CN107677269A - A kind of low signal areas intelligent navigation method based on topological map - Google Patents
A kind of low signal areas intelligent navigation method based on topological map Download PDFInfo
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- CN107677269A CN107677269A CN201710750686.XA CN201710750686A CN107677269A CN 107677269 A CN107677269 A CN 107677269A CN 201710750686 A CN201710750686 A CN 201710750686A CN 107677269 A CN107677269 A CN 107677269A
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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
- G01C21/20—Instruments for performing navigational calculations
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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
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Abstract
The invention discloses a kind of low signal areas intelligent navigation method based on topological map, including the grating map of navigation area needed for acquisition for mobile terminal and it is translated into topological map；User marks start node P and destination node Q in the topological map；Navigation path planning mode is selected in mobile terminal；User inputs driving parameters to the mobile terminal, and the mobile terminal is that user navigates to destination node Q according to driving parameters and navigation path planning mode.The grating map of navigation area is simultaneously translated into topological map needed for obtaining in advance, without by networking continuous updating cartographic information, realize that the real-time map of null zones is shown during so as to navigate；Calculating has walked ratio so as to know the current location of user, realizes the positioning of null zones, user is also clear from itself position in null zones, and positioning precision is constantly lifted in navigation procedure.
Description
Technical field
The present invention relates to navigation field, more particularly to a kind of low signal areas intelligent navigation method based on topological map.
Background technology
With the fast development of Modern wireless communication technology and the popularization of smart mobile phone, Mobile Telephone Gps are increasingly gone out by masses
Needed for row.Navigator fix technology outside traditional GPS rooms, gradually tend to be ripe by the development of decades, existing mobile phone
Also there is navigation software map to check substantially, map scaling, focus are searched for, positioning is even borrowed with function, portioned products such as navigation
Acceleration transducer, direction sensor, NFC and indoor WI-FI for helping in smart mobile phone etc. realize indoor navigation.
However, gps signal, through that can be seriously impaired after building or other obstacles, mobile phone can not receive GPS
Cause location navigation misalignment or unavailable in the environment of information.In addition, navigation map is limited and made by satellite image renewal frequency
Figure personnel geography information grasps limitation, also has remote areas to provide the user reliable navigation Service in small range region.
Particularly, for some low signal areas, it is impossible to preferably receive GPS information or GPS costs of serving are higher, and there is no NFC
And indoor WI-FI auxiliary, location navigation will be unavailable.The thing for making personnel be got lost in remote areas because that can not navigate in recent years
Therefore happen occasionally, even threat to life, therefore provide a set of cost cheap weak for such as user such as outdoor mountain-climbing fan sometimes
Signal area navigation system is necessary！
The content of the invention
It is an object of the invention to propose it is a kind of can be accurately positioned and navigate in null zones based on topological map
Low signal areas intelligent navigation method.
To use following technical scheme up to this purpose, the present invention：
A kind of low signal areas intelligent navigation method based on topological map, comprises the following steps：
Step A, the grating map of navigation area needed for acquisition for mobile terminal are simultaneously translated into topological map；
Step B, user mark start node P and destination node Q in the topological map；
Step C, navigation path planning mode, optimal guidance path corresponding to generation are selected in mobile terminal；
Step D, user input driving parameters to the mobile terminal, and the mobile terminal is according to driving parameters and navigation road
Footpath planning mode is that user navigates to destination node Q.
Preferably, the step D includes：
" driving " navigation pattern：
Step D11, user input driving parameters to the mobile terminal：Drive average speed per hour N1；
The mobile terminal shows beginning node P to the destination node Q optimal guidance path on the topological map
K, by start node P to next node M on the optimal guidance path K1Link K1Actual section distance to be recorded as first real
Border section distance S, and the first actual section distance S is converted into the first linkage length W1, conversion formula is as follows：
That is the first linkage length W1 of link covers the required of the actual section distance representated by the link for user
Drive time；
Step D12, user start to set out, and the mobile terminal records node for the time constantly to set out, and record user is real
When drive time t1 (down time is not counted in the real-time drive time t1 of the user)；According to the real-time drive time t1 of the user
The walking ratio p1 of generation first, i.e.,
According to the described first walking ratio p1 calculation formula and the real-time drive time t1 of the user, at interval of 1 second to institute
State the first walking ratio p1 renewals once, and in current ink K1The current location of upper demarcation user；
Step D13, when the described first walking ratio p1 reaches 95%, the topological map will show the present bit of user
It is set in node M1On, and show node M on the topological map1To the sensing arrow of each adjacent node that can directly reach
Head；
Step D14, user reach node M on topological map1Corresponding fork crossing, stop move ahead, according to it is described most
Good guidance path K or the selection of itself wish move on direction, click on node M on the mobile terminal1On to that should continue
The directional arrow of direction of advance simultaneously confirms；If user does not move on direction by the optimal guidance path K selections herein,
Start node P is then updated to node M1, and jump to step C and start to perform；
Step D15, the mobile terminal will confirm that records node at the time of the directional arrow as the time, reads now
The real-time drive time t1 of the user be recorded as the first running time t1', the clearing user described in new record that lays equal stress on drives in real time
Time t1, calculating difference E 1, and judge whether the difference E 1 is more than given threshold e1, wherein
Difference E1=| first the first linkage lengths of running time t1'- W1 |；
If E1>E1, then the average speed per hour N1 that drives is updated to the average speed per hour N1' that actually drives, wherein
Step D16, the directional arrow confirmed according to user in the mobile terminal, finds node M1To next section
Point M2Link K2, the first actual section distance S is updated to link K2Actual section distance, while press above-mentioned first link
Length W1 calculation formula update the first linkage length W1, and continue to navigate by step D12；
Step D17, continuous repeat step D13 to step D16, until user is travelled to destination node Q.
Preferably, the step D also includes：
" walking " navigation pattern：
Step D21, user input driving parameters to the mobile terminal：User's height H (cm)；The mobile terminal calculates
User step-length N2, calculation formula are as follows：
User's step-length N2=0.45 × user's height H；
The mobile terminal shows beginning node P to the destination node Q optimal guidance path on the topological map
K, by start node P to next node M on the optimal guidance path K1Link K1Actual section distance to be recorded as first real
Border section distance S, and the first actual section distance S is converted into the second linkage length W2, conversion formula is as follows：
That is the second linkage length W2 of link covers the step number needed for the actual section representated by the link for user；
Step D22, user start to set out, and the mobile terminal records node for the time constantly to set out, and record user is real
When step number t2；Second walking ratio p2 is generated according to the real-time step number t2 of the user, i.e.,
According to the described second walking ratio p2 calculation formula and the real-time step number t2 of user, at interval of 1 second to second row
Walk ratio p2 renewals once, and in current ink K1The current location of upper demarcation user；
Step D23, when the described second walking ratio p2 reaches 95%, the topological map will show the present bit of user
It is set in node M1On, and show node M on the topological map1To the sensing arrow of each adjacent node that can directly reach
Head；
Step D24, user reach node M on topological map1Corresponding fork crossing, stop move ahead, according to it is described most
Good guidance path K or the selection of itself wish move on direction, click on node M on the mobile terminal1On to that should continue
The directional arrow of direction of advance simultaneously confirms；If user does not move on direction by the optimal guidance path K selections herein,
Start node P is then updated to node M1, and jump to step C and start to perform；
Step D25, the mobile terminal will confirm that records node at the time of the directional arrow as the time, reads now
The real-time step number t2 of the user be recorded as the first row and walk step number t2', clearing is laid equal stress on the real-time step number t2 of user described in new record, meter
Difference E2 is calculated, and judges whether the difference E2 is more than given threshold e2, wherein
Difference E2=| the first row walks the second linkage lengths of step number t2'- W2 |；
If E2>E2, then user's step-length N2 is updated to actual user step-length N2', wherein
Step D26, the directional arrow confirmed according to user in the mobile terminal, finds node M1To next section
Point M2Link K2, the first actual section distance S is updated to link K2Actual section distance, while press above-mentioned second link
Length W2 calculation formula update the second linkage length W2, and continue to navigate by step D22；
Step D27, continuous repeat step D23 to step D26, until user is travelled to destination node Q.
Preferably, the step D also includes：
" riding " navigation pattern：
Step D31, user input driving parameters to the mobile terminal：Ride average speed per hour N3；
The mobile terminal shows beginning node P to the destination node Q optimal guidance path on the topological map
K, by start node P to next node M on the optimal guidance path K1Link K1Actual section distance to be recorded as first real
Border section distance S, and the first actual section distance S is converted into the 3rd linkage length W3, conversion formula is as follows：
That is the 3rd linkage length W3 of link covers the required of the actual section distance representated by the link for user
Ride the time；
Step D32, user start to set out, and the mobile terminal records node for the time constantly to set out, and record user is real
When ride time t3 (down time be not counted in the user ride in real time time t3)；Ridden in real time time t3 according to the user
Generation the third line walks ratio p3, i.e.,
Ratio p3 calculation formula are walked according to described the third line and the user rides time t3 in real time, at interval of 1 second to institute
State the third line and walk ratio p3 renewals once, and in current ink K1The current location of upper demarcation user；
Step D33, when described the third line, which walks ratio p3, reaches 95%, the topological map will show the present bit of user
It is set in node M1On, and show node M on the topological map1To the sensing arrow of each adjacent node that can directly reach
Head；If user does not move on direction by the optimal guidance path K selections herein, start node P is updated to node M1,
And jump to step C and start to perform；
Step D34, user reach node M on topological map1Corresponding fork crossing, stop move ahead, according to it is described most
Good guidance path K or the selection of itself wish move on direction, click on node M on the mobile terminal1On to that should continue
The directional arrow of direction of advance simultaneously confirms；
Step D35, the mobile terminal will confirm that records node at the time of the directional arrow as the time, reads now
The user time t3 that rides in real time be recorded as first and ride time t3', the clearing user described in new record that lays equal stress on rides in real time
Time t3, calculating difference E3, and judge whether the difference E3 is more than given threshold e3, wherein
Difference E3=| first rides the linkage length W3 of time t3'- the 3rd |；
If E3>E3, then the average speed per hour N3 that rides is updated to the average speed per hour N3' that actually rides, wherein
Step D36, the directional arrow confirmed according to user in the mobile terminal, finds node M1To next section
Point M2Link K2, the first actual section distance S is updated to link K2Actual section distance, while press above-mentioned 3rd link
Length W3 calculation formula update the 3rd linkage length W3, and continue to navigate by step D32；
Step D37, continuous repeat step D33 to step D36, until user is travelled to destination node Q.
Preferably, topological map production method is in the step A：
Step A1, the grating map of navigation area needed for acquisition simultaneously extract real road；
Step A2, the fork on the road in the grating map on all real roads is arranged to the node of topological map；
Step A3, all especially places in the grating map are arranged to the node of topological map；
Step A4, the formal or unofficial real road in the grating map, step A2 and step A3 is generated
Multiple nodes be connected, calculate and store the distance of real road between two neighboring node；
Step A5, on each node of topological map, the directional arrow of every optional road in the node is set.
Preferably, the navigation path planning mode includes：Automatic planning shortest path mode, specify in order must through point from
Dynamic planning shortest path mode, specify it is unordered must be through putting automatic planning shortest path mode, Euler's circuit path fashion and making by oneself
Adopted path fashion.
Preferably, the automatic planning shortest path mode is：
First, start node P and destination node Q are marked in the topological map；
Then, the shortest path by start node P to destination node Q is found on the topological map using A* searching algorithms
Footpath；And searched out shortest path is shown on the topological map；
The shortest path found using A* searching algorithms on the topological map by start node P to destination node Q
Footpath is：
Using A* searching algorithms on the topological map, find first by start node P to first Dominator
Most short branch path, the most short branch path by first Dominator to next Dominator is then found, according to the method described above
Sequentially find the most short branch path between other Dominators, until find by last Dominator to destination node most
Short branch path, after above-mentioned all most short branch paths head and the tail are spliced, obtaining must by start node P processes on the topological map
Destination node Q shortest path is reached after node.
Preferably, described specify must be in order through putting automatic planning shortest path mode：
Start node P, destination node Q and Dominator are marked in the topological map, and Dominator is specified first
After reach order；
Using A* searching algorithms on the topological map, find first by start node P to first Dominator
Most short branch path, the most short branch path by first Dominator to next Dominator is then found, according to the method described above
Sequentially find the most short branch path between other Dominators, until find by last Dominator to destination node most
Short branch path, after above-mentioned all most short branch paths head and the tail are spliced, obtaining must by start node P processes on the topological map
Destination node Q shortest path is reached after node, and searched out shortest path is shown on topological map.
Preferably, described specify unordered must be through putting automatic planning shortest path mode：
First, start node P, destination node Q and Dominator are marked in the topological map, utilizes A* searching algorithms
Most short branch path by start node P to each Dominator, each Dominator to target are found on the topological map
Most short branch path between node Q most short branch path and any two Dominator, and calculate these most short branch path institutes
Corresponding actual distance, so as to generate most short branch path table between two nodes；
Then, a topology diagram being made up of start node P, destination node Q and all Dominators is generated, will be upper
The actual distance corresponding to most short branch path is stated as between each two nodes corresponding to most short branch path on the topology diagram
Distance；
Then, on the topology diagram using ant group algorithm find by start node P only once by it is all must be through
The Dominator corresponding to destination node Q shortest path is reached after node and reaches order；
Finally, order is reached according to the Dominator, successively from finding section in most short branch path table between two node
Between point corresponding to most short branch path go forward side by side is about to its head and the tail splicing, so as to obtain on the topological map by start node P by
User specifies the unordered arrival destination node Q after Dominator shortest path, and shows and sought on the topological map
The shortest path found.
Preferably, the Euler's circuit path fashion is：
The Euler's circuit path fashion is：
Start node P is marked in the topological map, judges whether the topological map is Euler diagram：
If an Euler's circuit is then found on the topological map using End-pairing algorithms, and in the topology
Searched out Euler's circuit is shown on map；
If not then determine that the optimal of the topological map adds side using MINIMUM WEIGHT perfect matching algorithm combination Floyd algorithms
(need to pass through real road twice), the topological map is set to be converted into Euler diagram；Then using End-pairing algorithms at this
An Euler's circuit is found on topological map, and searched out Euler's circuit is shown on the topological map；
Self-defined path fashion is：
User is demarcated on the topological map by start node P to destination node Q self-defined path, described self-defined
Path is that User Defined sets Dominator, specifies the connection successively reaching order and Dominator to Dominator
Path.
The low signal areas intelligent navigation method based on topological map, the grid of navigation area needed for advance acquisition
Scheme and be translated into topological map, without by networking continuous updating cartographic information during so as to navigate, and topological map is only
The path between node and node is shown, so as to which cartographic information is more simplified, improves the processing speed and picture display rate of data,
Realize that the real-time map of null zones is shown.
By recording each real time running parameter of user, calculating has walked ratio so as to know the current location of user, real
The positioning of present null zones, makes user to be also clear from itself position in null zones.Moreover, often pass through one
Section link just updates user's driving parameters so that and the parameter in the mobile terminal needed for each calculating has more real-time, from
And improve the positioning precision that user current location is shown on the topological map of required navigation area；In addition, start in navigation
Stage, user are familiar with to itself actual position, not high to the positioning accuracy request of current location, can use more
Coarse user's driving parameters carry out current location positioning to user, and user current location backward is positioned as according to the preceding paragraph chain
Road user's actual travel parameter is adjusted to the parameter needed for each calculating in the mobile terminal, and the parameter is through continuous tune in real time
It is whole, will make user current location positioning is lasting to keep higher precision, so as to meet user after navigation the stage due to reaching footpath between fields
Raw environment and the demand higher to positioning accuracy request.
Brief description of the drawings
The present invention will be further described for accompanying drawing, but the content in accompanying drawing does not form any limitation of the invention.
Fig. 1 is that the grating map of the one of embodiment of the present invention is converted into the structure chart of topological map；
Fig. 2 is the Node distribution figure of the topological map of the one of embodiment of the present invention；
Directional arrow display figure when Fig. 3 is the navigation of the one of embodiment of the present invention.
Wherein：Node P1, P2, P3, P4, P5, P6；Path L；Arrow T1, T2, T3, T4.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
Embodiment one
The low signal areas intelligent navigation method based on topological map of the present embodiment, comprises the following steps：
Step A, the grating map of navigation area needed for acquisition for mobile terminal are simultaneously translated into topological map, such as Fig. 1, figure
Shown in 2；
Step B, user mark start node P and destination node Q in the topological map；
Step C, navigation path planning mode, optimal guidance path corresponding to generation are selected in mobile terminal；
Step D, user input driving parameters to the mobile terminal, and the mobile terminal is according to driving parameters and navigation road
Footpath planning mode is that user navigates to destination node Q.
Preferably,
The step D includes：
" driving " navigation pattern：
Step D11, user input driving parameters to the mobile terminal：Drive average speed per hour N1；
The mobile terminal shows beginning node P to the destination node Q optimal guidance path on the topological map
K, by start node P to next node M on the optimal guidance path K1Link K1Actual section distance to be recorded as first real
Border section distance S, and the first actual section distance S is converted into the first linkage length W1, conversion formula is as follows：
That is the first linkage length W1 of link covers the required of the actual section distance representated by the link for user
Drive time；
Step D12, user start to set out, and the mobile terminal records node for the time constantly to set out, and record user is real
When drive time t1 (down time is not counted in the real-time drive time t1 of the user)；According to the real-time drive time t1 of the user
The walking ratio p1 of generation first, i.e.,
According to the described first walking ratio p1 calculation formula and the real-time drive time t1 of the user, at interval of 1 second to institute
State the first walking ratio p1 renewals once, and in current ink K1The current location of upper demarcation user；
Step D13, when the described first walking ratio p1 reaches 95%, the topological map will show the present bit of user
It is set in node M1On, and show node M on the topological map1To the sensing arrow of each adjacent node that can directly reach
Head；
Step D14, user reach node M on topological map1Corresponding fork crossing, stop move ahead, according to it is described most
Good guidance path K or the selection of itself wish move on direction, click on node M on the mobile terminal1On to that should continue
The directional arrow of direction of advance simultaneously confirms；If user does not move on direction by the optimal guidance path K selections herein,
Start node P is then updated to node M1, and jump to step C and start to perform；
Step D15, the mobile terminal will confirm that records node at the time of the directional arrow as the time, reads now
The real-time drive time t1 of the user be recorded as the first running time t1', the clearing user described in new record that lays equal stress on drives in real time
Time t1, calculating difference E 1, and judge whether the difference E 1 is more than given threshold e1, wherein
Difference E1=| first the first linkage lengths of running time t1'- W1 |；
If E1>E1, then the average speed per hour N1 that drives is updated to the average speed per hour N1' that actually drives, wherein
Step D16, the directional arrow confirmed according to user in the mobile terminal, finds node M1To next section
Point M2Link K2, the first actual section distance S is updated to link K2Actual section distance, while press above-mentioned first link
Length W1 calculation formula update the first linkage length W1, and continue to navigate by step D12；
Step D17, continuous repeat step D13 to step D16, until user is travelled to destination node Q.
The low signal areas intelligent navigation method based on topological map, the grid of navigation area needed for advance acquisition
Scheme and be translated into topological map, without by networking continuous updating cartographic information during so as to navigate, and topological map is only
The path between node and node is shown, so as to which cartographic information is more simplified, improves the processing speed and picture display rate of data,
Realize that the real-time map of null zones is shown.
Under " driving " navigation pattern, by recording the real-time drive time t1 of the user, and described first is calculated in real time
Walking ratio p1 realizes the positioning of null zones, makes user in null zones so as to know the real-time current location of user
Also itself position can be clear from.Moreover, often reaching one section of new link just updates the average speed per hour N1 that drives so that
Parameter in the mobile terminal needed for each calculating has more real-time, so as to improve on the topological map of required navigation area
Show the positioning precision of user current location；In addition, in the navigation incipient stage, user is more ripe to itself actual position
Know, it is not high to the positioning accuracy request of current location, the more coarse average speed per hour N1 that drives can be used to enter user
Trade front position positions, and user current location backward is positioned as t1 pairs of the real-time drive time of the user according to the preceding paragraph link
Each required parameter such as average speed per hour N1 and the first walking ratio p1 that drives that calculates is adjusted in the mobile terminal
Whole, the two parameter will make user current location positioning is lasting to keep higher precision, so as to meet user through constantly adjustment in real time
The stage is due to reaching foreign environment and the demand higher to positioning accuracy request after navigation.
Preferably, the step D also includes：
" walking " navigation pattern：
Step D21, user input driving parameters to the mobile terminal：User's height H (cm)；The mobile terminal calculates
User step-length N2, calculation formula are as follows：
User's step-length N2=0.45 × user's height H；
The mobile terminal shows beginning node P to the destination node Q optimal guidance path on the topological map
K, by start node P to next node M on the optimal guidance path K1Link K1Actual section distance to be recorded as first real
Border section distance S, and the first actual section distance S is converted into the second linkage length W2, conversion formula is as follows：
That is the second linkage length W2 of link covers the step number needed for the actual section representated by the link for user；
Step D22, user start to set out, and the mobile terminal records node for the time constantly to set out, and record user is real
When step number t2；Second walking ratio p2 is generated according to the real-time step number t2 of the user, i.e.,
According to the described second walking ratio p2 calculation formula and the real-time step number t2 of user, at interval of 1 second to second row
Walk ratio p2 renewals once, and in current ink K1The current location of upper demarcation user；
Step D23, when the described second walking ratio p2 reaches 95%, the topological map will show the present bit of user
It is set in node M1On, and show node M on the topological map1To the sensing arrow of each adjacent node that can directly reach
Head；
Step D24, user reach node M on topological map1Corresponding fork crossing, stop move ahead, according to it is described most
Good guidance path K or the selection of itself wish move on direction, click on node M on the mobile terminal1On to that should continue
The directional arrow of direction of advance simultaneously confirms；If user does not move on direction by the optimal guidance path K selections herein,
Start node P is then updated to node M1, and jump to step C and start to perform；
Step D25, the mobile terminal will confirm that records node at the time of the directional arrow as the time, reads now
The real-time step number t2 of the user be recorded as the first row and walk step number t2', clearing is laid equal stress on the real-time step number t2 of user described in new record, meter
Difference E2 is calculated, and judges whether the difference E2 is more than given threshold e2, wherein
Difference E2=| the first row walks the second linkage lengths of step number t2'- W2 |；
If E2>E2, then user's step-length N2 is updated to actual user step-length N2', wherein
Step D26, the directional arrow confirmed according to user in the mobile terminal, finds node M1To next section
Point M2Link K2, the first actual section distance S is updated to link K2Actual section distance, while press above-mentioned second link
Length W2 calculation formula update the second linkage length W2, and continue to navigate by step D22；
Step D27, continuous repeat step D23 to step D26, until user is travelled to destination node Q.
Under " walking " navigation pattern, by recording the real-time step number t2 of the user, and second walking is calculated in real time
Ratio p2 realizes the positioning of null zones, user also can in null zones so as to know the real-time current location of user
It is clear from itself position.Moreover, often reaching one section of new link just updates user's step-length N2 so that the movement
Parameter in terminal needed for each calculating has more real-time, and user is shown on the topological map of required navigation area so as to improve
The positioning precision of current location；In addition, in the navigation incipient stage, user is familiar with to itself actual position, to current
The positioning accuracy request of position is not high, and more coarse user's step-length N2 can be used to carry out current location to user and determined
Position, it is possible to estimated to obtain according to user's height, user current location backward is positioned as according to the preceding paragraph link institute
State the real-time step number t2 of user and calculate required parameter such as user's step-length N2 and second row to each in the mobile terminal
Walk ratio p2 to be adjusted, the two parameter will make user current location positioning is lasting to keep higher essence through constantly adjustment in real time
Degree, so as to meet user after navigation the stage due to reach foreign environment and to positioning accuracy request it is higher the needs of.
Preferably, the step D also includes：
" riding " navigation pattern：
Step D31, user input driving parameters to the mobile terminal：Ride average speed per hour N3；
The mobile terminal shows beginning node P to the destination node Q optimal guidance path on the topological map
K, by start node P to next node M on the optimal guidance path K1Link K1Actual section distance to be recorded as first real
Border section distance S, and the first actual section distance S is converted into the 3rd linkage length W3, conversion formula is as follows：
That is the 3rd linkage length W3 of link covers the required of the actual section distance representated by the link for user
Ride the time；
Step D32, user start to set out, and the mobile terminal records node for the time constantly to set out, and record user is real
When ride time t3 (down time be not counted in the user ride in real time time t3)；Ridden in real time time t3 according to the user
Generation the third line walks ratio p3, i.e.,
Ratio p3 calculation formula are walked according to described the third line and the user rides time t3 in real time, at interval of 1 second to institute
State the third line and walk ratio p3 renewals once, and in current ink K1The current location of upper demarcation user；
Step D33, when described the third line, which walks ratio p3, reaches 95%, the topological map will show the present bit of user
It is set in node M1On, and show node M on the topological map1To the sensing arrow of each adjacent node that can directly reach
Head；If user does not move on direction by the optimal guidance path K selections herein, start node P is updated to node M1,
And jump to step C and start to perform；
Step D34, user reach node M on topological map1Corresponding fork crossing, stop move ahead, according to it is described most
Good guidance path K or the selection of itself wish move on direction, click on node M on the mobile terminal1On to that should continue
The directional arrow of direction of advance simultaneously confirms；
Step D35, the mobile terminal will confirm that records node at the time of the directional arrow as the time, reads now
The user time t3 that rides in real time be recorded as first and ride time t3', the clearing user described in new record that lays equal stress on rides in real time
Time t3, calculating difference E3, and judge whether the difference E 3 is more than given threshold e3, wherein
Difference E3=| first rides the linkage length W3 of time t3'- the 3rd |；
If E3>E3, then the average speed per hour N3 that rides is updated to the average speed per hour N3' that actually rides, wherein
Step D36, the directional arrow confirmed according to user in the mobile terminal, finds node M1To next section
Point M2Link K2, the first actual section distance S is updated to link K2Actual section distance, while press above-mentioned 3rd link
Length W3 calculation formula update the 3rd linkage length W3, and continue to navigate by step D32；
Step D37, continuous repeat step D33 to step D36, until user is travelled to destination node Q.
Under " riding " navigation pattern, ridden in real time time t3 by recording the user, and calculate the described 3rd in real time
Walking ratio p3 realizes the positioning of null zones, makes user in null zones so as to know the real-time current location of user
Also itself position can be clear from.Moreover, often reaching one section of new link just updates the average speed per hour N3 that rides so that
Parameter in the mobile terminal needed for each calculating has more real-time, so as to improve on the topological map of required navigation area
Show the positioning precision of user current location；In addition, in the navigation incipient stage, user is more ripe to itself actual position
Know, it is not high to the positioning accuracy request of current location, the more coarse average speed per hour N3 that rides can be used to enter user
Trade front position positions, and user current location backward is positioned as the user according to the preceding paragraph link and ridden in real time t3 pairs of time
In the mobile terminal it is each calculate needed for parameter ride average speed per hour N3 and described the third line is walked ratio p3 and adjusted as described
Whole, the two parameter will make user current location positioning is lasting to keep higher precision, so as to meet user through constantly adjustment in real time
The stage is due to reaching foreign environment and the demand higher to positioning accuracy request after navigation.
Preferably, topological map production method is in the step A：
Step A1, the grating map of navigation area needed for acquisition simultaneously extract real road；
Step A2, the fork on the road in the grating map on all real roads is arranged to the node of topological map；
Step A3, all especially places in the grating map are arranged to the node of topological map；
Step A4, the formal or unofficial real road in the grating map, step A2 and step A3 is generated
Multiple nodes be connected, calculate and store the distance of real road between two neighboring node；
Step A5, on each node of topological map, the directional arrow of every optional road in the node is set.
For the topological map production method before navigation, the grating map of navigation area needed for acquisition simultaneously extracts actual road
Road, by the fork on the road in the grating map, the node of the equal translation bit topological map in special place；And calculate and store phase
The distance of real road between adjacent two nodes, in order to obtain the actual section distance of link in navigation.Moreover, each node
On every optional road be set to point to arrow, user can select the next section that need to be reached according to actual road conditions during in order to navigate
Point, improve flexibility and the adaptability of navigation.The especially place refers to sight spot, gas station, lavatory etc..
Preferably, the navigation path planning mode includes：Automatic planning shortest path mode, specify in order must through point from
Dynamic planning shortest path mode, specify it is unordered must be through putting automatic planning shortest path mode, Euler's circuit path fashion and making by oneself
Adopted path fashion.User can select different navigation path planning modes according to the actual requirements, to meet different navigation needs
The changeable road conditions with adaptation.
Preferably, the automatic planning shortest path mode is：
First, start node P and destination node Q are marked in the topological map；
Then, the shortest path by start node P to destination node Q is found on the topological map using A* searching algorithms
Footpath；And searched out shortest path is shown on the topological map；
The shortest path found using A* searching algorithms on the topological map by start node P to destination node Q
Footpath is：
Using A* searching algorithms on the topological map, find first by start node P to first Dominator
Most short branch path, the most short branch path by first Dominator to next Dominator is then found, according to the method described above
Sequentially find the most short branch path between other Dominators, until find by last Dominator to destination node most
Short branch path, after above-mentioned all most short branch paths head and the tail are spliced, obtaining must by start node P processes on the topological map
Destination node Q shortest path is reached after node.
When user's selection automatic planning shortest path mode, user only specify start node P and destination node
Q, using A* searching algorithms on the topological map, the shortest path to destination node Q by start node P is found, is applied to
Destination node Q situation need to be only navigated to by start node P.The A* searching algorithms are to solve shortest path in a kind of static road network
The maximally effective direct search method in footpath, using obtained on the path of multiple nodes it is minimum by cost as target.
Preferably, described specify must be in order through putting automatic planning shortest path mode：
Start node P, destination node Q and Dominator are marked in the topological map, and Dominator is specified first
After reach order；
Using A* searching algorithms on the topological map, find first by start node P to first Dominator
Most short branch path, the most short branch path by first Dominator to next Dominator is then found, according to the method described above
Sequentially find the most short branch path between other Dominators, until find by last Dominator to destination node most
Short branch path, after above-mentioned all most short branch paths head and the tail are spliced, obtaining must by start node P processes on the topological map
Destination node Q shortest path is reached after node, and searched out shortest path is shown on topological map.
When user's selection is described specify in order must be through putting automatic planning shortest path mode when, user can refer to Dominator
It is fixed successively to reach order, then the mobile terminal combination A* searching algorithms found on topological map by start node P by with
The shortest path for sequentially passing through and destination node Q being reached after Dominator is specified at family, available for needs such as such as orienteerings in order
By the situation in multiple places.
Preferably, described specify unordered must be through putting automatic planning shortest path mode：
First, start node P, destination node Q and Dominator are marked in the topological map, utilizes A* searching algorithms
Most short branch path by start node P to each Dominator, each Dominator to target are found on the topological map
Most short branch path between node Q most short branch path and any two Dominator, and calculate these most short branch path institutes
Corresponding actual distance, so as to generate most short branch path table between two nodes；
Then, a topology diagram being made up of start node P, destination node Q and all Dominators is generated, will be upper
The actual distance corresponding to most short branch path is stated as between each two nodes corresponding to most short branch path on the topology diagram
Distance；
Then, on the topology diagram using ant group algorithm find by start node P only once by it is all must be through
The Dominator corresponding to destination node Q shortest path is reached after node and reaches order；
Finally, order is reached according to the Dominator, successively from finding section in most short branch path table between two node
Between point corresponding to most short branch path go forward side by side is about to its head and the tail splicing, so as to obtain on the topological map by start node P by
User specifies the unordered arrival destination node Q after Dominator shortest path, and shows and sought on the topological map
The shortest path found.
When user's selection is described specify it is unordered must be through putting automatic planning shortest path mode when, user only specify starting section
Point P, destination node Q and Dominator, Dominator is not specified to reach order, then the mobile terminal passes through ant group algorithm
Find only once reached as start node P after all Dominators corresponding to destination node Q shortest path must be through
Node reaches order, recycle it is above-mentioned specify must find out in order through putting the finding method of automatic planning shortest path it is specified it is unordered must
It is necessary local by other available for being needed before destination node Q is reached through putting automatic planning shortest path, but to by order
Situation about not requiring.
Preferably, the Euler's circuit path fashion is：
The Euler's circuit path fashion is：
Start node P is marked in the topological map, judges whether the topological map is Euler diagram：
If an Euler's circuit is then found on the topological map using End-pairing algorithms, and in the topology
Searched out Euler's circuit is shown on map；
If not then determine that the optimal of the topological map adds side using MINIMUM WEIGHT perfect matching algorithm combination Floyd algorithms
(need to pass through real road twice), the topological map is set to be converted into Euler diagram；Then using End-pairing algorithms at this
An Euler's circuit is found on topological map, and searched out Euler's circuit is shown on the topological map.
When user selects the Euler's circuit path fashion, only specify start node P, available for start node P and
Destination node Q is the situation in same place.If the topological map is Euler diagram, the Euler's circuit is from start node P
Set out by each of the links on topological map once and only once after return to start node P path；If the topological map is not
It is Euler diagram, from start node P on topological map, other all links pass through in addition to a few links pass through twice
Cross once and only once return to start node P afterwards, it is all meet the path of above-mentioned condition in shortest path.
Preferably, self-defined path fashion is：
User demarcates the self-defined path by start node to destination node, the self-defined road on the topological map
Footpath is that User Defined sets Dominator, specifies the link road successively reaching order and Dominator to Dominator
Footpath.When user selects self-defined path fashion, user can voluntarily plan navigation way according to self-demand on topological map,
Improve the flexibility of navigation.
Embodiment two
The low signal areas intelligent navigation method based on topological map of the present embodiment, comprises the following steps：
S10：The grating map of navigation area needed for acquisition for mobile terminal is simultaneously translated into topological map.
S20：User marks start node P (i.e. current location) and destination node Q (i.e. purposes in the topological map
Ground).
S30：Navigation path planning mode is selected in mobile terminal.
S40：User inputs driving parameters to the mobile terminal, and the mobile terminal is according to driving parameters and guidance path
Planning mode is that user navigates to destination node Q.
As shown in figure 3, node P1 is start node P, node P4 is destination node Q, select navigation path planning mode for
According to optimal path of the navigation path planning mode from the node P1 to node P4, i.e., automatic planning shortest path, path L are
From node P1, successively by node P2 and node P3, node P4 is eventually arrived at；
Under " walking " navigation pattern, exemplified by navigating to node P2 from node P1：
S41：It is user's height H (cm) that user inputs driving parameters to the mobile terminal, and the mobile terminal, which calculates, to be used
Family step-length N2, the mobile terminal show paths L on the topological map, by node P1 on the L of path to node P2 link
P1P2 actual section distance is recorded as the first actual section distance S, and the first actual section distance S is converted into the second link
Length W2；
S42：User starts to set out, and the mobile terminal records node for the time constantly to set out, and record user walks in real time
Number t2；According to real-time the second walking of the step number t2 generations ratio p2 of the user, according to the described second walking ratio p2 calculation formula
And the real-time step number t2 of user, the described second walking ratio p2 is updated once at interval of 1 second, and is demarcated on current ink P1P2
The current location of user；
S43：When the described second walking ratio p2 reaches 95%, the current location for showing user is by the topological map
On node P2, and node P2 is shown on the topological map to the directional arrow of each adjacent node that can directly reach,
The directional arrow of adjacent node is arrow T2, the section for arrow T1, node P2 sensing the node P3 that node P2 points to node P1 herein
Point P2 points to node P5 arrow T3 and node P2 sensing node P6 arrow T4；
S44：User reaches the fork crossing corresponding to node P2 on topological map, stops moving ahead, (next according to path L
Destination node is P3) or the selection of itself wish move on direction, click on the mobile terminal on node P2 to should be after
The directional arrow of continuous direction of advance simultaneously confirms；If L instructions selection arrow T2 is not moved on user by path herein, will
Start node P is updated to node P2 by original P1, and jumps to step S30 and start to perform；
S45：Node is recorded as the time at the time of mobile terminal will confirm that directional arrow T2, reads now described
The real-time step number t2 of user is recorded as the first row and walks step number t2', resets the real-time step number t2 of user described in new record that lays equal stress on, calculating difference
E2, and judge whether the difference E2 is more than given threshold e2, if E2>E2, then user's step-length N2 is updated to actual use
Family step-length N2'；
S46：The directional arrow T2 confirmed according to user in the mobile terminal, finds node P2 to next node
P3 link P2P3, the first actual section distance S is updated to link P2P3 actual section distance, while presses above-mentioned second chain
Road length W2 calculation formula update the second linkage length W2, and continue to navigate by step S42；
S47：Continuous repeat step S43 to step S46, until user is travelled to destination node P4.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel would not require any inventive effort the other embodiments that can associate the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of low signal areas intelligent navigation method based on topological map, it is characterised in that comprise the following steps：
Step A, the grating map of navigation area needed for acquisition for mobile terminal are simultaneously translated into topological map；
Step B, user mark start node P and destination node Q in the topological map；
Step C, navigation path planning mode, optimal guidance path corresponding to generation are selected in mobile terminal；
Step D, user input driving parameters to the mobile terminal, and the mobile terminal is advised according to driving parameters and guidance path
The mode of drawing is that user navigates to destination node Q.
2. the low signal areas intelligent navigation method according to claim 1 based on topological map, it is characterised in that described
Step D includes：
" driving " navigation pattern：
Step D11, user input driving parameters to the mobile terminal：Drive average speed per hour N1；
The mobile terminal shows beginning node P to the destination node Q optimal guidance path K on the topological map, will
Start node P to next node M on the optimal guidance path K1Link K1Actual section distance be recorded as the first actual road
Duan Lucheng S, and the first actual section distance S is converted into the first linkage length W1, conversion formula is as follows：
That is the first linkage length W1 of link is that the required of actual section distance that user is covered representated by the link is driven
Time；
Step D12, user start to set out, and the mobile terminal records node for the time constantly to set out, and record user drives in real time
Car time t1 (down time is not counted in the real-time drive time t1 of the user)；According to the real-time drive time t1 generations of the user
First walking ratio p1, i.e.,
According to the described first walking ratio p1 calculation formula and real-time drive time t1 of the user, at interval of 1 second to described the
One walking ratio p1 updates once, and in current ink K1The current location of upper demarcation user；
Step D13, when the described first walking ratio p1 reaches 95%, the current location for showing user is by the topological map
In node M1On, and show node M on the topological map1To the directional arrow of each adjacent node that can directly reach；
Step D14, user reach node M on topological map1Corresponding fork crossing, stop moving ahead, according to the optimal navigation
Path K or the selection of itself wish move on direction, click on node M on the mobile terminal1On to should the side of moving on
To the directional arrow and confirm；If user does not move on direction by the optimal guidance path K selections herein, will rise
Beginning, node P was updated to node M1, and jump to step C and start to perform；
Step D15, the mobile terminal will confirm that records node at the time of the directional arrow as the time, reads institute now
State the real-time drive time t1 of user and be recorded as the first running time t1', reset the real-time drive time of user described in new record of laying equal stress on
T1, calculating difference E1, and judge whether the difference E1 is more than given threshold e1, wherein
Difference E1=| first the first linkage lengths of running time t1'- W1 |；
If E1>E1, then the average speed per hour N1 that drives is updated to the average speed per hour N1' that actually drives, wherein
Step D16, the directional arrow confirmed according to user in the mobile terminal, finds node M1To next node M2
Link K2, the first actual section distance S is updated to link K2Actual section distance, while press above-mentioned first linkage length
W1 calculation formula update the first linkage length W1, and continue to navigate by step D12；
Step D17, continuous repeat step D13 to step D16, until user is travelled to destination node Q.
3. the low signal areas intelligent navigation method according to claim 1 based on topological map, it is characterised in that described
Step D also includes：
" walking " navigation pattern：
Step D21, user input driving parameters to the mobile terminal：User's height H (cm)；The mobile terminal calculates user
Step-length N2, calculation formula are as follows：
User's step-length N2=0.45 × user's height H；
The mobile terminal shows beginning node P to the destination node Q optimal guidance path K on the topological map, will
Start node P to next node M on the optimal guidance path K1Link K1Actual section distance be recorded as the first actual road
Duan Lucheng S, and the first actual section distance S is converted into the second linkage length W2, conversion formula is as follows：
That is the second linkage length W2 of link covers the step number needed for the actual section representated by the link for user；
Step D22, user start to set out, and the mobile terminal records node for the time constantly to set out, and record user walks in real time
Number t2；Second walking ratio p2 is generated according to the real-time step number t2 of the user, i.e.,
According to the described second walking ratio p2 calculation formula and the real-time step number t2 of user, at interval of 1 second to the described second walking ratio
Example p2 updates once, and in current ink K1The current location of upper demarcation user；
Step D23, when the described second walking ratio p2 reaches 95%, the current location for showing user is by the topological map
In node M1On, and show node M on the topological map1To the directional arrow of each adjacent node that can directly reach；
Step D24, user reach node M on topological map1Corresponding fork crossing, stop moving ahead, according to the optimal navigation
Path K or the selection of itself wish move on direction, click on node M on the mobile terminal1On to should the side of moving on
To the directional arrow and confirm；If user does not move on direction by the optimal guidance path K selections herein, will rise
Beginning, node P was updated to node M1, and jump to step C and start to perform；
Step D25, the mobile terminal will confirm that records node at the time of the directional arrow as the time, reads institute now
State the real-time step number t2 of user and be recorded as the first row and walk step number t2 ', clearing is laid equal stress on the real-time step number t2 of user described in new record, and it is poor to calculate
Value E2, and judge whether the difference E2 is more than given threshold e2, wherein
Difference E2=| the first row walks the second linkage lengths of step number t2'- W2 |；
If E2>E2, then user's step-length N2 is updated to actual user step-length N2', wherein
Step D26, the directional arrow confirmed according to user in the mobile terminal, finds node M1To next node M2
Link K2, the first actual section distance S is updated to link K2Actual section distance, while press above-mentioned second linkage length
W2 calculation formula update the second linkage length W2, and continue to navigate by step D22；
Step D27, continuous repeat step D23 to step D26, until user is travelled to destination node Q.
4. the low signal areas intelligent navigation method according to claim 1 based on topological map, it is characterised in that described
Step D also includes：
" riding " navigation pattern：
Step D31, user input driving parameters to the mobile terminal：Ride average speed per hour N3；
The mobile terminal shows beginning node P to the destination node Q optimal guidance path K on the topological map, will
Start node P to next node M on the optimal guidance path K1Link K1Actual section distance be recorded as the first actual road
Duan Lucheng S, and the first actual section distance S is converted into the 3rd linkage length W3, conversion formula is as follows：
That is the 3rd linkage length W3 of link is that the required of actual section distance that user is covered representated by the link is ridden
Time；
Step D32, user start to set out, and the mobile terminal records node for the time constantly to set out, and record user rides in real time
Row time t3 (down time be not counted in the user ride in real time time t3)；According to the user ride in real time time t3 generation
The third line walks ratio p3, i.e.,
Ratio p3 calculation formula are walked according to described the third line and the user rides time t3 in real time, at interval of 1 second to described
Three walking ratio p3 update once, and in current ink K1The current location of upper demarcation user；
Step D33, when described the third line, which walks ratio p3, reaches 95%, the current location for showing user is by the topological map
In node M1On, and show node M on the topological map1To the directional arrow of each adjacent node that can directly reach；If
User does not move on direction by the optimal guidance path K selections herein, then start node P is updated into node M1, and jump
Step C is gone to start to perform；
Step D34, user reach node M on topological map1Corresponding fork crossing, stop moving ahead, according to the optimal navigation
Path K or the selection of itself wish move on direction, click on node M on the mobile terminal1On to should the side of moving on
To the directional arrow and confirm；
Step D35, the mobile terminal will confirm that records node at the time of the directional arrow as the time, reads institute now
State the user time t3 that rides in real time to be recorded as first and ride time t3', the clearing user described in new record that lays equal stress on rides the time in real time
T3, calculating difference E3, and judge whether the difference E3 is more than given threshold e3, wherein
Difference E3=| first rides the linkage length W3 of time t3'- the 3rd |；
If E3>E3, then the average speed per hour N3 that rides is updated to the average speed per hour N3' that actually rides, wherein
Step D36, the directional arrow confirmed according to user in the mobile terminal, finds node M1To next node M2
Link K2, the first actual section distance S is updated to link K2Actual section distance, while press above-mentioned 3rd linkage length
W3 calculation formula update the 3rd linkage length W3, and continue to navigate by step D32；
Step D37, continuous repeat step D33 to step D36, until user is travelled to destination node Q.
5. the low signal areas intelligent navigation method according to claim 1 based on topological map, it is characterised in that described
Topological map production method is in step A：
Step A1, the grating map of navigation area needed for acquisition simultaneously extract real road；
Step A2, the fork on the road in the grating map on all real roads is arranged to the node of topological map；
Step A3, all especially places in the grating map are arranged to the node of topological map；
Step A4, the formal or unofficial real road in the grating map, step A2 and step A3 is generated more
The individual node is connected, and calculates and stores the distance of real road between two neighboring node；
Step A5, on each node of topological map, the directional arrow of every optional road in the node is set.
6. the low signal areas intelligent navigation method according to claim 1 based on topological map, it is characterised in that：It is described
Navigation path planning mode includes：Automatic planning shortest path mode, specify in order must through put automatic planning shortest path mode,
Specify it is unordered must be through putting automatic planning shortest path mode, Euler's circuit path fashion and self-defined path fashion.
7. the low signal areas intelligent navigation method according to claim 6 based on topological map, it is characterised in that described
It is automatic to plan that shortest path mode is：
First, start node P and destination node Q are marked in the topological map；
Then, the shortest path by start node P to destination node Q is found on the topological map using A* searching algorithms；
And searched out shortest path is shown on the topological map；
Described found using A* searching algorithms on the topological map be by start node P to destination node Q shortest path：
Using A* searching algorithms on the topological map, find first by the most short of start node P to first Dominator
Branch path, the most short branch path by first Dominator to next Dominator is then found, according to the method described above successively
The most short branch path between other Dominators is found, until finding the most short branch by last Dominator to destination node
Path, after above-mentioned all most short branch paths head and the tail are spliced, obtaining must warp knuckle by start node P processes on the topological map
Destination node Q shortest path is reached after point.
8. the low signal areas intelligent navigation method according to claim 6 based on topological map, it is characterised in that described
Specifying must be in order through putting automatic planning shortest path mode：
Start node P, destination node Q and Dominator are marked in the topological map, and Dominator is specified and successively arrived
Up to order；
Using A* searching algorithms on the topological map, find first by the most short of start node P to first Dominator
Branch path, the most short branch path by first Dominator to next Dominator is then found, according to the method described above successively
The most short branch path between other Dominators is found, until finding the most short branch by last Dominator to destination node
Path, after above-mentioned all most short branch paths head and the tail are spliced, obtaining must warp knuckle by start node P processes on the topological map
Destination node Q shortest path is reached after point, and searched out shortest path is shown on topological map.
9. the low signal areas intelligent navigation method according to claim 7 based on topological map, it is characterised in that described
Specify unordered must be through putting automatic planning shortest path mode：
First, start node P, destination node Q and Dominator are marked in the topological map, using A* searching algorithms in institute
State and most short branch path by start node P to each Dominator, each Dominator to destination node Q are found on topological map
Most short branch path and any two Dominator between most short branch path, and calculate corresponding to these most short branch paths
Actual distance, so as to generate most short branch path table between two nodes；
Then, generate a topology diagram being made up of start node P, destination node Q and all Dominators, by it is above-mentioned most
Actual distance corresponding to short branch path as between each two nodes corresponding to most short branch path on the topology diagram away from
From；
Then, found on the topology diagram using ant group algorithm and all Dominators only once are passed through by start node P
The Dominator corresponding to destination node Q shortest path is reached afterwards reaches order；
Finally, order is reached according to the Dominator, is found successively from most short branch path table between two node between node
Corresponding most short branch path, which is gone forward side by side, is about to the splicing of its head and the tail, so as to obtain on the topological map by start node P by user
The unordered arrival destination node Q after Dominator shortest path is specified, and shows and is searched out on the topological map
Shortest path.
10. the low signal areas intelligent navigation method according to claim 6 based on topological map, it is characterised in that institute
Stating Euler's circuit path fashion is：
The Euler's circuit path fashion is：
Start node P is marked in the topological map, judges whether the topological map is Euler diagram：
If an Euler's circuit is then found on the topological map using End-pairing algorithms, and in the topological map
The searched out Euler's circuit of upper display；
If not the optimal side that adds for then determining the topological map using MINIMUM WEIGHT perfect matching algorithm combination Floyd algorithms (needs
By real road twice), the topological map is converted into Euler diagram；Then using End-pairing algorithms in the topology
An Euler's circuit is found on map, and searched out Euler's circuit is shown on the topological map；
Self-defined path fashion is：
User is demarcated on the topological map by start node P to destination node Q self-defined path, the self-defined path
Dominator is set for User Defined, the access path successively reaching order and Dominator is specified Dominator.
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