CN106780416A - A kind of Vector Topographic Map is used for the method and device of path planning - Google Patents
A kind of Vector Topographic Map is used for the method and device of path planning Download PDFInfo
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Abstract
The present invention relates to the method and device that a kind of Vector Topographic Map is used for path planning, it is comprised the following steps：1) data of Vector Topographic Map are read and preliminary treatment is carried out；2) it is slice coordinates the Coordinate Conversion in Vector Topographic Map；Firstly the need of latitude coordinate is converted into, then latitude and longitude coordinates are reconverted into slice coordinates to the Coordinate Conversion of Vector Topographic Map；3) Vector Topographic Map data are cut into slices according to recurrence quaternary tree mode, will Vector Topographic Map be divided into 4 parts, then 4 parts will be divided into per portion, segmentation always goes on, until reaching the chip level for pre-setting；4) Vector Topographic Map is merged with geographic information data.The present invention more directly perceived, accurately can carry out route scheme planning.
Description
Technical field
The present invention relates to a kind of fusion method, the method and dress of path planning to be used for especially with regard to a kind of Vector Topographic Map
Put.
Background technology
Distribution line is mostly in populated area, needs the factor for considering more when path planning is carried out.Design
The papery or electronic edition Vector Topographic Map that personnel provide frequently with Bureau of Surveying and Mapping carry out path planning.The engineer's scale of these drawings is often
Difference, the region shown in a width figure generally requires several mosaic images than relatively limited when being planned on a large scale.
At present, it is main that related work is carried out using drawing plane softwares such as AutoCAD.Due to CAD classes software mainly for
In the design of individual drawing, it is impossible to load substantial amounts of Vector Topographic Map data, it is impossible to intuitively, accurately carry out route scheme rule
Draw.
The content of the invention
Regarding to the issue above, it is an object of the invention to provide the method and dress that a kind of Vector Topographic Map is used for path planning
Put, it more directly perceived, accurately can carry out route scheme planning.
To achieve the above object, the present invention takes following technical scheme：
A kind of method that Vector Topographic Map is used for path planning, it is comprised the following steps：To the Vector Topographic Map for reading
Data carry out preliminary treatment；Coordinate Conversion the data of Vector Topographic Map is slice coordinates；To the data of Vector Topographic Map
Cut into slices；The data of the Vector Topographic Map after section are merged with the geographic information data being previously obtained.
Preferably, the data of the described pair of Vector Topographic Map of reading carry out preliminary treatment, comprise the following steps that：To vector ground
The document format data of shape figure is parsed, and obtains each map data mining platform of Vector Topographic Map；Selection needs the figure layer of loading, reads
Loading figure layer data, and the internal memory form for pre-setting is saved as by its original parameter；Wherein, it is described need loading figure layer by
User selects or is automatically selected according to configuration file；The all data processings that will be preserved are point-like and the data of polyline shaped.
Preferably, the data of the Vector Topographic Map are cut into slices according to recurrence quaternary tree mode, will Vector Topographic Map
It is divided into 4 parts, then 4 parts will be divided into per portion, segmentation always goes on, until reaching the chip level for pre-setting.
Preferably, the Coordinate Conversion of the data Vector Topographic Map is slice coordinates, is concretely comprised the following steps：By vector ground
The Coordinate Conversion of shape figure is latitude and longitude coordinates；256 parts are divided into by 360 degree of longitude and latitude, the X-coordinate of slice coordinates is obtained
And Y-coordinate.
Preferably, the data to image figure layer in Vector Topographic Map are cut into slices, and are comprised the following steps that：To image figure layer
Point-like data, the coordinate according to point is divided into corresponding chip level；To the wire data of image figure layer, calculate successively
Each line segment and the intersection point on current slice border, split according to the intersection point to corresponding line segment, take each in section
It is segmented as the wire data of current slice, the wire data to current slice are further cut into sub- section, until reaching
Chip level set in advance；Planar data to image figure layer are cut into slices.
Preferably, what the planar data to image figure layer were cut into slices comprises the following steps that：A () is by planar data institute
Carry out with section intersecting computing in region, obtain lap, obtain multiple closed areas；B () is to each closed area structure
The triangulation network is made, and the merging of all triangulation networks is saved as into corresponding figure layer file；C () judges whether to reach section set in advance
Grade, terminates if chip level set in advance is reached, otherwise, by further cutting under current slice for son is cut into slices, and
Return to step (a).
Preferably, comprising the following steps that to the elevation section in Vector Topographic Map：By the point-like data of elevation, wire number
It is the triangulation network according to planar data configuration；Equal interval sampling is carried out to all triangulation networks, digital complex demodulation data are configured to
File.
Preferably, the Vector Topographic Map after the section is melted with merging for the geographic information data being previously obtained including elevation
Close and visual fusion；The elevation fusion includes：Obtained from Law of DEM Data source and preset accuracy class and ranks
The elevation section of numbering, using the elevation section of this accuracy class and position No. if obtaining successfully, otherwise, from priority
The elevation section for presetting accuracy class and position No. is obtained in low background altitude data source；The visual fusion bag
Include：Multi-layer image figure layer is overlapped treatment.
Preferably, it is described that multi-layer image figure layer is overlapped treatment, comprise the following steps that：New image file, renders
The base map of the bottom；According to the sequencing for pre-setting, each figure layer is rendered successively；To the polygon surface root of each figure layer
The polygonal transparency of each figure layer is set according to preset requirement；Save as new section terrain texture section.
A kind of Vector Topographic Map is used for the device of path planning, and it includes：Data processing module, coordinate transferring, cut
Piece processing module and Fusion Module；The data processing module, the data for the Vector Topographic Map to reading are carried out tentatively
Treatment；The coordinate transferring, for being slice coordinates the Coordinate Conversion of the data of Vector Topographic Map；The slicing treatment
Module, for being cut into slices to Vector Topographic Map data；The Fusion Module, for by the Vector Topographic Map after section with it is advance
The geographic information data for obtaining is merged.
Due to taking above technical scheme, it has advantages below to the present invention：1st, the present invention is using Vector Topographic Map and ground
Reason Information data fusion, can include in a software operation interface unification of Vector Topographic Map data, it is to avoid drawing is used
The embarrassment that person switches repeatedly between multiple drawings.2nd, the present invention is merged using Vector Topographic Map with geographic information data, user
The vector surveying and mapping data of drawing relevant range can be viewed in same interface and piece (aerophotograph) data are defended.3rd, the present invention is used
Elevation is merged and two parts of visual fusion, more directly perceived, accurately can carry out route scheme planning.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the offer method implementation of path planning data in the present invention；
Fig. 2 is striograph aspect shape data slicer schematic flow sheet of the invention；
Fig. 3 is the structural representation of the offer device of path planning data in the present invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
Term explanation of the invention：
It is the photo that satellite shoots to defend piece；Aerophotograph is the photo that the aircraft such as aircraft or unmanned plane shoot.
Due to defend piece, aerophotograph general data amount it is larger and covering terrestrial range it is not of uniform size, for convenience of data transfer with carry
Rendering speed high will carry out slicing treatment, i.e., several are defended into piece, aerophotograph opsition dependent relation first is spliced, merges, then is cut
Into longitude and latitude scope identical fritter, each piece is a section.
Section is the dividing mode to earth surface information, and its content can be earth surface image, or elevation
Information, can also be rainfall, grain yield etc..
The present invention provides a kind of method that Vector Topographic Map is used for path planning, and it is comprised the following steps that：
1) data of Vector Topographic Map are read and preliminary treatment is carried out, it is comprised the following steps that：
(1) document format data to Vector Topographic Map is parsed, and obtains each map data mining platform of Vector Topographic Map；Its
In, the data of Vector Topographic Map describe the entities such as the point, line, surface in landform by the way of parametrization, and frequently with dxf, shp
Etc. stored in file format；
(2) selection needs the figure layer of loading, reads loading figure layer data, and save as what is pre-set by its original parameter
Internal memory form；For example, circular arc preserves central coordinate of circle, radius, start angle and termination point；Wherein, line number is according to including broken line, circle
Arc etc., shp files are then comprising linear target, area target and complex target etc.；Need load figure layer selection can be by user
Selection is automatically selected according to configuration file；
(3) all data processings that will be read are point-like and the data of polyline shaped；For example, being processed as broken line to circular arc data
Data, the hop count of broken line is hop count set in advance；
2) it is slice coordinates the Coordinate Conversion in Vector Topographic Map；
Firstly the need of latitude coordinate is converted into, then latitude and longitude coordinates are reconverted into and cut the Coordinate Conversion of Vector Topographic Map
Piece coordinate；
3) Vector Topographic Map data are cut into slices according to recurrence quaternary tree mode, will Vector Topographic Map be divided into 4 parts, then
4 parts will be divided into per portion, segmentation always goes on, until reaching the chip level for pre-setting；4) to Vector Topographic Map
Merged with geographic information data；
Vector Topographic Map is divided into elevation fusion and two parts of visual fusion with merging for geographic information data：
Elevation fusion is that digital elevation model (DEM) data are set into priority altitude data source higher, client elder generation
From the inquiry of dem data source, this elevation is used if successful inquiring, otherwise, then from the data source query that priority is relatively low, example
Such as, the relatively low background elevation source of precision；
Multi-layer image figure layer is overlapped treatment by visual fusion, for the purpose of clear display multi-layer image information, shadow
As comprising the following steps that for fusion：
(1) a newly-built image file, renders the base map of the bottom；
(2) according to the sequencing for pre-setting, each figure layer is rendered successively, wherein, each figure layer includes vector landform
The point of figure figure layer, multi-line section and polygon surface；
(3) to polygon surface, certain transparency is pre-set, to show base map with other each figure layers simultaneously
Information；
(4) new section terrain texture is saved as, if the section related data for using next time and map overlay relation do not have
Change, then this file is directly used, to improve rendering speed.
Above-mentioned steps 2) in, scope of the slice coordinates in X-axis, Y-axis both direction is all 0~256；
Above-mentioned steps 2) in, the coordinate model of Vector Topographic Map has geodetic coordinates, projection coordinate or rectangular space coordinate etc..
Various coordinate models need first to be converted into latitude coordinate, and then latitude and longitude coordinates are reconverted into slice coordinates；
Geodetic coordinates inherently latitude and longitude coordinates；
Projection coordinate is divided into Mercator projection coordinate and transverse Mercator projection coordinate, and Mercator projection coordinate throws the whole world
Shadow is a continuous perspective plane, and earth surface is divided into southern longitudinal bands by transverse Mercator projection coordinate by longitude range is preset
With northern longitudinal bands, therefore Conversion projection coordinate be latitude and longitude coordinates when need to pre-set the parameters such as central meridian；
The conversion of rectangular space coordinate to latitude and longitude coordinates is comprised the following steps that：
The a length of a of oval major semiaxis, a length of b of semi-minor axis are pre-set, then oval upper point P is represented by：
If rectangular space coordinate X/Y plane is set to plane where equator, the θ of X-axis to OP is longitude, and
If rectangular space coordinate X/Y plane is set to plane where meridian circle, the θ of X-axis to GP is latitude, and
Then obtaining ellipticity of ellipse is：Oval first eccentricity is：Oval second eccentricity
For：
The process that latitude and longitude coordinates are converted to slice coordinates is：256 parts i.e. conversion is divided into by 360 degree of longitude and latitude
It is section X-coordinate and Y-coordinate；Wherein, need to avoid south poles when latitude is converted to section Y-coordinate, can otherwise cause to calculate and lose
Lose.
Above-mentioned steps 3) in, the section of image figure layer comprises the following steps that in Vector Topographic Map：
(1) to the point-like data of image figure layer, directly the coordinate according to point is divided into corresponding chip level；
(2) to the wire data of image figure layer, the intersection point of each line segment and current slice border is calculated successively, according to this
Intersection point is split to corresponding line segment, wire data of each segmentation in section as current slice is taken, to current slice
Wire data be further sliced into 4 son section, go on always, until reaching chip level set in advance；Its
In, single line is considered the special case of broken line；
(3) as shown in figure 1, comprising the following steps that to the planar data slicer of image figure layer：
A planar region is carried out intersecting computing by () with section scope, obtain lap, obtains multiple closed areas；
B () constructs the triangulation network to each closed area, and the merging of all triangulation networks is saved as into corresponding figure layer file；
C () judges whether to reach chip level set in advance, terminate if chip level set in advance is reached, no
Then, current slice incision is divided into 4 son sections, and return to step (a).
Above-mentioned steps 3) in, what the elevation in Vector Topographic Map was cut into slices comprises the following steps that：
(1) if elevation is directly the triangulation network, into step (2), otherwise, by the point-like data of elevation, wire data
It is the triangulation network with planar data configuration；
(2) all triangulation networks are carried out with equal interval sampling (each section 9 × 9), dem data file is configured to.
Based on same inventive concept, present invention also offers the device that a kind of Vector Topographic Map is used for path planning, its bag
Include：Data processing module, coordinate transferring, slicing treatment module and Fusion Module.
Data processing module is used to be transmitted to coordinate turn after the data of the Vector Topographic Map to reading carry out preliminary treatment
Mold changing block,
Coordinate transferring is used for the Coordinate Conversion of the data Vector Topographic Map for slice coordinates are transmitted to slicing treatment
Module,
Slicing treatment module is used to be transmitted to Fusion Module after cutting into slices Vector Topographic Map data；
Fusion Module is used to be merged the Vector Topographic Map after section with the geographic information data being previously obtained.
The various embodiments described above are merely to illustrate the present invention, and the structure of each part, size, set location and shape all can be
It is varied from, on the basis of technical solution of the present invention, all improvement carried out to individual part according to the principle of the invention and waits
With conversion, should not exclude outside protection scope of the present invention.
Claims (10)
1. a kind of method that Vector Topographic Map is used for path planning, it is characterised in that it is comprised the following steps：
The data of the Vector Topographic Map to reading carry out preliminary treatment；
Coordinate Conversion the data of Vector Topographic Map is slice coordinates；
Data to Vector Topographic Map are cut into slices；By the data of the Vector Topographic Map after section and the geography information being previously obtained
Data are merged.
2. the method that a kind of Vector Topographic Map as claimed in claim 1 is used for path planning, it is characterised in that：Described pair of reading
The data of Vector Topographic Map carry out preliminary treatment, comprise the following steps that：
Document format data to Vector Topographic Map is parsed, and obtains each map data mining platform of Vector Topographic Map；
Selection needs the figure layer of loading, reads loading figure layer data, and the memory cell for pre-setting is saved as by its original parameter
Formula；Wherein, the figure layer for needing loading is selected by user or automatically selected according to configuration file；
The all data processings that will be preserved are point-like and the data of polyline shaped.
3. the method that a kind of Vector Topographic Map as claimed in claim 1 is used for path planning, it is characterised in that：The vector ground
The data of shape figure are cut into slices according to recurrence quaternary tree mode, will Vector Topographic Map be divided into 4 parts, then 4 will be divided into per portion
Part, segmentation always goes on, until reaching the chip level for pre-setting.
4. the method that a kind of Vector Topographic Map as claimed in claim 1 is used for path planning, it is characterised in that：It is described vector
The Coordinate Conversion of the data of topographic map is slice coordinates, is concretely comprised the following steps：
It is latitude and longitude coordinates by the Coordinate Conversion of Vector Topographic Map；
256 parts are divided into by 360 degree of longitude and latitude, the X-coordinate and Y-coordinate of slice coordinates is obtained.
5. the method that a kind of Vector Topographic Map as claimed in claim 1 is used for path planning, it is characterised in that：To vector landform
The data of image figure layer are cut into slices in figure, are comprised the following steps that：
To the point-like data of image figure layer, the coordinate according to point is divided into corresponding chip level；
To the wire data of image figure layer, the intersection point of each line segment and current slice border is calculated successively, according to the intersection point pair
Corresponding line segment is split, and wire data of each segmentation in section as current slice is taken, to the wire of current slice
Data are further cut into sub- section, until reaching chip level set in advance；
Planar data to image figure layer are cut into slices.
6. the method that a kind of Vector Topographic Map as claimed in claim 5 is used for path planning, it is characterised in that：It is described to image
What the planar data of figure layer were cut into slices comprises the following steps that：
A () carries out planar data region and section to intersect computing, obtain lap, obtains multiple closed areas；
B () constructs the triangulation network to each closed area, and the merging of all triangulation networks is saved as into corresponding figure layer file；
C () judges whether to reach chip level set in advance, terminate if chip level set in advance is reached, otherwise,
By further cutting under current slice for son is cut into slices, and return to step (a).
7. the method that a kind of Vector Topographic Map as claimed in claim 1 is used for path planning, it is characterised in that：To vector landform
What the elevation in figure was cut into slices comprises the following steps that：
It is the triangulation network by the point-like data of elevation, wire data and planar data configuration；
Equal interval sampling is carried out to all triangulation networks, digital complex demodulation data file is configured to.
8. the method that a kind of Vector Topographic Map as claimed in claim 1 is used for path planning, it is characterised in that：After the section
Vector Topographic Map and the geographic information data being previously obtained merge including elevation fusion and visual fusion；
The elevation fusion includes：The elevation for presetting accuracy class and position No. is obtained from Law of DEM Data source
Section, it is otherwise, high from the low background of priority using the elevation section of this accuracy class and position No. if obtaining successfully
The elevation section for presetting accuracy class and position No. is obtained in journey data source；
The visual fusion includes：Multi-layer image figure layer is overlapped treatment.
9. the method that a kind of Vector Topographic Map as claimed in claim 8 is used for path planning, it is characterised in that：It is described by multilayer
Image figure layer is overlapped treatment, comprises the following steps that：
New image file, renders the base map of the bottom；
According to the sequencing for pre-setting, each figure layer is rendered successively；
Polygon surface to each figure layer sets the polygonal transparency of each figure layer according to preset requirement；
Save as new section terrain texture section.
10. a kind of Vector Topographic Map is used for the device of path planning, it is characterised in that it includes：Data processing module, coordinate turn
Mold changing block, slicing treatment module and Fusion Module；
The data processing module, the data for the Vector Topographic Map to reading carry out preliminary treatment；
The coordinate transferring, for being slice coordinates the Coordinate Conversion of the data of Vector Topographic Map；
The slicing treatment module, for being cut into slices to Vector Topographic Map data；
The Fusion Module, for the Vector Topographic Map after section to be merged with the geographic information data being previously obtained.
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| CN109933639A (en) * | 2019-03-22 | 2019-06-25 | 合肥工业大学 | A kind of multispectral image towards map overlay and full-colour image method for self-adaption amalgamation |
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| CN112066998A (en) * | 2020-08-25 | 2020-12-11 | 海南太美航空股份有限公司 | Rendering method and system for airline map |
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| CN110473422A (en) * | 2019-07-16 | 2019-11-19 | 盐城工学院 | A kind of outdoor public areas ground parking position navigation device |
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| CN113052944A (en) * | 2019-12-10 | 2021-06-29 | 辉达公司 | Polar-coordinate delineation for vector graphics |
| CN113052944B (en) * | 2019-12-10 | 2024-05-17 | 辉达公司 | Polar tracing for vector graphics |
| CN112066998A (en) * | 2020-08-25 | 2020-12-11 | 海南太美航空股份有限公司 | Rendering method and system for airline map |
| CN114494485A (en) * | 2021-12-28 | 2022-05-13 | 北京吉威数源信息技术有限公司 | Multi-layer data fusion display method, device, equipment and storage medium |
| CN113989454A (en) * | 2021-12-30 | 2022-01-28 | 山东省地质测绘院 | Fusion method, device and system suitable for geological data and geographic information data |
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