CN103913165A - Indoor emergency response and context awareness navigation system and method - Google Patents
Indoor emergency response and context awareness navigation system and method Download PDFInfo
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Abstract
The invention relates to an indoor emergency response and context awareness navigation system and method. The navigation system at least comprises a location sensor network, a server and an early warning sensor, wherein the location sensor network comprises a location base station, a mobile terminal and/or a location label and an LED (Light Emitting Diode) screen; the location base station is in wired or wireless connection with the server; the mobile terminal and/or the location label is in wireless connection with the location base station; the LED screen is in wired connection with the location base station; the early warning sensor is in wireless connection with the server. The navigation method is capable of combining a plurality of context calculation navigation paths of indoor environment, self-adaptively presenting the navigation paths to users according to the scenes of the users in many ways and providing real-time, accurate and individual navigation service. The navigation system and the navigation method are applicable to personnel location, emergency evacuation, rescue after disaster and safety management of large complex indoor venues such as hospitals, markets, office buildings and stations; meanwhile, the navigation system and the navigation method are capable of improving scientificity, timeliness, effectiveness of emergency response of public places.
Description
Technical field
The present invention relates to a kind of indoor positioning navigational system, belong to indoor positioning navigation and location-based service field, particularly a kind of indoor emergency response context aware navigational system and air navigation aid.
Background technology
Along with the fast development of the technology such as Geographic Information System (GIS), location-based service (LBS) and Internet of Things, Spatial Information Technology and application expand to the interior space gradually.According to estimates, have 80% all relevantly to position in the information that people obtain, and people average every day, nearly people were more and more urgent to indoor location information requirement all in the interior space time of 87%.Especially how large-scale indoor site surrounding complexity, personnel's high concentration such as hospital, market, office building, station, in the time being in an emergency, obtaining in time personnel's real time position and evacuate navigation, is rapid evacuation and the key of suing and labouring.
Indoor navigation system of the prior art generally includes server, alignment sensor, alignment sensor base station and navigation receiving terminal, its navigation according to being mainly static cartographic information, by Origin And Destination being set and utilizing routing algorithm that navigation way is provided.Also there is comparatively advanced indoor navigation system, in the time calculating navigation way, considered dynamic personnel positions and density, make navigation way comparatively accurate.
But indoor navigation system of the prior art, does not arrange fire perceiving device or smoke transducer conventionally, therefore, in the time there is fire alarm or toxic gas diffusion event, cannot provide escape route safely and effectively.Simultaneously, also there is various factors in actual indoor environment, such as dissimilar personnel's translational speed, road type, road safety, fire fighting device, lighting condition etc., play key effect for realizing the efficient navigation of evacuation in real time and aid decision making service, and there is no at present the indoor navigation system using these influence factors as input data.In addition, there is larger difference to navigation demand in the dissimilar like this user of ordinary people and the disabled, and existing indoor navigation system only provides two or three maps or Voice Navigation mode conventionally, the guidance path and the guide information that are applicable to different crowd feature can not be provided, cannot meet user individual navigation Service demand.
Summary of the invention
In order to solve the deficiencies in the prior art, the invention provides a kind of indoor emergency response context aware navigational system, be provided with locating device and early warning sensor, can real-time collecting personnel positions and respond to fire or poison gas disaster; The present invention also provides a kind of air navigation aid based on this system, has considered multiple static state, dynamic effects factor that indoor environment exerts an influence to navigation, and real-time, accurate, efficient navigation way can be provided.Meanwhile, the present invention can arrange user preference for dissimilar user, provides navigation way by the mode of indoor two three-dimensional maps, voice, note or LED screen, makes navigate mode more personalized, hommization.
The present invention for the technical scheme that its technical matters of solution adopts is:
The invention provides a kind of indoor emergency response context aware navigational system, this system at least comprises alignment sensor network, server and early warning sensor; Described alignment sensor network is by the locating base station of the wired or wireless connection of same server, with the mobile terminal of locating base station wireless connections and/or positioning label, form with the LED screen of locating base station wired connection, wherein locating base station receives the positional parameter of each mobile terminal and the transmission of each positioning label and sends it to server, sends location navigation result to the mobile terminal and/or LED being calculated by server and shields; Positioning label sends positional parameter to locating base station; Mobile terminal sends positional parameter and receives the navigation results that locating base station sends to locating base station; LED screen receives and shows the navigation results of locating base station transmission; Described server receives data, the storage administration data of locating base station and early warning sensor transmission, and utilizes optimum path planning algorithms to calculate guidance path, and guidance path data are sent to locating base station; Described early warning sensor is with server wireless connections, for responding to disaster and send early warning signal to server in the time there is disaster.Described alignment sensor base station can be Wi-Fi base station; Described mobile terminal can be the mobile device such as mobile phone or panel computer with location and wireless transmission function; Described positioning label can be Wi-Fi positioning label; Described server is to have wired and computing machine wireless transmission function.
Described early warning sensor is fire perceiving device and/or smoke transducer, for responding to fire and/or toxic gas and sending early warning signal to server.
This system also comprises the monitor terminal of same server wired connection.
The present invention also provides a kind of air navigation aid, specifically comprises the following steps:
(1) build indoor emergency response context aware navigational system: dispose alignment sensor network, server, early warning sensor and LED screen at indoor scene, early warning sensor is fire perceiving device and/or smoke transducer, and the type of each early warning sensor and distributing position information are stored in server; Mobile terminal and positioning label are carried by personnel, and everyone carries a mobile terminal or a positioning label; LED screen is placed at the obvious place of metope;
(2) for each mobile terminal and positioning label define respectively personnel's type, and personnel's categorical data is stored in server; Described personnel's type comprises ordinary people and the disabled;
(3) by mobile terminal editing navigation request msg and be sent to server, described navigation requests data comprise navigation preference, start position and final position, described navigation preference receives the foundation of navigation information mode as mobile terminal, navigate mode comprises digital map navigation, Voice Navigation, note navigation and the navigation of LED screen;
(4) set up indoor emergency response navigation position model and be stored in server; Described indoor emergency response navigation position model comprises spatial context and non-space context, and wherein spatial context comprises indoor scene two-dimension vector map, grating map, two dimensional navigation network model and three-dimensional space model, three-dimensional navigation network model; Non-space context comprises static context and dynamic context, wherein static context comprises personnel's type, road type, road distance, road safety, fire fighting device and the lighting condition in emergency response environment, and dynamic context comprises Disasters Type, disaster position and involves scope, personnel's real time position, density of personnel, the average evacuation speed of personnel; Wherein, the static context data in described spatial context data and non-space context utilize GIS software modeling to obtain according to actual indoor environment, and the dynamic context data in non-space context is obtained by following steps:
(4a) Disasters Type, disaster position and involve scope:
When breaking out of fire or toxic gas diffusion disaster, early warning sensor sends early warning signal to server, server determines that according to the early warning sensor type of transmitted signal Disasters Type is fire or toxic gas diffusion disaster, and the disaster Spread Model of employing based on cellular automaton, using the distributing position of early warning sensor as input, dynamic calculation disaster process and spread situation, involves scope to obtain disaster;
(4b) personnel's real time position:
Mobile terminal and positioning label are sent to locating base station by positional parameter in real time, locating base station is sent to server by positional parameter again, server receives positional parameter and sets it as input, by the Wi-Fi/DR location blending algorithm computing staff real time position based on particle filter;
(4c) density of personnel:
The stream of people's density calculation model that utilizes Predtechenski and Milinskii to propose calculates by following formula:
D=Nf/WL…………………………………..（1）
Wherein, D is people's current density, and N represents number, is drawn by everyone's real time position statistics; F represents individual horizontally-projected area, for being directly preset in the empirical value in server; W represents stream of people's width, and the stream of people's Zuoren person and the real-time ultimate range of the rightest personnel, calculate according to everyone's real time position; L represents stream of people's length, and the stream of people's the most front personnel and the last real-time ultimate range of personnel, calculate according to everyone's real time position;
(4d) the average evacuation speed of personnel:
Judge personnel's type: if personnel's type is the disabled, the average evacuation speed V of the personnel that arrange
0for 1.20-1.40m/s; If personnel's type is ordinary people, calculate evacuation speed according to following sight:
When ordinary people without under disaster scenarios it when the road, the average evacuation speed V of personnel calculates by following formula:
V=112D
4-38D
3+434D
2-217D+57….....（2）
Wherein, V is the average evacuation speeds of personnel, and unit is m/min, and D is people's current density, calculates according to formula (1);
When ordinary people is without the average evacuation speed V of personnel by when door under disaster scenarios it
1calculate by following formula:
V
1=V[1.17+0.13sin(6.03D-0.12)]………….（3）
Wherein, D is people's current density, calculates according to formula (1);
When ordinary people is at the average evacuation speed V of the personnel under disaster scenarios it
2calculate by following formula:
V
2=V·μ
1……………………………………..（4）
Wherein, μ
1be experience factor, calculate according to following two kinds of scenes: during by horizontal channel or by open doors, μ
1calculate by following formula:
μ
1=1.49-0.36D……………………………..（5）
Wherein, D is people's current density, calculates according to formula (1);
Downstairs time, μ
1be set to empirical value 1.21;
(5) build navigation network data and be stored in server, described navigation network data are Weighted Directed Graph G, G=<V ', E, W>, wherein V ' is the set on summit in figure, E is the set on limit, and W is the set of the power on each limit; The set V ' on summit and the set E on limit, according to indoor scene two-dimension vector map definition in spatial context, represent the road of indoor scene, with the joint of the each road of vertex representation with limit; For each limit of G, exist a real number to be called the power on limit, the power on each limit is more than or equal to zero, and the larger expression of weights is crowded more serious, and weights represent while being just infinite that the road from a node to another node direction does not exist or destination node is unreachable; The set W of the power on each limit is determined by following steps:
(5a) utilize analysis expert method, define respectively weights by more than two expert for each decision attribute, described decision attribute is expressed with non-space context, and the weights of each decision attribute adopt exponential scale method scale;
(5b) for each decision attribute, the expert decision-making weights that each expert is provided are averaged, the comprehensive weights that to get with the immediate scale of mean value be this decision attribute; If upper and lower two adjacent scales are identical with the difference of the mean value of trying to achieve, the comprehensive weights that to get scale that variance is less be this decision attribute;
(5c) for every limit in Weighted Directed Graph G, the importance number percent of each decision attribute to this edge is set, respectively the comprehensive weights of each decision attribute and its importance number percent to this edge are multiplied each other, the i.e. weights on this limit of result that each product is added, the weights that calculate respectively every limit finally obtain gathering W;
(6) server mates the navigation start position of step (3) and final position with the point of Weighted Directed Graph G, using Weighted Directed Graph G, starting point S and terminal T as input, utilize the optimal path data between Dijkastra algorithm or A* algorithm output starting point S and terminal T;
(7) user preference that server receives according to step (3) is determined navigate mode, with the form of map, voice or note, optimal path data is sent to locating base station, then is sent to mobile terminal and/or LED shields by locating base station;
(8) mobile terminal and/or LED screen display are shown the optimal path data that receive and are guided target to navigate;
(9) repeating step (4) is to step (8), until the positional information that mobile terminal sends is the final position that step (3) arranges, navigation finishes.
The beneficial effect that the present invention is based on its technical scheme generation is:
(1) the present invention utilizes early warning sensor real-time collecting disaster data, and using this disaster data as input, makes navigation way safety and reliability;
(2) the present invention participates in using multiple the indoor scene of storing in Real-time Collection and/or server context as parameter in the calculating of optimum navigation way, make navigation procedure have concurrently in real time, accurately, feature efficiently;
(3) the present invention is directed to dissimilar user's feature and calculate the density of population, make navigation more accurately reliable;
(4) the present invention is directed to different user preferences, can send navigation information to mobile terminal and/or LED screen with map, note, voice mode, guide target, make navigation guide mode more personalized, hommization.
Accompanying drawing explanation
Fig. 1 is navigational system block diagram.
Fig. 2 is air navigation aid process flow diagram.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
The invention provides a kind of indoor emergency response context aware navigational system, this system at least comprises alignment sensor network, server and early warning sensor; Described alignment sensor network is by the locating base station of the wired or wireless connection of same server, with the mobile terminal of locating base station wireless connections and/or positioning label, form with the LED screen of locating base station wired connection, wherein locating base station receives the positional parameter of each mobile terminal and the transmission of each positioning label and sends it to server, sends location navigation result to the mobile terminal and/or LED being calculated by server and shields; Positioning label sends positional parameter to locating base station; Mobile terminal sends positional parameter and receives the navigation results that locating base station sends to locating base station; LED screen receives and shows the navigation results of locating base station transmission; Described server receives data, the storage administration data of locating base station and early warning sensor transmission, and utilizes optimum path planning algorithms to calculate guidance path, and guidance path data are sent to locating base station; Described early warning sensor is with server wireless connections, for responding to disaster and send early warning signal to server in the time there is disaster.Described alignment sensor base station can be-Wi-Fi base station; Described mobile terminal can be the mobile device such as mobile phone or panel computer with location and wireless transmission function; Described positioning label can be-Wi-Fi positioning label; Described server is to have wired and computing machine wireless transmission function.
Described early warning sensor is fire perceiving device and/or smoke transducer, for responding to fire and/or toxic gas and to server transmitted signal.
This system also comprises the monitor terminal of same server wired connection.
The present invention also provides a kind of air navigation aid, specifically comprises the following steps:
(1) build indoor emergency response context aware navigational system: dispose alignment sensor network, server, early warning sensor and LED screen at indoor scene, early warning sensor is fire perceiving device and/or smoke transducer, and the type of each early warning sensor and distributing position information are stored in server; Mobile terminal and positioning label are carried by personnel, and everyone carries a mobile terminal or a positioning label; LED screen is placed at the obvious place of metope;
(2) for each mobile terminal and positioning label define respectively personnel's type, and personnel's categorical data is stored in server; Described personnel's type comprises ordinary people and the disabled;
(3) by mobile terminal editing navigation request msg and be sent to server, described navigation requests data comprise navigation preference, start position and final position, described navigation preference receives the foundation of navigation information mode as mobile terminal, navigate mode comprises digital map navigation, Voice Navigation, note navigation and the navigation of LED screen;
(4) set up indoor emergency response navigation position model and be stored in server; Described indoor emergency response navigation position model comprises spatial context and non-space context, and wherein spatial context comprises indoor scene two-dimension vector map, grating map, two dimensional navigation network model and three-dimensional space model, three-dimensional navigation network model; Non-space context comprises static context and dynamic context, wherein static context comprises personnel's type, road type, road distance, road safety, fire fighting device and the lighting condition in emergency response environment, and dynamic context comprises Disasters Type, disaster position and involves scope, personnel's real time position, density of personnel, the average evacuation speed of personnel; Wherein, the static context data in described spatial context data and non-space context utilize GIS software modeling to obtain according to actual indoor environment, and the dynamic context data in non-space context is obtained by following steps:
(4a) Disasters Type, disaster position and involve scope:
When breaking out of fire or toxic gas diffusion disaster, early warning sensor is to server transmitted signal, server determines that according to the early warning sensor type of transmitted signal Disasters Type is fire or toxic gas diffusion disaster, and the disaster Spread Model of employing based on cellular automaton, take cellular automaton as basis, in conjunction with the distributing position of early warning sensor, dynamic calculation disaster process and spread situation, obtains disaster and involves scope;
(4b) personnel's real time position:
Mobile terminal and positioning label are sent to alignment sensor base station by local coordinate data in real time, and alignment sensor base station is sent to server by local coordinate data again, and server receives local coordinate data, thereby obtains personnel's real time position;
(4c) density of personnel:
The stream of people's density calculation model that utilizes Predtechenski and Milinskii to propose calculates by following formula:
D=Nf/WL…………………………………..（1）
Wherein, D is people's current density, and N represents number, is drawn by everyone's real time position statistics; F represents individual horizontally-projected area, for being directly preset in the empirical value in server; W represents stream of people's width, and the stream of people's Zuoren person and the real-time ultimate range of the rightest personnel, calculate according to everyone's real time position; L represents stream of people's length, and the stream of people's the most front personnel and the last real-time ultimate range of personnel, calculate according to everyone's real time position;
(4d) the average evacuation speed of personnel:
Judge personnel's type: if personnel's type is the disabled, the average evacuation speed V of the personnel that arrange
0for 1.20-1.40m/s; If personnel's type is ordinary people, calculate evacuation speed according to following sight:
When ordinary people without under disaster scenarios it when the road, the average evacuation speed V of personnel calculates by following formula:
V=112D
4-38D
3+434D
2-217D+57….....（2）
Wherein, V is the average evacuation speeds of personnel, and unit is m/min, and D is people's current density, calculates according to formula (1);
When ordinary people is without the average evacuation speed V of personnel by when door under disaster scenarios it
1calculate by following formula:
V
1=V[1.17+0.13sin(6.03D-0.12)]………….（3）
Wherein, D is people's current density, calculates according to formula (1);
As the average evacuation speed V of the personnel under disaster scenarios it
2calculate by following formula:
V
2=V·μ
1……………………………………..（4）
Wherein, μ
1be experience factor, calculate according to following two kinds of scenes: during by horizontal channel or by open doors, μ
1calculate by following formula:
μ
1=1.49-0.36D……………………………..（5）
Wherein, D is people's current density, calculates according to formula (1);
Downstairs time, μ
1be set to empirical value 1.21;
(5) build navigation network data and be stored in server, described navigation network data are Weighted Directed Graph G, G=<V ', E, W>, wherein V ' is the set on summit in figure, E is the set on limit, and W is the set of the power on each limit; The set V ' on summit and the set E on limit, according to indoor scene two-dimension vector map definition in spatial context, represent the road of indoor scene, with the joint of the each road of vertex representation with limit; For each limit of G, exist a real number to be called the power on limit, the power on each limit is more than or equal to zero, and the larger expression of weights is crowded more serious, and weights represent while being just infinite that the road from a node to another node direction does not exist or destination node is unreachable; The set W of the power on each limit is determined by following steps:
(5a) utilize analysis expert method, make more than 2 expert define respectively weights for each decision attribute, described decision attribute is expressed with non-space context, and the weights of each decision attribute adopt exponential scale method scale;
(5b) for each decision attribute, the expert decision-making weights that each expert is provided are averaged, the comprehensive weights that to get with the immediate scale of mean value be this decision attribute; If upper and lower two adjacent scales are identical with the difference of the mean value of trying to achieve, the comprehensive weights that to get scale that variance is less be this decision attribute;
(5c) for every limit in Weighted Directed Graph G, the importance number percent of each decision attribute to this edge is set, respectively the comprehensive weights of each decision attribute and its importance number percent to this edge are multiplied each other, the i.e. weights on this limit of result that each product is added, the weights that calculate respectively every limit finally obtain gathering W;
(6) server mates the navigation start position of step (3) and final position with the point of Weighted Directed Graph G, using Weighted Directed Graph G, starting point S and terminal T as input, utilize the optimal path data between Dijkastra algorithm or A* algorithm output starting point S and terminal T;
(7) user preference that server receives according to step (3) is determined navigate mode, with the form of map, voice or note, optimal path data is sent to locating base station, then is sent to mobile terminal and/or LED shields by locating base station;
(8) mobile terminal and/or LED screen display are shown the optimal path data that receive and are guided target to navigate;
(9) repeating step (4) is to step (8), until the positional information that mobile terminal sends is the final position that step (3) arranges, navigation finishes.
Claims (4)
1. an indoor emergency response context aware navigational system, is characterized in that: this system at least comprises alignment sensor network, server and early warning sensor; Described alignment sensor network is by the locating base station of the wired or wireless connection of same server, with the mobile terminal of locating base station wireless connections and/or positioning label, form with the LED screen of locating base station wired connection, wherein locating base station receives the positional parameter of each mobile terminal and the transmission of each positioning label and sends it to server, sends location navigation result to the mobile terminal and/or LED being calculated by server and shields; Positioning label sends positional parameter to locating base station; Mobile terminal sends positional parameter and receives the navigation results that locating base station sends to locating base station; LED screen receives and shows the navigation results of locating base station transmission; Described server receives data, the storage administration data of locating base station and early warning sensor transmission, and utilizes optimum path planning algorithms to calculate guidance path, and guidance path data are sent to locating base station; Described early warning sensor is with server wireless connections, for responding to disaster and send early warning signal to server in the time there is disaster.
2. indoor emergency response context aware navigational system according to claim 1, is characterized in that: described early warning sensor is fire perceiving device and/or smoke transducer, for responding to fire and/or toxic gas and sending early warning signal to server.
3. indoor emergency response context aware navigational system according to claim 1, is characterized in that: the monitor terminal that also comprises same server wired connection.
4. the air navigation aid based on system described in claim 1, is characterized in that specifically comprising the following steps:
(1) build indoor emergency response context aware navigational system: dispose alignment sensor network, server, early warning sensor and LED screen at indoor scene, early warning sensor is fire perceiving device and/or smoke transducer, and the type of each early warning sensor and distributing position information are stored in server; Mobile terminal and positioning label are carried by personnel, and everyone carries a mobile terminal or a positioning label; LED screen is placed at the obvious place of metope;
(2) for each mobile terminal and positioning label define respectively personnel's type, and personnel's categorical data is stored in server; Described personnel's type comprises ordinary people and the disabled;
(3) by mobile terminal editing navigation request msg and be sent to server, described navigation requests data comprise navigation preference, start position and final position, described navigation preference receives the foundation of navigation information mode as mobile terminal, navigate mode comprises digital map navigation, Voice Navigation, note navigation and the navigation of LED screen;
(4) set up indoor emergency response navigation position model and be stored in server; Described indoor emergency response navigation position model comprises spatial context and non-space context, and wherein spatial context comprises indoor scene two-dimension vector map, grating map, two dimensional navigation network model and three-dimensional space model, three-dimensional navigation network model; Non-space context comprises static context and dynamic context, wherein static context comprises personnel's type, road type, road distance, road safety, fire fighting device and the lighting condition in emergency response environment, and dynamic context comprises Disasters Type, disaster position and involves scope, personnel's real time position, density of personnel, the average evacuation speed of personnel; Wherein, the static context data in described spatial context data and non-space context utilize GIS software modeling to obtain according to actual indoor environment, and the dynamic context data in non-space context is obtained by following steps:
(4a) Disasters Type, disaster position and involve scope:
When breaking out of fire or toxic gas diffusion disaster, early warning sensor sends early warning signal to server, server determines that according to the early warning sensor type of transmitted signal Disasters Type is fire or toxic gas diffusion disaster, and the disaster Spread Model of employing based on cellular automaton, using the distributing position of early warning sensor as input, dynamic calculation disaster process and spread situation, involves scope to obtain disaster;
(4b) personnel's real time position:
Mobile terminal and positioning label are sent to locating base station by positional parameter in real time, locating base station is sent to server by positional parameter again, server receives positional parameter and sets it as input, by the Wi-Fi/DR location blending algorithm computing staff real time position based on particle filter;
(4c) density of personnel:
The stream of people's density calculation model that utilizes Predtechenski and Milinskii to propose calculates by following formula:
D=Nf/WL………………………..（1）
Wherein, D is people's current density, and N represents number, is drawn by everyone's real time position statistics; F represents individual horizontally-projected area, for being directly preset in the empirical value in server; W represents stream of people's width, and the stream of people's Zuoren person and the real-time ultimate range of the rightest personnel, calculate according to everyone's real time position; L represents stream of people's length, and the stream of people's the most front personnel and the last real-time ultimate range of personnel, calculate according to everyone's real time position;
(4d) the average evacuation speed of personnel:
Judge personnel's type: if personnel's type is the disabled, the average evacuation speed V of the personnel that arrange
0for 1.20-1.40m/s; If personnel's type is ordinary people, calculate evacuation speed according to following sight:
When ordinary people without under disaster scenarios it when the road, the average evacuation speed V of personnel calculates by following formula:
V=112D
4-38D
3+434D
2-217D+57………（2）
Wherein, V is the average evacuation speeds of personnel, and unit is m/min, and D is people's current density, calculates according to formula (1);
When ordinary people is without the average evacuation speed V of personnel by when door under disaster scenarios it
1calculate by following formula:
V
1=V[1.17+0.13sin(6.03D-0.12)]……….......（3）
Wherein, D is people's current density, calculates according to formula (1);
When ordinary people is at the average evacuation speed V of the personnel under disaster scenarios it
2calculate by following formula:
V
2=V·μ
1……………………………..………..（4）
Wherein, μ
1be experience factor, calculate according to following two kinds of scenes: during by horizontal channel or by open doors, μ
1calculate by following formula:
μ
1=1.49-0.36D………………………...……..（5）
Wherein, D is people's current density, calculates according to formula (1);
Downstairs time, μ
1be set to empirical value 1.21;
(5) build navigation network data and be stored in server, described navigation network data are Weighted Directed Graph G, G=<V ', E, W>, wherein V ' is the set on summit in figure, E is the set on limit, and W is the set of the power on each limit; The set V ' on summit and the set E on limit, according to indoor scene two-dimension vector map definition in spatial context, represent the road of indoor scene, with the joint of the each road of vertex representation with limit; For each limit of G, exist a real number to be called the power on limit, the power on each limit is more than or equal to zero, and the larger expression of weights is crowded more serious, and weights represent while being just infinite that the road from a node to another node direction does not exist or destination node is unreachable; The set W of the power on each limit is determined by following steps:
(5a) utilize analysis expert method, define respectively weights by more than two expert for each decision attribute, described decision attribute is expressed with non-space context, and the weights of each decision attribute adopt exponential scale method scale;
(5b) for each decision attribute, the expert decision-making weights that each expert is provided are averaged, the comprehensive weights that to get with the immediate scale of mean value be this decision attribute; If upper and lower two adjacent scales are identical with the difference of the mean value of trying to achieve, the comprehensive weights that to get scale that variance is less be this decision attribute;
(5c) for every limit in Weighted Directed Graph G, the importance number percent of each decision attribute to this edge is set, respectively the comprehensive weights of each decision attribute and its importance number percent to this edge are multiplied each other, the i.e. weights on this limit of result that each product is added, the weights that calculate respectively every limit finally obtain gathering W;
(6) server mates the navigation start position of step (3) and final position with the point of Weighted Directed Graph G, using Weighted Directed Graph G, starting point S and terminal T as input, utilize the optimal path data between Dijkastra algorithm or A* algorithm output starting point S and terminal T;
(7) user preference that server receives according to step (3) is determined navigate mode, with the form of map, voice or note, optimal path data is sent to locating base station, then is sent to mobile terminal and/or LED shields by locating base station;
(8) mobile terminal and/or LED screen display are shown the optimal path data that receive and are guided target to navigate;
(9) repeating step (4) is to step (8), until the positional information that mobile terminal sends is the final position that step (3) arranges, navigation finishes.
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| CN201410156123.4A CN103913165B (en) | 2014-04-18 | 2014-04-18 | A kind of indoor emergency response context aware navigationsystem and navigation method |
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| CN201410156123.4A CN103913165B (en) | 2014-04-18 | 2014-04-18 | A kind of indoor emergency response context aware navigationsystem and navigation method |
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| CN103913165B CN103913165B (en) | 2016-06-15 |
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| CN201410156123.4A Active CN103913165B (en) | 2014-04-18 | 2014-04-18 | A kind of indoor emergency response context aware navigationsystem and navigation method |
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| CN109472411A (en) * | 2018-11-09 | 2019-03-15 | 武汉理工光科股份有限公司 | The adaptive emergency evacuation navigation system of large scale business synthesis |
| CN109489665A (en) * | 2018-11-07 | 2019-03-19 | 深圳先进技术研究院 | A kind of people based on resource allocation takes refuge the position predicting method and its system of whereabouts |
| CN110044360A (en) * | 2019-05-29 | 2019-07-23 | 中国科学技术大学 | A kind of air navigation aid and device in evacuating personnel path |
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| CN111243214A (en) * | 2020-01-19 | 2020-06-05 | 佛山科学技术学院 | Industrial machine room fire monitoring system and method based on machine learning |
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| CN110044360A (en) * | 2019-05-29 | 2019-07-23 | 中国科学技术大学 | A kind of air navigation aid and device in evacuating personnel path |
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| CN110779529A (en) * | 2019-11-21 | 2020-02-11 | 南京信息工程大学 | Forest disaster emergency commanding and scheduling system based on big data and cloud computing |
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| CN113418529A (en) * | 2021-06-28 | 2021-09-21 | 国网福建省电力有限公司 | Electric power emergency command basic map generation method and system |
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