CN108921934B - System for generating building model based on inertial navigation positioning equipment - Google Patents
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Abstract
The invention discloses a system for generating a building model based on inertial navigation positioning equipment, which comprises an inertial navigation module, information processing and transmission terminal hardware equipment, a data acquisition and processing module, a building three-dimensional model reconstruction module, a three-dimensional building display module and other software parts. The method comprises the steps of acquiring basic information such as the outer contour, the position of key facilities, a walking track and the like of a building through an inertial navigation module, determining the height, the number of floors and the internal layout of the building through a data acquisition and processing module, and rapidly constructing a three-dimensional model of the building according to acquired and processed building data and a triangulation algorithm based on convex-concave judgment. By the method, the rapid modeling can be performed on the social key units in the fire fighting field, and the fire fighter can generate the visual building model through six familiarity with the patrol, so that data support is provided for the fire fighter to master the position of the fire fighter and the position of fire fighting resources when the fire fighter carries out a fire fighting rescue task.
Description
Technical Field
The invention relates to the technical field of building modeling, in particular to a system for generating a building model based on inertial navigation positioning equipment.
Background
The three-dimensional model of the building is one of important basic data for building a digital city, and has important application values for city planning, intelligent transportation, navigation, environment monitoring, disaster prevention emergency and the like. The existing common modeling modes include two types, one is to obtain the detailed size information of the building by using the existing CAD engineering drawing and then to carry out three-dimensional modeling by using modeling tools such as 3DMAX, MAYA and the like; the other mode is to collect three-dimensional point cloud data through technologies such as photogrammetric technology recovery or laser radar scanner scanning, and perform surface geometric modeling on the basis of the three-dimensional point cloud data. Although the information of the three-dimensional model established by the first mode is detailed, only a few buildings have detailed engineering drawings, the modeling time is relatively long, and the second modeling mode can acquire data in real time, but the method easily causes the phenomena of data loss, noise and the like, so that the reconstructed model surface is always irregular and sharp due to noise. How to quickly construct a three-dimensional model of a building on a rescue site and provide the function of indoor real-time positioning for rescue workers becomes a key problem which needs to be solved urgently.
Disclosure of Invention
The invention aims to provide a system and a method for generating a building model based on inertial navigation positioning equipment. The three-dimensional model of the building can be built quickly, so that instant information support is provided for special situations such as fire rescue.
In order to achieve the above objects and other related objects, the present invention provides a system for generating a building model based on inertial navigation positioning equipment, comprising an inertial navigation module, an information processing and transmitting terminal, a data acquisition and processing module and a building three-dimensional model reconstruction module;
the inertial navigation module can measure the three-dimensional space coordinates of the patrolman in real time, and the continuous three-dimensional space coordinates form the patrolman track;
the information processing and transmitting terminal provides a database for storing data for the data acquisition and processing module, the building three-dimensional model reconstruction module and the patrol record data;
the data acquisition and processing module is used for acquiring patrolled building outer contour data, floor height, floor number, position coordinates of key facilities (fire-fighting facilities, stairs, elevators and other facilities) in the building and patrolling track data and storing the data in a database of the information processing and transmission terminal;
the data acquisition and processing module adds the position coordinates and the patrol track coordinates of the key facilities to the identifier of the corresponding floor (namely, which floor) according to the height of the floor and the number of the floors;
the building three-dimensional model reconstruction module carries out three-dimensional model reconstruction according to the data of the external outline of the building, the height of the floor, the number of floors, the position coordinates of key facilities in the building and the patrol track data, and the three-dimensional model comprises a floor bottom outline, a floor wall body, internal key facilities and patrol track information.
The system executes the following steps to generate a three-dimensional model of the building:
and 5, after the patrol task is finished, the information processing and transmission terminal uploads the three-dimensional model data to a remote server for storage, the three-dimensional model data can be downloaded to the remote server when the patrol building is subjected to a rescue task, a software modeling system is used for establishing a three-dimensional model of the building in real time, and according to the reconstructed three-dimensional model and an inertial navigation module, the three-dimensional space coordinates of a fireman in the building can be mastered in real time when the rescuers are subjected to the rescue task.
The step 4 comprises the following steps:
step 4-1, the outline data of the building forms a polygon, and the vertex ordered set of the polygon is A = { p = 0 ,p 1 ,p 2 ,...,p n }，p n Represents the nth vertex, n is the number of vertexes, and the calculation set is B = A + { p n+1 ,p n+2 In which p is n+1 ＝p 0 ，p n+2 ＝p 1 By the formula
Traversing three adjacent vertexes p of polygon k-1 、p k 、p k+1 In (c) p k Whether the vertex is convex or concave, k is 1-n +1, when s>When 0 is equal to p k If the polygon is a convex vertex, continuously traversing the rest of vertices, and when no concave vertex exists in the polygon after the traversal is finished, indicating that the polygon is a convex polygon, and executing the step 4-2; when s is<When 0 is equal to p k If the polygon is a concave vertex, the polygon is a concave polygon, and step 4-3 is executed;
step 4-2, when the polygon is a convex polygon, any three points p of the polygon are obtained by using the following relational expression i 、p j 、p k Weight w (p) of the formed triangle i ,p k ,p j )：
Wherein x is i Is a vertex p i The abscissa value of (a), y i Is a vertex p i Ordinate value of (a), x k Is a vertex p k The abscissa value of (a), y k Is a vertex p k Ordinate value of (a), x j Is a vertex p j The abscissa value of (a), y j Is a vertex p j The ordinate value of (d);
let t [ i ]][j](1≤iN is less than j) is a convex polygon { p i-1 ,p i ,...p j The optimal triangulation of the weight function value, i.e. the optimal value, comprises a triangle p i-1 p k p j Weight of (1), sub-polygon { p } i-1 ,p i ,...p k Weight of, sub-polygon { p }, sub-polygon { p k ,p k+1 ,...p j The sum of the weights of { to get the recurrence relation:
the optimal weight t [1] [ n ] of the convex (n + 1) polygon P is obtained by using a recursion relational expression as follows:
t[1][n]＝min{t[1][k]+t[k+1][n]+w(p 0 ,p k ,p n )|1≤k≤n}，
constructing a triangular sequence which is in accordance with the convex polygon by using the optimal weight;
step 4-3, when the polygon is a concave polygon, judging the triangle according to the vertex sequence,
if S is>0, representing the three vertices p m-1 、p m 、p m+1 If the triangle is in the concave polygon, the triangle is one of the triangles divided finally, otherwise, the circulation is continued until all the triangles are found, and the circulation output of the conforming triangle sequence is finished;
step 4-4, generating a Mesh model of the bottom surface of the building floor by using the generated triangular sequence and carrying out texture mapping; carrying out triangulation processing by utilizing a polygon formed by the current floor height, the floor number data and the building external contour data to form a wall Mesh model and carrying out texture mapping; retrieving all fire-fighting equipment data of the current floor from the position coordinates of key equipment in the building, and placing a corresponding fire-fighting equipment model in the current floor model according to the position and the type of the fire-fighting equipment; searching the patrol track of the current floor from the patrol track data, and drawing a track in the current floor model until the single-layer floor model is established;
and 4-5, building models of all floors by the method of the step 4-4, and building a three-dimensional model of the whole building by splicing all the single-floor models.
The system further comprises a three-dimensional building display module, and the three-dimensional building display module can realize the amplification, the reduction, the translation and the rotation of the model, the display and the hiding control of the independent floor, the wall display and the hiding control of the independent floor, the track display and the hiding control of the independent floor, the display and the hiding control of the internal key facilities of the independent floor, the classification statistics of the internal key facilities, and the 2D and 3D view switching.
As described above, the method for generating a rapid building model based on inertial navigation positioning equipment provided by the invention has the following beneficial effects:
1. the patrol personnel can acquire the external outline information, the floor information, the fire-fighting key facility information and the internal layout information of the floor required by modeling only by carrying the inertial navigation and multifunctional intelligent information terminal equipment.
2. The three-dimensional model of the patrolled building can be quickly reconstructed according to the data acquired by the patrolling task;
3. according to the reconstructed three-dimensional model and the inertial navigation module, when a fireman carries out a fire scene rescue task, the three-dimensional space coordinates of the fireman in a building can be mastered in real time;
4. the method lays an information technical guarantee for the field command center to quickly and accurately master the spatial situation of the worker in the fire scene.
Drawings
The foregoing and other advantages of the invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
FIG. 1 is a schematic view of the present invention.
Fig. 2 is a flow chart of the triangulation algorithm based on the judgment of the concavity and convexity in the invention.
Fig. 3 is a diagram illustrating the effect of the single-story floor model of the present invention.
Fig. 4 shows an effect diagram of the building model of the present invention.
Detailed Description
The invention is further explained by the following embodiments in conjunction with the drawings.
Referring to fig. 1, the system for generating a building model based on inertial navigation positioning equipment of the invention comprises an inertial navigation module 1, an information processing and transmission terminal 2, a data acquisition and processing module 3, a building three-dimensional model reconstruction module 4 and a three-dimensional building display module 5. The embodiment takes the fire-fighting patrol task executed in the fire-fighting field as a research object, and the specific implementation steps are as follows:
1. the fire fighter carries inertial navigation module 1 and information processing and transmission terminal 2 (such as android mobile phone) when carrying out daily patrol task, and inertial navigation module 1 has integrateed bluetooth communication equipment. The information processing and transmission terminal 2 is already pre-installed with software modeling system software APP, and the APP is developed in a cross-platform mode based on Android and unity 3D. The Android platform mainly develops the data acquisition and processing module 3 and the database, and the unity3D mainly develops the building three-dimensional model reconstruction module 4 and the three-dimensional building display module 5.
2. After the communication connection between the software APP of the model building system and the inertial navigation module 1 is established, patrolling personnel firstly patrol the outer contour of the building, the data capable of representing the outer contour of the building is specially marked in the patrol process, and the coordinates are stored in a database of the information processing and transmission terminal 2 by using the sequence ID.
3. After the outer contour mark of the building is finished, the patrolling personnel can enter the interior of the building to carry out patrolling tasks, and the information processing and transmission terminal 2 can store the three-dimensional coordinate data of the patrolling personnel collected by the inertial navigation module 1 in a database in real time by using the sequential ID.
4. When the fire patrol personnel carries out the patrol task, the fire patrol personnel can specially mark the position coordinates of key fire-fighting facilities in the building, and store the coordinates and the types of the fire-fighting facilities in the database of the information processing and transmission terminal 2 by using the sequence ID.
5. The fire-fighting patrol personnel can finish the patrol when patrolling the topmost layer, so that the patrol task is finished.
6. And after the patrol task is finished, the data acquisition and processing module 3 extracts the coordinate data of the outline of the building from the database and sends the data to the unity3D modeling platform.
7. The data acquisition and processing module 3 extracts three-dimensional coordinate data of patrolling personnel for patrolling tasks from a database, screens out height values with equal height values and more than 5 pieces of height values of the data by analyzing three-dimensional track data of the patrolling personnel and utilizing the characteristics of the height values of the person track data on the same floor, then compares the height difference according to the screened data, filters out non-floor data such as a stair inflection point and the like by utilizing the floor height difference of more than 2 meters generally, and finally, the remaining height values and height value quantity are the height and floor quantity of each floor of the current building and sends the data to a unity3D modeling platform.
8. The data acquisition and processing module 3 extracts position coordinate data of key fire-fighting facilities in the building from the database, traverses the coordinate data of each fire-fighting facility, obtains which floor the currently traversed fire-fighting facility belongs to by sequentially comparing the height values of the fire-fighting facilities and the floors, and sends the data to the unity3D modeling platform.
9. The data acquisition and processing module 3 extracts three-dimensional coordinate data of the patrolling personnel during patrolling tasks from the database, traverses each three-dimensional coordinate data, compares the coordinate data with the height values of the floors in sequence to obtain which floor the currently traversed coordinate data belongs to, and sends the data to the unity3D modeling platform.
10. And the building three-dimensional model reconstruction module 4 carries out three-dimensional model reconstruction according to the data obtained by the processing in the steps 6, 7, 8 and 9. Building models in the Unity world are formed by mesh, so that building model creation is defined as self-defined mesh related to the models, the essence of the self-defined mesh is to define point coordinates needing model drawing, then triangles are drawn according to the points, and the building models can be formed by defining a uv (mainly used for displaying a chartlet) coordinate system. For the embodiment, the building model is composed of a floor bottom surface, a wall body, fire-fighting facilities and a patrol track, the building outer contour data form a polygon, the building three-dimensional model reconstruction module 4 carries out triangulation processing through a triangulation algorithm based on the convex-concave judgment to form a plurality of triangular transitions, the algorithm is shown in fig. 2, and the triangulation algorithm based on the convex-concave judgment comprises the following three parts:
a1, the vertex ordered set of the polygon is A = { p 0 ,p 1 ,p 2 ,...,p n }, the calculation set is B = A + { p n+1 ,p n+2 In which p is n+1 ＝p 0 ，p n+2 ＝p 1 By the formula
Traversing p in three adjacent points of polygon k Whether convex or concave, when s>When 0 is equal to p k If the convex peak is the convex peak, continuing to judge; when s is<When 0 is equal to p k If the polygon is a concave vertex, the polygon is a concave polygon, and exit judgment is carried out; when the traversal is finished and no concave vertex exists in the polygon, the polygon is indicated to be a convex polygon.
And A2, when the polygon is a convex polygon, utilizing the relation:
let t [ i][j](i is more than or equal to 1 and less than or equal to j and less than or equal to n) is a convex polygon { p i-1 ,p i ,...p j And (4) a weight function value corresponding to the optimal triangulation, namely an optimal value. The optimal subdivision comprises a triangle p i-1 p k p j Weight of (1), sub-polygon { p } i-1 ,p i ,...p k Weight of, sub-polygon { p } k ,p k+1 ,...p j The sum of the weights of.
Thus, a recursive relationship is available:
the optimal weight of the convex (n + 1) polygon P can be obtained by using the relational expression as follows:
t[1][n]＝min{t[1][k]+t[k+1][n]+w(p 0 ,p k ,p n )|1≤k≤n}。
traverse all vertices p i-1 、p j Using the relation t [ i ]][k]+t[k+1][j]+w(p i-1 ,p k ,p j ) I is more than or equal to 1 and less than or equal to k and less than or equal to j to obtain a weight, wherein a triangle p capable of forming the optimal weight i-1 p k p j I.e. a conforming triangular sequence.
A3, when the polygon is a concave polygon, judging the triangle according to the vertex sequence,
if S is>And 0, explaining that the three vertexes have the conditions for forming the triangle, but judging whether other vertexes exist in the triangle or not, if the other vertexes are not in the vertex of the triangle, judging whether the triangle is in a boundary surrounded by vertexes of the concave polygon or not, if the triangle is in the concave polygon, the triangle is one of the triangles divided finally, otherwise, continuing to circulate until all the triangles are found, and ending the circulation to output the consistent triangle sequence.
Generating a Mesh model of the bottom surface of the building floor by using the generated triangular sequence and carrying out texture mapping; carrying out triangulation processing by using a polygon formed by the current floor height, the floor number data and the building external contour data to form a wall Mesh model and carrying out texture mapping; retrieving all fire-fighting equipment data of the current floor from the key equipment information data according to the identification of which floor the key equipment data belongs to, and placing a corresponding fire-fighting equipment model in the current floor model according to the position and the type of the fire-fighting equipment; and searching the patrol track of the current floor from the patrol track data according to the identifier of the floor to which the track data belongs, and drawing the track in the current floor model. The building of the single-floor model is completed, the effect is shown in fig. 3, the models of all floors are built in this way, and finally, the complete model of the whole building can be built by splicing all the single-floor models, and the effect is shown in fig. 4.
11. After the three-dimensional model is built, the three-dimensional model is displayed by a three-dimensional building display module 5, and a display interface can realize the amplification/reduction/translation/rotation operation of the model, the display/hiding control of an individual floor wall, the display/hiding control of an individual floor track, the display/hiding control of key facilities in the individual floor, the classification statistics of fire-fighting facilities and the 2D/3D view switching.
The present invention provides a system for generating a building model based on inertial navigation positioning equipment, and the method and the way for implementing the technical solution are many, and the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.
Claims (1)
1. A system for generating a building model based on inertial navigation positioning equipment is characterized by comprising an inertial navigation module, an information processing and transmitting terminal, a data acquisition and processing module and a building three-dimensional model reconstruction module;
the inertial navigation module measures the three-dimensional space coordinates of the patrolman in real time, and the continuous three-dimensional space coordinates form the patrolman track;
the information processing and transmitting terminal provides a database for storing data for the data acquisition and processing module, the building three-dimensional model reconstruction module and the patrol record data;
the data acquisition and processing module is used for acquiring patrolled building external contour data, floor height, floor number, position coordinates of key facilities in the building and patrolling track data and storing the data in a database of the information processing and transmission terminal;
the data acquisition and processing module adds the position coordinates and the patrol track coordinates of key facilities to the identifications belonging to the corresponding floors according to the height and the number of floors;
the building three-dimensional model reconstruction module carries out three-dimensional model reconstruction according to the data of the external outline of the building, the height of a floor, the number of floors, the position coordinates of key facilities in the building and the patrol track data, wherein the three-dimensional model comprises a floor bottom outline, a floor wall body, internal key facilities and patrol track information;
the system performs the following steps to generate a three-dimensional model of the building:
step 1, an inertial navigation module establishes communication connection with an information processing and transmission terminal through a wireless network;
step 2, the patrolman carries out special marking on the key point coordinates capable of representing the outer contour of the building through a data acquisition and processing module when carrying out a patrolling task, and stores the result in a database of an information processing and transmission terminal;
step 3, patrolling personnel sequentially patrols according to floors, specially marks the position coordinates of internal key facilities through the data acquisition and processing module until the patrolling is finished, and stores the result in a database of the information processing and transmission terminal;
step 4, the building three-dimensional model reconstruction module acquires the patrolled building outer contour data, the floor height, the floor number, the position coordinates of key facilities in the building and the patrolling track data according to the data in the database to carry out three-dimensional model reconstruction;
step 5, after the patrol task is finished, the information processing and transmission terminal uploads the three-dimensional model data to a remote server for storage, the three-dimensional model data can be downloaded to the remote server when the patrol building is rescued, a software modeling system is used for building a three-dimensional model of the building in real time, and the three-dimensional space coordinates of a fireman in the building can be mastered in real time when the rescuers perform the rescue task according to the rebuilt three-dimensional model and an inertial navigation module;
the step 4 comprises the following steps:
step 4-1, the outline data of the building forms a polygon, and the vertex ordered set of the polygon is A = { p = 0 ,p 1 ,p 2 ,...,p n }，p n Represents the nth vertex, n +1 is the number of vertices, and the calculation set is B = A + { p n+1 ,p n+2 In which p is n+1 ＝p 0 ，p n+2 ＝p 1 By the formula
Traversing three adjacent vertexes p of polygon h-1 、p h 、p h+1 Determination of p h Whether the vertex is convex or concave, h is 1-n +1, when s>When 0 is 0, it represents p h If the polygon is a convex vertex, continuously traversing the rest of vertices, and when no concave vertex exists in the polygon after the traversal is finished, indicating that the polygon is a convex polygon, and executing the step 4-2; when s<When 0 is equal to p h If the polygon is a concave vertex, the polygon is a concave polygon, and step 4-3 is executed;
step 4-2, when the polygon is a convex polygon, solving any three vertexes p of the polygon by using the following relational expression i 、p j 、p k Weight w (p) of the formed triangle i ,p k ,p j )：
Wherein x is i Is a vertex p i Abscissa value of (a), y i Is a vertex p i Ordinate value of (a), x k Is a vertex p k Abscissa value of (a), y k Is a vertex p k Ordinate value of (a), x j Is a vertex p j Abscissa value of (a), y j Is a vertex p j The ordinate value of (d);
let t [ a ]][b]As convex polygon { p a-1 ,p a ,...,p b The optimal triangulation of the weight function value corresponding to, i.e. the most optimal valueA figure of merit of 1. Ltoreq. A<b is less than or equal to n, and the optimal subdivision comprises a triangle p a-1 p c p b Weight of (1), sub-polygon { p } a-1 ,p a ,...,p c Weight of, sub-polygon { p }, sub-polygon { p c ,p c+1 ,...,p b The sum of the weights of { to get the recurrence relation:
the optimal weight t [1] [ n ] of the convex n +1 polygon P is obtained by utilizing a recursion relational expression as follows:
t[1][n]＝min{t[1][c]+t[c+1][n]+w(p 0 ,p c ,p n )|1≤c≤n}，
constructing a convex polygonal triangular sequence by using the optimal weight;
step 4-3, when the polygon is a concave polygon, judging the triangle according to the vertex sequence,
if S is>0, representing three vertices p m-1 、p m 、p m+1 If the triangle is in the concave polygon, the triangle is one of the triangles divided finally, otherwise, the circulation is continued until all the triangles are found, and the circulation is ended to output a triangle sequence;
step 4-4, generating a building floor bottom Mesh model by using the generated triangular sequence and carrying out texture mapping; carrying out triangulation processing by using a polygon formed by the current floor height, the floor number data and the building external contour data to form a wall Mesh model and carrying out texture mapping; retrieving all fire-fighting equipment data of the current floor from the position coordinates of key equipment in the building, and placing a corresponding fire-fighting equipment model in the current floor model according to the position and the type of the fire-fighting equipment; searching the patrol track of the current floor from the patrol track data, and drawing a track in the current floor model until the single-layer floor model is established;
4-5, building models of all floors by the method of the 4-4, and building a three-dimensional model of the whole building by splicing all single-floor models;
the three-dimensional building display module can realize the amplification, the reduction, the translation and the rotation of the model, the display and the hiding control of an individual floor wall, the display and the hiding control of an individual floor track, the display and the hiding control of an individual floor internal key facility, the classification statistics of the internal key facility and the mutual switching of the 2D view and the 3D view.
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