CN105509742B - A kind of indoor road network structure and method for searching with layer pathfinding - Google Patents
A kind of indoor road network structure and method for searching with layer pathfinding Download PDFInfo
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- CN105509742B CN105509742B CN201510826252.4A CN201510826252A CN105509742B CN 105509742 B CN105509742 B CN 105509742B CN 201510826252 A CN201510826252 A CN 201510826252A CN 105509742 B CN105509742 B CN 105509742B
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The present invention provides a kind of indoor road network structure and method for searching with layer pathfinding, this method, by building road network information, the main road site of designated floor is all put into a set A, according to the determination of the coordinate of starting and terminal point and starting point, the closest road network point of terminal, what set A was stated contains all This floor main road sites to search in the road network for only containing related bypass site from starting point road network point to the path of terminal road network point, until it is determined that path, due in this method according to the difference of floor landform, organize road network point, and the location coordinate information and connectivity of road network point are recorded in road network；Road network point supplemented by the road network point identifications of an other road network points will be only connected in road network, be up to two bypass sites participate in road network search every time in a large amount of bypass sites, the search space of solution is substantially reduced, therefore is improved a lot than the method efficiency that traditional all road network points are involved in searching for.
Description
Technical field
The present invention relates to a kind of indoor road network structure and method for searching, especially one kind with layer pathfinding to apply mobile whole
The indoor road network structure and method for searching with layer pathfinding at end, belongs to interior with layer pathfinding technical field.
Background technology
With the continuous reinforcement of the high speed development of mobile Internet, and mobile terminal disposal ability, location-based clothes
It is engaged in more and more used；The raising of living standards of the people simultaneously, Commercial Complex is more and more, and careat is increasing,
It is also unavoidable to reach lost in a foreign environment room.It is typically all to be based on although outdoor positioning pathfinding is very ripe
GPS and mobile phone signal synthesis positioning, these signals indoors especially basement become very small effect with regard to some have too many difficulties to cope with.
So the prefabricated indoor road network coordinate of the present invention, more convenient to be combined with the technology of indoor positioning, determine without using GPS and mobile phone signal
Position, propose a kind of efficient interior with layer method for searching..
The content of the invention
One of the technical problem to be solved in the present invention is to provide a kind of indoor road network construction method with layer pathfinding, changes and passes
The GPS and mobile phone signal synthesized positioning method of system.
The second technical problem to be solved by the present invention is to provide a kind of interior with layer method for searching：Reduce in layer and search every time
Unrelated road dot number in rope, substantially increase the efficiency of search in layer.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions：
A kind of indoor road network structure and method for searching with layer pathfinding, wherein, the indoor road network with layer pathfinding is built
Comprise the steps with method for searching：
a：First build road network information：Including structure main road dot data list, the list of structure bypass dot data, structure connection
Connectivity information list；The main road site and bypass site are referred to as road network point；Main road site connects at least two other road networks
Point, bypass site only connect an other road network point；The road network is the path of two road network points；
b：The main road site of designated floor is all put into a set A；
c：The road network point closest with starting point, terminal, the road network point found are determined according to the coordinate of starting and terminal point first
Both it had been probably that main road site is also likely to be bypass site；
d：This step is skimmed over if being main road site if starting point road network point, adds bypass site if starting point is bypass site
Into set A；
e：This step is skimmed over if being main road site if terminal road network point, adds bypass site if terminal is bypass site
Into set A；
f：Contain all This floor main road sites what set A was stated and searched in the road network for only containing related bypass site
Rope is from starting point road network point to the path of terminal road network point；Search takes minimum value, great Liang Fu according to the distance between road network point weights
Be up to two bypass sites participate in road network search every time in road network point；
g：Start increase from starting point to the through path of starting point road network point in path；
h：Through path of the last increase from terminal road network point to terminal in path；
i：G, f, h are synthesized into final path.
The road network records the distance between two road network piont marks and road network point weights.
In the step a, often row represents a main road site to the list of main road dot data, is started with " v ", is followed by a little
Ground level X, Z coordinate, with " M " terminate, be expressed as main road site.
In the step a, often row represents a bypass site to the list of bypass dot data, is started with " v ", is followed by a little
Ground level X, Z coordinate, with " F " terminate, be expressed as bypass site.
In the step a, often row represents a connectivity information to connectivity information list, is started with " p ", is followed by this
Two related road number nodes of bar connectivity information, centre are connected with "-", often go last numerical value as this information correlation
The distance between two road network points weights.
The main beneficial effect of the present invention：Due to the road network point of an other road network points will be only connected in this method in road network
Bypass site is identified as, two bypass sites is up in a large amount of bypass sites every time and participates in road network searches, the search of solution is empty
Between be substantially reduced, therefore than traditional all road network points be involved in search method efficiency improve a lot.
Brief description of the drawings
Fig. 1 is pathfinding flow chart of the present invention.
Fig. 2 is road network structure schematic diagram of the present invention；
Its medium and small rectangle node is that main road network point is communicated to two and more than two other road network points, small circular node are
Bypass site is only directly connected with an other road network points.
Fig. 3 is the search result schematic diagram of one embodiment of the invention；
Wherein 1 between road network point path, 2 be from starting point to the through path of starting point road network point, and 3 be from terminal road network point
To the through path of terminal.
Embodiment
It is described further with reference to the accompanying drawings and examples.
The present invention basic thought be：According to the difference of floor landform, road network point is organized, and road network point is recorded in road network
Location coordinate information and connectivity.At most only 2 bypass sites participate in during searching route, greatly reduce search
The quantity of road network point, improves efficiency.
Embodiment 1：
Data tissue is stored with behavior unit in layer, and an example is as follows：
v 1187.00,1079.00 M
v 1076.00,1100.00 M
v 998.00,1114.00 M
v 921.03,1129.41 M
……
v 949.00,645.00 F
v 324.00,206.00 F
v 295.00,373.00 F
v 324.00,1202.00 F
……
p 120-121 112.445541
p 119-120 129.468140
p 119-160 94.045616
p 80-81 95.754898
p 80-131 76.015106
p 50-51 137.057144
p 46-47 140.027939
p 38-39 141.014191
Above-mentioned Part I is main road network point list, and often row represents a main road site, is started with " v ", is followed by a little
XZ coordinates, last " M " is expressed as main road site；
Road network point list supplemented by above-mentioned Part II, one bypass site of often row expression, is started with " v ", is followed by a little
XZ coordinates, last " F " is expressed as bypass site；
Above-mentioned Part III is connectivity information list, and often row represents a connectivity information, is started with " p ", followed by
Two related road number nodes of this connectivity information, centre is connected with "-", and last numerical value of often going is this information phase
The distance between the two road network points closed weights.
This time the beginning and end of road network search is all located at same floor as can be seen from Figure 3, then is searched in execution level.
Step is as follows when being searched in execution level：
1）By the main road site of designated floor（Small rectangle node in Fig. 2）All it is put into a set A
2）The road network point closest with starting point, terminal is determined according to the coordinate of starting and terminal point in Fig. 3 first, this search
The road network point nearest with starting and terminal point found is all bypass site；
3）This search starting point road network point is bypass site, is added in set A；
4）This search terminal road network point is bypass site, is added in set A；
5）Contain all This floor main road sites what set A was stated and searched in the road network for only containing related bypass site
For rope from starting point road network point to the path of terminal road network point, search result is path 1；
6）Start increase from starting point to the through path 3 of starting point road network point in path；
7）Through path 2 of the last increase from terminal road network point to terminal in path；
8) by path 3, path 1, path is 2-in-1 to turn into final path, as Fig. 3 thick lines mark.
Claims (5)
- A kind of 1. indoor road network structure and method for searching with layer pathfinding, it is characterised in that the indoor road network with layer pathfinding Structure and method for searching comprise the steps：a：First build road network information：Including structure main road dot data list, the list of structure bypass dot data, structure connectivity Information list；The main road site and bypass site are referred to as road network point；Main road site connects 1 other road network points, auxiliary Road network point only connects an other road network point；The road network is the path of two road network points；b：The main road site of designated floor is all put into a set A；c：The road network point closest with starting point, terminal is determined according to the coordinate of starting and terminal point first, the road network point found both may be used Can be that main road site is also likely to be bypass site；d：This step is skimmed over if being main road site if starting point road network point, bypass site is added to collection if starting point is bypass site Close in A；e：This step is skimmed over if being main road site if terminal road network point, bypass site is added to collection if terminal is bypass site Close in A；f：Set A stated containing all This floor main road sites and only containing related bypass site road network in search for from Starting point road network point is to the path of terminal road network point；Search takes minimum value, a large amount of bypass nets according to the distance between road network point weights Be up to two bypass sites participate in road network search every time in point；g：Start increase from starting point to the through path of starting point road network point in path；h：Through path of the last increase from terminal road network point to terminal in path；i：G, f, h are synthesized into final path.
- A kind of 2. indoor road network structure and method for searching with layer pathfinding as claimed in claim 1, it is characterised in that：The road Net records the distance between two road network piont marks and road network point weights.
- A kind of 3. indoor road network structure and method for searching with layer pathfinding as claimed in claim 1, it is characterised in that：The step In rapid a, often row represents a main road site to the list of main road dot data, is started with " v ", and ground level X, the Z being followed by a little are sat Mark, terminated with " M ", be expressed as main road site.
- A kind of 4. indoor road network structure and method for searching with layer pathfinding as claimed in claim 1, it is characterised in that：The step In rapid a, often row represents a bypass site to the list of bypass dot data, is started with " v ", and ground level X, the Z being followed by a little are sat Mark, terminated with " F ", be expressed as bypass site.
- A kind of 5. indoor road network structure and method for searching with layer pathfinding as claimed in claim 1, it is characterised in that：The step In rapid a, often row represents a connectivity information to connectivity information list, is started with " p ", is followed by this connectivity information phase Guan Liangge roads number node, centre are connected with "-", often go last numerical value between two related road network points of this information Apart from weights.
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| CN106017492A (en) * | 2016-05-13 | 2016-10-12 | 苏州东方智旅信息科技有限公司 | Intelligent navigation method adopted in scenic region |
| CN106931978B (en) * | 2017-02-23 | 2020-05-22 | 湖南傲派自动化设备有限公司 | Indoor map generation method for automatically constructing road network |
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| KR100994840B1 (en) * | 2009-11-27 | 2010-11-16 | 주식회사 케이티 | Position determination method and system based on wlan rssi value |
| US9234958B2 (en) * | 2012-04-19 | 2016-01-12 | Nokia Technologies Oy | Method, apparatus, and computer program product for distributed indoor three-dimensional radiomap |
| KR20150076796A (en) * | 2013-12-27 | 2015-07-07 | 한국전자통신연구원 | 3-Dimensional Indoor Route Providing Apparatus, System and the Method |
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| CN103900600A (en) * | 2012-12-25 | 2014-07-02 | 中国电信股份有限公司 | Method and system for navigating indoor paths of maps across floors |
| CN103267526A (en) * | 2013-05-24 | 2013-08-28 | 北京邮电大学 | Indoor navigation method and system |
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Effective date of registration: 20181205 Address after: Room 1102, Tangshan Science and Technology Center, Tangshan High-tech Zone, Hebei Province Patentee after: Tangshan Yongteng Technology Co.,Ltd. Address before: 063009 Xinhua West Road, Tangshan City, Hebei Province, No. 46 Patentee before: NORTH CHINA University OF SCIENCE AND TECHNOLOGY |
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Effective date of registration: 20230403 Address after: 903-2, 9th Floor, No. 1698 Weiguo North Road, High tech Industrial Park, Tangshan City, Hebei Province, 063000 Patentee after: Tangshan Shengtuo Technology Co.,Ltd. Address before: Room 1102, Tangshan Science and Technology Center, Tangshan High-tech Zone, Hebei Province Patentee before: Tangshan Yongteng Technology Co.,Ltd. |