CN110543721B - Indoor location service-oriented navigation network construction method - Google Patents
Indoor location service-oriented navigation network construction method Download PDFInfo
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
Abstract
The invention provides a navigation network construction method facing indoor position service, which comprises the following steps: s1: importing a BIM building model in an IFC format of a target building, and obtaining an original model which can be applied to indoor location-oriented service through three-dimensional visualization; s2: semantic information in the IFC is extracted by semantic filtering, and an ontology model is established formally; s3: converting the topological relation in the original model into a graph model in a form of a dual graph; s4: extracting geometric information of structural components such as rooms, columns, walls and stairs and indoor facilities such as furniture in the BIM model, constructing a constraint boundary, performing space subdivision by using a limited Delaunay triangulation refinement algorithm, and constructing a geometric network model; s5: and integrating the ontology model, the graph model and the geometric model data to form a navigation network for indoor location services. The method is based on BIM model data, a dual model is established by extracting semantic information, geometric information and topological relation, and a construction method considering real indoor environment navigation geometric network is explored.
Description
Technical Field
The invention relates to the field of indoor maps, in particular to a navigation network construction method facing indoor position service.
Background
With the recent rise of indoor positioning technology, Location-based services (LBS) are beginning to expand from outdoor to indoor. The indoor navigation network is an essential element of the indoor LBS, but the indexing technique of the outdoor geometric space cannot be directly applied to the indoor geometric space due to the limitation of the indoor topology. One of the main features of LBS, which is different from other conventional network services, is context awareness and adaptability to context changes. Building Information Model (BIM) is a digital representation of all physical and functional features in the whole life cycle of a building, and with the gradual popularization of BIM technology, the building information model based on the IFC standard has become an important data source for supporting indoor navigation. The detailed geometric semantics, the material of the elements, the functional information and the incidence relation among the elements can provide sufficient data support for indoor navigation.
For many years, researchers are always dedicated to developing a method for automatically generating an indoor navigation network, most indoor navigation frames take CAD plane graphs as original data sets, indoor road networks are greatly simplified, only shortest paths are mostly considered in path planning, but the shortest paths do not represent optimal paths when the indoor navigation frames face the indoor navigation, and complex indoor factors and specific requirements of users have great influence on path selection. In addition, the buildings are changed and renovated regularly during their life cycle, and if the traditional manual generation of navigation models is adopted, a lot of manpower and material resources are spent on large buildings such as hospitals and shopping malls. For this reason, a corresponding technical scheme needs to be designed for solution.
Disclosure of Invention
In view of the above-mentioned drawbacks, an object of the present invention is to provide a method for constructing a navigation network for indoor location-oriented services, so as to solve the problems of the prior art, such as lack of indoor navigation network information and low efficiency of construction methods.
The invention is realized by the following technical scheme:
a navigation network construction method facing indoor location service comprises the following steps:
s1: importing a BIM building model in an IFC format of a target building, and obtaining an original model which can be applied to indoor location-oriented service through three-dimensional visualization;
s2: semantic information in the IFC is extracted by semantic filtering, and an ontology model is established formally;
s3: converting the topological relation in the original model into a graph model in a form of a dual graph;
s4: extracting geometric information of structural components such as rooms, columns, walls and stairs and indoor facilities such as furniture in the BIM model, constructing a constraint boundary, performing space subdivision by using a limited Delaunay triangulation refinement algorithm, and constructing a geometric network model;
s5: and integrating the ontology model, the graph model and the geometric model data to form a navigation network for indoor location services.
As an improvement of the above technical solution, the original model in S1 should include item base points and measurement points, reflecting the real geographic location information thereof, and the model accuracy should be higher than the LOD 300.
As an improvement of the above technical solution, the step S2 specifically includes: indirectly defining various attributes in the IFC as system behaviors through formalization, and storing the system behaviors in a node or line segment in a table form; the basic classification of the ontology model comprises space, paths, path points, obstacles and interest points.
As an improvement of the above technical solution, the step S3 specifically includes: by predefining an indoor multilayer network topology model, sub-spaces are constructed in an imported original model, and the topological relation among the sub-spaces is mapped, so that the communication relation among the sub-spaces is formed.
As an improvement of the above technical solution, the subspace is divided into three categories: (1) an enclosed space with an inlet; (2) open spaces, typically as a passage to other enclosed spaces; (3) communicating spaces, such as staircases and elevator rooms, across floors; under the condition of crossing floors, a floor-communication space-floor topological model is formed mainly by crossing the floor to communicate a space; the communication of the whole indoor environment is realized by utilizing the communication between the nodes (room-door, corridor-stair \ elevator) and between the nodes and the edges (door-corridor) in the indoor subspace of the same floor.
As an improvement of the technical scheme, the geometric network model is mainly a physical network formed by nodes and edges, is constructed mainly based on triangulation of a plan view, is highly represented by an attribute H, and is a 2.5D model.
As an improvement of the above technical solution, in the method for constructing a navigation network for an indoor location service, the step S4 specifically includes:
s41 subdivision of floor space regions
(1) Sampling polygon boundaries
The method comprises the steps of using 2D geometric representation of a 'Curve 2D' or 'geometricCurveset' type to extract subspace IFC geometric information, and sampling barriers such as boundaries of subspaces and furniture inside the subspaces to generate a two-dimensional bounded graph for a Delaunay triangulation refinement algorithm to generate an unstructured grid;
(2) computationally constrained Delaunay triangulation
Inputting the inner and outer boundaries collected in the previous step to limit a Delaunay triangulation refinement algorithm, wherein the refinement algorithm is to insert a refinement point at the circumscribed circle center of a low-quality triangle, and maintain the Delaunay triangulation attribute by using a Lawson algorithm or a Bowyer-Watson algorithm so as to perform incremental updating of the Delaunay triangulation;
(3) selecting a waypoint
Selecting the middle points of all triangle sides in the subspace as path points;
(4) link path point
According to the relation between the triangle and the boundary, a path linking method is determined, path points are only linked to the path points on the adjacent triangle, the link of the path points is mainly realized by establishing a BSP tree structure, and the algorithm steps are as follows:
① determining whether an adjacent triangle exists in the adjacent triangle except the source triangle by taking the path point at the lower left corner in the subspace as the root node, the triangle where the path point is located as the source triangle, and the adjacent triangle sharing the edge with the source triangle as the subtree;
②, if there is no other adjacent triangle except the source triangle, it is a regular rectangle, and it does not refine and divide, only keeps the path point on the shared edge;
③ if there are one or two adjacent triangles except the source triangle, inserting the middle point of the common edge on the adjacent triangle into the BSP tree to link with the root node;
④, starting from the root node, judging the front-back relationship between the adjacent triangle and the source triangle according to the common edge, traversing the left sub-tree in the front, traversing the right sub-tree in the back, traversing all the structured triangles, and finally forming a complete path network in the subspace;
s42 generating a non-horizontal path
Extracting characteristic points of a first-stage step, a last-stage step and a rest platform for the stairs, and forming a non-horizontal path consistent with the geometric characteristics of the stairs through the connection of the characteristic points; for the elevator, openings are formed on floors of each floor, the obtained height of the floor is taken as a z coordinate to be sequentially given to the gravity center by extracting the gravity center of the plane projection of the elevator shaft, and the points are connected to form an elevator path;
s5 integrating the ontology model, the graph model and the geometric model data, generating a network data set by means of a GIS tool, and forming a navigation network for indoor location services.
The invention has the beneficial effects that: the invention provides a navigation network construction method facing indoor location service, which is based on BIM model data, establishes a dual model by extracting semantic information, geometric information and topological relation, subdivides subspace by using a defined Delaunay triangulation refinement algorithm, and explores a construction method considering real indoor environment navigation geometric network, thereby providing reliable data source for the navigation service based on the indoor location information.
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FIG. 1 is a perspective view of the interior of the room according to the present invention;
fig. 2 is a schematic diagram of the module structure of the present invention.
Detailed Description
Example 1:
s1: importing a BIM building model in an IFC format of a target building, and obtaining an original model applicable to indoor location-oriented service through three-dimensional visualization;
s2: semantic information in the IFC is extracted by semantic filtering, and an ontology model is established formally;
s3: converting the topological relation in the original model into a graph model in a form of a dual graph;
s4: extracting geometric information of structural members such as rooms, columns, walls and stairs and indoor facilities such as furniture in the BIM model, constructing a constraint boundary, and performing space subdivision by using a limited Delaunay triangulation subdivision refinement algorithm to construct a geometric network model;
s5: and integrating the ontology model, the graph model and the geometric model data to form a navigation network for indoor location services.
In this embodiment, the step S1 specifically includes:
s11, opening a model file through BIM software, defining project base points and measuring points, determining the real position of a building, checking whether the model is complete or not, including basic spatial information elements required by indoor position service, such as structural members of doors, windows, columns, beams, plates, stairs, walls and the like, wherein the model precision at least reaches LOD 300.
S12, the method is exported to IFC format, and provides data original model and visualization basis for indoor navigation
In this embodiment, the step S2 specifically includes: various attributes in the IFC are indirectly defined as system behaviors through formalization and are stored in nodes or line segments in the form of tables. The basic classification of the ontology model comprises space, paths, path points, obstacles and interest points, and elements in each classification correspond to entities in the IFC data so as to obtain the attributes of the entities. The elements in the IFC standard adopt a hierarchical structure in which all elements are inherited from the Ifcproduct entity. Ifclelements are a summary of all the components that make up the AEC (Engineering & Construction) product, a subclass of which introduces detailed specifications, such as ifcbuilding element, IfcFurnishingElement. Here, IfcBuildingElement is a main functional part of a building, such as a wall (IfcWall), a door (IfcDoor), a pillar (ifcfcolumn), and a staircase (ifcsair). IfcSpace is one of the subtypes of ifcspatialstructurerelement, which represents certain areas within a building (e.g., between devices) with specific functionality. We can assign an external attribute of the Ifc instance ('Public' or 'Private') to the ifcDoor instance to indicate whether the region is passable or not. In addition, in order to enable the indoor navigation network to better implement the indoor location service, rich POI information should be added according to specific requirements. The BIM model above LOD300, which is generally imported, would contain a service entity model in addition to structural components, such as IfcFurnishing element, which is a summary of all furniture objects, whose 'IfcLocalPlacement' and 'BoundingBox' attributes are used herein to determine the location and boundary of indoor obstacles. Similarly, ifceequipmentelement is a summary of all service devices, and a physical component such as a vending machine can be a point of interest of an indoor navigation network.
In this embodiment, the step S3 specifically includes: and converting the multilayer network topology model into a graph model in a form of a dual graph. The divided subspaces are divided into three categories: (1) an enclosed space with an inlet; (2) open spaces, typically as a passage to other enclosed spaces; (3) and communicating spaces, such as staircases, elevator rooms and the like, across floors. Under the condition of crossing floors, a floor-communication space-floor topological model is formed mainly by crossing the floor to communicate a space; the communication of the whole indoor environment is realized by utilizing the communication between the nodes (room-door, corridor-stair \ elevator) and between the nodes and the edges (door-corridor) in the indoor subspace of the same floor.
In this embodiment, the step S4 specifically includes
S41 subdivision of floor space regions
(1) Sampling polygon boundaries
The method comprises the steps of using 2D geometric representation of the type of 'Curve 2D' or 'geometricCurveset' to extract subspace IFC geometric information, and sampling barriers such as boundaries of subspaces and furniture inside the subspaces to generate a two-dimensional bounded graph for a Delaunay triangulation refinement algorithm to generate an unstructured grid.
(2) Computationally constrained Delaunay triangulation
And inputting the inner and outer boundaries collected in the previous step into a Delaunay triangulation refinement algorithm. The refinement algorithm is to insert a refinement point at the circumscribed circle center of a low-quality triangle, and maintain the Delaunay triangulation attribute by using a Lawson algorithm or a Bowyer-Watson algorithm so as to perform incremental updating of the Delaunay triangulation.
(3) Selecting a waypoint
And selecting the middle points of all triangle sides in the subspace as path points.
(4) Link path point
According to the relation between the triangle and the boundary, determining the link method of the path, wherein the path point is only linked to the path point on the adjacent triangle, the link of the path point is mainly realized by establishing a BSP tree structure, and the algorithm steps are as follows:
① determining whether an adjacent triangle exists in the adjacent triangle except the source triangle by taking the path point at the lower left corner in the subspace as the root node, the triangle where the path point is located as the source triangle, and the adjacent triangle sharing the edge with the source triangle as the subtree;
②, if there is no other adjacent triangle except the source triangle, it is a regular rectangle, and it does not refine and divide, only keeps the path point on the shared edge;
③ if there are one or two adjacent triangles except the source triangle, inserting the middle point of the common edge on the adjacent triangle into the BSP tree to link with the root node;
④, starting from the root node, judging the front and back relations between the adjacent triangle and the source triangle according to the common edge, traversing the left sub-tree before, traversing the right sub-tree after, traversing all the structured triangles, and finally forming the complete path network in the subspace.
S42 generating a non-horizontal path
Extracting characteristic points of a first-stage step, a last-stage step and a rest platform for the stairs, and forming a non-horizontal path consistent with the geometric characteristics of the stairs through the connection of the characteristic points; in the case of an elevator, an opening is made in each floor slab, the center of gravity of a planar projection of the elevator shaft is extracted, the obtained floor height is sequentially given as a z-coordinate to the center of gravity, and the points are connected to form an elevator route.
S5 integrating the ontology model, the graph model and the geometric model data, generating a network data set by means of a GIS tool, and forming a navigation network for indoor location services.
Claims (3)
1. A method for constructing a navigation network facing indoor location service is characterized in that: the method comprises the following steps:
s1: importing a BIM building model in an IFC format of a target building, and obtaining an original model which can be applied to indoor location-oriented service through three-dimensional visualization;
s2: semantic information in the IFC is extracted by semantic filtering, and an ontology model is established formally;
s3: converting the topological relation in the original model into a graph model in a form of a dual graph;
s4: extracting geometric information of rooms, columns, walls, stair structural members and furniture indoor facilities in the BIM model, constructing a constraint boundary, and performing space subdivision by using a limited Delaunay triangulation refinement algorithm to construct a geometric network model;
s5: integrating the ontology model, the graph model and the geometric model data to form a navigation network for indoor location services;
the original model in the S1 comprises a project base point and a measuring point, the real geographic position information of the original model is reflected, and the model precision is higher than that of the LOD 300;
the step S2 specifically includes: indirectly defining various attributes in the IFC as system behaviors through formalization, and storing the system behaviors in a node or line segment in a table form; the ontology model comprises a space, a path, path points, obstacles and interest points;
the step S3 specifically includes: by predefining an indoor multilayer network topology model, constructing subspaces in an imported original model, and mapping the topological relation between the subspaces to form a communication relation between the subspaces;
step S4 specifically includes:
s41 subdivision of floor space regions
(1) Sampling polygon boundaries
The method comprises the steps that 2D geometric representation of the type of 'Curve 2D' or 'geometricCurveset' is used for extracting subspace IFC geometric information, and two-dimensional bounded graphs are generated by sampling boundaries of subspaces and furniture obstacles inside the subspaces so as to be used for a Delaunay triangulation refinement algorithm to generate unstructured grids;
(2) computationally constrained Delaunay triangulation
Inputting the inner and outer boundaries collected in the previous step to limit a Delaunay triangulation refinement algorithm, wherein the refinement algorithm is to insert a refinement point at the circumscribed circle center of a low-quality triangle, and maintain the Delaunay triangulation attribute by using a Lawson algorithm or a Bowyer-Watson algorithm so as to perform incremental updating of the Delaunay triangulation;
(3) selecting a waypoint
Selecting the middle points of all triangle sides in the subspace as path points;
(4) link path point
According to the relation between the triangle and the boundary, a path linking method is determined, path points are only linked to the path points on the adjacent triangle, the link of the path points is mainly realized by establishing a BSP tree structure, and the algorithm steps are as follows:
① determining whether an adjacent triangle exists in the adjacent triangle except the source triangle by taking the path point at the lower left corner in the subspace as the root node, the triangle where the path point is located as the source triangle, and the adjacent triangle sharing the edge with the source triangle as the subtree;
②, if there is no other adjacent triangle except the source triangle, it is a regular rectangle, and it does not refine and divide, only keeps the path point on the shared edge;
③ if there are one or two adjacent triangles except the source triangle, inserting the middle point of the common edge on the adjacent triangle into the BSP tree to link with the root node;
④, starting from the root node, judging the front-back relationship between the adjacent triangle and the source triangle according to the common edge, traversing the left sub-tree in the front, traversing the right sub-tree in the back, traversing all the structured triangles, and finally forming a complete path network in the subspace;
s42 generating a non-horizontal path
Extracting characteristic points of a first-stage step, a last-stage step and a rest platform for the stairs, and forming a non-horizontal path consistent with the geometric characteristics of the stairs through the connection of the characteristic points; for the elevator, openings are formed on floors of each floor, the obtained height of the floor is taken as a z coordinate to be sequentially given to the gravity center by extracting the gravity center of the plane projection of the elevator shaft, and the points are connected to form an elevator path;
s5 integrating the ontology model, the graph model and the geometric model data, generating a network data set by means of a GIS tool, and forming a navigation network for indoor location services.
2. The method for constructing a navigation network for an indoor location service according to claim 1, wherein: the subspaces are divided into three categories: (1) an enclosed space with an inlet; (2) an open space as a passage to other closed spaces; (3) communicating the spaces across floors; under the condition of crossing floors, a floor-communication space-floor topological model is formed mainly by crossing the floor to communicate a space; the indoor subspaces on the same floor realize the communication of the whole indoor environment by utilizing the communication among the nodes and the sides.
3. The method for constructing a navigation network for an indoor location service according to claim 1, wherein: the geometric network model is mainly a physical network formed by nodes and edges, is constructed based on triangulation of a plan, is highly represented by an attribute H, and is a 2.5D model.
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Application publication date: 20191206 Assignee: Nanjing Wenjing Information Technology Co.,Ltd. Assignor: NANJING FORESTRY University Contract record no.: X2020320000230 Denomination of invention: A navigation network construction method for indoor location service Granted publication date: 20200703 License type: Common License Record date: 20201120 Application publication date: 20191206 Assignee: Nanjing xingyutu Information Technology Co.,Ltd. Assignor: NANJING FORESTRY University Contract record no.: X2020320000227 Denomination of invention: A navigation network construction method for indoor location service Granted publication date: 20200703 License type: Common License Record date: 20201120 |
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Application publication date: 20191206 Assignee: NANJING CANYON INFORMATION TECHNOLOGY Co.,Ltd. Assignor: NANJING FORESTRY University Contract record no.: X2020320000232 Denomination of invention: A navigation network construction method for indoor location service Granted publication date: 20200703 License type: Common License Record date: 20201123 |