CN105136160B - A kind of closely optimal bus station air navigation aid based on mobile terminal and augmented reality - Google Patents

A kind of closely optimal bus station air navigation aid based on mobile terminal and augmented reality Download PDF

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CN105136160B
CN105136160B CN201510452115.9A CN201510452115A CN105136160B CN 105136160 B CN105136160 B CN 105136160B CN 201510452115 A CN201510452115 A CN 201510452115A CN 105136160 B CN105136160 B CN 105136160B
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bus
bus station
optimal
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node
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CN105136160A (en
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杨旭华
程之
凌非
俞佳
王海洋
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Zhejiang University of Technology ZJUT
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3647—Guidance involving output of stored or live camera images or video streams
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3667—Display of a road map
    • G01C21/3673—Labelling using text of road map data items, e.g. road names, POI names

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

A kind of closely optimal bus station air navigation aid based on mobile terminal and augmented reality, comprises the following steps：Step one：Build city space public traffic network；Step 2：Calculated according to destination D and current location O and obtain optimal bus station of getting on the bus；Step 3：Root realizes direction real-time perception using azimuth；Step 4：Build guiding in real time road network model R；Step 5：Accurately guided using guiding in real time mode to optimal website of getting on the bus.After augmented reality, the real time information feedback function with bus is perceived with reference to orientation, information is intuitively included in reality scene, grasped there is provided accurately navigation more directly perceived and real time information, the precision navigation of a small range is realized, more preferable convenient trip and Consumer's Experience are provided for the trip of user.

Description

Lead a kind of closely optimal bus station based on mobile terminal and augmented reality Boat method
Technical field
The present invention relates to public transport and Mobile Development field, particularly relate to a kind of based on mobile terminal and augmented reality skill The closely optimal bus station air navigation aid of art.
Background technology
Bus has become the vehicles that it is essential that people go on a journey, the especially policy in current energy-conserving and environment-protective Under, encourage people's trip to drive private car less, select without discharge or the mode of discharge carbon amounts is gone on a journey (such as bus, bicycle less Deng), realize Green Travel.However, when the public trip of user in particular to reaches unfamiliar city or unfamiliar address, often It can run into and can not find closely interior optimal bus stop, such as：The northeastward of current location has a bus station, But user may all directions be also hard to tell, be particularly likely to so to strange place.Road for being hard to tell the four corners of the world Corresponding position can not be also found for blind user even with common two-dimensional map sometimes.Currently existing outdoor navigation Product general is on condition that user knows macroscopical direction substantially, such as the four corners of the world, and can not meet the navigation of the blind user in road needs Ask.Therefore the problem of more convenient and efficient outdoor precision navigation is current urgent need to resolve is realized.
With the continuous lifting of mobile terminal hardware device and technology, the sensor technology of mobile terminal in the application performance and Sensitivity is also compared huge lifting in the past.Augmented reality (Argument Realty, hereinafter referred to as AR) is by movement The superiority of end sensor is arisen at the historic moment, different from the effect immersed completely that traditional virtual reality technology to be reached, is increased The object that strong reality technology is directed to generating in computer is added on real-world scene.At present, most main flow mobile phone is all built-in The camera of mega pixel or higher pixel, and be integrated with bluetooth, the high speed wireless communication interface such as infrared and WIFI.By mobile phone It is combined with augmented reality, augmented reality can be made to depart from huge work station or PC, image capture device, head The limitation of the augmented reality equipment such as helmet, realizes IMAQ, processing, optimization and the integration of display, has mobile phone augmented reality Stronger mobility, portability, practicality and man-machine interaction.Application using smart mobile phone as augmented reality newly is put down Platform, has been the inexorable trend of augmented reality of new generation.Meanwhile, application of the augmented reality in terms of intelligent transportation is with setting The improvement of standby and technology is also gradually popular to get up.Intelligent transportation and the combination of augmented reality, in real-time navigation and real-time azimuthal It is determined that aspect has the characteristics of functions such as real-time, clarity, convenience roll into one.Wherein augmented reality is in intelligent friendship One of logical application i.e. utilization orientation perceives the precision navigation into row information Real-time Feedback.
The basic function that currently traditional mobile phone public transport search APP is realized is inquired about for bus stop, bus routes are inquired about, Transfer plan and the navigation of bus routes two-dimensional map etc. are provided.And traditional public transport searching handset software often can not meet use Family carries out the demand of precise search and navigation in strange position.
The content of the invention
In order to overcome, Present location search and navigation mode are single, bus station information real-time is not enough, it is low to go out line efficiency, The problems such as outdoor navigation error rate is higher, the present invention considers the closely optimal public affairs based on mobile terminal and augmented reality Site map method is handed over, bonding position is perceived and the correlation technique design search of image procossing and bootstrap algorithm, and this method is not Only so that public transport search renewal facilitates clear, accuracy, real-time are greatly improved, and are realized to a certain extent closely Precision navigation, improve city it is public go out line efficiency.
The technology that its technical problem of present invention solution is used is comprised the following steps that：
A kind of closely optimal bus station air navigation aid based on mobile terminal and augmented reality, including following step Suddenly：
Step one：Build city space public traffic network P=(VP,EP,WP), VPThe bus station of public traffic network is represented, each Node contains the longitude and latitude of bus station；EPThe side in public traffic network is represented, if two bus stations are in a public bus network On be adjacent, they just have a company side；WPRepresent the actual physics of the weights on side, i.e. one corresponding to side section public bus network Length；
Step 2：Calculated according to destination D and current location O and obtain optimal bus station of getting on the bus, solved by map address Analysis mode obtains the longitude and latitude of destination locations；
Step 3：Direction real-time perception is realized using azimuth, by setting up and calculating from viewpoint to another gps coordinate Orientation angle formula between B viewpoint：
In above formula, the longitude of current site is expressed as α1, latitude is expressed as β1, it is necessary to which the targeted sites B longitudes calculated are represented For α2, latitude is expressed as β2, A is required orientation angles；
Start site O and the bus station B that most preferably gets on the bus azimuth A are calculated using above-mentioned formula (1)OB, then foundation pair Angle calculates acceptable range of views v, i.e. range of views；The angular field of view that can be received with reference to human eye angular field of view and equipment is true Determine view window；
Step 4：Build guiding in real time road network model R=(VR,ER,WR), each intersection in road network is made For node, V is usedRRepresent, while each nodes records actual information, including crossing RoadId, crossing title RoadName, crossing Longitude and latitude lacation and crossing specific address；ERThe company side of road network model is represented, if having between two intersections Section is connected, then node connects a line；WRRepresent that the actual physics of the weights on side, i.e. one corresponding to side section road circuit is long Degree；
Step 5：Using guiding in real time mode accurately guiding to optimal website of getting on the bus, by with optimal website orientation of getting on the bus Angle and specific longitude and latitude real time contrast, are matched by the specific road section information stored in database, and planning one is drawn in real time The route led, dynamically shows route guidance to purpose bus station, respectively to original position O and purpose website position in the picture The nearest intersection in B detection ranges position is put, start node and destination node is determined, then to network model R using being based on Dijkstra shortest path firsts carry out path optimum route search, and the arthmetic statement is：
5.1) initialize：N is made to represent the set of network R nodes, Schilling N={ 1 }, to all node v not in N, writes Go out
5.2) find a node w not in N, wherein D (w) values for minimum, w is added in N, then to it is all not Node v in N, goes to update original D (v) value, i.e., with the less value in [D (v), D (w)+l (w, v)]：
D(v)←Min[D(v),D(w)+l(w,v)]
5.3) repeat step 5.2), untill finding destination node s.
Further, the air navigation aid is further comprising the steps of：
Step 6：Mark in real time and guiding are realized, by obtaining after optimal guidance path, according to current device and purpose Actual range between website, with reference to calculating obtained orientation angles A in above-mentioned stepsOB, the orientation preserved with guidance path Analysis in real time is carried out with matching with road section information, it is determined that current guidance mode, and by navigation information sync mark in movement On the true picture of equipment.
Further, in the step 2, using current location O as center of circle search radius r in the range of all set of sites S= {O1,O2,...,On, the initiating station in set of sites S is then calculated with Dijkstra shortest path firsts in public traffic network P Point reaches purpose website D number of transfer, takes the minimum bus station of number of transfer as the optimal bus stop B that gets on the bus, such as There is the minimum bus station of multiple numbers of transfer in fruit, then it is B to take the bus station nearest apart from current location.
Further, in the step 3, if the difference of longitude Δ α=α calculated2-α1<0, then need azimuthal to carry out A + π correction.
The present invention technical concept be：After augmented reality, perceived and bus with reference to orientation Real time information feedback function, by information intuitively including accurately being navigated and real-time there is provided more directly perceived in reality scene Information is grasped, and realizes the precision navigation of a small range, and more preferable convenient trip and Consumer's Experience are provided for the trip of user.
Beneficial effects of the present invention are：By information search of this thinking construction city based on augmented reality and it can lead Model plane type.The development public trip of user to strengthen technology is provided more novel and practical selection schemes by this, herein On the basis of further study, help even have certain in terms of image recognition in other field such as advertisement and building mark Use value.
Brief description of the drawings
Fig. 1 is to realize that information mobile terminal marks schematic diagram in real time using augmented reality.
Fig. 2 is to build guiding in real time road network model schematic diagram.
Embodiment
The present invention is described further below in conjunction with the accompanying drawings.
Referring to Figures 1 and 2, a kind of closely optimal bus station navigation side based on mobile terminal and augmented reality Method, comprises the following steps：
Step one：By taking the urban district of actual cities as an example, city space public traffic network P=(V are builtP,EP,WP), VPRepresent public transport The bus station of network, each node contains the longitude and latitude of bus station；EPThe side in public traffic network is represented, if two public transport Website is adjacent on a public bus network, and they just have a company side；WPRepresent the weights on side, i.e. one corresponding to side section The actual physical length of public bus network；
Step 2：Calculate and obtain optimal bus station of getting on the bus, determine after homeposition O and destination locations D, pass through map Address resolution mode obtains the longitude and latitude of destination locations；
Step 3：Direction real-time perception is realized using azimuth, current location is obtained using the GPS sensor of mobile terminal Longitude and latitude, calculate start site O with reference to formula (1) and the bus station B azimuth A of most preferably getting on the busOB.Then diagonal meter is set up Calculate acceptable range of views v, i.e. range of views.Determine to regard with reference to the angular field of view that human eye angular field of view and equipment can be received Figure window；
Step 4：Build guiding in real time road network model R=(VR,ER,WR), each intersection in road network is made For node, V is usedRRepresent；ERThe company side of road network model is represented, if there is section to be connected between two intersections, node connects A line；WRRepresent the actual physical length of the weights on side, i.e. one corresponding to side section road circuit.As shown in Fig. 2 obtaining first Take all intersection informations in city, including crossing RoadId, crossing title RoadName, crossing longitude and latitude lacation and Crossing specific address.Using intersection as a node, mark is number node in such as figure, if two intersections are adjacent And then the two nodes are linked to be a line for road connection, while the actual range distance of node apart is recorded in the side, If the numeral in Fig. 2 in each edge is the weights on expression side；
Step 5：Using guiding in real time mode accurately guiding to optimal website of getting on the bus, by with optimal website orientation of getting on the bus Angle and specific longitude and latitude real time contrast, plan the route of a guiding in real time, dynamically show route guidance to mesh in the picture Bus station, respectively to original position O and the nearest intersection in purpose site location B detection ranges position, it is determined that starting Node and destination node, are then used network model R and are searched based on Dijkstra shortest path firsts progress path optimal path Rope, the arthmetic statement is：
(1) initialize：N is made to represent the set of network R nodes, Schilling N={ 1 }, to all node v not in N, writes out
(2) find a node w not in N, wherein D (w) values for minimum, w is added in N, then to it is all not Node v in N, goes to update original D (v) value, i.e., with the less value in [D (v), D (w)+l (w, v)]：
D(v)←Min[D(v),D(w)+l(w,v)]
(3) repeat step (2), it is known that untill finding destination node s.
Further, the air navigation aid is further comprising the steps of：
Step 6：Mark in real time and guiding are realized, by obtaining after optimal guidance path, according to current device and purpose Actual range between website, with reference to calculating obtained orientation angles A in above-mentioned stepsOB, the orientation preserved with guidance path Analysis in real time is carried out with matching with road section information, it is determined that current guidance mode, and by navigation information sync mark in movement On the true picture of equipment.
Further, in the step 2, using current location O as center of circle search radius r in the range of all set of sites S= {O1,O2,...,On, the initiating station in set of sites S is then calculated with Dijkstra shortest path firsts in public traffic network P Point reaches purpose website D number of transfer, takes the minimum bus station of number of transfer as the optimal bus stop B that gets on the bus, such as There is the minimum bus station of multiple numbers of transfer in fruit, then it is B to take the bus station nearest apart from current location.
Further, in the step 3, if the difference of longitude Δ α=α calculated2-α1<0, then need azimuthal to carry out A + π correction.
As described above, this patent implement implement step make the present invention become apparent from there is provided more it is directly perceived accurately Navigation and real time information are grasped, and realize the precision navigation of a small range, and more preferable convenient trip is provided for the trip of user And Consumer's Experience.In the protection domain of spirit and claims of the present invention, any modifications and changes made to the present invention, Both fall within protection scope of the present invention.

Claims (4)

1. a kind of closely optimal bus station air navigation aid based on mobile terminal and augmented reality, it is characterised in that： Comprise the following steps：
Step one：Build city space public traffic network P=(VP,EP,WP), VPRepresent the bus station of public traffic network, each node Contain the longitude and latitude of bus station；EPThe side in public traffic network is represented, if two bus stations are on a public bus network Adjacent, they just have a company side；WPRepresent that the actual physics of the weights on side, i.e. one corresponding to side section public bus network is long Degree；
Step 2：Calculated according to destination D and current location O and obtain optimal bus station of getting on the bus, pass through map address resolution side Formula obtains the longitude and latitude of destination locations；
Step 3：Direction real-time perception is realized using azimuth, by setting up and calculating from viewpoint to another gps coordinate B's Orientation angle formula between viewpoint：
<mrow> <mi>A</mi> <mo>=</mo> <mfrac> <mi>&amp;pi;</mi> <mn>2</mn> </mfrac> <mo>-</mo> <mi>arctan</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>&amp;beta;</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>&amp;beta;</mi> <mn>1</mn> </msub> </mrow> <mrow> <msub> <mi>&amp;alpha;</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>&amp;alpha;</mi> <mn>1</mn> </msub> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
In above formula, the longitude of current site is expressed as α1, latitude is expressed as β1, it is necessary to which the targeted sites B longitudes calculated are expressed as α2, latitude is expressed as β2, A is required orientation angles；
Start site O and the bus station B that most preferably gets on the bus azimuth A are calculated using above-mentioned formula (1)OB, then set up diagonal meter Calculate acceptable range of views v, i.e. range of views；Determine to regard with reference to the angular field of view that human eye angular field of view and equipment can be received Figure window；
Step 4：Build guiding in real time road network model R=(VR,ER,WR), each intersection in road network is used as section Point, uses VRRepresent, while each nodes records actual information, including crossing RoadId, crossing title RoadName, crossing longitude and latitude Spend lacation and crossing specific address；ERThe company side of road network model is represented, if having section between two intersections It is connected, then node connects a line；WRRepresent the actual physical length of the weights on side, i.e. one corresponding to side section road circuit；
Step 5：Using guiding in real time mode accurately guiding to optimal website of getting on the bus, by with it is optimal get on the bus site azimuth and Specific longitude and latitude real time contrast, is matched by the specific road section information stored in database, one guiding in real time of planning Route, dynamically shows route guidance to purpose bus station, respectively to original position O and purpose site location B in the picture The nearest intersection in detection range position, determines start node and destination node, then to network model R using being based on Dijkstra shortest path firsts carry out path optimum route search, and the arthmetic statement is：
5.1) initialize：N is made to represent the set of network node, Schilling N={ 1 }, to all node v not in N, writes out
5.2) a node w not in N is found, wherein D (w) values are minimum, w are added in N, then to all not in N In node v, go to update original D (v) value with the less value in [D (v), D (w)+l (w, v)], i.e.,：
D(v)←Min[D(v),D(w)+l(w,v)]
5.3) repeat step 5.2), untill finding destination node s.
2. the closely optimal bus station navigation side as claimed in claim 1 based on mobile terminal and augmented reality Method, it is characterised in that：The air navigation aid is further comprising the steps of：
Step 6：Mark in real time and guiding are realized, by obtaining after optimal guidance path, according to current device and purpose website Between actual range, with reference to calculating obtained orientation angles A in above-mentioned stepsOB, the orientation and road preserved with guidance path Segment information carries out analysis in real time with matching, it is determined that current guidance mode, and by navigation information sync mark in mobile device True picture on.
3. the closely optimal bus station navigation based on mobile terminal and augmented reality as claimed in claim 1 or 2 Method, it is characterised in that：In the step 2, using current location O as center of circle search radius r in the range of all set of sites S= {O1,O2,...,On, the initiating station in set of sites S is then calculated with Dijkstra shortest path firsts in public traffic network P Point reaches purpose website D number of transfer, takes the minimum bus station of number of transfer as the optimal bus stop B that gets on the bus, such as There is the minimum bus station of multiple numbers of transfer in fruit, then it is B to take the bus station nearest apart from current location.
4. the closely optimal bus station navigation based on mobile terminal and augmented reality as claimed in claim 1 or 2 Method, it is characterised in that：In the step 3, if the difference of longitude Δ α=α calculated2-α1<0, then need azimuthal to carry out A+ π correction.
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