CN109459024A - The building of indoor navigation data model and path planning algorithm under different behavior patterns - Google Patents
The building of indoor navigation data model and path planning algorithm under different behavior patterns Download PDFInfo
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- CN109459024A CN109459024A CN201811291033.0A CN201811291033A CN109459024A CN 109459024 A CN109459024 A CN 109459024A CN 201811291033 A CN201811291033 A CN 201811291033A CN 109459024 A CN109459024 A CN 109459024A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The present invention provides the building of indoor navigation data model and path planning algorithm under a kind of different behavior pattern, it is characterized in that, include the following steps: step 1, read map datum, construct digital map navigation data model, digital map navigation database is built, realizes the separation of data processing building node and practical stage, raising efficiency；Step 2, navigation model data are read from offline database, construct Navigation Data Model；Step 3, carry out path planning, to acquisite approachs program results, and to result optimize with smoothly.Room Navigation Data Model and path planning algorithm proposed by the present invention based on indoor different behavior patterns, reasonable route programming result can be obtained in scene indoors, there is apparent advantage in considering the indoor navigation algorithm under more behavior patterns, several scenes demand can be compatible with.
Description
Technical field
The invention belongs to indoor positioning navigation fields, and in particular to it is a kind of difference behavior patterns under indoor navigation data mould
Type building and path planning algorithm
Background technique
With the development and variation of modern city, large parking lot and Indoor environment range are gradually to enlargement, more buildings
Layer complicates development, and indoor pathfinding becomes more and more difficult.Current existing navigation feature is all only limitted to outdoor map pathfinding,
And indoor pathfinding function rarely has presence, people's lives are not only limited to outdoor, as indoor life is shared in people's lives
The increase of specific gravity solves the problems, such as that the demand of indoor pathfinding is more urgent, related also to meet the tendency of with indoor pathfinding solution to the problem
And it gives birth to.
Existing many has researched and proposed the topological model based on node, for the organizational form of indoor map, however nothing
Method preferably solves the fuzzy problem of the interior space " road network "；Also have and propose the model based on grid, the data group under the model
The path planning that can more reasonably provide indoor people's row is knitted, but the indoor parking for possessing accurate " road network " information can not be provided
The reasonable route programming result of garage's mode under field model.
Summary of the invention
In view of the problems of the existing technology, the technical solution that the present invention uses to solve problems of the prior art
It is as follows:
It is a kind of difference behavior pattern under indoor navigation data model building and path planning algorithm, which is characterized in that packet
Include following steps:
Step 1, map datum is read, digital map navigation data model is constructed, builds digital map navigation database, is realized at data
The separation of reason building node and practical stage, raising efficiency；
Step 2, navigation model data are read from offline database, construct Navigation Data Model；
Step 3, carry out path planning, to acquisite approachs program results, and to result optimize with smoothly.
The foundation of data model specifically includes following process in the step 1:
Step 1.1, data prediction first pre-processes the parking space diagram data for possessing " road network " information, mentions
Take out whole road net datas being connected to；Secondly, extracting the data boundary of parking lot map Yu general room map；
Step 1.2, general data grid, by the number of boundary of the data boundary of common indoor map and parking lot map
According to as can not access, grid turns to the grid mapping data based on regular hexagon；
Step 1.3, parking lot map road net data is carried out lattice by road net data grid in such a way that step 1.2 is same
Networking to only " road network " is access under garage's mode, therefore is needed after grid due to the particularity of the map under garage's mode
Negate to all Grid squares, i.e., road net data be can access, remaining can not lead to；
Step 1.4, model data is constructed, for the map of parking lot, available two parts of model datas, one is bases
Data under Yu Renhang mode, a kind of data being adaptable under garage's mode；Common indoor map does not support garage, therefore only
Obtain a model data.
Path planning specifically includes following process in the step 3:
Step 3.1, in order to be adapted to A* algorithm, it is necessary first to the calculating that adjacent Grid square is carried out to Grid square,
Its adjacent grid information is stored in each Grid square, is used convenient for route searching；
Step 3.2, terminal can be found in route searching as the heuristic search factor using manhatton distance as early as possible,
Accelerate the operational efficiency of algorithm；
Step 3.3, the route result searched is optimized, the thought based on " intervisibility " is sentenced since the both ends of path
Disconnected point-to-point transmission line whether " intervisibility ", i.e., all grid in region locating for point-to-point transmission line whether can intervisibility, if can intervisibility,
Remaining node of the point-to-point transmission may filter that, finally obtain optimal route programming result；
Step 3.4, due to the particularity of Grid square, there may be " sawtooth ", the phenomenons for the route result finally obtained
It is particularly susceptible in the relatively narrow road between appearing in two boundaries, therefore, it is necessary to smooth, general smoothing method is carried out to route result
It is easy to produce " through walls " phenomenon, thus is needed in smoothing process in view of the problem.The present invention uses Douglas short cut technique,
Path being carried out smooth, it is contemplated that boundary grid broadens twice, therefore threshold value is set as 1.5 times of grid width size, this
Sample carry out sharpening result can guarantee it is not through walls, do not paste wall, relatively reasonable planning path can be obtained.
The Navigation Data Model obtained in the step 1 has following characteristics:
Other than basic Grid square model, map datum model also needs to include relevant map information data,
Point data is connected including interlayer, for carrying out cross-layer path planning, interlayer tie point may include simultaneously garage's interlayer tie point
With people's row interlayer tie point, garage's tie point needs to be integrated into garage's data model, and people's row interlayer tie point may include again
" elevator ", " stair " etc. connect dot pattern, and in order to provide the selection of polymorphic type, which may be also required to classification storage
Into people's row data model；Indoor and outdoor connects point data, is used for the integrated realization of indoor and outdoor path planning, while Ye Fen garage
People's row carries out merger according to classification.Other than above some data informations, there are also some relevant grid information, such as grid
Side length, the range of data model etc., require to be stored.
The route programming result data obtained in the step 3 have following characteristics:
There is no " detouring " phenomenons, tally with the actual situation, and can support the planning demand under a variety of behavior patterns, solve lattice
" sawtooth " phenomenon existing for route programming result under pessimistic concurrency control can satisfy the need as far as possible under the premise of guaranteeing not " through walls "
Diameter program results are simplified, and smooth reasonable optimum path planning result is obtained.
The present invention has the advantage that
Room Navigation Data Model and path planning algorithm proposed by the present invention based on indoor different behavior patterns, indoors
Reasonable route programming result can be obtained in scene, had in considering the indoor navigation algorithm under more behavior patterns apparent excellent
Gesture can be compatible with several scenes demand；Data model of the present invention has taken into account the path planning demand under indoor different behavior patterns, right
Route programming result has carried out rational optimization with smoothly, can obtain the indoor route programming result for meeting objective fact.
Detailed description of the invention
Fig. 1 is overall structure figure of the invention；
Fig. 2 is flow chart of data processing figure；
Fig. 3 is path planning and program results process flow diagram.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described, the present invention
The main thought of technical solution is: in view of under indoor different behavior patterns, taking into account the extractible related letter of different indoor maps
Breath carries out pretreatment, the grid of different modes to indoor map, constructs the indoor map data model of compatibility mode；Secondly,
To the data model of construction complete, path planning is carried out using A* algorithm and is made to improve algorithm speed using manhatton distance
Heuristic search is carried out to consider the factor；Finally, optimizing the route programming result of search with smoothly, reasonable road is obtained
Diameter program results.
Building for indoor map data model, present invention employs regular hexagon grids model, the model compared to
For common topological data model, can preferably solve the problems, such as that indoor " road network " is fuzzy, in addition, regular hexagon grids compared to
Traditional square grid, which has, reaches adjacent grid apart from identical feature, due to the particularity of indoor map, grid knot
Fruit only includes that can pass through and two kinds of grid attributes of impassabitity, therefore, the above-mentioned characteristic of regular hexagon grids map structure indoors
There is inherent advantage in building, can be reduced in route searching and calculate time, the efficiency of effective boosting algorithm.
When it is implemented, the automatic running of method flow may be implemented using program, the realization of embodiment institute providing method
Process the following steps are included:
Step 1, based on current existing indoor map shapefile file data, extract data boundary, to comprising
The parking lot map of " road network " information needs additional extractions road net data；
Step 2, Data grid is carried out respectively according to different demands to data boundary and road net data；
The Data grid of step 2 specifically includes following sub-step:
Step 2.1, grid being carried out to data boundary, it is impassabitity that grid attribute, which is arranged, in boundary their location, remaining
Position is set as to pass through, and causes route programming result " through walls " problem occur in order to avoid grid is excessively sparse, it is appropriate to need
" widening " processing is carried out to grid, i.e., when carrying out grid attribute assignment to forntier region, carries out appropriate widen；
Step 2.2, to road net data carry out grid, grid is carried out by the way of step 2.1, due to road network be can
Current data, with data boundary on the contrary, thus in grid attribute assignment, the grid attribute in region locating for road network is set as to lead to
Row, remaining region grid attribute are set as impassabitity.
When it is implemented, needing the correlation properties in view of map, such as the data other than the wall of boundary, there are also portions
Such as " hanging region ", " door ", " can not enter region " for dividing impassabitity, require to carry out processing appropriate, according to practical feelings
Condition is judged.
Step 3, path planning is carried out using A* algorithm, path planning is optimized and smoothly；
The path planning of step 3 specifically includes following sub-step in embodiment:
Step 3.1, in order to be adapted to A* algorithm, it is necessary first to the calculating that adjacent Grid square is carried out to Grid square,
Its adjacent grid information is stored in each Grid square, is used convenient for route searching；
Step 3.2, terminal can be found in route searching as the heuristic search factor using manhatton distance as early as possible,
Accelerate the operational efficiency of algorithm；
Step 3.3, the route result searched is optimized, the thought based on " intervisibility " is sentenced since the both ends of path
Disconnected point-to-point transmission line whether " intervisibility ", i.e., all grid in region locating for point-to-point transmission line whether can intervisibility, if can intervisibility,
Remaining node of the point-to-point transmission may filter that, optimal route programming result finally can be obtained；
Step 3.4, due to the particularity of Grid square, there may be " sawtooth ", the phenomenons for the route result finally obtained
It is particularly susceptible in the relatively narrow road between appearing in two boundaries, therefore, it is necessary to smooth, general smoothing method is carried out to route result
It is easy to produce " through walls " phenomenon, thus is needed in smoothing process in view of the problem.The present invention uses Douglas short cut technique,
Path being carried out smooth, it is contemplated that boundary grid broadens twice, therefore threshold value is set as 1.5 times of grid width size, this
Sample carry out sharpening result can guarantee it is not through walls, do not paste wall, relatively reasonable planning path can be obtained.
When it is implemented, map datum model further includes relevant map letter other than basic Grid square model
It ceases data and connects point data with interlayer, for carrying out cross-layer path planning, interlayer tie point may connect simultaneously comprising garage's interlayer
Contact and people's row interlayer tie point, garage's tie point need to be integrated into garage's data model, and people's row interlayer tie point again may
Dot pattern is connected comprising " elevator ", " stair " etc., in order to provide the selection of polymorphic type, which may be also required to classify
It stores in people's row data model；Indoor and outdoor connects point data, is used for the integrated realization of indoor and outdoor path planning, while also dividing
People from garage's row carries out merger according to classification.Other than above some data informations, there are also some relevant grid information, such as
The side length of grid, range of data model etc., require to be stored.Json format is used in embodiment to the above
Volume of data carry out tissue storage, data can be stored in database, carry out reading and the model of data when needed
Building separates data production with the application of data, can effective raising efficiency.
Protection scope of the present invention is not limited to the above embodiments, it is clear that those skilled in the art can be to this hair
It is bright to carry out various changes and deformation without departing from scope and spirit of the present invention.If these changes and deformation belong to power of the present invention
In the range of benefit requirement and its equivalent technologies, then including the intent of the present invention also includes these changes and deforms.
Claims (3)
1. the building of indoor navigation data model and path planning algorithm under a kind of difference behavior pattern, which is characterized in that including
Following steps:
Step 1, map datum is read, digital map navigation data model is constructed, builds digital map navigation database, realizes data processing structure
Build the separation of node and practical stage, raising efficiency；
Step 2, navigation model data are read from offline database, construct Navigation Data Model；
Step 3, carry out path planning, to acquisite approachs program results, and to result optimize with smoothly.
2. the building of indoor navigation data model and path planning under a kind of different behavior patterns as described in claim 1 are calculated
Method, it is characterised in that: the foundation of data model specifically includes following process in the step 1:
Step 1.1, data prediction first pre-processes the parking space diagram data for possessing " road network " information, extracts
Whole road net datas being connected to；Secondly, extracting the data boundary of parking lot map Yu general room map；
Step 1.2, general data grid makees the data boundary of the data boundary of common indoor map and parking lot map
For can not access, grid turns to the grid mapping data based on regular hexagon；
Step 1.3, parking lot map road net data is carried out grid by road net data grid in such a way that step 1.2 is same,
Due to the particularity of the map under garage's mode, to only " road network " is access under garage's mode, therefore need after grid to institute
There is Grid square to negate, i.e., road net data be can access, remaining can not lead to；
Step 1.4, building model data obtains two parts of model datas for parking lot map, and one is based under people's row mode
Data, a kind of data being adaptable under garage's mode；Common indoor map does not support garage, therefore only obtains a model
Data.
3. the building of indoor navigation data model and path planning under a kind of different behavior patterns as described in claim 1 are calculated
Method, it is characterised in that: path planning specifically includes following process in the step 3:
Step 3.1, in order to be adapted to A* algorithm, it is necessary first to the calculating that adjacent Grid square is carried out to Grid square, each
Its adjacent grid information is stored in Grid square, is used convenient for route searching；
Step 3.2, terminal can be found in route searching as the heuristic search factor using manhatton distance as early as possible, accelerated
The operational efficiency of algorithm；
Step 3.3, the route result searched is optimized, the thought based on " intervisibility " judges two since the both ends of path
Between point line whether " intervisibility ", i.e., all grid in region locating for point-to-point transmission line whether can intervisibility, if can intervisibility, this two
Remaining node may filter that between point, finally obtain optimal route programming result；
Step 3.4, using Douglas short cut technique, route result is carried out smooth.
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