CN103389104B - A kind of three-dimensional air navigation aid synchronous with two dimensional navigation and device thereof - Google Patents
A kind of three-dimensional air navigation aid synchronous with two dimensional navigation and device thereof Download PDFInfo
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Abstract
The invention provides a kind of three-dimensional air navigation aid synchronous with two dimensional navigation and device, the departure place arranged according to user and destination, use Two-dimensional electron map data base planning two dimensional navigation path, simultaneously according to three-dimensional induction line and matching relationship database, set up corresponding three-dimensional induction path; According to the current location on two dimensional navigation path, two dimensional navigation path and three-dimensional matching relationship of inducing path, the correspondence position on location Calculation three-dimensional induction path; Load the visible objects collection of three-dimensional induction line, rendering three-dimensional scenes, and carry out two dimensional navigation and/or three-dimensional navigation on a navigation device.The present invention makes user more easily, intuitively, exactly can recognize navigation map, obtains more true to nature, three-dimensional navigation experience easily.
Description
Technical field:
The present invention relates to field of navigation technology, refer more particularly to a kind of three-dimensional air navigation aid synchronous with two dimensional navigation and device.
Background technology:
In recent years, the three-dimensional navigation map of each conception of species become navigation field especially vehicle mounted guidance service focus.Driver can pass through three-dimensional map diagnostic criterium thing, finds the direction of advance, although can realize this two functions by superposition Local map sheet mode in two dimensional navigation, the advantage of three-dimensional navigation map is more obvious, and visual effect is more true to nature.
But present existing three-dimensional navigation map is all adopt to superpose general three-dimensional section picture at the road sections part of road, generates simple three-dimensional navigation map in the mode of partial stack crossing, the crossing enlarged drawing of road; Some three-dimensional navigation maps are also had to generate urban ground model by the mode superposing numerical cutting tool on orthography, two dimensional navigation path is superposed again to realize navigation feature on the basis of three-dimensional model, on stricti jurise, the three-dimensional navigation map that these modes generate can only be used for the navigation experience promoting user, is not three-dimensional navigation map truly.
Apply existing three-dimensional navigation map to navigate, at least there are the following problems:
1, in existing three-dimensional navigation technology, what substantially adopt is the pattern that two-dimensional map adds three-dimensional model, adopts the effect of the similar three-dimensional navigation of two dimensional navigation path implement;
2, in existing three-dimensional navigation technology, the concept of the three-dimensional induction line that travel direction of not giving chapter and verse is determined, the three-dimensional induction path that cannot be gone out match by two dimensional navigation path planning, sets up two dimension and three-dimensional position corresponding relation, realizes two dimension and three-dimensional synchronized navigation;
3, in existing three-dimensional navigation technology, also do not generate three-dimensional scenic from the visual angle of driver, be equipped with the three-dimensional navigation in three-dimensional induction path;
4, above-mentioned 2, technology is not used to realize the three-dimensional navigation device synchronous with two dimensional navigation in actual applications at 3.
Therefore, the present invention, just based on above aspect, proposes a kind of three-dimensional air navigation aid synchronous with two dimensional navigation and device.
Summary of the invention:
The invention provides a kind of three-dimensional air navigation aid synchronous with two dimensional navigation and device.Make, in the middle of reality navigation, when user enters above-mentioned zone, the navigation experience based on two dimensional navigation electronic chart can not only be obtained; Also can obtain simultaneously based on electronic three-dimensional map, represent according to user perspective, with reality three-dimensional scenic true to nature, thus make user more easily, intuitively, exactly can recognize navigation map, obtain more true to nature, three-dimensional navigation experience easily.
The invention provides a kind of three-dimensional air navigation aid synchronous with two dimensional navigation, said method comprising the steps of:
1) data storage device is set up: described data storage device comprises Two-dimensional electron map data base, electronic three-dimensional map database and three-dimensional induction line and matching relationship database;
2) plan guidance path: the departure place arranged according to user and destination, use Two-dimensional electron map data base planning two dimensional navigation path, simultaneously according to three-dimensional induction line and matching relationship database, set up corresponding three-dimensional induction path;
3) three-dimensional scenic location: according to the current location on two dimensional navigation path, two dimensional navigation path and three-dimensional matching relationship of inducing path, the correspondence position on location Calculation three-dimensional induction path;
4) three-dimensional scenic is played up: induce line and visible objects collection thereof according to the correspondence position on three-dimensional induction path and three-dimensional, load three-dimensional modeling data, rendering three-dimensional scenes;
5) path navigation: carry out two dimensional navigation and/or three-dimensional navigation on a navigation device.
Further, three-dimensional induction line is broken line and/or the curve with position coordinates and elevation coordinate, described position coordinates comprises longitude and latitude, described three-dimensional induction line is according to the direction travelled, 2 three-dimensional induction lines are arranged at most to the section of two way, to enter there being m, same crossing that n exits can arrange more than mxn bar three-dimensional induction line (wherein m >=1, n >=1).
Further, the visible objects collection of described three-dimensional induction line is to every bar three-dimensional induction line, in advance according to viewpoint scope and application terminal screen size, calculate the attribute of set (i.e. visible objects collection) as three-dimensional induction line of the visible objects of each position on three-dimensional induction line.Described viewpoint scope comprises can apparent radius and visible angle.
Further, described section matching relationship and crossing matching relationship are the matching relationships respectively section and crossing being set up to three-dimensional induction line and two dimensional navigation path; Can arrange at most 2 matching relationships to the section of two way, each travel direction mates a three-dimensional induction line respectively; To enter there being m, crossing that n exits can arrange at most mxn matching relationship (wherein m >=1, n >=1).
The present invention also provides a kind of three-dimensional guider synchronous with two dimensional navigation, and described device comprises with lower module:
Gps receiver: for determining the current location of user;
Input media: arrange departure place and destination for user, revise path planning, carries out the operation such as convergent-divergent, rotation to display two-dimensional map and three-dimensional scenic;
Display device: for showing two dimensional navigation map, three-dimensional scenic rendering result and regarding navigation information;
Voice device: for playing navigation hint voice messaging;
Memory storage: for depositing Two-dimensional electron map data base, electronic three-dimensional map database, three-dimensional induction line and matching relationship database.
Path planning unit: the departure place arranged according to user and destination, uses Two-dimensional electron map data base planning two dimensional navigation path, simultaneously according to three-dimensional induction line and matching relationship database, sets up corresponding three-dimensional induction path;
Path navigation unit: two dimensional navigation and/or three-dimensional navigation are carried out in the two dimensional navigation path of planning according to path planning unit and/or three-dimensional induction path;
Three-dimensional scenic positioning unit: according to the current location on two dimensional navigation path, two dimensional navigation path and three-dimensional matching relationship of inducing path, the correspondence position on location Calculation three-dimensional induction path;
Three-dimensional scenic rendering unit, induces line and visible objects collection thereof according to the correspondence position on three-dimensional navigation path and three-dimensional, loads three-dimensional modeling data, rendering three-dimensional scenes;
Data input and output control unit: be connected with described gps receiver, input media, display device, voice device, path planning unit, path navigation unit, three-dimensional scenic rendering unit, realizes navigation signal and controls.
Travel direction of giving chapter and verse in the present invention determines the concept of three-dimensional induction line, and the three-dimensional being gone out to match by two dimensional navigation path planning induction path, sets up two dimension and three-dimensional position corresponding relation, realizes two dimension and three-dimensional synchronized navigation; The present invention generates three-dimensional scenic from the visual angle of driver, is equipped with the three-dimensional navigation in three-dimensional induction path, makes user more easily, intuitively, exactly can recognize navigation map, obtains more true to nature, three-dimensional navigation experience easily.
Accompanying drawing explanation
Fig. 1 is the system architecture diagram of a kind of three-dimensional guider synchronous with two dimensional navigation of the present invention;
Fig. 2 is the navigation screen schematic diagram of a kind of three-dimensional guider synchronous with two dimensional navigation of the present invention;
Fig. 3 is the composition structural representation of electronic three-dimensional map database of the present invention;
Fig. 4 is the composition structural representation of three-dimensional induction line of the present invention and matching relationship database;
Fig. 5 is section of the present invention subregion schematic diagram;
Fig. 6 is the formation schematic diagram of three-dimensional induction line on the right side of section of the present invention;
Fig. 7 is the setting position schematic diagram of section of the present invention three-dimensional induction line;
Fig. 8 is general crossing of the present invention schematic diagram;
Fig. 9 is complex crossing schematic diagram of the present invention;
Figure 10 is the record schematic diagram of the visible objects collection of three-dimensional induction line of the present invention;
Figure 11 is the screening process figure of the visible objects collection of three-dimensional induction line of the present invention;
Figure 12 is the what comes into a driver's body structure schematic diagram calculated for the visible objects collection of three-dimensional induction line of the present invention;
Figure 13 is the spatial surrounding box summit schematic diagram of object of the present invention;
Figure 14 is the distribution schematic diagram of the visible objects collection of three-dimensional induction line of the present invention;
Figure 15 is the matching relationship schematic diagram of the three-dimensional induction line at general crossing of the present invention;
The matching relationship schematic diagram of the three-dimensional induction line of Figure 16 complex crossing of the present invention;
Figure 17 is that current location of the present invention is positioned at section PL1 when travelling district (BC section), three-dimensional induction position location Calculation mode schematic diagram;
Figure 18 is that current location of the present invention is positioned at section PL1 when exiting district (CD section), three-dimensional induction position location Calculation mode schematic diagram;
Figure 19 is that current location of the present invention is positioned at section PL2 when entering district (DE section), three-dimensional induction position location Calculation mode schematic diagram;
Figure 20 is the process flow diagram of a kind of three-dimensional air navigation aid synchronous with two dimensional navigation of the present invention;
Figure 21 is an application example design sketch of a kind of three-dimensional air navigation aid synchronous with two dimensional navigation of the present invention.
Description of reference numerals:
1-gps receiver
2-input media
3-display device
4-voice device
5-data input and output control unit
6-path planning unit
7-path navigation unit
8-three-dimensional scenic positioning unit
9-three-dimensional scenic rendering unit
10-memory storage
101-Two-dimensional electron map data base
102-three-dimensional induction line and matching relationship database
103-electronic three-dimensional map database
31-two-dimensional display windows
32-two dimensional navigation the path that is made up of two dimensional navigation line
33-two dimensional navigation line
34-two dimensional navigation current location
35-three-dimensional display windows
36-induce the three-dimensional that forms of line to induce path by three-dimensional
37-three-dimensional induction line
38-three-dimensional navigation current location
Embodiment
For making object of the present invention, technical scheme and advantage clearly, describe the present invention in detail hereinafter with reference to Figure of description.
Fig. 1 represents the system architecture diagram of a kind of synchronous with two dimensional navigation three-dimensional guider of the present invention.Described guider comprises with lower module:
Gps receiver 1, for determining the current location of user;
Input media 2: arrange departure place and destination for user, revise path planning, carries out the operation such as convergent-divergent, rotation to display two-dimensional map and three-dimensional scenic;
Display device 3: for showing two dimensional navigation map, three-dimensional scenic rendering result and regarding navigation information;
Voice device 4: for playing navigation hint voice messaging;
Data input and output control unit 5: the satellite-signal that acquisition gps receiver receives calculates the current positional information of user, obtain the departure place of input media setting, destination and guider control information, control the navigation informations such as display device display two and three dimensions map of navigation electronic, control voice device and play navigational voice prompts information;
Path planning unit 6: for the departure place that arranges according to user and destination, uses Two-dimensional electron map data base planning two dimensional navigation path, simultaneously according to three-dimensional induction line and matching relationship database, sets up corresponding three-dimensional induction path;
Path navigation unit 7: for carrying out two and three dimensions navigation according to current position, planning gained two dimensional navigation path, usual state is two dimensional navigation pattern, when three-dimensional navigation can be carried out in current two dimensional navigation path, " two-dimentional three-dimensional synchronized navigation ", " three-dimensional navigation " two kinds of display modes (see Fig. 2) can be realized, in the two dimensional navigation path that two-dimensional display windows can show two dimensional navigation current location, two dimensional navigation line and be made up of two dimensional navigation line; The three-dimensional scenic of current location, the three-dimensional modeling data in three-dimensional induction path and position can be shown at three-dimensional display windows.
Three-dimensional scenic positioning unit 8: for inducing corresponding position on path according to the current location location Calculation three-dimensional on two dimensional navigation path;
Three-dimensional scenic rendering unit 9, for inducing line and visible objects collection according to current location and three-dimensional, loads three-dimensional modeling data, and rendering three-dimensional scenes;
Memory storage 10: for depositing Two-dimensional electron map data base 101, electronic three-dimensional map database 102, three-dimensional induction line and matching relationship database 103.
One, wherein, the electronic three-dimensional map database stored in memory storage 10, three-dimensional induction line and matching relationship database are the keys realizing the three-dimensional navigation synchronous with two dimensional navigation.
1) electronic three-dimensional map database
Electronic three-dimensional map database comprise complex crossing and/or, complicated grade separation road and/or, busy areas and/or, whole city and/or wider electronic three-dimensional map data.
Fig. 3 is the data composition structural representation representing electronic three-dimensional map database of the present invention.The minimum Topographic map framing of electronic three-dimensional map data is according to [national fundamental GIS framing (GB/T13989-92)], the 1:1000 framing that adopts it to extend.Every width 1:1000 topomap through difference be 1 ＇ 525 ＂/4=28125 ＂, the meridional difference is 1 ＇ 15 ＂/4=1875 ＂.
In the electronic three-dimensional map data of framing 1:1000, carry out Classification Management according to the kind of object such as landform, road, pavement of road sign, road adjunct, buildings, greenery patches, water system, trees.
Described road comprises the three-dimensional modeling data such as road/crossing/overhead/tunnel road surface, road/crossing/overhead/side, tunnel, pavement.
Described pavement of road indicates and comprises the three-dimensional modeling datas such as lane line, crossing, stop line, zebra stripes, road markings, parking stall.
Described road adjunct comprises the three-dimensional modeling datas such as Sign Board, direction board, signpost, signal lamp, illuminating lamp, hard shoulder, bridge pier, bridge, Anti-collision barrel.
Described buildings comprises the three-dimensional modeling datas such as landmark, office building, high residential building.
2) three-dimensional induction line and matching relationship database
Fig. 4 is the data composition structural representation of three-dimensional induction line of the present invention and matching relationship database.As seen from the figure, three-dimensional induction line and matching relationship database comprise three-dimensional induction line and visible objects collection, section matching relationship, crossing matching relationship 3 parts.
2-1) three-dimensional induction line and visible objects collection thereof
2-1-1) three-dimensional induction line
Three-dimensional induction line is broken line and/or the curve with position coordinates and elevation coordinate, arranges three-dimensional induction line respectively in section and crossing according to travel direction.
Three-dimensional induction line: the Fig. 5 in section is section of the present invention subregion schematic diagram, as seen from the figure, in each travel direction in the section of two way, according to the feature entering and exit section, can divide and enter district, travel district and exit three, district part.Enter district be connect crossing exit point, exit district and connect the inlet point at crossing, the three-dimensional induction line in these two regions will be arranged in crossing.Enter district to be positioned at beyond the stop line of crossing, the starting position exiting district is positioned at the 1st time because turning right, turning left generation lane change place.Fig. 6 is the formation schematic diagram of three-dimensional induction line on the right side of section of the present invention, wherein PL1 represents two dimensional navigation path ID, GL1 represents that right side travels district's three-dimensional induction line ID, P1 represents the starting point of GL1 three-dimensional induction line, P2 represents the terminal of GL1 three-dimensional induction line, P11 represents the intersection point point of starting point P1 on PL1 of GL1 three-dimensional induction line, and P22 represents the intersection point point of terminal P2 on PL1 of GL1 three-dimensional induction line.As shown in Figure 6, in the traveling district in section, a fixing three-dimensional induction line can be set according to travel direction.As shown in Figure 7, the three-dimensional central authorities inducing line to be arranged on different track because number of track-lines is different.
The three-dimensional induction line at crossing: general crossing and complex crossing can be divided in crossing.As shown in Figure 8, general crossing only has the intersection point in a two dimensional navigation path, and wherein PL1 ~ PL4 represents two dimensional navigation path ID; As shown in Figure 9, have the intersection point in multiple two dimensional navigation path in complex crossing, PL1 ~ PL8 represents the two dimensional navigation path ID connecting crossing, and PL9 ~ PL12 represents the two dimensional navigation path ID of inside, crossing.The terminal of section three-dimensional induction line induces the starting point of line, the starting point of section three-dimensional induction line as the terminal of crossing three-dimensional induction line as crossing three-dimensional.Between all starting points and terminal, many crossing three-dimensional induction lines can be set.Meanwhile, should meet between crossing three-dimensional induction line and section three-dimensional induction line: 1) join end to end; 2) consistent two conditions of tangential direction.
2-1-2) the visual thing collection of three-dimensional induction line
The visible objects collection of three-dimensional induction line is the attribute of three-dimensional induction line.It is to every bar three-dimensional induction line, in advance according to viewpoint scope and application terminal screen size, calculates the set (i.e. visible objects collection) of the visible objects of each position on three-dimensional induction line.Described viewpoint scope comprises can apparent radius and visible angle.The visible objects of described three-dimensional induction line need record visual starting position and the end position of this object, as shown in Figure 10.
Figure 11 is the screening process figure of the visible objects collection of three-dimensional induction line of the present invention, and described method mainly comprises the steps:
Step 1: set the three-dimensional induction line length counting period as △ S; As shown in figure 12, what comes into a driver's body can apparent radius be R, visible angle is θ; Three-dimensional induction line length is L;
Step 2: set three-dimensional induction line starting point as initial point, getting its length coordinate is S=0;
Step 3: centered by length coordinate S, R is radius, screening is positioned at all objects of what comes into a driver's body;
Step 4: get the 1st object in screening object;
Step 5: the spatial surrounding box calculating object, as shown in figure 13;
Step 6: differentiate whether the spatial surrounding box summit (V1-V8) of this object has and be positioned within what comes into a driver's body;
Step 7: if having, then add the visual range of visible objects collection/or renewal visible objects collection to by this object;
Step 8: get next object in screening object, if having, return step 5; If, do not perform step 10;
Step 9: upgrading screening length coordinate is: S=S+ △ S;
Step 10: as S≤L, return step 3; Otherwise, perform step 11;
Step 11: preserve visible objects collection, terminates to calculate.
Figure 14 is the distribution schematic diagram of the visible objects collection of the three-dimensional induction line adopting above-mentioned visible objects screening technique to obtain.
2-2) section matching relationship
Section matching relationship sets up the three-dimensional induction line in section and the one-to-one relationship between two dimensional navigation path, the section of two way can arrange at most 2 matching relationships, each travel direction mates a three-dimensional induction line respectively, and section matching relationship can form by entering district, traveling district and exiting three, district part.Do not considering under track change prerequisite, a three-dimensional induction line can mated in sections of road district, and entering district and exiting district, then according to entering three-dimensional induction line corresponding different from the direction exited.
In Figure 15, the three-dimensional induction lines matching relation in the traveling district of the left and right travel direction of section PL2 is as shown in table 1:
Table 1
Calculate the deviation ratio of beginning or end intersection point point on two dimensional navigation path of three-dimensional induction line during coupling, the computing formula of described deviation ratio is, the starting point (or terminal) in deviation ratio=two dimensional navigation path is to the length in the distance ÷ two dimensional navigation path of intersection point point.
2-3) crossing matching relationship
Crossing matching relationship sets up three-dimensional induction line in crossing and the one-to-one relationship in two dimensional navigation path, enters, crossing that n exits can arrange at most mxn matching relationship to there being m.
Figure 15 is the matching relationship schematic diagram of the three-dimensional induction line at general crossing of the present invention.In crossing, the right side JC2 of Figure 15, when entering from section PL2, from section PL3, when PL6, PL7 exit, the matching relationship of two dimensional navigation path and three-dimensional induction line is as shown in table 2.
Table 2
In the complex crossing shown in Figure 16, when entering from section PL2, from section PL5, when PL8, PL4 exit, the matching relationship in three-dimensional induction line and two dimensional navigation path is as shown in table 3.
Table 3
For ensureing the consistance of two dimensional navigation path and three-dimensional induction line, except three-dimensional induction line is deposited except point coordinate in described three-dimensional induction line and matching relationship database, in section and crossing matching relationship data, only deposit the deviation ratio of the ID numbering at section and/or crossing and beginning or end intersection point point on two dimensional navigation path of three-dimensional induction line.
Two, in addition, path planning unit 6 is the departure place and destination that arrange according to user, cooks up two dimensional navigation path, simultaneously according to three-dimensional induction line and the corresponding three-dimensional induction path of matching relationship Database based on Two-dimensional electron map datum.In reality navigation, because Two-dimensional electron map datum is most basic navigation data, electronic three-dimensional map data only may cover a part for Two-dimensional electron map, therefore, and likely corresponding many three-dimensional induction paths, a two dimensional navigation path.
Three, path navigation unit 7 according to two dimensional navigation path and current location information, can judge that while user carries out two dimensional navigation current location could carry out three-dimensional navigation.Be carry out three-dimensional navigation, if three-dimensional navigation can not be carried out or exited three-dimensional navigation scope, then only carry out two dimensional navigation.
Four, the three-dimensional scenic positioning unit 8 three-dimensional scenic location of carrying out is based on the matching relationship at section and crossing, according to two dimensional navigation path, current place and position, three-dimensional induction line and matching relationship database, adopt the correspondence position of method of equal proportion location Calculation current location on three-dimensional induction line.
Described method of equal proportion is in each travel direction in every bar section, three navigation areas are divided into altogether at the two ends in section and central authorities, a three-dimensional induction path is mated in each navigation area, distance between the intersection point point to current location of three-dimensional induction path starting point on two dimensional navigation path belonging to current location and three-dimensional ratio of inducing the spacing of path starting point and the terminal intersection point point on two dimensional navigation path belonging to current location, equal three-dimensional induction path starting point and induce the distance between path orientation point and three-dimensional ratio of inducing path starting point and terminal spacing to current location in three-dimensional.
Above-mentioned current location is exactly the position location of vehicle on road.
Specifically be calculated as follows:
In the road network shown in Figure 17, when two dimensional navigation path arrives section (PL2) upper F point (namely two dimensional navigation path is: " PL1 → PL2 ") from B point section (PL1) through crossing (JC2), then corresponding three-dimensional is induced path to induce the point of the B ' path (GL1) to arrive three-dimensional through crossing three-dimensional induction path (GL2) from three-dimensional and is induced the F ' point on path (GL3) (namely three-dimensional induction path is: " GL1 → GL2 → GL3 ").Section (PL1), section (PL2) induce the matching relationship in path as shown in table 4 with three-dimensional.
Table 4
[travelling location, district]
Further, when two dimensional navigation position is positioned at BC scope on two dimensional navigation path P L1, as shown in figure 17, between the three-dimensional induction position starting point B ' that is then positioned at three-dimensional induction path GL1 and terminal C '.Three-dimensional induction position can calculate by following formula (1):
In upper computing formula: L
pL1 [1]for the length of two dimensional navigation path P L1 (AB) section; L
pL1 [2]for the length of two dimensional navigation path P L1 (BC) section; L
gL1for the length of three-dimensional induction path GL1; X is the distance of A point on current location distance two dimensional navigation path P L1; S is the distance of current location distance three-dimensional induction path GL1 starting point B '.
[exiting location, district]
Further, when two dimensional navigation position is positioned at CD scope on two dimensional navigation path P L1, as shown in figure 18, three-dimensional induction path position is then positioned between the starting point C ' of three-dimensional induction path GL2 and D ' point.Three-dimensional induction path position can calculate by following formula (2):
In upper computing formula:
For the distance between three-dimensional induction path GL2 starting point C ' and D ' point.Wherein, L
pL1 [1]for the length of two dimensional navigation path P L1 (AB) section; L
pL1 [2]for the length of two dimensional navigation path P L1 (BC) section; L
pL1 [3]for the length of two dimensional navigation path P L1 (CD) section; L
pL2 [1]for the length of two dimensional navigation path P L2 (DE) section; L
gL2for the total length of three-dimensional induction path GL2; X is the distance of A point on current location distance two dimensional navigation path P L1; S is the distance of current location distance three-dimensional induction path GL2 starting point C '.
[entering location, district]
Further, when two dimensional navigation position is positioned at DE scope on two dimensional navigation path P L2, as shown in figure 19, three-dimensional induction path position is then positioned at the upper D ' of three-dimensional induction path GL2 and puts between terminal F '.Three-dimensional induction position can calculate by following formula (3):
In above formula, L
pL2 [1]for the length of two dimensional navigation path P L2 (DE) section; L
gL2for the total length in GL2 three-dimensional induction path; X is the distance of D point on current location distance two dimensional navigation path P L2; S is the distance of current location distance three-dimensional induction path GL2 starting point C '.
When two dimensional navigation position is positioned at two dimensional navigation path P L2 (EF) section, three-dimensional induction path position is then positioned on three-dimensional induction path GL3 between starting point E ' and terminal F ', computing formula 1 that its method for calculating and locating can refer to [travelling location, district].
Five, three-dimensional scenic rendering unit 9 is carried out three-dimensional scenic and is played up, three-dimensional guidance model can be automatically generated according to determined three-dimensional induction path, induce line and visible objects collection thereof according to current location and three-dimensional simultaneously, load the three-dimensional modeling data in three-dimensional three-dimensional induction path of inducing line and visible objects thereof to concentrate, play up generation three-dimensional scenic, and rendering result is shown on the display apparatus with " two-dimentional three-dimensional synchronized navigation " or " three-dimensional navigation " display mode.
See Figure 20, the process flow diagram of a kind of three-dimensional air navigation aid synchronous with two dimensional navigation of the present invention, its step comprises:
Step 1: departure place and destination are set;
Step 2: the two dimensional navigation path between planning departure place and destination;
Step 3: the two dimensional navigation path cooked up according to step 2, generates the three-dimensional induction path between departure place and destination, determines allly on three-dimensional induction path to enter section/crossing and exit the three-dimensional induction line sequence at section/crossing;
Step 4: start navigation;
Step 5: obtain the current positional information of user according to the gps signal that gps receiver receives;
Step 6: the user's current location information according to obtaining in step 5 carries out two dimensional navigation;
Step 7: judge whether current two dimensional navigation path can carry out three-dimensional navigation; If three-dimensional navigation can be carried out, perform step 8; Otherwise jump to step 15.
Step 8: according to the user's current location information obtained in step 5, two dimensional navigation path and three-dimensional matching relationship of inducing path, carry out three-dimensional scenic location, calculate three-dimensional induction path position.
Step 9: according to the three-dimensional modeling data in the three-dimensional induction coordinates measurement three-dimensional induction path of planning in step 3.
Step 10: the three-dimensional induction path position according to calculating in step 8 carries out three-dimensional navigation process.
Step 11: the visible objects collection loading current three-dimensional induction path.
Step 12: the visible objects collection of the three-dimensional loaded in the three-dimensional modeling data in the three-dimensional induction path generated in step 9 and step 11 being induced path, utilizes three dimensional graphics to play up as three-dimensional navigation scene, and it shown in a display device.
Step 13: judge whether three-dimensional navigation terminates.If three-dimensional navigation terminates, perform step 14; Otherwise jump to step 15.
Step 14: the three-dimensional navigation data (comprising the visible objects collection in the three-dimensional modeling data in the three-dimensional induction path of generation and the three-dimensional induction path of loading) used in unloading three-dimensional navigation process.
Step 15: judge whether navigation procedure terminates.If navigation procedure terminates, exit navigation; Otherwise jump to step 5.
Fig. 2 is the navigation screen schematic diagram representing a kind of three-dimensional guider synchronous with two dimensional navigation of the present invention, and Figure 21 then represents an application example design sketch of a kind of three-dimensional air navigation aid synchronous with two dimensional navigation of the present invention.
Travel direction of giving chapter and verse in the present invention determines the concept of three-dimensional induction line, and the three-dimensional being gone out to match by two dimensional navigation path planning induction path, sets up two dimension and three-dimensional position corresponding relation, realizes two dimension and three-dimensional synchronized navigation; The visual angle scene set of the present invention from driver, the three-dimensional navigation in outfit three-dimensional induction path, make user more easily, intuitively, exactly can recognize navigation map, obtain more true to nature, three-dimensional navigation experience easily.
Although some embodiments of the present invention have been demonstrated and have described, the present invention has been not restricted to described embodiment.On the contrary, those skilled in the art should be appreciated that, not departing from principle of the present invention and scope, can carry out improving and converting with reference to embodiment, and its scope is determined by claims and equivalent thereof.
Claims (9)
1. a three-dimensional air navigation aid synchronous with two dimensional navigation, is characterized in that, said method comprising the steps of:
1) data storage device is set up: described data storage device comprises Two-dimensional electron map data base, electronic three-dimensional map database and three-dimensional induction line and matching relationship database;
2) plan guidance path: the departure place arranged according to user and destination, use Two-dimensional electron map data base planning two dimensional navigation path, simultaneously according to three-dimensional induction line and matching relationship database, set up corresponding three-dimensional induction path;
3) three-dimensional scenic location: according to the current location on two dimensional navigation path, two dimensional navigation path and three-dimensional matching relationship of inducing path, the correspondence position on location Calculation three-dimensional induction path;
What localization method adopted is method of equal proportion, described method of equal proportion is in each travel direction in every bar section, three navigation areas are divided into altogether at the two ends in section and central authorities, a three-dimensional induction path is mated in each navigation area, distance between the three-dimensional induction path starting point intersection point point on two dimensional navigation path belonging to described current location to described current location and three-dimensional ratio of inducing the spacing of path starting point and the terminal intersection point point on two dimensional navigation path belonging to described current location, equal three-dimensional induction path starting point and induce the distance between path orientation point and three-dimensional ratio of inducing path starting point and terminal spacing to described current location in three-dimensional,
4) three-dimensional scenic is played up: induce line and visible objects collection thereof according to the correspondence position on three-dimensional induction path and three-dimensional, load three-dimensional modeling data, rendering three-dimensional scenes;
5) path navigation: carry out two dimensional navigation and/or three-dimensional navigation on a navigation device.
2. air navigation aid according to claim 1, it is characterized in that, step 1) electronic three-dimensional map database in described memory storage comprises complex crossing, complicated grade separation road, busy areas, whole city or wider electronic three-dimensional map data; Described three-dimensional induction line and matching relationship database comprise three-dimensional induction line and visible objects collection, section matching relationship, crossing matching relationship.
3. air navigation aid according to claim 2, is characterized in that, in described electronic three-dimensional map data, carries out three-dimensional modeling data Classification Management according to landform, road, pavement of road sign, road adjunct, buildings, greenery patches, water system, trees; Wherein road three-dimensional modeling data comprises road, crossing, overhead, tunnel road surface and side, pavement etc.; Pavement of road indicates three-dimensional modeling data and comprises lane line, crossing, stop line, road markings, parking stall etc.; Road adjunct three-dimensional modeling data comprises Sign Board, direction board, signpost, signal lamp, illuminating lamp, hard shoulder, bridge pier, bridge, Anti-collision barrel etc.; Three-dimensional model building data comprise landmark, office building, high residential building etc.
4. air navigation aid according to claim 2, it is characterized in that, described three-dimensional induction line is broken line and/or the curve with position coordinates and elevation coordinate, described position coordinates comprises longitude and latitude, described three-dimensional induction line is according to the direction travelled, 2 three-dimensional induction lines being arranged at most to the section of two way, entering there being m, same crossing that n exits can arrange more than mxn bar three-dimensional induction line.
5. air navigation aid according to claim 2, it is characterized in that, to every bar three-dimensional induction line, in advance according to viewpoint scope and application terminal screen size, calculate the attribute of set as three-dimensional induction line of the visible objects of each position on three-dimensional induction line, described viewpoint scope comprises can apparent radius and visible angle.
6. air navigation aid according to claim 2, it is characterized in that, described section matching relationship and crossing matching relationship, it is the matching relationship respectively section and crossing being set up to three-dimensional induction line and two dimensional navigation path, to the section of two way, 2 coupling systems can be set at most, each travel direction mates a three-dimensional induction line respectively, enters, crossing that n exits can arrange at most mxn matching relationship to there being m.
7. air navigation aid according to claim 6, it is characterized in that, calculate the deviation ratio of beginning or end intersection point point on two dimensional navigation path of three-dimensional induction line during coupling, the beginning or end in described deviation ratio=two dimensional navigation path is to the length in the distance ÷ two dimensional navigation path of intersection point point.
8. carry out a three-dimensional air navigation aid synchronous with two dimensional navigation on a navigation device, it is characterized in that, described step comprises:
Step 1: departure place and destination are set;
Step 2: the two dimensional navigation path between planning departure place and destination;
Step 3: the two dimensional navigation path cooked up according to step 2, generates the three-dimensional induction path between departure place and destination, determines allly on three-dimensional induction path to enter section/crossing and exit the three-dimensional induction line sequence at section/crossing;
Step 4: start navigation;
Step 5: obtain the current positional information of user according to the gps signal that gps receiver receives;
Step 6: according to the user's current location information obtained in step 5;
Step 7: judge whether current two dimensional navigation path can carry out three-dimensional navigation, if can carry out three-dimensional navigation, performs step 8; Otherwise jump to step 15;
Step 8: according to the user's current location information obtained in step 5, two dimensional navigation path and three-dimensional matching relationship of inducing path, carry out three-dimensional scenic location, calculate three-dimensional induction path position;
Step 9: according to the three-dimensional modeling data in the three-dimensional induction coordinates measurement three-dimensional induction path of planning in step 3;
Step 10: the three-dimensional induction path position according to calculating in step 8 carries out three-dimensional navigation;
Step 11: the visible objects collection loading current three-dimensional induction path;
Step 12: the visible objects collection of the three-dimensional loaded in the three-dimensional data model in the three-dimensional induction path generated in step 9 and step 11 being induced path, utilizes three dimensional graphics to play up as three-dimensional navigation scene, and it shown in a display device;
Step 13: judge whether three-dimensional navigation terminates, if three-dimensional navigation terminates, perform step 14; Otherwise jump to step 15;
Step 14: the three-dimensional generated in the step 9 used in unloading three-dimensional navigation process induces the visible objects collection in the three-dimensional induction path loaded in the three-dimensional modeling data in path and step 11;
Step 15: judge whether navigation procedure terminates, if navigation procedure terminates, exit navigation; Otherwise jump to step 5.
9. a three-dimensional guider synchronous with two dimensional navigation, is characterized in that, described device comprises with lower module:
Gps receiver: for determining the current location of user;
Input media: arrange departure place and destination for user, revise path planning, carries out the operation such as convergent-divergent, rotation to display two-dimensional map and three-dimensional scenic;
Display device: for showing two dimensional navigation map, three-dimensional scenic rendering result and regarding navigation information;
Voice device: for playing navigation hint voice messaging;
Memory storage: for depositing Two-dimensional electron map data base, electronic three-dimensional map database, three-dimensional induction line and matching relationship database;
Path planning unit: the departure place arranged according to user and destination, uses Two-dimensional electron map data base planning two dimensional navigation path, simultaneously according to three-dimensional induction line and matching relationship database, sets up corresponding three-dimensional induction path;
Path navigation unit: the path planning according to path planning unit carries out two dimensional navigation and/or three-dimensional navigation; Three-dimensional scenic positioning unit: according to the current location on two dimensional navigation path, two dimensional navigation path and three-dimensional matching relationship of inducing path, the correspondence position on location Calculation three-dimensional induction path;
What the localization method of three-dimensional scenic positioning unit adopted is method of equal proportion, described method of equal proportion is in each travel direction in every bar section, three navigation areas are divided into altogether at the two ends in section and central authorities, a three-dimensional induction path is mated in each navigation area, distance between the three-dimensional induction path starting point intersection point point on two dimensional navigation path belonging to current location to described current location and three-dimensional ratio of inducing the spacing of path starting point and the terminal intersection point point on two dimensional navigation path belonging to current location, equal three-dimensional induction path starting point and induce the distance between path orientation point and three-dimensional ratio of inducing path starting point and terminal spacing to current location in three-dimensional,
Three-dimensional scenic rendering unit, induces line and visible objects collection thereof according to the correspondence position on three-dimensional navigation path and three-dimensional, loads three-dimensional modeling data, rendering three-dimensional scenes;
Data input and output control unit: be connected with three-dimensional scenic rendering unit with described gps receiver, input media, display device, voice device, path planning unit, path navigation unit, realizes navigation signal and controls.
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