CN104215237A - Indoor map navigation route guidance algorithm - Google Patents

Abstract

The invention discloses an indoor map navigation route guidance algorithm which is convenient for people to realize an optimal route and measurable time in an indoor building body. The indoor map navigation route guidance algorithm adopts a road network node pathfinding method for implementation of pathfinding between any two points of indoor map single floor, cross floors, and many buildings, and according to the indoor map navigation route guidance algorithm, a found path is shortest, at the same time, the correct direction and less turning of the path can be ensured, and the relationship between the path and locating points are corresponding. Through the calculation of the distance of each section of the path and the total route, the time required from beginning to end can be estimated. The indoor map pathfinding route is clear and beautiful in display, a user can realize convenient navigation, and the indoor navigation utility value of the user is very high.

Description

Indoor map navigation circuit guides algorithm

Technical field

The invention belongs to space technology message area, relate to a kind of indoor map navigation circuit and guide algorithm.

Background technology

Along with City Building is towards larger higher future development, the hope that people are urgent can be weighed by indoor map navigation realization circuit optimum, time when interior architecture thing and facility are walked.But when usually carrying out pathfinding between indoor map 2, following difficulty can be encountered: there is no obvious road net, a lot of map area in actual scene not by, some only can the place of unidirectional walking not indicate in map, minimal path direction is irregular, the path of different floor cannot be expressed intuitively, can not be corresponding etc. with the relation of anchor point.Such path navigation inconvenient user walk in reality, and practicality is very poor, therefore needs to develop a kind of new indoor map navigation circuit and guide algorithm

Summary of the invention

The invention discloses a kind of indoor map navigation circuit and guide algorithm, when being convenient for people to realize turn-by-turn navigation in interior architecture body, circuit optimum, time can be weighed.The present invention adopts the method for road-net node pathfinding, realize indoor map list floor, pathfinding across any two points in floor, Duo Dong building, while the path distance sought by this algorithm realization is short, ensure that path direction is correct, it is few to turn round, corresponding with the relation of anchor point.By calculating the distance on Ge Duan road and general line, can estimate from the time needed for origin-to-destination arrival.The display of indoor map pathfinding route is clear and attractive in appearance, and user can realize convenient navigation, very high in the practical value of indoor navigation to user.

Implementation method of the present invention is:

One, edit indoor map road network, by the layout structure of indoor, draw the road network of every first floor, route intersection is road-net node; On route increase a node, editor nodal community whether be unidirectional, can realize route sheet to control.Then, by the road network finished, be registrated in geographic coordinate system with map, like this, each road-net node coordinate changes into latitude and longitude coordinates, can calculate the length of every section of route.For between different floor and different building, mark tie point, just can search for across floor with across building when such program pathfinding.

Two, program reads road net data, changes into the data structure required for pathfinding.

Three, pathfinding algorithm, calculates shortest path.

Before pathfinding, the given position of starting point and terminal, using starting point and terminal as road-net node, adds in road network, is vertically connected to all nearest routes respectively; From the off, search for next road-net node, be recorded to the distance of this node path, if find the route having had more short path; Recycle to next node searching, until search when reaching home minimal path, just end loop.For route spacing from the same situation, minimum path of turning also to be picked out.

Four, calculated route length, the time required for estimation.

After calculating route, according to the coordinate of each node of route, calculate the length of route.According to speed and the length of the mode of advancing on the Mei Duan road of route, the time required for Mei Duan road can be calculated, add the required times such as the queuing of each road-net node in route, just estimate the time required for route.

Accompanying drawing explanation

Fig. 1 is simpied method web frame schematic diagram

Fig. 2 is node and road network structure key diagram

Fig. 3 is pathfinding algorithm schematic diagram

Embodiment

Indoor map navigation circuit guides algorithm:

One, single floor pathfinding computing method

Algorithm steps:

1, load digital map navigation road network, resolve to the road net data structure of definition.In road network, the intersection point in every two road is defined as road-net node, and road-net node is the elementary cell of road network, visible Fig. 1 of road network schematic diagram of composition, and definition structure is as follows:

The next node list that each road network has this node to arrive, like this, from any one node road-net node, can the loop iteration search path of node that can arrive, according to latitude and longitude value, on the one hand can the length of calculating path, the quantity of turning round in this path can be added up on the other hand, comprehensively obtain shortest path and minimum path of turning round.

Fig. 2 is shown in for half-duplex channel, if the passage through B point is half-duplex channel in display, node C can only be arrived from road-net node A by Node B, can not oppositely arrive Node B from node C and arrive node A.When process data, the adjoint point of A is the adjoint point of B, B is do not have B point in the adjoint point of C, C, so just can represent one section of half-duplex channel.

2, starting point and terminal are connected in road network

As in Fig. 3

A is starting point, is added to a road-net node, then connects vertical line from A point to adjacent road, and intersection point is A1, A2, A3, A4, and four points are added to road-net node, and these four node points are all added to the neighbors of A node.

B point is terminal, similar process, adds road-net node B, finds vertical some B1 in adjacent road GH, adds road-net node B1, and B road-net node is added in the adjoint point list of B1

3, the road-net node that searching loop is adjacent from starting point node, until when finding the path not having node or find terminal the shortest, end loop.If do not have node until find, then starting point cannot be reached home position; If find shortest path end loop, then shortest path can be obtained.

Two, many floors pathfinding computing method

Elevator node A, B of every floor, add in each floor road network respectively, the algorithm the same with single floor, just can judge whether to reach home or find the shortest in floor path.

Three, the pathfinding of many terminals calculates implementation method

Tie point A, B between different building is added in the road network of corresponding terminal floor, the mutual UNICOM of node of interpolation, then can UNICOM between different building.The algorithm the same with single floor, just can judge whether to reach home or find the shortest terminal path.

Claims (5)

1. indoor map navigation and circuit guide an algorithm, it is characterized in that:

Step one, editor's indoor map road network, by the layout structure of indoor, draw the road network of every first floor, route intersection is road-net node; On route increase a node, editor nodal community whether be unidirectional, can realize route sheet to control.Then, by the road network finished, be registrated in geographic coordinate system with map, like this, each road-net node coordinate changes into latitude and longitude coordinates, can calculate the length of every section of route.For between different floor and different building, mark tie point, just can search for across floor with across building when such program pathfinding.

Step 2, program read road net data, change into the data structure required for pathfinding.

Step 3, pathfinding algorithm, calculate shortest path.Before pathfinding, the given position of starting point and terminal, using starting point and terminal as road-net node, adds in road network, is vertically connected to all nearest routes respectively; From the off, search for next road-net node, be recorded to the distance of this node path, if find the route having had more short path; Recycle to next node searching, until search when reaching home minimal path, just end loop.For route spacing from the same situation, minimum path of turning also to be picked out.

Step 4, calculated route length, the time required for estimation.After calculating route, according to the coordinate of each node of route, calculate the length of route.According to speed and the length of the mode of advancing on the Mei Duan road of route, the time required for Mei Duan road can be calculated, add the required times such as the queuing of each road-net node in route, just estimate the time required for route.

2. indoor map navigation according to claim 1 and circuit guide algorithm, it is characterized in that:

Step one, editor's indoor map road network, by the layout structure of indoor, draw the road network of every first floor, route intersection is road-net node; On route increase a node, editor nodal community whether be unidirectional, can realize route sheet to control.Then, by the road network finished, be registrated in geographic coordinate system with map, like this, each road-net node coordinate changes into latitude and longitude coordinates, can calculate the length of every section of route.For between different floor and different building, mark tie point, just can search for across floor with across building when such program pathfinding.

3. indoor map navigation according to claim 1 and circuit guide algorithm, it is characterized in that:

Step 2, program read road net data, change into the data structure required for pathfinding.

4. indoor map navigation according to claim 1 and circuit guide algorithm, it is characterized in that:

Step 3, pathfinding algorithm, calculate shortest path.Before pathfinding, the given position of starting point and terminal, using starting point and terminal as road-net node, adds in road network, is vertically connected to all nearest routes respectively; From the off, search for next road-net node, be recorded to the distance of this node path, if find the route having had more short path; Recycle to next node searching, until search when reaching home minimal path, just end loop.For route spacing from the same situation, minimum path of turning also to be picked out.

5. indoor map navigation according to claim 1 and circuit guide algorithm, it is characterized in that:

Step 4, calculated route length, the time required for estimation.After calculating route, according to the coordinate of each node of route, calculate the length of route.According to speed and the length of the mode of advancing on the Mei Duan road of route, the time required for Mei Duan road can be calculated, add the required times such as the queuing of each road-net node in route, just estimate the time required for route.