CN101739617A - PDA-based intelligent travel navigation system - Google Patents
PDA-based intelligent travel navigation system Download PDFInfo
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Abstract
The invention discloses a PDA-based intelligent travel navigation system. The system comprises a data searching and query module, a travel planning module, an intelligent navigation module, an emergency rescue module and a system configuration module, wherein the data searching and query module can provide real-time information searching and query related to traveling positions of tourists; the travel planning module comprises a travel planning module and a travel looking-over module; and the intelligent navigation module performs GPS data acquisition and processing, user position tracking, user track display, route planning, map browsing and intelligent audio navigation. Under the condition of an emergency, the tourists can ask for help to related departments through the emergency rescue module. The system has strong real-time performance and high application value.
Description
Technical field
The invention belongs to the travel information field, be specifically related to position information process, real-time information inquiry, tour schedule planning, intelligent navigation and emergency management and rescue etc. based on GPS.
Background technology
The gordian technique of self-service journey navigation is exactly the GIS airmanship, at present comparative maturity on the GIS airmanship both at home and abroad.In map matching technology, can set up with the road is the Kalman filter model of constraint condition, utilizes the position of vehicle ' and directional information that vehicle is matched on the correct road.
Aspect GPS, owing to be subjected to the GPS The noise, the position of actual measurement often has deviation.At this problem, can adopt map Match Algorithm based on fuzzy logic theory, this algorithm has taken into full account the bias property of road geometrical property and gps measurement data.On real-time, robustness and the matching precision of map match, can be according to the continuity of vehicle movement, introduce the piecemeal thought of road network, and utilize the topological property of position, directional information and the real road network of vehicle ', can propose a kind of time complexity is the quick map-matching algorithm of O (c).
Solving the shortest path based on GIS also is a gordian technique, dijkstra's algorithm is one of the most classical shortest path first in solving the shortest path, at the GIS specific question, based on OO improvement algorithm, can reduce memory consumption greatly, search efficiency also obviously improves.Simultaneously at A
*Algorithm can utilize ant group algorithm to improve.A heuristic search algorithm based on artificial intelligence is assessed the pre-search node by restrictive condition, and by with Binary Heap the pre-search node that comprises assessed value being sorted, this algorithm complex only is O (n).
Aspect emergency management and rescue, the different abilities at terminal can receive text, voice, the rescue of modes such as image, receive person for help's rescue information after, adopt the method for machine learning that rescue information is carried out classification and storage, and transmit to relevant departments.Adopt related algorithm to provide the rescue guideline then based on the GIS map match.
The present invention integrates the advantage of above-mentioned technology, has proposed a kind of new special intelligent travel navigation system based on PDA at tourism industry.
Summary of the invention
The present invention has developed an intelligent guidance system based on PDA, comprises the position information process of GPS, real-time information inquiry, tour schedule planning, intelligent navigation and emergency management and rescue etc.System is made of five parts, is respectively: data search and inquiry, tour schedule planning, intelligent navigation, emergency management and rescue and system configuration.
1. data search is based on the information inquiry of vertical search technology, can provide the relevant information search of travelling with the visitor, the inquiry of information such as for example food and drink, hotel lodging, scenic spot information, scenic spot weather;
2. tour schedule planning part provides the planning stroke and checks stroke;
3. intelligent navigation realizes that mainly gps data obtains and processing, customer location tracking, user track display, route planning, map view and intelligent sound navigation;
4. emergency management and rescue are meant under the situation that accident takes place, the visitor will be accurately to relevant departments (120 by native system, 110 etc.) require assistance, native system will send the necessary hedging and the knowledge of saving oneself for before relevant departments implement rescue the visitor A that needs rescue.Visitor's information bank will be searched for by system, search near the visitor C that whether has doctor B or rescue knowledge relatively to enrich the emergency visitor A, if having, system can send to B and C with position and its situation that waits for rescue visitor A, asks them to assist rescue.
Description of drawings
Fig. 1 is the entire system structure;
Fig. 2 is system's detailed structure;
Fig. 3 is the data search framework;
Fig. 4 is the tour schedule planning algorithm;
Fig. 5 visitor's Position Tracking and track show;
Fig. 6 reduces the radian number in highway section
Fig. 7 is 2 route plannings;
Fig. 8 is the multi-point route planning;
Fig. 9 determines for the sight spot scope;
Figure 10 is the foundation of sight spot index;
Figure 11 is the intelligent sound navigation algorithm;
Figure 12 is the emergency management and rescue framework.
Embodiment
System is divided into PDA end and server end two parts, both communicate by network, and PDA is the main interface of system and user interactions as the foreground of total system, server end finishes the storage of information and inquiry and to management of information in the database, the entire system structure as shown in Figure 1.PDA holds functional module as shown in Figure 2, and this system mainly is made of five major parts, is respectively: data search and inquiry, tour schedule planning, intelligent navigation, emergency management and rescue and system configuration.
1. data search
Data search is based on the information inquiry of vertical search technology, and the relevant information search of travelling with the visitor can be provided, the inquiry of information such as for example food and drink, hotel lodging, scenic spot information, scenic spot weather, and its technical scheme is as shown in Figure 3.Introduce the function of each submodule below respectively.
1.1 food and drink cuisines module
This module is the platform that is used for providing to the user each each department, city food and drink cuisines of inquiry.The condition that the user will inquire about according to the individual demand input, provide the name of key word, city and the area that will inquire about, the style of cooking and in certain geographic coverage, submit to server then, server is according to user's initial conditions Query Database, the food and drink cuisines of meeting consumers' demand are fed back to subscription client, show the user with the form of tabulating.The user can also check the specifying information of each food and drink cuisines option in the Query Result, comprises the information such as title, address and phone in each dining room.The visitor is the input inquiry condition in main interface, through will on PDA, showing qualified data after the background server processing, after selecting a dining room, the visitor clicks the details that the dining room can appear in " details " button, comprising the relevant informations such as title, address, phone, the style of cooking, main menu and picture in dining room.
1.2 hotel lodging module
This module is the platform that the hotel lodging situation of each urban area of inquiry is provided to the user.The user is according to the every condition that will inquire about of individual demand input, provide the name of key word, urban area and the address realm at place, then these conditional informations are submitted to server end, server is according to these condition query databases, the hotel lodging situation of meeting consumers' demand is fed back to subscription client, show the user with the form of tabulating.The user can check the specifying information in each hotel, comprises the information such as title, address, phone and grade in hotel.
1.3 scenic spot search module
This module comprises three submodules, is respectively by the range searching module, by range search module and search module by name.At each submodule, the user can import the condition (zone name, distance range, scenic spot title) that will search for respectively, submits to server end then, and server end feeds back to subscription client with the scenic spot information of meeting consumers' demand with the form of tabulating.The user can check the specifying information (details at title, address, lowest price, phone and scenic spot) at each scenic spot in the Query Result.
1.4 weather enquiry module
This module is responsible for providing scenic spot, present place weather condition within the next few days to the user.
1.5 scenic spot information inquiry module
This module is responsible for providing to the user details introduction at scenic spot, present place.System can be by the accurate current visitor position, location of GPS, determines currently at which scenic spot, and system can feed back to the visitor with the weather condition in a couple of days at this scenic spot and the introduction at scenic spot then.
1.6 scenic spot peripheral information search module
This module comprises fixed-position searching and two submodules of range searching.At the fixed-position searching submodule, the user imports a search key, and system can search the place relevant with this key word from database then, and the user selects the objective that will go as required then, and system can demonstrate this objective on map then.In the range searching module, the place that the user provides a range information as required and selects to go, system can demonstrate this objective and feed back to the user on map then.The key word that visitor's input will be searched for, submit to system then, system can search the peripheral place relevant with this key word, Search Results is showed with the form of tabulation, next the visitor selects the objective that will go, system can indicate the position in this place on map then, feeds back to the user then.In the module range searching, the visitor imports certain hunting zone, and selects the objective that will go, searches for then.Equally, system also can feed back to the user then with indicate the position in this place on map.
1.7 scenic spot video search module
This module is responsible for the video information that the user provides the scenic spot, and the user can check the list information of all videos, comprises the Name ﹠ Location of each video, for each video in the tabulation, watches with playing per family.The user also can check the specifying information (title, position, size, details introduction) of each video.The list of videos that can provide for the user can be provided in system, and the visitor can select a video to play to watch, and the visitor's details that can also check each video simultaneously comprise title, position, size and the details information of video.
2. tour schedule planning
This partial design comprises the planning stroke and checks two modules of stroke.The user is according to individual demand initial conditions information, submit to system then, system can carry out the associative operation of database, and the scenic spot set of satisfying user's initial conditions is fed back to the user with the form of tabulating, and the user also can add and the deletion scenic spot this tabulation according to individual demand.After list information was confirmed, system can formulate the concrete stroke planning scheme of a cover for the user, also can arrange concrete tourism route for the user according to user's demand condition.Specific algorithm as shown in Figure 4.
2.1 planning stroke module
This module is responsible for the tour schedule concrete for the user plans according to user's demands of individuals condition.The conditional information that the user will provide comprises: start time, trip mode, rank zone, scenic spot and the distance limit of plan tourist-day, plan admission ticket expense, plan tourist arrivals, tourism.These information will be submitted to system then, and system can operating database screen the scenic spot of meeting consumers' demand, and feed back to the user with the form of tabulating.The user can increase the scenic spot tabulation that search obtains and the deletion scenic spot according to individual demand, and system is submitted in the tabulation that will be satisfied with then, and system arranges concrete stroke planning according to some conditions of this tabulation and user for the user.Simultaneously, the tour schedule route that system is also concrete for the user has arranged properly according to user's demand is for the user provides great convenience.If user's satisfaction can be preserved stroke.After the visitor provided the condition of stroke planning, system can show result after the computing.If the visitor is satisfied to the scenic spot set that system provides, click the routing that " planning stroke " can obtain every day, and the plan performance.
2.2 check stroke module
This module checks that system is the stroke planning that the user formulates.According to the conditional information that the user provides, system has formulated the tour schedule arrangement of every day for the user, and the user can operate the planning of checking every day, and can check the concrete itinerary at each scenic spot.
3. intelligent navigation
Intelligent navigation comprises that mainly gps data obtains and handles, and customer location is followed the tracks of, user track display, route planning, map view and intelligent sound navigation.Wherein to obtain and handle be the basis of other each submodules to gps data.Customer location is followed the tracks of, user track display, and route planning and intelligent sound navigation all are based on the navigation of visitor position.System can show visitor's position and track, has provided simultaneously the next one plan sight spot of sight spot, present place and systems organization on navigation bar up and down, it should be noted that this system provides the function of Voice Navigation simultaneously.
3.1 Position Tracking and track show
Position Tracking and track show and are meant that position and the tourism route that shows the visitor on the PDA terminal in real time, this function will help the visitor oneself position is positioned, and check the sight spot of having played.Its specific algorithm flow process as shown in Figure 5.Visitor's positional information and trace information will refresh along with refreshing simultaneously of gps data.
3.2 route planning
Route planning mainly comprises point-to-point transmission route planning and two submodules of multi-point tourism sequential program(me), and wherein the point-to-point transmission route planning is a planning problem of finding the solution preceding Kth bar best route, and multi-point tourism sequential program(me) is a TSP problem.Route planning between the sight spot has a rational problem.Consider that from user perspective rationality should comprise: route is tending towards the shortest; Should comprise the sight spot that the user has been as few as possible in the route of planning; The route of planning should be avoided the bigger sight spot of present flow of the people as far as possible.At above three problems, to the information stores employing form as shown in table 1 at sight spot in the scenic spot.
Table 1 sight spot information structure
| Sight spot ID | Adjacent ID | The number of times of playing | Present number |
| ?1 | ??2，3 | ?0 | 300 |
| ?2 | ??1，5 | ?1 | 750 |
| ?... | ??... | ?... | ... |
| ?n | ??2，n-3，n-1 | ?0 | 456 |
Calculate between two sight spots apart from the time, except considering the actual range between two sight spots, also will " present number " and the information of " number of times of playing " two fields be weighted processing.
Suppose that sight spot a to visitor's bearing capacity is
Present tourist arrivals is θ (a), then:
In route planning, sight spot a determines whether occurring in route according to formula (1) formula.
If the route radian between sight spot a and the sight spot b is excessive, this paper takes to add the radian number that an interim node reduces the highway section at the flex point place in highway section.As shown in Figure 6, adding interim node c ' before, sight spot a is a route " 1 " among Fig. 6 to the route of sight spot b, add interim node c ' after, the route of planning is " 2 " and " 3 ", more approaches actual path.
In 2 planning, be that the user locatees the scenic spot at current place and sight spot as setting out sight spot (visitor also can reselect the sight spot of setting out in addition) by GPS, select the target sight spot that will go by the visitor then, and submit to system.System can feed back to several alternative tourism routes of user, and after the visitor chose at random a route then, system can be indicated in circuit on the electronic chart.Point-to-point transmission route planning algorithm as shown in Figure 7.
Multi-point tourism sequential program(me) is meant that the visitor is after arriving certain scenic spot i, according to ant group algorithm all sight spots, this scenic spot are planned that by system for example, scenic spot i has { T1, T2, T3, four sight spots of T4} will provide an order { T2 after the ant group algorithm planning, T4, T1, T3}, the visitor can regulate in proper order to this.The visitor is satisfied, and program results is preserved in the back, and its result will use in the intelligent sound navigation.This algorithm flow as shown in Figure 8.
Wherein ant group algorithm (Ant Colony Algorithm) is a kind of simulated evolutionary algorithm, this algorithm is at first proposed by Italian scholar M.Dorigo, people such as V.Maniezzo, A.Colorini, it is a kind of heuristic search algorithm that is applied to combinatorial optimization problem, this basic idea is: be provided with m city, n ant, adopt dij to represent that city i is to the distance between the j of city, in Euclidean TSP, dij is that i is to the Euclidean distance between the j, be dij=[(xi-xj) 2+ (yi-yj) 2] 1/2, ant selects the foundation in next city to mainly contain 2 points:
τ
Ij(t) be in the t residual, information intensity of city i to the path between the j of city constantly, provide information by algorithm itself; η
Ij(t) be the heuristic information of transferring to city j by city i, in the TSP problem, generally get η
Ij(t)=and 1/dij, p
Ij k(t) be illustrated in t ant k constantly and transfer to the probability of city j by city i, wherein:
Wherein Tablek represents next step city that allows to advance set of ant k, and it dynamically changes with the traveling process of ant k.
τ
Ij(t) passing meeting in time progressively disappears, and represents its disappearance degree with ρ.Which city ant is selected to transfer to and adopts pseudorandom probability selective rule.According to this rule, when city that ant will be selected to shift, just produce a random number in [0,1] scope, determine the direction that ant shifts according to this random number by following formula.
Wherein, q is a random number in interval [0,1], and q0 is a parameter in [0,1].
Like this, through m constantly, ant is covered all cities, has promptly finished once circulation.Upgrade pheromones each path on according to following formula this moment:
τ
ij(t+1)＝(1-ρ)·τ
ij(t)+Δτ
ij??????????????????????????????????????????(4)
Wherein:
Δ τ
Ij kThe pheromones that expression ant k stays on the path between city i and the city j in this circulation.M.Dorigo has introduced three kinds of different implementation methods, is called Ant Cycle, Ant Density and Ant Quantity, and the formula of embodying is respectively:
Wherein Q is a constant, and Lk represents k ant path of walking in this circulation.At initial time τ
Ij(0)=C.
Consider practical application, the present invention has done some improvement to basic ant group algorithm, has proposed " meeting algorithm by chance ", and it is described below:
If city Cm is at the quantity Sum (Ant) 〉=2 of the constantly accessed ant of t, and Table
Ki∩ Table
Kj=Φ, and Table
Ki∪ Table
Kj=T then finishes the route of ant i and ant j, and writes down the tourism route of these two ants.Wherein Tableki is the city table that ki ant do not searched for, and Tablekj is the city table that kj ant do not searched for.
In ant is repeatedly traveled round, the ant ability lastest imformation element that the path is the shortest.In once traveling round, select a city after, calculate current path length, if length surpasses the minimum value that this circulation has obtained, promptly finish this time to travel round.Can further shorten computing time like this.The ant group algorithm that adding is met by chance behind the algorithm is described below:
1) initializing variable: C, NC_max, α, β, Q isEND.Wherein C is the coordinate of each point, and NC_max is a maximum cycle, and whether the isEND sign finishes to travel round by ant.
2) m ant is put on n the city at random
3) For (int i=2; I＜=n; I++) //a n city
4){
5) For (intj=1; J＜=m; J++) //a m ant
6){
7)If(！isEND[j])
8) calculate the probability of ant j according to formula (1) to city i.
9)}
10) If (meeting algorithm (i) by chance)
11)isEnd＝true；
12)}
13) calculating optimum route
14) lastest imformation element
15) output result
As can be seen, when two ants are just finished route after certain city is met by chance, thereby can shorten the computing time of algorithm.
In tourism sequential program(me) module, by GPS is the scenic spot that the user locatees current place, gather at the target sight spot of being selected to go by the visitor then, and submit to system, system can feed back to the optimal sequence of a sight spot tourism of user, the visitor can also preserve this tourism route get off simultaneously, checks to make things convenient for the user.
3.3 intelligent sound navigation
The major function of voice-based intelligent navigation comprises that voice introduction, the tourism at sight spot function such as recommend in proper order, will greatly make things convenient for the visitor to go on a tour.Voice Navigation is meant that after the visitor arrives certain sight spot A system introduces sight spot information and this sight spot sight spot information all around at this sight spot automatically.
Owing to need to determine the sight spot at visitor place, so a sight spot should be stored three information at least: center point coordinate (x, y), frontier point 1 (x1, y1) frontier point 2 (x2, y2), as shown in Figure 9.Sight spot T has two border R1 and R2, wherein:
When the distance D of visitor's position Bi and center, sight spot T satisfies D≤R2, judge the scope that the visitor enters sight spot T.Consider boundary effect, promptly the visitor may pace up and down on the border of sight spot T.Do not play the voice that the scenic spot is introduced this moment, just does the preliminary work of broadcast.When D≤R1, judge that the visitor begins to visit sight spot T, system plays sight spot T introduces voice.
When the visitor leaves sight spot T, need calculate the visitor in the deflection θ on XY plane (0≤θ≤359.9 °).According to orientation and the information of deflection θ to visitor's advance notice and the adjacent sight spot of T, sight spot.Wherein:
In order to improve the reaction velocity of system, need set up index to the sight spot at scenic spot, as shown in figure 10.This paper is divided into several regions A00 with the scenic spot, A10 ..., Ann.The R2 scope of supposing sight spot T judges that then sight spot T belongs to Aij in Aij.For example in the A11 zone of Figure 10, T2 is arranged, three sight spots of T3 and T4.
The scenic spot is carried out can obtaining after the area dividing sequence of intervals of X coordinate: (x0, x1), (x1, x2) ..., (xn-1, xn) and the sequence of intervals of Y coordinate: (y0, y1), (y1, y2) ..., (yn-1, yn).Thought according to binary sort tree is set up binary sort tree to the sequence of intervals of X coordinate and the sequence of intervals of Y coordinate respectively.After setting up binary sort tree, binary sort tree only need be searched by system when for the first time entering the scenic spot, determine visitor's regional Aij, subsequently can by with interval (xi, xi+1) and interval (yj, the zone of relatively coming to determine the arrival of visitor's next one yj+1).
The Voice Navigation algorithm that the present invention proposes as shown in figure 11.At first utilize binary sort tree to determine the regional Aij at visitor place after the data processing, the distance of position by calculating the visitor and sight spot central point is judged the sight spot at visitor place then.It comprises two threads: data processing thread and speech play thread.The distance at data processing thread computes visitor and sight spot, the sight spot at judgement visitor place.The speech play thread is play sight spot related voice introduction to the visitor behind sight spot, definite visitor place.
4. emergency rescue system
Emergency management and rescue are meant under the situation that accident takes place, the visitor will be accurately to relevant departments (120 by native system, 110 etc.) require assistance, native system also will send the necessary hedging and the knowledge of saving oneself for before relevant departments implement rescue the visitor A that needs rescue simultaneously.Simultaneity factor will be searched for visitor's information bank, search near the visitor C that whether has doctor B or rescue knowledge relatively to enrich the emergency visitor A, if having, system can send to B and C with waiting for rescue the position of visitor A and his situation, asks them to assist rescue.This system's purpose is to set up a cover rescue to coordinate and the rescue guidance system of assisting to rescue mutually.Its flow chart of data processing as shown in figure 12.
The concrete workflow of emergency management and rescue module is as follows:
When accident takes place in the visitor, by the native system editing short message or make a phone call to obtain corresponding emergency management and rescue tutorial message.System can send to server end by communication network or internet with SMS information or the voice messaging that the user sends.
Server end receives after the information, can carry out handling to text message or voice messaging, generates a rescue information list then, and these distress signals are backuped to the distress signals storehouse, uses with convenient inquiry in the future.
After backup is good; server can be classified distress signals; determine that accident belongs to generally, promptly or any rank in the crisis; that the incident of having a look again belongs to is medical, criminal, still which kind of type in other of insurance, then according to different ranks and affiliated type with different departments such as message distribution to 120 or 110.
Server can carry out the processing of message according to rescue knowledge base, visitor's information bank, geographical information library and 120 or 110 emergency informations that feed back to, thereby generate the rescue tutorial message, send to subscription client by communication network or internet with the form of note or voice then.
Server end provide with the interactive function of PDA, by WEB to the searching and managing function of information in the database and the search navigation function of WEB end.Finish by serving with the interactive function of PDA, mainly realize reception, processing and the storage of PDA information at running background Webservice, and to the answer of PDA information, the support of these process need Database Systems.In addition, system also comprises a short message transceiving module, this module is primarily aimed at the emergency and the rescue function of system, it relies on the SMS of PDA or mobile phone, form by note and the PDA that has application program or common cellphone subscriber are mutual, receive and reply the assistance message of user's transmission, this same part also needs the support of Database Systems.Make the supvr can be by the information in the browser searching and managing database based on the database information searching and managing function of WEB, the information spinner in the database will be divided into scenic spot and visitor's information two parts, and this partial function is only open to the managerial personnel of server.The search navigation function of WEB end is open to domestic consumer, and location finding and path recommendation function are provided.
Claims (5)
1. based on the intelligent travel navigation system of PDA, it is characterized in that this system comprises:
Data search and inquiry;
Tour schedule planning;
Intelligent navigation;
Emergency management and rescue and system configuration.
2. method according to claim 1 is characterized in that data search is based on the information inquiry of vertical search technology, can provide the relevant information search of travelling with the visitor, as the inquiry of information such as food and drink, hotel lodging, scenic spot information, scenic spot weather.
3. method according to claim 1 is characterized in that, tour schedule planning department divides and comprises the planning stroke and check two modules of stroke.
4. method according to claim 1 is characterized in that, intelligent navigation comprises that mainly gps data obtains and handles, and customer location is followed the tracks of, user track display, route planning, map view and intelligent sound navigation.
5. method according to claim 1, it is characterized in that, emergency management and rescue are meant under the situation that accident takes place, the visitor will be exactly to relevant departments (120 by native system, 110 etc.) require assistance, native system also will send the necessary hedging and the knowledge of saving oneself for before relevant departments implement rescue the visitor A that needs rescue simultaneously.Simultaneity factor will be searched for visitor's information bank, and whether search emergency visitor A annex has doctor B or the relatively abundanter visitor C of rescue knowledge, if having, system can send to B and C with waiting for rescue the position of visitor A and his situation, asks them to assist rescue.Purpose is to set up a cover rescue to coordinate and the rescue guidance system of assisting to rescue mutually.
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