according to actual conditions to the special road attribute data, this
Invention is not restricted this.The crossing contextual data is used to generate the scene image at crossing.
May include in the very three-dimensional induction data library record the induction information in section section induction data and
Record the crossing induction data of the induction information in crossing.In the particular embodiment, it can be wrapped in the section induction data
Include ramp label.As shown in Fig. 2, if there are ramp labels in the section induction data, pass through spy associated with it
Different road attribute data, so that it may obtain the specific value of slope of road grade.In addition, also being stored in the very three-dimensional induction data library
Have and generates induction line, the induction relevant induction information data of arrow.
The data stored in the true three-dimensional navigation database are having of being obtained after being surveyed and drawn to instant road
The data of three-dimensional coordinate, for reflecting road, the variation in the height that is likely to occur of induction line.By taking the contextual data of section as an example,
According to cartesian coordinate system, the section contextual data should using in city scope selected relative altitude datum mark as original
The coordinate value of point, the relative altitude z of the origin is 0, and other points have the x and y coordinates relative to origin, to express each point
Relative to the position of origin in the planes.In addition to this, each point of section contextual data also has z coordinate, to express each point phase
For the relative height differential of origin in the height direction.The induction information data also have z coordinate, when needs are relative to original
Point forms the induction icon such as induction line in the section scene with difference in height when, it is also desirable to which use is corresponding with section contextual data
Z coordinate.
Particularly, the minimum unit lattice are to determine an important indicator of gradient section precise degrees, minimum unit lattice
The data total capacity of area and true three-dimensional navigation database be inversely proportional, the area of minimum unit lattice is smaller, induction scene with it is existing
Real field scape is closer, but the data storage capacity needed for it is bigger.Those skilled in the art can plan institute according to actual conditions
State the subdivision degree and cell area of minimum unit grid layer in multiple dimensioned layering grid.
Step 2, determination is navigated object in the exact position of current time.Air navigation aid of the present invention firstly the need of
Position to being navigated object positions, and determines its physical location in urban road.
Step 3, judge to be navigated and be marked with the presence or absence of ramp in the section induction data of lower a road section in front of object.
In true three-dimensional navigation method of the present invention, it is generally the case that navigation equipment can be only in section scene number
According to standard road attribute in read the section contextual data of standard road, generation only show highly not changed flat slope road
Road scene, and induction scene is formed according to the induction line of the data addition standard flat slope road in very three-dimensional induction data library.Having
In body embodiment, according to the position for being navigated object determined in step 2, navigation equipment extraction is navigated next in front of object
The very three-dimensional induction data in continuous section, and judge to mark with the presence or absence of ramp.
Step 4, it is marked if there is no ramp, then directly generates the not changed flat slope road induction scene of height i.e.
It can.This working forms for reading data in normal grid under normal conditions, can reduce the number that electronic equipment needs operation
According to amount, accelerate arithmetic speed.Only on other occasions, more necessary data are just obtained.
If there are ramp label, the institute being navigated in front of object included by lower a road section is read from the contextual data of section
There are the special road attribute data in minimum unit grid.When monitoring to be navigated in front of object, there are slopes in next continuous section
When road marks, representative is navigated object will be into there is the section of difference in height in height, and navigation equipment should be from section scene
Special road attribute data are read in the minimum unit grid layer of data.
Step 5, according to the special road attribute data in minimum unit lattice, the road of each minimum unit lattice is generated
Scene, and connected minimum unit lattice compositional modeling is formed into gradient road scene.
The special road attribute data are stored in each minimum unit lattice of minimum unit grid, according to described special
Road attribute data can generate the road scene of each minimum unit lattice.By the road field in each connected minimum unit lattice
Scape combines, and has just obtained gradient road scene.
Step 6, special road attribute data and induction information data are read and in conjunction with the gradient road scene, addition lures
Conducting wire and/or induction arrow synthesize three-dimensional induction scene.
After obtaining the gradient road scene, navigation equipment from the true scene data library and very three-dimensional induction number again
It reads all special road attribute data of the gradient road scene and corresponding induction information data respectively according to library, is used for
Addition induction line and/or induction arrow in the gradient road scene, three-dimensional induction field that final synthesis is completed, for broadcasting
Scape.The three-dimensional induction scene can be moved with the movement for being navigated object, provide road information to driver in real time.And
And since the data in true three-dimensional navigation database are by actually surveying and drawing obtained trivector data, so can be accurate
It shows and is navigated the picture that actual scene is consistent in front of object.The induction line and induction arrow draw in three-dimensional induces scene
It leads and is navigated object should be along which kind of route.
Particularly, in three-dimensional induction scene provided by the invention, can be formed with dynamic menu has with gradient road
Identical dipping and heaving, the induction line of bending effect and/or induction arrow.The induction line can be with upward slope on up gradient road
The curvature upwardly curved surface of road induces, and can be induced with the horizontal curved surface of the curvature of flat slope road on flat slope road, in descending
It can be induced to lower surface camber with the curvature of descending road on road.The induction arrow indicates direction of travel.
As shown in Fig. 3 (a), 3 (b), 3 (c), the signified gradient includes upward slope, descending and flat slope.Upward slope refers to, such as from
Road surface starts raised local 200 meters of horizontal extension, and height increases gradient road at 2 meters or more.Descending refers to, such as from road
200 meters of the local horizontal extension that face is begun to decline, height decline gradient road at 2 meters or more.Flat slope refers to, since road surface
200 meters of the local horizontal extension risen or fallen, height change are less than gradient road at 2 meters.
Can also include step 7 after above-mentioned steps 6, the three-dimensional induction scene that step 6 generates, which is played to navigation, to be set
On the devices such as standby display screen, compared in order to driver's observation, with actual environment.
It is gradient road surface provided by the present invention three-dimensional navigation method above, passes through what is stored in true three-dimensional navigation database
Trivector data can show and be navigated actual scene matches in front of object picture and ramp road in navigation equipment
Face.In the above-mentioned methods, further include optional more excellent embodiment.
Preferably, after above-mentioned steps 5, it can also include step A, the boundary of connected road scene is spelled
It connects, makes the cut-point position consistency of stitching portion.As shown in Fig. 4 (a), (b), due to the error of the special road attribute data,
The influence of the factors such as road surface curvature, when combining the gradient road scene of each minimum unit lattice, often on the boundary of image lattice
There is the phenomenon that road scene can not be docked accurately in place.If the gradient road scene that do not docked accurately using boundary directly
If the three-dimensional induction scene of synthesis, the features such as gradient road therein will present sawtooth, waveform rises and falls, as shown in Fig. 4 (a).
So can splice to the boundary of image lattice in gradient road scene, partitioning parameters are adjusted according to the curvature on road surface,
Make the position consistency of the cut-point at road scene or more two sides splicing.When in minimum unit lattice use triangular image dot matrix group
It, can be real by adjusting the density of triangle at gradient road scene up-and-down boundary according to the curvature on road surface when at road scene
Now splice so that the quantity of triangle, distribution, consistent in density at adjacent boundary, as shown in the position irised out in Fig. 4 (b), to protect
Gradient road after card rendering is in the smooth and seamless of stitching portion.The method of the adjustment triangle density is according to triangle point
Cut formed after non-parametric segmentation triangle quantity it is more when effect it is more obvious.
In addition, when being handled data, being modeled after initial completion mapping, the partitioning parameters of data dot matrix also affect
Final three-dimensional induction scene, as shown in Fig. 5 (a), 5 (b), in a minimum unit lattice, when the segmentation number of data dot matrix is 10
Three-dimensional induction scene that the three-dimensional induction scene score of formation is formed when number is 1 is more careful, closing to reality situation.So this
Field technology personnel can select the partitioning parameters of data dot matrix according to the needs of actual use.
Further, when playing the three-dimensional induction scene with gradient road scene, those skilled in the art can root
The engineer's scale played according to the area of minimum unit lattice and the partitioning parameters selection of data dot matrix.Preferably, 1 can be selected:
500、1:1000 engineer's scale plays out.
The true three-dimensional navigation method of gradient section provided by the present invention is based on independent three-dimensional navigation application database, with height
(X, Y, Z) vector quantization data of three dimensions of precision, dynamic has reproduced the three-dimensional scenic of navigation road in a manner of really modeling.
Just because of the vector data for having used this practical mapping three obtained dimension, so can be moved in a manner of really modeling
State continuously plays the three-dimensional navigation scene to match with the scene of real road, as shown in Fig. 6 (a) to (c).Fig. 6 (a) displays
It is the three-dimensional induction scene that guiding is navigated that object enters multilevel traffic upward slope, the fluctuating on road surface can be clearly reflected in figure, is lured
Conducting wire and induction arrow can generate bending effect with the fluctuating on road surface, and the scene of road and the building around road are equal
It matches with actual environment, judges planning driving path convenient for driver.Fig. 6 (b) is it is shown that guiding is navigated object and enters solid
The three-dimensional induction scene of traffic descending.The three-dimensional induction scene in cross-pressure formula grade separation traffic system is then shown in Fig. 6 (c),
It, which can clearly be reacted, is navigated object and is in which layer road.The method of the present invention is not limited only to handle such as Fig. 6 (c)
Shown in road be the case where intersecting, the road direction in multilayer overpass is identical, the present invention generate three
Dimension induction scene still can accurately reflect true scene, to prompt which layer road surface driver is now in.The three-dimensional
It may be implemented to carry out the gradient road whole process induction navigation coherent in real time in navigation scenarios.
On the other hand, the present invention also provides a kind of three-dimensional navigation equipment, to realize the true three-dimensional navigation of above-mentioned gradient section
Method.As shown in fig. 7, the three-dimensional navigation equipment includes at least true three-dimensional navigation database 201, locating module 202, gradient road
Circuit-switched data management module 203, minimum unit lattice gradient road scene processing module 204 and gradient road induction scene synthesize mould
Block 206.
The true three-dimensional navigation database 201 is used to store high accuracy three-dimensional vector quantization data (X, Y, Z), including
True scene data library and very three-dimensional induction data library.Record has the ramp in each section in the very three-dimensional induction data library
Label, the true scene data library records in minimum unit grid special road attribute data, the special road
Attribute data is as unit of minimum unit lattice.
The locating module 202 is navigated object in the exact position of current time for determination, and by the accurate position
It sets in reflection to the true three-dimensional navigation database 201.
The gradient road data management module 203 reads the data in the very three-dimensional induction data library, for judging
It is navigated in front of object in lower a road section and is marked with the presence or absence of ramp, if there are ramp label, from the true three-dimensional scenic number
It is navigated the special road attribute data in front of object in the minimum unit grid of lower a road section according to reading in library.
The minimum unit lattice gradient road scene processing module 204, for according to described special in minimum unit lattice
Road attribute data generate the road scene of each minimum unit lattice.
The gradient road induction scene synthesis module 206, reads the minimum unit lattice gradient road scene processing mould
Block 204 as a result, for the road scene in the minimum unit lattice being connected to be combined to form gradient road scene, and described in reading
Special road attribute data and induction information data, addition induction line and/or induction arrow synthesize three-dimensional induction scene.
In addition, the three-dimensional navigation equipment can also include edge fit processing module 205, the gradient road for being formed to combination
The boundary of road scene is spliced, and the cut-point position consistency of stitching portion is made, to form smooth, seamless gradient road field
Scape.Since there are the bending curvatures of short transverse for gradient road, so needing to be adjusted, make adjacent two in minimum unit lattice
Position, density of the cut-point of side etc. are consistent, to form smooth slope surface.
The three-dimensional navigation equipment should also include induction scene display module 207, the three-dimensional induction scene for that will generate
It plays, is checked convenient for driver.The present invention is not intended to limit the type of the induction scene display module 207, does not also limit described
The carrier of three-dimensional navigation equipment.The visualization electronics such as automatic navigator, mobile phone, tablet computer may be used in those skilled in the art
Equipment realizes the synthesis and broadcasting of induction scene.Particularly, when playing the induction scene, the induction scene display module
207 may be used 1:500 or 1:1000 engineer's scale.Which kind of engineer's scale is specifically used, it can be according to the area of minimum unit lattice
Size and actual conditions are selected.
It is three-dimensional navigation equipment provided by the invention above, application range of the invention is not limited to described above specific
Embodiment, those skilled in the art can be according to practical applications to features such as the areas of minimum unit lattice, the electronic equipments used
It is adjusted.It for the ordinary skill in the art, can be without departing from the principles and spirit of the present invention
A variety of change, modification, replacement and modification are carried out to these embodiments, appended claims of the present invention are intended to these modifications, replace
It the structures such as changes to be included in its protection domain.
Claims (10)
1. a kind of true three-dimensional navigation method of gradient section, which is characterized in that including：
Step 1, the true three-dimensional navigation database for being stored with trivector data (X, Y, Z), including true three-dimensional scenic number are provided
According to library and very three-dimensional induction data library, record has the ramp in each section to mark in the very three-dimensional induction data library, described true
Scene data library records in minimum unit grid special road attribute data, and the special road attribute data are with most
Junior unit lattice are unit；
Step 2, the exact position for being navigated object is determined；
Step 3, judge to be navigated in front of object in lower a road section and be marked with the presence or absence of ramp；
Step 4, if there are ramp label, all minimum units for being navigated that next continuous section is included in front of object are read
The special road attribute data of grid；
Step 5, according to the special road attribute data in minimum unit lattice, the road field of each minimum unit lattice is generated
Scape, and connected minimum unit trellis is combined into gradient road scene；
Step 6, special road attribute data and induction information data are read and in conjunction with the gradient road scene, addition induction line
And/or induction arrow, synthesize three-dimensional induction scene；
The induction line and/or induction arrow in the three-dimensional induction scene there is the fluctuating with the gradient road scene to become
Change identical bending change.
2. the true three-dimensional navigation method of gradient section according to claim 1, which is characterized in that include after the step 5：
Step A splices the boundary of connected gradient road scene, makes stitching portion adjacent both sides cut-point position and close
Degree is consistent.
3. the true three-dimensional navigation method of gradient section according to claim 1, which is characterized in that include after the step 6
Step 7, the three-dimensional induction scene is played.
4. the true three-dimensional navigation method of gradient section according to claim 3, which is characterized in that in the step 7, with 1:
500 meters or 1:1000 meters of engineer's scale plays three-dimensional induction scene.
5. the true three-dimensional navigation method of gradient section according to claim 1, which is characterized in that the true scene data
Library further includes crossing contextual data.
6. a kind of true three-dimensional navigation equipment, which is characterized in that including：
True three-dimensional navigation database (201), for storing trivector data (X, Y, Z), including true scene data library
Very three-dimensional induction data library, record has the ramp in each section to mark in the very three-dimensional induction data library, described very three-dimensional
Scene database records in minimum unit grid special road attribute data, and the special road attribute data are with minimum single
First lattice are unit；
Locating module (202), for determining the exact position for being navigated object；
Gradient road data management module (203) is marked in lower a road section with the presence or absence of ramp for judging to be navigated in front of object
If note reads the special road attribute number for being navigated the minimum unit grid of lower a road section in front of object there are ramp label
According to；
Minimum unit lattice gradient road scene processing module (204), for according to the special road category in minimum unit lattice
Property data, generate the road scene of each minimum unit lattice；
Gradient road induces scene synthesis module (206), the road scene in minimum unit lattice for will be connected to combine to be formed
Gradient road scene, and the special road attribute data and induction information data are read, addition induction line and/or induction arrow
Head synthesizes three-dimensional induction scene.
7. true three-dimensional navigation equipment according to claim 6, which is characterized in that including：
Edge fit processing module (205), splices for the boundary to gradient road scene, makes the adjacent both sides segmentation in stitching portion
The position and density of point are consistent.
8. true three-dimensional navigation equipment according to claim 6, which is characterized in that including inducing scene display module (207),
For playing the three-dimensional induction scene in the three-dimensional navigation equipment.
9. true three-dimensional navigation equipment according to claim 8, which is characterized in that the induction scene display module (207)
Using 1:500 meters or 1:1000 meters of engineer's scale plays the three-dimensional induction scene.
10. true three-dimensional navigation equipment according to claim 6, which is characterized in that the true three-dimensional navigation database (201)
It further include crossing contextual data.
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| CN107993195A (en) * | 2017-12-07 | 2018-05-04 | 西南交通大学 | Take the small screen control with changed scale ruler traffic route drawing generating method of shape control into account |
| TWI657409B (en) * | 2017-12-27 | 2019-04-21 | 財團法人工業技術研究院 | Superimposition device of virtual guiding indication and reality image and the superimposition method thereof |
| CN110161513B (en) * | 2018-09-28 | 2023-11-14 | 腾讯科技（北京）有限公司 | Method, apparatus, storage medium and computer device for estimating road gradient |
| CN111238506B (en) * | 2018-11-29 | 2022-10-18 | 沈阳美行科技股份有限公司 | Drawing method and device for elevated road in map and related equipment |
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