CN106441334A - On-campus compound type navigation method - Google Patents
On-campus compound type navigation method Download PDFInfo
- Publication number
- CN106441334A CN106441334A CN201610879275.6A CN201610879275A CN106441334A CN 106441334 A CN106441334 A CN 106441334A CN 201610879275 A CN201610879275 A CN 201610879275A CN 106441334 A CN106441334 A CN 106441334A
- Authority
- CN
- China
- Prior art keywords
- dis
- queue
- campus
- point
- navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- 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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- 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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention discloses an on-campus compound type navigation method which comprises the following steps: taking points in the whole campus scope and establishing a connected relation topological graph between points; acquiring longitude and latitude coordinates on the current position according to a navigation positioning technique and positioning the current position in the campus; adopting the shortest path SPFA algorithm for acquiring a navigation path from a starting point to an end point; and showing a result on a map. The on-campus compound type navigation method is customized for schools and can be used for accurately providing the shortest path, people can go through all the supplied paths, all places in campus all can give accurate navigation paths, and navigation in group areas can be realized.
Description
Technical field
The present invention relates to location and navigation technology field, a kind of more particularly to school district real-time navigation system.
Background technology
Currently the school district of a lot of universities only has the Campus Map of Simple identification, does not have the map that can embody campus data grid,
If necessary to the characteristic map for certain specific range areas customized portion each place of labelling, using current navigation
Most crucial problem existing for systems technology is as follows：
The navigation way that the navigation system that there is currently is given is not the problem of shortest path
It is really impassable problem that the navigation way being given has some sections；
A lot of places in certain specific range areas are not provided that to the problem of navigation；
It is not provided that the problem of navigation in the area that forms a team of certain specific range areas.
Content of the invention
In order to overcome defect present in above-mentioned prior art, the present invention propose a kind of for the composite guide in school district
Boat method, using SPFA shortest path first, provides corresponding navigation for the road in the garden school district of the University Of Tianjin northeast part of China, building
Path simultaneously carries out real-time navigation according to positioning.
The present invention a kind of for the combined type air navigation aid in school district, the method comprises the following steps：
Step 1, it is directed to the internal road in campus in whole campus-wide and builds and carry out taking a little, record corresponding retouching
State information and latitude and longitude coordinates, form point set V；Set up the connected relation between points in point set V；Will be all right one way or the other for each pair two
Set up, between the point reaching, a line representing connection, form side collection E, set up connected relation topological diagram between points；
Step 2, by the latitude coordinates of navigator fix technical limit spacing current location, campus positions current location；
Step 3, Initialize installation dis [S]=0, dis [i]=infinity, source point S is added queue, and enters in queue
Line flag, with shortest path SPFA algorithm, obtains the guidance path of origin-to-destination, repeats following operation, queue is
Space-time algorithm terminates, and algorithm specifically includes：
(1), take out a node u from head of the queue, u is labeled as not in queue, all knots being joined directly together with u of traversal
Point；
(2), the node v being joined directly together for each and u, if meet dis [v]>Dis [u]+w (u, v), then update dis
The value of [v], makes dis [v]=dis [u]+w (u, v), carries out loose operations for node v.
(3) if being updated, check the labelling of v for dis [v], if point v is not in queue, then by point v's
Flag update is in queue, and point v is added tail of the queue；
Step 4, result is shown on map；
Step 5, according to positioning timing refresh, judge refresh result whether deviate route plan, if generation deviation,
Again plan.
Described a correspondence is taken to form a team position, to support the navigation in forming a team.
Compared with prior art, the present invention is that school is customized, can accurately provide shortest path, is provided with
Path, can pass through, and in school district, all places can provide accurately guidance path, and can realize forming a team in area
Navigation.
Brief description
Fig. 1 is the path accuracy comparison diagram of the present invention and prior art, and the left side is navigation algorithm path of the present invention, the right
For existing navigation algorithm path；
Fig. 2 is the present invention and navigation navigation situation comparison diagram in the area that forms a team of prior art；
Fig. 3 is global map schematic diagram of the present invention；
Fig. 4 is the overall flow schematic diagram of the present invention.
Specific embodiment
The full name seeking the SPFA algorithm of single source shortest path is：Shortest Path Faster Algorithm, is southwest
University of communications Duan Fanding delivered in 1994.Using SPFA algorithm, solve the problems, such as that given figure has negative power side.
The present invention is using SPFA algorithm, the building according to University Of Tianjin northeast part of China garden school district and traffic information, takes out figure
Model, setting node and side, try to achieve shortest path.
Below in conjunction with accompanying drawing, the solution of the present invention is described in detail.
As shown in figure 4, the campus air navigation aid overall flow schematic diagram for the present invention.
Step 1, take a little：For the road within campus and building, according to the complexity of landform, every 10-50 rice
Take a point, record corresponding description information and latitude and longitude coordinates, form point set V.
Step 2, build side：Set up the connected relation between points in point set V；By each pair two-by-two up to point between build
The vertical a line representing connection, forms side collection E
E={ (vi,vj)|vi,vj∈V}
Step 3, build figure：According to the side collection obtaining and point set information, set up a undirected topological diagram for whole campus.
Step 4, navigated to user current location by alignment system, obtain the latitude coordinates of present position, according to this
Latitude coordinates, the border circular areas being 50 meters in radius are found point and are concentrated and the immediate point in current location；
Step 5, using SPFA shortest path first find shortest path.
Algorithm principle：Note source point is S, and the path of source point S point of arrival i is designated as dis [i], the shortest path of source point S point of arrival i
Footpath is denoted as dis [S], and when initial, except dis [S], other dis [i] are all unknown, dis [i] are initialized as infinity, especially
Dis [S] is initialized as 0.W (i, j) represents the weights from i point to j point, the distance calculating according to latitude coordinates.Calculate
The purpose of method is in running, constantly reduces the numerical value of dis [] by iteration, until the numerical value preserving in this array subtracts
The size of the little actual shortest path for reaching this point.
Algorithm flow：Initialize installation dis [S]=0, dis [i]=infinity, source point S is added queue, and in queue
In be marked.Repeat following operation, queue terminates for space-time algorithm：
(1), take out a node u from head of the queue, u is labeled as not in queue, all knots being joined directly together with u of traversal
Point；
(2), the node v being joined directly together for each and u, if meet dis [v]>Dis [u]+w (u, v), then update dis
The value of [v], makes dis [v]=dis [u]+w (u, v), carries out loose operations for node v.
(3) if being updated, check the labelling of v for dis [v], if point v is not in queue, then by point v's
Flag update is in queue, and point v is added tail of the queue；
Step 6, according to positioning timing refresh, judge refresh result whether deviate route plan, if generation deviation,
Again plan.
The navigation map that gained obtains is divided into three levels, each level respectively by 16 pieces, 256 pieces, 1024 pieces of picture structures
Become whole map；When map is zoomed in and out, enter different levels, show picture.Using figure layer soverlay technique, accelerate in the page
The loading velocity of picture.Cached using redis, accelerate the loading velocity of data.
University Of Tianjin northeast part of China garden school district navigation system can realize the accurate navigation in campus, compare existing map and lead
Boat, more accurately.The path that existing navigation provides not is nearest path, and for not much of that when within campus
Solution, actually can not pass through in the many paths providing, the place in many schools cannot elect terminal as, that is, input many learning
Place in the school can not find guidance path, University Of Tianjin northeast part of China garden school district, is formed a team by academy's system and constitutes, existing navigation system
It is not support interior navigation of forming a team, and University Of Tianjin northeast part of China garden school district navigation system is that school is customized, can be accurately
Shortest path, the path being provided with are provided, can pass through, in the garden school district of the University Of Tianjin northeast part of China, all places can be given
Accurately guidance path, and the navigation in area of forming a team can be realized.Compare existing navigation system, University Of Tianjin northeast part of China garden school
Area's navigation system is University Of Tianjin northeast part of China garden school district, customized map newly, more can embody University Of Tianjin 120 years long
History culture.
Claims (2)
1. a kind of for the combined type air navigation aid in school district it is characterised in that the method comprises the following steps：
Step (1), it is directed to the internal road in campus in whole campus-wide and builds and carry out taking a little, record corresponding description
Information and latitude and longitude coordinates, form point set V；Set up the connected relation between points in point set V；By each pair two-by-two up to
Point between set up a line representing connection, form side collection E, set up connected relation topological diagram between points；
Step (2), by the latitude coordinates of navigator fix technical limit spacing current location, campus positions current location；
Step (3), Initialize installation dis [S]=0, dis [i]=infinity, source point S is added queue, and carries out in queue
Labelling, with shortest path SPFA algorithm, obtains the guidance path of origin-to-destination, repeats following operation, and queue is sky
When algorithm terminate, algorithm specifically includes：
(1), take out a node u from head of the queue, u is labeled as not in queue, all nodes being joined directly together with u of traversal；
(2), the node v being joined directly together for each and u, if meet dis [v]>Dis [u]+w (u, v), then update dis's [v]
Value, makes dis [v]=dis [u]+w (u, v), carries out loose operations for node v.
(3) if being updated, check the labelling of v for dis [v], if point v is not in queue, then by the labelling of point v
It is updated in queue, and point v is added tail of the queue；
Step (4), result is shown on map；
Step (5), according to positioning timing refresh, judge refresh result whether deviate route plan, if generation deviation; weigh
New planning.
2. as claimed in claim 1 a kind of for the combined type air navigation aid in school district it is characterised in that described take a correspondence
Form a team position, to support the navigation in forming a team.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610879275.6A CN106441334A (en) | 2016-09-30 | 2016-09-30 | On-campus compound type navigation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610879275.6A CN106441334A (en) | 2016-09-30 | 2016-09-30 | On-campus compound type navigation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106441334A true CN106441334A (en) | 2017-02-22 |
Family
ID=58172243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610879275.6A Pending CN106441334A (en) | 2016-09-30 | 2016-09-30 | On-campus compound type navigation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106441334A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109813323A (en) * | 2017-11-22 | 2019-05-28 | 上海博泰悦臻电子设备制造有限公司 | Adaptive Path air navigation aid/system, computer readable storage medium and terminal |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102798394A (en) * | 2011-05-26 | 2012-11-28 | 上海博泰悦臻电子设备制造有限公司 | Route planning method and system |
| CN103745611A (en) * | 2013-12-23 | 2014-04-23 | 北京掌城科技有限公司 | Method, apparatus and system for traffic route planning |
| CN105389620A (en) * | 2015-10-16 | 2016-03-09 | 成都中科大旗软件有限公司 | Method for recommending scenic spot line of scenic area |
-
2016
- 2016-09-30 CN CN201610879275.6A patent/CN106441334A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102798394A (en) * | 2011-05-26 | 2012-11-28 | 上海博泰悦臻电子设备制造有限公司 | Route planning method and system |
| CN103745611A (en) * | 2013-12-23 | 2014-04-23 | 北京掌城科技有限公司 | Method, apparatus and system for traffic route planning |
| CN105389620A (en) * | 2015-10-16 | 2016-03-09 | 成都中科大旗软件有限公司 | Method for recommending scenic spot line of scenic area |
Non-Patent Citations (1)
| Title |
|---|
| 黎永壹: ""基于离散化的改进SPFA算法及其应用", 《广西计算机学会2015年学术年会论文集》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109813323A (en) * | 2017-11-22 | 2019-05-28 | 上海博泰悦臻电子设备制造有限公司 | Adaptive Path air navigation aid/system, computer readable storage medium and terminal |
| CN109813323B (en) * | 2017-11-22 | 2023-09-26 | 博泰车联网科技(上海)股份有限公司 | Adaptive path navigation method/system, computer readable storage medium and terminal |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11192558B2 (en) | Method, apparatus, and system for providing road curvature data | |
| US10359295B2 (en) | Method and apparatus for providing trajectory bundles for map data analysis | |
| CN105466440B (en) | Utilize the navigation device of weather forecast information path optimizing, system and method | |
| US10317222B2 (en) | Decision-based map-agnostic navigation routing | |
| US20210089572A1 (en) | Method, apparatus, and system for predicting a pose error for a sensor system | |
| EP3109594A1 (en) | Midpoint-based map-agnostic navigation routing | |
| US20110098910A1 (en) | Method and apparatus for intelligent guidance using markers | |
| US20170074659A1 (en) | Method and apparatus for providing a location data error map | |
| CN104215254B (en) | The method and apparatus of path navigation | |
| US11231282B2 (en) | Method and apparatus for providing node-based map matching | |
| CN103134498B (en) | Road condition determines method and device, paths planning method, navigation system | |
| CN107228677A (en) | Driftage recognition methods and device | |
| JP2008267875A (en) | Generating method of digital road map and map generating system | |
| CN105466447B (en) | Navigation system and air navigation aid | |
| CN106323322A (en) | Intelligent optimizing method for vehicle navigation route | |
| US10314001B2 (en) | Method and apparatus for providing adaptive location sampling in mobile devices | |
| US20200400439A1 (en) | Method, apparatus, and system for identifying map error based on road curvature data | |
| CN103759735A (en) | Firefighting vehicle-oriented navigation system | |
| CN106292698A (en) | Accurate operation method and system for plant protection unmanned aerial vehicle | |
| CN105491522A (en) | Method for positioning moving track of user based on mobile pipeline data | |
| CN101639360B (en) | Navigation platform and navigation system | |
| JP5794453B2 (en) | Navigation system, navigation program, and navigation method | |
| CN109374007A (en) | Indoor path guide method based on GPS network and ground coordinate net | |
| CN109523781A (en) | A kind of crossing prediction technique based on satellite positioning | |
| US11402214B2 (en) | Method and apparatus for providing aerial route calculation in a three-dimensional space |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170222 |