CN107144288A - The method and its device of a kind of path planning under orographic condition without road network - Google Patents
The method and its device of a kind of path planning under orographic condition without road network Download PDFInfo
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- CN107144288A CN107144288A CN201710358683.1A CN201710358683A CN107144288A CN 107144288 A CN107144288 A CN 107144288A CN 201710358683 A CN201710358683 A CN 201710358683A CN 107144288 A CN107144288 A CN 107144288A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
The embodiment of the present application provides the method and its device of the path planning under a kind of orographic condition without road network, and methods described includes：The basic data for obtaining survey region is simultaneously pre-processed to the basic data, and the basic data includes at least one in Law of DEM Data, terrestrial reference categorical data, place name address date；Beidou navigation mesh generation is carried out according to the transformational relation between longitude and latitude and grid code to pretreated basic data, to specify network level to obtain the grid coding of the basic data；Trafficability quantization is carried out to grid, and the grid coding of grid is associated with its trafficability quantized result；According to the grid coding of association and its trafficability quantized result, path planning is carried out.
Description
Technical field
The invention relates to Path Planning Technique field, and in particular to the path rule under a kind of orographic condition without road network
The method and its device drawn.
Background technology
Path planning is the key technology of intelligent Navigation Control, and it can provide optimal traffic path for drivers, is shortened
Running time, improves safe driving rate, specification drives, so as to smoothly arrive at the destination.At present, various navigation application systems are universal
Based on traditional longitude and latitude, by being superimposed vector road network data in GIS-Geographic Information System, user's navigation is embodied as
Service.
Baidu map solve path planning method be：The route track of user's offer is obtained in terminal screen coordinate system
Corresponding pixel coordinate collection；According to the mapping relations between the pixel coordinate collection and pixel coordinate and latitude and longitude coordinates, really
The fixed route track corresponding latitude and longitude coordinates collection in geographic coordinate system；According to the latitude and longitude coordinates collection determine with it is described
The corresponding goal programming route of route track.
High moral map, it is necessary to first obtain road image, is then based on road data, passed through when solving the problems, such as automobile navigation
The lane line on road is detected, the road information of road where determining driving vehicle.
Although the paths planning method based on longitude and latitude and road network has been able to preferably meet path navigation above
Demand.But, in the area (such as desert, jungle, mountain area, meadow) without vector road network data, existing navigation software
Normal service can not be all provided.Therefore, how no road network path planning is realized in the case of vector road network shortage of data,
Just turn into navigation application field significant problem urgently to be resolved hurrily.
The content of the invention
One of technical problem that the embodiment of the present application is solved is to provide the path planning under a kind of orographic condition without road network
Method and its device.
The method that the embodiment of the present application provides the path planning under a kind of orographic condition without road network, including：
Obtain the basic data of survey region and the basic data is pre-processed, the basic data includes numeral
At least one in elevation model data, terrestrial reference categorical data, place name address date；
Beidou navigation grid is carried out according to the transformational relation between longitude and latitude and grid code to pretreated basic data
Subdivision, to specify network level to obtain the grid coding of the basic data；
Trafficability quantization is carried out to grid, and the grid coding of grid is closed with its trafficability quantized result
Connection；
According to the grid coding of association and its trafficability quantized result, path planning is carried out.
In the specific embodiment of the application one, it is described to pretreated basic data according between longitude and latitude and grid code
Transformational relation carry out Beidou navigation mesh generation, included with the grid coding for specifying network level to obtain the basic data：
Code conversion is carried out to the longitude and latitude in pretreated basic data, binary system grid coding is converted to and carries out base
Plinth computing；
Mesh generation and grid collection aminated polyepichlorohydrin are carried out to point, line, surface object according to network level, spatial object is obtained
Mesh mapping；
Spatial relationship calculating and spatial analysis are carried out to grid and grid, grid collection and grid collection, the basis is obtained
The grid coding of data.
In the specific embodiment of the application one, the longitude and latitude in pretreated basic data carries out coding and turned
Change, be converted to binary system grid coding and carry out basic operations, including：
Set up decimal system two dimension, binary system two dimension, binary one-dimensional, the one-dimensional mapping relations mutually changed of the quaternary；
According to the mapping relations, the conversion between longitude and latitude and binary system grid coding and the geographical implication of grid are carried out
Judge to calculate with displacement；
According to the network level and binary system grid coding value, the grid coding of acquisition is ranked up.
In the specific embodiment of the application one, the trafficability is：
Trafficability is determined according at least one of category of roads, ground surface type, ground line gradient.
It is described that trafficability quantization is carried out to grid in the specific embodiment of the application one, and by the grid coding of grid
It is associated with its trafficability quantized result, in addition to：
Significant atural object title in the grid is closed with the grid coding, the trafficability quantized result
Connection.
In the specific embodiment of the application one, the grid coding according to association is carried out with its trafficability quantized result
Path planning, including：
Shortest path planning is carried out according to the grid coding of association and its trafficability quantized result；
Local uniqueness is carried out according to the shortest path, the current cost path smaller with respect to shortest path is obtained.
In the specific embodiment of the application one, the grid coding according to association and its trafficability quantized result are entered
After row path planning, in addition to：
The path smaller with respect to shortest path to the current cost carries out reasonableness check.
In the specific embodiment of the application one, the reasonableness check includes：
Judge the path passes through in grid whether include barrier；
If comprising barrier, according to the trafficability quantized result of meshes again path planning.
In the specific embodiment of the application one, the reasonableness check includes：
Judge that the path is passed through in grid whether can Delete Mesh comprising do not influence path connectivity；
If comprising can Delete Mesh, delete it is described can Delete Mesh, and path planning again.
The correspondence above method, the application also provides a kind of device of the path planning under orographic condition without road network, including：
Pretreatment module, it is described for obtaining the basic data of survey region and the basic data being pre-processed
Basic data includes at least one in Law of DEM Data, terrestrial reference categorical data, place name address date；
Mesh generation module, for pretreated basic data according to the transformational relation between longitude and latitude and grid code
Beidou navigation mesh generation is carried out, to specify network level to obtain the grid coding of the basic data；
Cost quantization modules, for carrying out trafficability quantization to grid, and the grid coding of grid can be passed through with it
Property quantized result is associated；
Path planning module, for the grid coding according to association and its trafficability quantized result, carries out path planning.
The embodiment of the present application obtains Law of DEM Data, terrestrial reference categorical data, the place name address date of survey region
In at least one constitute basic data and the basic data is pre-processed.To pretreated basic data according to warp
Transformational relation between latitude and grid code carries out Beidou navigation mesh generation, to specify network level to obtain the basic data
Grid coding.Trafficability quantization is carried out to grid, and the grid coding of grid and its trafficability quantized result are carried out
Association, so as to carry out path planning according to association.The embodiment of the present application can be realized to the complicated landform without road vector data
Region carries out path planning, and calculates simple, easy to use, with low cost.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in application, for those of ordinary skill in the art, can also obtain other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the hardware structure diagram for the computer equipment that the embodiment of the present application is applied；
Fig. 2 be the application provide a kind of orographic condition without road network under path planning the embodiment flow chart of method one；
Fig. 3 be the application provide a kind of orographic condition without road network under path planning another embodiment step S2 of method
Flow chart；
Fig. 4 be the application provide a kind of orographic condition without road network under path planning method another embodiment step
S21 flow chart；
Fig. 5 be the path planning under a kind of orographic condition without road network that the application is provided method in geographical implication judge to show
It is intended to；
Fig. 6 be the application provide a kind of orographic condition without road network under path planning method in displacement calculate signal
Figure；
Fig. 7 be the application provide a kind of orographic condition without road network under path planning method in point, line, surface object
Carry out mesh generation schematic diagram；
Fig. 8 be the application provide a kind of orographic condition without road network under path planning method in grid trafficability
Cost schematic diagram；
Fig. 9 be the application provide a kind of orographic condition without road network under path planning another embodiment step S3 of method
Flow chart；
Figure 10 be the application provide a kind of orographic condition without road network under path planning another embodiment step of method
S4 flow chart；
Figure 11 a and Figure 11 b be the application provide a kind of orographic condition without road network under path planning method in starting point
With terminal whether along warp direction schematic diagram；
Figure 12 be the application provide a kind of orographic condition without road network under path planning method in step S41 flow
Figure；
Figure 13 be the path planning under a kind of orographic condition without road network that the application is provided method in final path net
Lattice set schematic diagram；
Figure 14 be the application provide a kind of orographic condition without road network under path planning method in step S42 flow
Figure；
Figure 15 a to Figure 15 f be the application provide a kind of orographic condition without road network under path planning method in carry out
The schematic diagram of fine setting；
Figure 16 be the application provide a kind of orographic condition without road network under path planning method in finely tune after plan road
The schematic diagram in footpath；
Figure 17 be the path planning under a kind of orographic condition without road network that the application is provided method in step S4 it is further real
Apply the flow chart of example；
Figure 18 be the path planning under a kind of orographic condition without road network that the application is provided method in step S43 it is further real
Apply the flow chart of example；
Figure 19 be the path planning under a kind of orographic condition without road network that the application is provided method in step S43 it is further real
Apply the flow chart of example；
Figure 20 be the application provide a kind of orographic condition without road network under path planning the example structure figure of device one.
Embodiment
The embodiment of the present application obtains Law of DEM Data, terrestrial reference categorical data, the place name address date of survey region
In at least one constitute basic data and the basic data is pre-processed.To pretreated basic data according to warp
Transformational relation between latitude and grid code carries out Beidou navigation mesh generation, to specify network level to obtain the basic data
Grid coding.Trafficability quantization is carried out to grid, and the grid coding of grid and its trafficability quantized result are carried out
Association, so as to carry out path planning according to association.The embodiment of the present application can be realized to the complicated landform without road vector data
Region carries out path planning, and calculates simple, easy to use.
Although the application can have many various forms of embodiments, in the accompanying drawings display and will herein in detail
The specific embodiment of description, it should be appreciated that the disclosure of this embodiment should be considered as the example of principle, and be not intended to this Shen
It please be limited to the specific embodiment being shown and described.In the following description, identical label shows for describing the several of accompanying drawing
Identical, similar or corresponding part in figure.
As used herein, term " one " or " one kind " are defined as one (kind) or more than one (kind).As herein
Used, term " multiple " is defined as two or more than two.As used herein, term " other " is defined as at least again
It is one or more.As used herein, term "comprising" and/or " having " are defined to include (that is, open language).Such as
Used herein, term " coupling " is defined as connection, but is not necessarily to be directly connected to, and is not necessarily mechanically to connect.
As used herein, term " program " or " computer program " or similar terms are defined as designed on the computer systems
The command sequence of execution." program " or " computer program " may include subprogram, function, process, object method, object implementatio8,
Executable application, applet, servlet, source code, object code, shared library/dynamic load library and/or design are used
In the other command sequences performed on the computer systems.
Table is referred to " one embodiment ", " some embodiments ", " embodiment " or similar terms in whole this document
Show that the special characteristic described in conjunction with the embodiments, structure or characteristic are included at least one embodiment of the application.Therefore, exist
The appearance of the various local this words of whole this specification need not all represent identical embodiment.In addition, described specific
Feature, structure or characteristic can be combined in any suitable manner in one or more embodiments without limitation.
As used herein, term "or" should be construed as inclusive or any or any group of expression
Close.Therefore, " A, B or C " represent " following any one：A；B；C；A and B；A and C；B and C；A, B and C ".Only when element,
When function, step or the combination of action inherently mutually exclusive in some way, it will occur the exception of this definition.
In order that those skilled in the art more fully understand the technical scheme in the embodiment of the present application, below in conjunction with the application
Accompanying drawing in embodiment, the technical scheme in the embodiment of the present application is clearly and completely described, it is clear that described reality
It is only some embodiments of the present application to apply example, rather than whole embodiments.Based on the embodiment in the application, this area is common
The every other embodiment that technical staff is obtained, should all belong to the scope of the application protection.
Further illustrate that the embodiment of the present application is implemented with reference to the embodiment of the present application accompanying drawing.
The method that the embodiment of the application one carries the path planning under a kind of orographic condition without road network, can be applied to mobile phone, PAD
Deng mobile terminal or PC terminals.
Referring to Fig. 1, the terminal is generally included：Main control chip 11, memory 12, input/output unit 13 and other are hard
Part 14.The main control chip 11 controls each functional module, and memory 12 stores each application program and data.
Referring to Fig. 2, methods described includes：
S1, the basic data for obtaining survey region are simultaneously pre-processed to the basic data, and the basic data includes
At least one in digital elevation model (DEM) data, terrestrial reference categorical data, place name address date.
The survey region about 40km*40km, the region needs to include the common earth's surface class such as building, water body, vegetation, road
Type.Wherein, road mileage is suitable, both there is the widely distributed area of road network, there is also the open ground without path, hills, mountain region.
In addition, each several part needs a more obvious gradient difference in the survey region, the practicality of paths planning method is improved
Property.
, can be by the application in the specific implementation, the pretreatment includes the processing such as projective transformation in tradition drawing
Existing professional software is carried out, for example：ArcGIS, MapGIS, SuperMap etc..
S2, to pretreated basic data according between longitude and latitude and grid code transformational relation carry out Beidou navigation net
Lattice subdivision, to specify network level to obtain the grid coding of the basic data.
Specifically, the Beidou navigation mesh generation refers to according to the transformational relation between longitude and latitude and grid code, to refer to
Determine network level to cut open digital elevation model (DEM) data, ground surface type data and the place name address date of survey region
Point, obtain all kinds of basic datas of gridding.Its key is the determination of trellis stage, and subdivision network level is higher, and grid is got over
Finely, the effect of basic data expression is better.But for same survey region, number of grid steeply rises, space search and road
The efficiency of footpath planning declines.Consider the required precision of path planning and the field range of service object, gait of march etc.
Factor, will be counted based on about 8m × 8m the 6th grade of Beidou navigation grid code (i.e. the 23rd layer of 1/4 " × 1/4 " grid of GeoSOT)
The highest level and the level of back-end data Organization And Management handled according to subdivision, now, the corresponding number of grid of survey region
About 25,000,000.
In the specific embodiment of the application one, referring to Fig. 3, the step S2 includes：
S21, in pretreated basic data longitude and latitude carry out code conversion, be converted to binary system grid coding and enter
Row basic operations.
Referring to Fig. 4, the step S21 includes：
S211, set up the one-dimensional mapping mutually changed of decimal system two dimension, binary system two dimension, binary one-dimensional, the quaternary and close
System.
S212, according to the mapping relations, with carrying out conversion and grid between longitude and latitude and binary system grid coding
Implication is managed to judge to calculate with displacement.
Referring to Fig. 5, the geographical implication of the grid judges the authenticity for being often referred to judge the geographical implication of grid coding, is such as
True then represents that grid can pass through, and False then represents that grid cannot pass through.
Referring to Fig. 6, the displacement, which is calculated, is often referred to plus/minus displacement calculating, that is, passes through grid CellA plus/minus bits of coded
Move the coding for calculating and obtaining CellB.
S213, according to the network level and binary system grid coding value, the grid coding of acquisition is ranked up.
S22, mesh generation and grid collection aminated polyepichlorohydrin carried out to point, line, surface object according to network level, obtain space
Object mesh mapping.
Referring to Fig. 7 a to Fig. 7 c, mesh generation is carried out to point, line, surface object according to network level, subdivision network level is got over
Height, grid is finer, and the effect of basic data expression is better.
S23, spatial relationship calculating and spatial analysis are carried out to grid and grid, grid collection and grid collection, obtain described
The grid coding of basic data.
Specifically, spatial relationship, which is calculated, includes topology, amount calculation, orientation calculating, and this is compared with Beidou navigation grid in technology
Spatial relationship calculates identical in subdivision, therefore will not be repeated here.
Specifically, spatial analysis includes space querying, buffer zone analysis, overlay analysis, space interpolation, and this is compared with technology
Spatial analysis is identical in middle Beidou navigation mesh generation, therefore will not be repeated here.
S3, trafficability quantization is carried out to grid, and the grid coding of grid and its trafficability quantized result are carried out
Association.
The trafficability is：
Trafficability is determined according at least one of category of roads, ground surface type, ground line gradient.
Specifically, the trafficability quantifies to refer to that the basic data after handling according to subdivision is each Beidou navigation grid
Trafficability marking.
Specific scoring process is as described below：
When having path link out-of-date in grid, the trafficability of grid is given a mark according to category of roads by table 1, if wherein grid
Inside there is different brackets road to pass through, then final score is scored at advanced road.When there is no path link out-of-date in grid, then press
Given a mark according to ground surface type.
The corresponding grid trafficability score of the different categories of roads of table 1
The ground surface type of grid is judged by Area-dominant method, if grid in only building, water body, meadow, grove, sand
Unconcerned, marsh and it is other in one kind, then the ground surface type of grid is the type；If including a variety of ground surface types in grid,
The maximum type of area is taken as the ground surface type of grid.When grid ground surface type for building, water body, grove, desert, natural pond
When damp, the trafficability marking of the grid is 0 (can not pass through)；When the ground surface type of grid is meadow or is other, then press
Given a mark according to ground line gradient.
The trafficability of grid is weighed by ground line gradient.According to grid and its digital elevation model (DEM) of neighbouring grid
Data carry out gradient calculating using formula one, wherein, if grid crosses over multiple DEM units, according to area than weighted calculation net
Lattice elevation.
α (gradient)=arctan (depth displacement/horizontal range) formula one
The corresponding grid trafficability score of the different gradient of table 2
Referring to Fig. 8, numeral is the trafficability cost of grid in grid, and trafficability cost marking system uses 10 points
System, trafficability cost and trafficability are on the contrary, the current cost of the higher representative of fraction is bigger；Can when fraction is higher than certain threshold value
Think in practical application to abandon selecting the grid to pass through because current cost is excessive, the value is set to 5 by l-G simulation test.Wherein,
Trafficability cost is 10 grey grid representation water body, can not be passed through, and black grid is beginning and end.
In the application another specific embodiment, referring to Fig. 9, the step S3 also includes：
S3, the significant atural object title in the grid entered with the grid coding, the trafficability quantized result
Row association.
The grid coding of grid is associated by the application with its trafficability quantized result.Wherein, grid coding is to look into
The significant atural object title ask in the major key with retrieval, the trafficability quantized result and the grid of grid can be according to grid
Coding is inquired about.Significant atural object name in the grid is referred to as the supplement of path planning, enhances the intuitive in path.
S4, according to the grid coding of association and its trafficability quantized result, carry out path planning.
Referring to Figure 10, the step S4 includes：
S41, shortest path planning carried out according to the grid coding of association and its trafficability cost quantized result.
S42, Local uniqueness carried out according to the shortest path, obtain the current cost path smaller with respect to shortest path.
Specific address is, it is necessary to create four tables：Route1 tables, Route2 tables, Candidate tables and Reference tables.Its
In：The path grid that Route1 tables and Route2 tables storage algorithm search are arrived, Candidate tables store candidate's net of crotch
Lattice, Reference tables storage beginning and end line passes through grid.
Referring to Figure 11 a and Figure 11 b, when Origin And Destination line is not along warp direction, 8 neighborhood grids of current grid
In, three grid priority of the identical and close terminal side of warp-wise coding are 1, i.e. highest.Phase is encoded with current grid warp-wise
Same other two grid priority is 2.Remaining 3 grid priority are 3, i.e., minimum.When Origin And Destination line is along warp
During direction, identical with current grid warp-wise coding and close to terminal grid priority is 1, identical with current grid warp-wise coding
And the grid priority away from terminal is 3, remaining 6 grid priority are 2.
Specifically, referring to Figure 12, the step 41 includes：
step1：Initialization, Route1 tables, Route2 tables, Candidate tables and Reference tables are emptied, if
Route1 tables are currently processed Route tables, priority k=1.
step2：Difference zequin and the grid coding of terminal position.
step3：The grid that zequin and terminal line are passed through, is stored in from the near to the remote by away from starting point distance
Reference tables (contain starting point).
If current grid is the grid g in Reference tablesi, then gi-1It is defined as current grid in Reference tables
Previous grid, gi+1It is defined as the latter grid of current grid.
step4：The grid g in Reference tables is taken one by oneiIt is used as current grid.
step5：Judge gi+1Whether terminal grid；If gi+1When not being terminal grid, step6 is transferred to；If gi+1It is terminal net
Lattice, then by giAnd gi+1The currently processed Route tables (Route1 tables or Route2 tables) of deposit；Judge Candidate tables whether be
It is empty；When Candidate tables are that space-time is transferred to step10；When Candidate tables are not space-time, putting currently processed Route tables is
Route2 tables, it is currently processed grid to take first grid being stored in Candidate tables, empties Candidate tables, and root
Starting point is inserted to the corresponding path grid of current grid into Route2 tables according to Reference tables, is transferred to step8.
step6：Judge gi+1Whether can pass through；If gi+1It can pass through, then current grid is stored in currently processed Route tables,
It is transferred to step4；Otherwise it is transferred to step7.
step7：It is k and grid C1, C2 not in Reference tables to take priority in current grid eight neighborhood grid；
When C1, C2 can pass through, current grid is stored in Route tables, if C1, C2 are located at the both sides up and down of starting and terminal point line,
C1 is first taken as current grid, C2 deposit Candidate tables, if C1, C2 are taken from even simultaneously positioned at the upside or downside of line
Line it is nearest as current grid, by the deposit Candidate tables from line farther out, be transferred to step8；When C1, C2 only one can
When current, current grid is stored in Route tables, grid can be passed through as current grid and be transferred to step8；When C1, C2 can not
It is current grid that last grid in Route tables is taken when current, and whether judge current grid is net in Reference tables
Lattice；If current grid is the grid in Reference tables, step7 is repeated；If current grid is not Reference tables
In grid, be transferred to step8.
step8：The current cost for the grid that priority in current grid eight neighborhood grid is k is obtained, if presence can pass through
Grid and wherein include Reference tables in grid, then current grid is stored in currently processed Route tables, is transferred to
step4；Grid but the grid in Reference tables is not included wherein if presence can pass through, by the current place of current grid deposit
In the Route tables of reason, when the meshes number that can pass through is more than 1, then take from gi+1Nearest grid is used as current grid, remaining grid
Candidate tables are stored in, when the grid that can pass through only has one, then current grid are set to.gi+1=gi+2, re-execute
step8；Whether it is empty that Candidate tables are judged if in the absence of the grid that can pass through；If not empty, then with Candidate tables
The grid C being finally inserted is current grid, deletes C and its later grid in Route tables, and deleted from Candidate tables
Current grid, re-executes step8；If it is empty, it is transferred to step9.
step9：Delete last grid from currently processed Route tables, with Route tables after delete processing most
Latter grid is current grid, and current grid is not starting point and performs step7 when being the grid in Reference tables, when working as
Preceding grid does not perform step8 for starting point and during not in Reference tables, and current grid performs step10 when being starting point.
step10：If Route1 and Route2 are not sky, corresponding road in the less Route tables of meshes number is returned to
Footpath, if Route1 and Route2 only ones not for sky, return to corresponding path in corresponding Route tables, if Route1 and
Route2 is sky, then whether be 3, as k=3 if judging k, impassabitity between beginning and end.
Calculated by shortest path, obtain final path grid set as shown in grey grid in Figure 13.
Specifically, referring to Figure 14, the step 42 includes：
Step11：Initialization, empties Route tables, by shortest path coarse gridding in Route tables.
Step12：If gi+1Algorithm terminates during for terminal, and the grid in Route tables is the less road of cost of finally passing through
Footpath；Otherwise the grid g in Route tables is taken one by oneiAs current grid, step13 judgements are transferred to.
Step13：If there is grid C so that g in current grid eight neighborhood gridiThrough C to gi+2Current cost sum it is small
In giThrough gi+1To gi+2Current cost sum, then with giThrough C to gi+2Path replace Route tables in giThrough gi+1To gi+2Road
Footpath, by gi+2Previous grid as current grid repeat step3；Otherwise it is transferred to step12.
The schematic diagram specifically finely tuned is current grid referring to Figure 15 a to Figure 15 f, wherein black grid, and grey grid is
Current path in Route tables.
Figure 16 is the less path planning Local uniqueness result of the current cost of survey region, irises out region for trim paths.
It is another in the specific implementation, referring to Figure 17, the step S4 also includes in the application：
S43, the path smaller with respect to shortest path to the current cost carry out reasonableness check.
Specifically, referring to Figure 18, the S43 includes：
S431, judge the path pass through grid in whether include barrier.
If S432, comprising barrier, according to the trafficability cost quantized result of meshes again path planning.
Specifically, referring to Figure 19, the S43 also includes：
S433, judge that the path is passed through in grid whether can Delete Mesh comprising do not influence path connectivity.
If S434, comprising can Delete Mesh, delete it is described can Delete Mesh, and path planning again.
Referring to Figure 20, corresponding to the above method, the application also provides the path planning under a kind of orographic condition without road network
Device, including：
Pretreatment module 201, for obtaining the basic data of survey region and being pre-processed to the basic data, institute
Stating basic data includes at least one in Law of DEM Data, terrestrial reference categorical data, place name address date.
Mesh generation module 202, for pretreated basic data according to the conversion between longitude and latitude and grid code
Relation carries out Beidou navigation mesh generation, to specify network level to obtain the grid coding of the basic data.
Cost quantization modules 203, for carrying out trafficability quantization to grid, and the grid coding of grid can be led to it
Row quantized result is associated.
Path planning module 204, for the grid coding according to association and its trafficability quantized result, carries out path rule
Draw.
It will be understood by those skilled in the art that embodiments herein can be provided as method, device (equipment) or computer
Program product.Therefore, in terms of the application can be using complete hardware embodiment, complete software embodiment or combination software and hardware
Embodiment form.Moreover, the embodiment of the present application can be used wherein includes computer available programs generation one or more
The meter implemented in the computer-usable storage medium (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code
The form of calculation machine program product.
The application is the flow chart and/or square frame of the method with reference to embodiment, device (equipment) and computer program product
Figure is described.It should be understood that can be by each flow in computer program instructions implementation process figure and/or block diagram and/or side
Frame and the flow in flow chart and/or block diagram and/or the combination of square frame.These computer program instructions can be provided to logical
With the processor of computer, special-purpose computer, Embedded Processor or other programmable data processing devices to produce a machine
Device so that produced by the instruction of computer or the computing device of other programmable data processing devices for realizing in flow
The device for the function of being specified in one flow of figure or multiple flows and/or one square frame of block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Although having been described for the preferred embodiment of the application, those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the application scope.Obviously, those skilled in the art can be to the application
Embodiment carries out various changes and modification without departing from spirit and scope.So, if the embodiment of the present application this
A little modifications and variations belong within the scope of the embodiment of the present application claim and its equivalent technologies, then the application is also intended to include
Including these changes and modification.
Claims (10)
1. a kind of method of the path planning under orographic condition without road network, it is characterised in that including：
Obtain the basic data of survey region and the basic data is pre-processed, the basic data includes digital elevation
At least one in model data, terrestrial reference categorical data, place name address date；
Beidou navigation mesh generation is carried out according to the transformational relation between longitude and latitude and grid code to pretreated basic data,
To specify network level to obtain the grid coding of the basic data；
Trafficability quantization is carried out to grid, and the grid coding of grid is associated with its trafficability quantized result；
According to the grid coding of association and its trafficability quantized result, path planning is carried out.
2. the method as described in claim 1, it is characterised in that it is described to pretreated basic data according to longitude and latitude and net
Transformational relation between trellis code carries out Beidou navigation mesh generation, is compiled with the grid for specifying network level to obtain the basic data
Code, including：
Code conversion is carried out to the longitude and latitude in pretreated basic data, binary system grid coding is converted to and carries out basic fortune
Calculate；
Mesh generation and grid collection aminated polyepichlorohydrin are carried out to point, line, surface object according to network level, spatial object grid is obtained
Mapping；
Spatial relationship calculating and spatial analysis are carried out to grid and grid, grid collection and grid collection, the basic data is obtained
Grid coding.
3. method as claimed in claim 2, it is characterised in that the longitude and latitude in pretreated basic data is carried out
Code conversion, is converted to binary system grid coding and carries out basic operations, including：
Set up decimal system two dimension, binary system two dimension, binary one-dimensional, the one-dimensional mapping relations mutually changed of the quaternary；
According to the mapping relations, carry out the conversion between longitude and latitude and binary system grid coding and the geographical implication of grid judges
Calculated with displacement；
According to the network level and binary system grid coding value, the grid coding of acquisition is ranked up.
4. the method as described in claim 1, it is characterised in that the trafficability is：
Trafficability is determined according at least one of category of roads, ground surface type, ground line gradient.
5. method as claimed in claim 4, it is characterised in that described to carry out trafficability quantization to grid, and by grid
Grid coding is associated with its trafficability quantized result, in addition to：
Significant atural object title in the grid is associated with the grid coding, the trafficability quantized result.
6. the method as described in claim 1, it is characterised in that the grid coding according to association quantifies with its trafficability
As a result path planning is carried out, including：
Shortest path planning is carried out according to the grid coding of association and its trafficability quantized result；
Local uniqueness is carried out according to the shortest path, the current cost path smaller with respect to shortest path is obtained.
7. method as claimed in claim 6, it is characterised in that the grid coding according to association quantifies with its trafficability
As a result, after progress path planning, in addition to：
The path smaller with respect to shortest path to the current cost carries out reasonableness check.
8. method as claimed in claim 7, it is characterised in that the reasonableness check, in addition to：
Judge the path passes through in grid whether include barrier；
If comprising barrier, according to the trafficability quantized result of meshes again path planning.
9. method as claimed in claim 7 or 8, it is characterised in that the reasonableness check, including：
Judge that the path is passed through in grid whether can Delete Mesh comprising do not influence path connectivity；
If comprising can Delete Mesh, delete it is described can Delete Mesh, and path planning again.
10. a kind of device of the path planning under orographic condition without road network, it is characterised in that including：
Pretreatment module, for obtaining the basic data of survey region and being pre-processed to the basic data, the basis
Data include at least one in Law of DEM Data, terrestrial reference categorical data, place name address date；
Mesh generation module, for being carried out to pretreated basic data according to the transformational relation between longitude and latitude and grid code
Beidou navigation mesh generation, to specify network level to obtain the grid coding of the basic data；
Cost quantization modules, for carrying out trafficability quantization to grid, and by the grid coding of grid and its trafficability amount
Change result to be associated；
Path planning module, for the grid coding according to association and its trafficability quantized result, carries out path planning.
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| CN112487123A (en) * | 2020-12-05 | 2021-03-12 | 武汉中海庭数据技术有限公司 | Road connectivity testing method and system based on large-range high-precision map |
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| CN112597262A (en) * | 2020-12-30 | 2021-04-02 | 广州海格星航信息科技有限公司 | Industry address serial number generation method and device based on spatial grid |
| CN113112595A (en) * | 2021-04-28 | 2021-07-13 | 中国科学院沈阳应用生态研究所 | Automatic construction method of point-line-surface mixed three-dimensional road network of three-dimensional model of real scene of complex |
| CN114485611A (en) * | 2021-12-28 | 2022-05-13 | 中科星图股份有限公司 | Three-dimensional space shortest path planning method and device based on Beidou grid code |
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