CN106289260B - A kind of algorithm and its implementation for realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map - Google Patents
A kind of algorithm and its implementation for realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map Download PDFInfo
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- CN106289260B CN106289260B CN201610647780.8A CN201610647780A CN106289260B CN 106289260 B CN106289260 B CN 106289260B CN 201610647780 A CN201610647780 A CN 201610647780A CN 106289260 B CN106289260 B CN 106289260B
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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
Abstract
The invention discloses a kind of algorithms that the cross-domain navigation feature of indoor and outdoor is realized based on indoor electronic map, the field setting and the selection of cross-domain space path of field setting, cross-layer node including cross-layer road network；The field setting of cross-layer road network includes the parameter setting of line segment start code, line segment termination coding, line segment forward direction length and the reversed length of line segment.Technical solution of the present invention develops indoor map service system, which can provide map layer, path planning, POI search service for client user.By the space structure for analyzing the indoor environment of building, devise the conceptual model of indoor map, on this basis, in conjunction with indoor map data access demand, indoor map institutional framework and flow path switch are optimized, it realizes the conversion process from map vector to data map, divides floor to complete data initialization same building object by geographic coordinate system.Convenient for being called when path planning.
Description
Technical field
The present invention relates to indoor navigation fields, and in particular to large stadium region includes indoor and outdoor conversion, different floors
A kind of algorithm and its implementation that the cross-domain navigation feature of indoor and outdoor is realized based on indoor electronic map of switching.
Background technique
The time of people average 80% to 90% is movable indoors.With the development and construction in city, large-scale interior architecture
Wu Ru mall, exhibition center, airport and museum are in a compact mass, and constructure inner structure increasingly complex.Traditional room
Interior Map Services are no longer satisfied the demand of people, and indoor map service is come into being.
Summary of the invention
It is an object of the invention to provide it is a kind of based on indoor electronic map realize the cross-domain navigation feature of indoor and outdoor algorithm and its
Implementation method solves one or more of the above-mentioned prior art problem.
A kind of algorithm for realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map, innovative point is: including across
The field setting of layer road network, the field setting of cross-layer node and the selection of cross-domain space path；
The field setting of cross-layer road network includes line segment start code, line segment termination coding, line segment forward direction length and line segment
The parameter setting of reversed length；
The field setting of cross-layer node includes the ginseng of nodes encoding, node type, nodename and node floor coding
Number setting.
In some embodiments, the principle for being primarily involved in constituent operations relevant parameter includes following several points:
(1) road network under current region is planned according to different zones map, is abstracted as line segment, and constructed its topology and close
System, i.e. all line segments starting of addition current region terminate coding, and generate each nodes encoding；
(2) positive, the reversed length of each line segment is added to current region road network by practical measuring and calculating；
(3) title, type and floor for adding the node to the current node layer of generation encode；
(4) each floor cross-layer, trans-regional point, are attached by the road network and node for combining each floor by line segment, are added
Trans-regional line segment whole story coding；
(5) according to the difference of cross-layer type, positive, the reversed length of trans-regional line segment is added, actual value is by cross-layer point
Type determines.
In some embodiments, the algorithm of cross-domain space path selection calculates different zones using shortest path first and changes
The minimal path of layer, and screened by different zones location, obtain the path planning for needing to carry out in different zones.
Technical solution of the present invention develops indoor map service system, which can provide Map for client user
Layer, path planning, POI search service.By analyzing the space structure of the indoor environment of building, indoor map is devised
Conceptual model, on this basis, in conjunction with indoor map data access demand, to indoor map institutional framework and flow path switch into
Row optimization, realizes the conversion process from map vector to data map, divides floor to same building object by geographic coordinate system
Complete data initialization.Convenient for being called when path planning.
In some embodiments, path planning between different floors, the cross-layer of same type point successively appear in path
As a result when middle, it is believed that the path reaches the path between most end cross-layer point by the first cross-layer point of the type, and centre occurs
Same type cross-layer point can be omitted.
A kind of implementation method based on the cross-domain space navigation path of indoor electronic map, innovative point are: including as follows
Step:
(1) drawing area floor road network and road-net node is generated, gives its start node of every section of line segment coding, and to current
The types such as the cross-layer point such as door, elevator, staircase, stair under the floor of region are labeled, will be in data inputting database；
(2) each region floor road network and road-net node are integrated, gives each node different region floor codings, connection is different
Region floor cross-layer point forms cross-layer line segment, and to cross-layer line segment mark start node coding；
(3) route searching uses dijkstra's algorithm, i.e. shortest path first.When being related to trans-regional navigation, in data
The shortest path in all floor road networks from starting point to target point is calculated with shortest path first in library, and return through
All nodes；
(4) it writes program to merge query result according to floor coding, merges cross-layer point class in different zones floor
The identical node of type only retains two nodes of first and last and records in memory；
(5) it is screened in the result of step (4) by floor coding, the whole story node for only retaining the same area floor is compiled
Code；
(6) same layer navigation is converted by trans-regional navigation on the basis of step (5), is carried out by same layer shortest path first
Route searching is labeled whole story position, and is sequentially connected same layer by node.
The present invention has the advantages that since the influence of indoor particular surroundings causes indoor navigation system and outdoor navigation system to exist
There are some differences for certain technical aspects, how using indoor environment generation map, and realize more practical, true indoor ground
Drawing system, this technology combination technology difference, the indoor cross-layer navigation road network planing method of primary study；
Indoor map path planning mainly includes same floor path planning, across floor path planning, approach point path planning
Deng three aspects.Corresponding shortest route-planning algorithm is devised according to different situations, and to indoor map road net model and data
Storage organization is designed.Traditional mode routing algorithm is borrowed with floor path planning, across floor path planning then needs to consider building
The record of the link relation of interlayer.
Specific embodiment
A kind of algorithm for being realized the cross-domain navigation feature of indoor and outdoor based on indoor electronic map, the field including cross-layer road network are set
It sets, the setting of the field of cross-layer node and cross-domain space path select；Cross-layer road network field setting include line segment start code,
Line segment terminates the parameter setting of coding, line segment forward direction length and the reversed length of line segment；The field setting of cross-layer node includes section
Point coding, node type, the parameter setting of nodename and node floor coding.
In some embodiments, the principle for being primarily involved in constituent operations relevant parameter includes following several points: according to not
The road network under current region is planned with area map, is abstracted as line segment, and construct its topological relation, i.e. addition current region
The starting of all line segments, terminate coding, and generate each nodes encoding；Each line segment is added to current region road network by practical measuring and calculating
Positive, reversed length；Title, type and the floor coding that the node is added to the current node layer of generation, combine each building
Each floor cross-layer, trans-regional point, are attached by the road network and node of layer by line segment, add trans-regional line segment whole story coding；
According to the difference of cross-layer type, positive, the reversed length of trans-regional line segment is added, actual value is determined by cross-layer vertex type.
Parameter is mainly arranged in it in some embodiments are as follows: elevator: 1. positive length: 3m；2. reversed length: 3m；Building
Ladder: 1. positive length: 10m；2. reversed length: 10m；Staircase: according to staircase uplink, downlink it is different to forward and reverse length into
Row setting；When staircase is consistent with line segment direction: 1. positive length: 3m；2. reversed length: 9999m；When staircase and line segment direction
When opposite: 1. positive length: 9999m；2. reversed length: 3m；Door: 1. positive length: 0m；2. reversed length: 0m.
In some embodiments, the algorithm of cross-domain space path selection calculates different zones using shortest path first and changes
The minimal path of layer, and screened by different zones location, obtain the path planning for needing to carry out in different zones.
Technical solution of the present invention develops indoor map service system, which can provide Map for client user
Layer, path planning, POI search service.By analyzing the space structure of the indoor environment of building, indoor map is devised
Conceptual model, on this basis, in conjunction with indoor map data access demand, to indoor map institutional framework and flow path switch into
Row optimization, realizes the conversion process from map vector to data map, divides floor to same building object by geographic coordinate system
Complete data initialization.Convenient for being called when path planning.
In some embodiments, path planning between different floors, the cross-layer of same type point successively appear in path
As a result when middle, it is believed that the path reaches the path between most end cross-layer point by the first cross-layer point of the type, and centre occurs
Same type cross-layer point can be omitted.
A kind of implementation method based on the cross-domain space navigation path of indoor electronic map, includes the following steps: drawing area
Floor road network simultaneously generates road-net node, gives its start node of every section of line segment coding, and to the cross-layer point under current region floor
Such as door, elevator, staircase, stair type are labeled, will be in data inputting database；Integrate each region floor road network and road network
Node, give each node it is different region floor coding, connect different zones floor cross-layer point, formed cross-layer line segment, and to across
Layer line segment mark infuses start node coding；Route searching uses dijkstra's algorithm, i.e. shortest path first.When being related to trans-regional lead
Endurance calculates the shortest path in all floor road networks from starting point to target point with shortest path first in the database,
And all nodes returned through；It writes program to merge query result according to floor coding, merges different zones floor
The identical node of middle cross-layer vertex type only retains two nodes of first and last and records in memory；It is pressed in the result of previous step
Floor coding is screened, and the whole story nodes encoding of the same area floor is only retained；It is led on the basis of previous step by trans-regional
Boat is converted into same layer navigation, carries out route searching by same layer shortest path first, is labeled to whole story position, and be sequentially connected
Same layer passes through node.
The present invention has the advantages that since the influence of indoor particular surroundings causes indoor navigation system and outdoor navigation system to exist
There are some differences for certain technical aspects, how using indoor environment generation map, and realize more practical, true indoor ground
Drawing system, this technology combination technology difference, the indoor cross-layer navigation road network planing method of primary study.
Indoor map path planning mainly includes same floor path planning, across floor path planning, approach point path planning
Deng three aspects.Corresponding shortest route-planning algorithm is devised according to different situations, and to indoor map road net model and data
Storage organization is designed.Traditional mode routing algorithm is borrowed with floor path planning, across floor path planning then needs to consider building
The record of the link relation of interlayer.
The above is only preferred embodiment of the invention, it is noted that those skilled in the art, not
Under the premise of being detached from the invention design, some similar deformation and improvement can be made, these also should be regarded as the present invention
Protection scope within.
Claims (3)
1. a kind of algorithm for realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map, it is characterised in that: including cross-layer road
The field setting of net, the field setting of cross-layer node and the selection of cross-domain space path；
The field setting of the cross-layer road network includes line segment start code, line segment termination coding, line segment forward direction length and line segment
The parameter setting of reversed length；
The field setting of the cross-layer node includes the ginseng of nodes encoding, node type, nodename and node floor coding
Number setting；
Its principle for being primarily involved in constituent operations relevant parameter includes following several points:
(1) road network under current region is planned according to different zones map, is abstracted as line segment, and construct its topological relation,
It adds all line segments starting of current region, terminate coding, and generate each nodes encoding；
(2) positive, the reversed length of each line segment is added to current region road network by practical measuring and calculating；
(3) title, type and floor for adding the node to the current node layer of generation encode；
(4) each floor cross-layer, trans-regional point, are attached by the road network and node for combining each floor by line segment, are added transregional
Domain line segment whole story coding；
(5) according to the difference of cross-layer type, positive, the reversed length of trans-regional line segment is added, actual value is by cross-layer vertex type
It determines；
The algorithm of the cross-domain space path selection calculates different zones using shortest path first and changes the minimal path of layer and lead to
It crosses different zones location to be screened, obtains the path planning for needing to carry out in different zones.
2. a kind of algorithm that the cross-domain navigation feature of indoor and outdoor is realized based on indoor electronic map according to claim 1,
Be characterized in that: the path planning, can be between different floors, when the cross-layer of same type point successively appears in route result
Think that the path is reached the path between most end cross-layer point, the same type cross-layer point that centre occurs by the first cross-layer point of the type
It can be omitted.
3. a kind of implementation method based on the cross-domain space navigation path of indoor electronic map, characterized by the following steps:
(1) drawing area floor road network and road-net node is generated, gives its start node of every section of line segment coding, and to current region
Cross-layer point door, elevator, staircase, stair under floor are labeled, will be in data inputting database；
(2) each region floor road network and road-net node are integrated, gives each node different region floor codings, connects different zones
Floor cross-layer point forms cross-layer line segment, and to cross-layer line segment mark start node coding；
(3) route searching uses dijkstra's algorithm, i.e. shortest path first, when being related to trans-regional navigation, in the database
The shortest path in all floor road networks from starting point to target point is calculated with shortest path first, and is returned through all
Node；
(4) it writes program to merge query result according to floor coding, merges cross-layer vertex type phase in different zones floor
Same node only retains two nodes of first and last and records in memory；
(5) it is screened in the result of step (4) by floor coding, only retains the whole story nodes encoding of the same area floor；
(6) same layer navigation is converted by trans-regional navigation on the basis of step (5), carries out path by same layer shortest path first
Search, is labeled whole story position, and is sequentially connected same layer by node.
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| CN107084729B (en) * | 2017-05-03 | 2020-02-07 | 北京都在哪网讯科技有限公司 | Navigation method and device |
| WO2018222510A2 (en) | 2017-06-02 | 2018-12-06 | Apple Inc. | Venues map application and system |
| CN107889056B (en) * | 2017-09-20 | 2020-09-29 | 百度在线网络技术（北京）有限公司 | Method and device for collecting indoor position data of multi-story building and readable medium |
| CN108759840B (en) * | 2018-05-25 | 2022-07-26 | 北京建筑大学 | Indoor and outdoor integrated three-dimensional navigation path planning method |
| CN109189871A (en) * | 2018-08-10 | 2019-01-11 | 北斗导航位置服务（北京）有限公司 | A kind of method and apparatus of Indoor environment path planning |
| CN109299092A (en) * | 2018-09-10 | 2019-02-01 | 克立司帝控制系统（上海）股份有限公司 | Multilayer optimum route search method and system in electronic map |
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| CN109540164B (en) * | 2018-11-22 | 2021-05-25 | 广州小狗机器人技术有限公司 | Path planning method, system and equipment |
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