CN113625321A - Rail transit indoor and outdoor integrated navigation method, device, equipment and storage medium - Google Patents
Rail transit indoor and outdoor integrated navigation method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN113625321A CN113625321A CN202110840163.0A CN202110840163A CN113625321A CN 113625321 A CN113625321 A CN 113625321A CN 202110840163 A CN202110840163 A CN 202110840163A CN 113625321 A CN113625321 A CN 113625321A
- Authority
- CN
- China
- Prior art keywords
- indoor
- outdoor
- coordinate system
- model
- dimensional
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000005516 engineering process Methods 0.000 claims description 18
- 238000004422 calculation algorithm Methods 0.000 claims description 13
- 230000006870 function Effects 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 8
- 230000004927 fusion Effects 0.000 claims description 8
- 238000011156 evaluation Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000013499 data model Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241001310793 Podium Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000010845 search algorithm Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Abstract
The application relates to a method, a device, equipment and a storage medium for indoor and outdoor integrated navigation of a rail transit, belonging to the technical field of communication navigation positioning and position service, wherein the method comprises the following steps: constructing an indoor and outdoor integrated space-time coordinate system; fusing the BIM model and the GIS platform based on the indoor and outdoor integrated space-time coordinate system to construct a three-dimensional indoor and outdoor live-action model; constructing the indoor and outdoor integrated path network based on the three-dimensional indoor and outdoor live-action model; and carrying out optimal path planning based on the indoor and outdoor integrated path network. The method has the effect of realizing high-precision indoor and outdoor integrated navigation suitable for urban rail transit.
Description
Technical Field
The present application relates to the technical field of communication navigation positioning and location services, and in particular, to an indoor and outdoor integrated navigation method, apparatus, device and storage medium for rail transit.
Background
With the rapid development of social economy, the requirement of people on travel convenience is improved, and therefore urban rail transit is rapidly developed. Common urban rail transit has subway, light rail etc. and the surrounding environment that the station was located is generally comparatively complicated to, the spatial structure of station inside is also fairly complicated. For passengers unfamiliar with the interior and exterior environments of a complex station, if the passengers want to get in and out of the station, take a bus and transfer quickly, an indoor and outdoor integrated positioning and navigation method for urban rail transit is urgently needed.
At present, the related technology is mainly applied to a wider indoor space, indoor and outdoor integrated navigation for urban rail transit is not available, and the requirement of a passenger on positioning navigation service in a complex urban rail transit environment is difficult to solve. Meanwhile, the indoor navigation and positioning of the current refined model lacks the factor of path planning, and the selected data set only considers geometric information and does not have rich semantic information, so that the obstacle information is often ignored, and the navigation precision is not high.
Disclosure of Invention
In order to realize high-precision indoor and outdoor integrated navigation suitable for urban rail transit, the application provides an indoor and outdoor integrated navigation method, device, equipment and storage medium for rail transit.
In a first aspect, the application provides an indoor and outdoor integrated navigation method for a rail transit, which adopts the following technical scheme:
a rail transit indoor and outdoor integrated navigation method comprises the following steps:
constructing an indoor and outdoor integrated space-time coordinate system;
fusing the BIM model and the GIS platform based on the indoor and outdoor integrated space-time coordinate system to construct a three-dimensional indoor and outdoor live-action model;
constructing the indoor and outdoor integrated path network based on the three-dimensional indoor and outdoor live-action model;
and carrying out optimal path planning based on the indoor and outdoor integrated path network.
Optionally, the constructing an indoor and outdoor integrated space-time coordinate system includes:
constructing an outdoor projection coordinate system based on a GNSS;
constructing an indoor local coordinate system based on UWB;
and carrying out coordinate conversion on the outdoor projection coordinate system and the indoor local coordinate system through a coordinate conversion model to obtain the indoor and outdoor integrated space-time coordinate system.
Optionally, the fusing the BIM model and the GIS platform based on the indoor and outdoor integrated space-time coordinate system to construct a three-dimensional indoor and outdoor live-action model includes:
carrying out standardization processing on the data of the BIM model;
and fusing the standardized BIM with the GIS platform by adopting a data model technology, a multi-source heterogeneous model data fusion technology and a large scene dynamic scheduling technology to generate the three-dimensional indoor and outdoor live-action model.
Optionally, the building an indoor and outdoor integrated path network based on the three-dimensional indoor and outdoor live-action model includes:
extracting geometric information and semantic information of various entity barrier elements in the three-dimensional indoor and outdoor live-action model;
performing Delaunay triangulation on the three-dimensional indoor and outdoor live-action model by adopting a Lawson algorithm based on the geometric information and the semantic information to obtain an indoor passable area;
and selecting the characteristic points in the indoor passable area as path points to construct the indoor and outdoor integrated path network.
Optionally, the planning an optimal path based on the indoor and outdoor integrated path network includes:
acquiring a starting node and a target node from the indoor and outdoor integrated path network, and taking a building component which cannot pass through as an intermediate node;
heuristic function is carried out on indoor and outdoor planned paths based on the starting node, the intermediate nodes and the target node
Obtaining an optimal path plan of the indoor and outdoor space by the optimality evaluation of (a), (b), (c), (d), (e) and (e), wherein (x)n,yn,zn) Is the three-dimensional coordinate of the current node, (x)goal,ygoal,zgoal) Is the three-dimensional coordinates of the target node.
In a second aspect, the present application provides an indoor and outdoor integrated navigation device for a rail transit, which adopts the following technical scheme:
an indoor and outdoor integrated navigation device for a rail transit room comprises:
the coordinate system construction module is used for constructing an indoor and outdoor integrated space-time coordinate system;
the fusion module is used for fusing the BIM model and the GIS platform based on the indoor and outdoor integrated space-time coordinate system so as to construct a three-dimensional indoor and outdoor live-action model;
the road network construction module is used for constructing the indoor and outdoor integrated path network based on the three-dimensional indoor and outdoor live-action model; and the number of the first and second groups,
and the path planning module is used for planning the optimal path based on the indoor and outdoor integrated path network.
In a third aspect, the present application provides an electronic device, which adopts the following technical solutions:
an electronic device comprising a memory and a processor; the memory has stored thereon a computer program that can be loaded by the processor and that performs the method of any of the first aspects.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer readable storage medium storing a computer program that can be loaded by a processor and executed to perform the method of any of the first aspects.
By adopting the technical scheme, the urban rail transit passenger room inside and outside integrated navigation optimization algorithm based on the three-dimensional map realizes the avoidance of obstacles in a complex indoor environment by constructing an indoor and outdoor integrated model of BIM + GIS, and meanwhile, navigation guidance with higher visualization degree can be provided for passengers. In addition, the indoor and outdoor integrated three-dimensional map display of the urban rail transit is realized, passengers can quickly inquire navigation routes according to the states of the passengers, distribution information of indoor places in the same building and navigation information among the places can be inquired, and indoor and outdoor accurate navigation is realized.
Drawings
Fig. 1 is a schematic flow chart of an indoor and outdoor integrated navigation method for a rail transit system according to an embodiment of the present application.
Fig. 2 is a flowchart illustrating the sub-steps of step S103 according to an embodiment of the present application.
Fig. 3 is a block diagram of a track transportation indoor and outdoor integrated navigation device according to an embodiment of the present application.
Fig. 4 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Fig. 1 is a schematic flow chart of an indoor and outdoor integrated navigation method for a rail transit system according to this embodiment. As shown in fig. 1, the main flow of the method is described as follows (steps S101 to S104):
s101, constructing an indoor and outdoor integrated space-time coordinate system;
firstly, an outdoor projection coordinate system and an indoor local coordinate system need to be established respectively, and then coordinate conversion is carried out on the outdoor projection coordinate system and the indoor local coordinate system through a coordinate conversion model to obtain an indoor and outdoor integrated space-time coordinate system.
For the establishment of the outdoor projection coordinate system, the establishment needs to be realized based on a GNSS system, such as a satellite navigation system like GPS, Glonass, Galileo, beidou, etc. The coordinate establishing algorithm belongs to the prior art, and the detailed description of this embodiment is omitted.
For the establishment of an indoor local coordinate system, the current indoor positioning technologies include ultrasonic, infrared, WLAN, ZigBee and the like. However, the indoor positioning technologies have the problems of poor equipment portability, easy positioning by interference of surrounding environment, high difficulty of background calculation processing algorithm, difficult equipment carrying, complex structure and the like, and are not suitable for indoor and outdoor integrated navigation systems of urban rail transit passengers.
The UWB technology has the advantages of high transmission rate, simplicity in layout, strong anti-interference capability, high positioning accuracy and the like, and can be developed secondarily. When the passenger gets into indoor urban rail transit, the GNSS signal weakens gradually, and the multipath influence of signal aggravates, and the passenger that possess UWB label equipment this moment alright realize the high accuracy location through indoor UWB anchor point, has satisfied the inside and outside integrated location navigation's of passenger room demand, effectively solves in the subway GNSS signal and receives the location problem under the condition of sheltering from.
For this reason, the present embodiment employs an Ultra Wideband (UWB) positioning technology for indoor positioning. Specifically, a plurality of UWB base stations are arranged indoors to receive UWB signals transmitted by UWB tags carried by passengers, and the current positions of the passengers are calculated by using positioning algorithms such as time difference of arrival (TDOA), time of arrival (TOA), angle of arrival (AOA), Received Signal Strength (RSSI), and the like to obtain the current positions of the passengers.
GNSS is adopted outdoors, ultra-wideband is adopted indoors, and a seamless interface is designed, so that the smooth transition of integrated navigation of passengers inside and outside the station is realized. The realization of the indoor and outdoor seamless positioning technology needs to establish an indoor and outdoor integrated space-time reference and realize the real-time transformation of a coordinate system, thereby ensuring the real-time coordinate reduction and time synchronization of the collected data and realizing the indoor and outdoor unification. And then preprocessing is carried out through an algorithm to obtain the characteristic information of the positioning coordinates, and the information such as the current position, the speed, the posture and the like of the passenger is judged and solved by setting a threshold coefficient, so that the seamless switching of the accurate positioning navigation of the indoor scene and the outdoor scene is realized.
S102, fusing a BIM model and a GIS platform based on an indoor and outdoor integrated space-time coordinate system to construct a three-dimensional indoor and outdoor live-action model;
the BIM model has rich semantic information, is used as a database of the whole building information, can be used as a component information data source for indoor path planning, and can also provide technical support for 3D display and roaming simulation of a navigation path.
The BIM model takes IFC file types as data sources, and generally stores the geometry and the attributes in the same file, while GIS platform software generally stores the geometry and the attributes separately. In addition, the GIS platform software also has a definition file related to geographic coordinate information, and the BIM model generally does not have the definition file of the geographic coordinate information.
Therefore, before the BIM model and the GIS platform are fused, the IFC data in the BIM model needs to be standardized and converted into a format supported by mature three-dimensional engines such as OBJ, DirectX, OSG, etc. for the GIS platform to directly read. Then, a data model technology, a multi-source heterogeneous model data fusion technology and a large scene dynamic scheduling technology can be adopted to fuse the standardized BIM model and the GIS platform to generate a three-dimensional indoor and outdoor live-action model.
Specifically, firstly, geographical location information of a plurality of stations is obtained, a GIS map of each station is constructed according to the geographical location range information of the plurality of stations, a building internal hierarchical plan view of each station is obtained, and a BIM map of each layer corresponding to each station is constructed according to the building internal hierarchical plan view of each station. And then, for each station, fusing the BIM maps of each layer of the station according to the floor sequence, and fusing the BIM maps with the GIS map of the station to obtain a three-dimensional indoor and outdoor live-action model.
Step S103, constructing an indoor and outdoor integrated path network based on the three-dimensional indoor and outdoor live-action model;
optionally, as shown in fig. 2, step S103 includes the following sub-steps:
step S1031, extracting geometric information and semantic information of various entity barrier elements in the three-dimensional indoor and outdoor live-action model;
according to the required navigation data, the opening and closing state of a door in the indoor environment, the size of a room, the distribution of obstacles, the length of a corridor and the spatial relationship of each floor are fully considered, and the geometric information and the semantic information of the three-dimensional indoor and outdoor real scene model are extracted.
In this embodiment, the geometric information includes, but is not limited to, the level of detail of the building frame: the building comprises floor planes, vertical passages (stairs, vertical ladders and escalators), station entrances and exits (general entrances and exits, safety exits and parking lot entrances and exits), indoor space elements (beams, columns, wall surfaces, doors, floors, ceilings, corridors and the like), fire fighting equipment (fire alarms, fire doors, automatic fire spray pumps, fire hydrants, fire hammers, fire extinguishers and other equipment and accessories thereof).
The semantic information includes, but is not limited to, a Private attribute of the space (IfcSpace), an IsLocked attribute of the door (IfcDoor), relationship information of IfcRelSpaceBoundary, IfcSpace and relatedbuilding element, and inclusion information of ifcrrelcontainedlnspatialstructure space and the building components it contains.
Step S1032, performing Delaunay triangulation on the three-dimensional indoor and outdoor live-action model by adopting a Lawson algorithm based on the geometric information and the semantic information to obtain an indoor passable area;
after extracting the geometric information and the semantic information, Delaunay Triangulation (DT) needs to be performed on the indoor space, the three-dimensional space is mapped to two dimensions, mapping including the geometric information and the semantic information, and discretization meshing and numeralization are performed on the space mapped to the two dimensions. The method comprises the following specific steps:
(1) establishing a parameterized path planning model based on geometric information and semantic information by theoretical analysis of IFC standard information description and association mechanism, randomly inserting a discrete point set into the parameterized path planning model, and performing initial Delaunay triangulation on the parameterized path planning model by adopting a Lawson algorithm;
(2) identifying each side of a triangle cut by a polygon in the parameterized path planning model, and circularly executing the step (1) until a closed area formed by the polygon and the cut side is triangulated again, so that complete Delaunay triangulation is realized;
(3) and deleting triangles in the constructed Delaunay triangulation network, wherein the triangles are positioned in the polygons, realizing the identification of the obstacles in the model, and obtaining the indoor passable area.
The method for gridding the model and selecting the later-stage path by adopting the Delaunay triangulation can be well suitable for the indoor space of the building with irregular obstacle distribution, because the Delaunay triangulation is unique for any three-dimensional model.
And step S1033, selecting the characteristic points in the indoor passable area as path points, and constructing an indoor and outdoor integrated path network.
Alternatively, the center of gravity of the triangle is selected as a feature point, and a point representing a certain function that is easy to recognize may also be selected as a feature point, for example, a landmark in a station. And (4) selecting the obtained feature points, the starting point and the target point from all the triangles to form a feature point set, and connecting all the feature points to obtain the edge of the indoor and outdoor integrated path network.
In this embodiment, when a passenger needs to plan a route indoors and outdoors, the starting position and the target position input by the passenger can be obtained by clicking the start button, where the starting position is a starting point and the target position is a target point. The starting position and the target position can be input by searching and inputting the target position through a dialog box, selecting the target position on an electronic map and the like.
And step S104, carrying out optimal path planning based on the indoor and outdoor integrated path network.
The existing path planning method generally starts from a two-dimensional angle in the process of generating a path by using a path searching algorithm, compares and screens path searching results according to various optimal evaluation indexes, and does not consider the passable condition in a three-dimensional space of a building, so that the obtained optimal path can not meet the actual navigation requirement of passengers in the building.
Therefore, in the embodiment, in consideration of the conditions of the opening and closing state, the room size, the obstacle distribution, the corridor length, the spatial relationship of each floor and the like in the three-dimensional space, in the path planning, the obstacles, which are building components such as gates, security doors or escalators and the like in urban rail transit and are unable to pass, are used as intermediate nodes, the departure position and the target position of a passenger are respectively used as the departure node and the target node, and then the three-dimensional coordinates of each node are acquired through an indoor and outdoor integrated space-time coordinate system.
And (3) improving the heuristic search algorithm f (n) (g (n) + h (n)) by combining the distribution characteristics of indoor and outdoor space structures, and providing a path planning algorithm based on a space relation. The method comprises the following specific steps:
heuristic function is carried out on indoor and outdoor planned paths based on starting nodes, intermediate nodes and target nodes
Obtaining an optimal path plan of the indoor and outdoor space by the optimality evaluation of (a), (b), (c), (d), (e) and (e), wherein (x)n,yn,zn) Is the three-dimensional coordinate of the current node, (x)goal,ygoal,zgoal) Is the three-dimensional coordinates of the target node.
The algorithm selects the Euclidean distance as the estimated cost value h (n) to obtain the shortest distance between the routing nodes, and each obstacle in the model is used as an intermediate node, so that the avoidance of the edge of the indoor obstacle can be guaranteed, and the optimal path is finally obtained.
When the path planning between multiple floors in a station is involved, Delaunay triangulation is performed on a starting floor and a target floor in a parameterized path planning model, heuristic a search is performed on the starting floor and the target floor simultaneously, optimality evaluation of heuristic functions h (n) is performed on planned paths in each floor, and optimal path planning of a multi-floor space is realized by comparing the weights of the paths.
Fig. 3 is a block diagram of a track transportation indoor and outdoor integrated navigation device according to an embodiment of the present application. As shown in fig. 3, the integrated indoor and outdoor navigation device 200 of the rail transit mainly includes:
a coordinate system constructing module 201, configured to construct an indoor and outdoor integrated space-time coordinate system;
the fusion module 202 is used for fusing the BIM model and the GIS platform based on an indoor and outdoor integrated space-time coordinate system so as to construct a three-dimensional indoor and outdoor live-action model;
the road network construction module 203 is used for constructing an indoor and outdoor integrated path network based on the three-dimensional indoor and outdoor real scene model; and the number of the first and second groups,
and the path planning module 204 is configured to perform optimal path planning based on the indoor and outdoor integrated path network. .
As an optional implementation manner of this embodiment, the coordinate system constructing module 201 is specifically configured to construct an outdoor projection coordinate system based on GNSS; constructing an indoor local coordinate system based on UWB; and carrying out coordinate conversion on the outdoor projection coordinate system and the indoor local coordinate system through a coordinate conversion model to obtain an indoor and outdoor integrated space-time coordinate system.
As an optional implementation manner of this embodiment, the fusion module 202 is specifically configured to perform normalization processing on data of the BIM model; and fusing the standardized BIM with the GIS platform by using a data model technology, a multi-source heterogeneous model data fusion technology and a large scene dynamic scheduling technology to generate a three-dimensional indoor and outdoor live-action model.
As an optional implementation manner of this embodiment, the road network constructing module 203 is specifically configured to construct an indoor and outdoor integrated path network based on a three-dimensional indoor and outdoor live-action model, and includes: extracting geometric information and semantic information of various entity barrier elements in the three-dimensional indoor and outdoor live-action model; performing Delaunay triangulation on the three-dimensional indoor and outdoor live-action model by adopting a Lawson algorithm based on the geometric information and the semantic information to obtain an indoor passable area; and selecting the characteristic points in the indoor passable area as path points to construct an indoor and outdoor integrated path network.
As an optional implementation manner of this embodiment, the path planning module 204 is specifically configured to use the current position of the passenger as a departure node, use the target position as a target node, and use a building component that cannot pass through as an intermediate node; based on departure node, intermediate node andheuristic function is carried out on indoor and outdoor planned paths by target nodes
Obtaining an optimal path plan of the indoor and outdoor space by the optimality evaluation of (a), (b), (c), (d), (e) and (e), wherein (x)n,yn,zn) Is the three-dimensional coordinate of the current node, (x)goal,ygoal,zgoal) Is the three-dimensional coordinates of the target node.
The functional modules in the embodiments of the present application may be integrated together to form an independent unit, for example, integrated into a processing unit, or each module may exist alone physically, or two or more modules are integrated to form an independent unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing an electronic device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.
Various changes and specific examples in the method provided by the embodiment of the present application are also applicable to the indoor and outdoor integrated navigation device for rail transit provided by the embodiment of the present application, and through the foregoing detailed description of the indoor and outdoor integrated navigation method for rail transit, those skilled in the art can clearly know the implementation method of the indoor and outdoor integrated navigation device for rail transit in the embodiment, and for the sake of brevity of the description, detailed description is not provided here.
Fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 4, the electronic device 300 includes a memory 301, a processor 302, a communication bus 303; the memory 301 and the processor 302 are both connected to a communication bus 303.
The memory 301 may be used to store instructions, programs, code sets or instruction sets. The memory 301 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function, instructions for implementing the rail transit indoor and outdoor integrated navigation method provided by the above-described embodiments, and the like; the storage data area can store data and the like related to the rail transit indoor and outdoor integrated navigation method provided by the embodiment.
The communication bus 303 may include a path that conveys information between the aforementioned components. The communication bus 303 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The communication bus 303 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
Among them, electronic devices include but are not limited to: a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a car terminal (e.g., car navigation terminal), etc., and a fixed terminal such as a digital TV, a desktop computer, etc., may also be a server, etc. The electronic device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
The embodiment of the application provides a computer readable storage medium, which stores a computer program capable of being loaded by a processor and executing the indoor and outdoor integrated navigation method of the rail transit, which is provided by the embodiment.
In this embodiment, the computer readable storage medium may be a tangible device that retains and stores instructions for use by an instruction execution device. The computer readable storage medium may be, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any combination of the foregoing. In particular, the computer readable storage medium may be a portable computer diskette, a hard disk, a U-disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a podium random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, an optical disk, a magnetic disk, a mechanical coding device, and any combination thereof.
The computer program in the present embodiment includes a program code for executing the method shown in fig. 1, and the program code may include instructions corresponding to the method steps provided in the foregoing embodiments. The computer program may be downloaded to the respective computing/processing device from a computer-readable storage medium, or may be downloaded to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The computer program may execute entirely on the user's computer, as a stand-alone software package.
In the embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, it is to be understood that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. An indoor and outdoor integrated navigation method for urban rail transit is characterized by comprising the following steps:
constructing an indoor and outdoor integrated space-time coordinate system;
fusing the BIM model and the GIS platform based on the indoor and outdoor integrated space-time coordinate system to construct a three-dimensional indoor and outdoor live-action model;
constructing the indoor and outdoor integrated path network based on the three-dimensional indoor and outdoor live-action model;
and carrying out optimal path planning based on the indoor and outdoor integrated path network.
2. The method of claim 1, wherein constructing an indoor and outdoor unified spatiotemporal coordinate system comprises:
constructing an outdoor projection coordinate system based on a GNSS;
constructing an indoor local coordinate system based on UWB;
and carrying out coordinate conversion on the outdoor projection coordinate system and the indoor local coordinate system through a coordinate conversion model to obtain the indoor and outdoor integrated space-time coordinate system.
3. The method of claim 1, wherein fusing the BIM model with the GIS platform based on the indoor and outdoor integrated spatio-temporal coordinate system to construct a three-dimensional indoor and outdoor reality model comprises:
carrying out standardization processing on the data of the BIM model;
and fusing the standardized BIM with the GIS platform by adopting a data model technology, a multi-source heterogeneous model data fusion technology and a large scene dynamic scheduling technology to generate the three-dimensional indoor and outdoor live-action model.
4. The method of claim 1, wherein constructing an indoor-outdoor unified path network based on the three-dimensional indoor-outdoor live-action model comprises:
extracting geometric information and semantic information of various entity barrier elements in the three-dimensional indoor and outdoor live-action model;
performing Delaunay triangulation on the three-dimensional indoor and outdoor live-action model by adopting a Lawson algorithm based on the geometric information and the semantic information to obtain an indoor passable area;
and selecting the characteristic points in the indoor passable area as path points to construct the indoor and outdoor integrated path network.
5. The method according to any one of claims 1 to 4, wherein the optimal path planning based on the indoor and outdoor integrated path network comprises:
acquiring a starting node and a target node from the indoor and outdoor integrated path network, and taking a building component which cannot pass through as an intermediate node;
heuristic function is carried out on indoor and outdoor planned paths based on the starting node, the intermediate nodes and the target node
Obtaining an optimal path plan of the indoor and outdoor space by the optimality evaluation of (a), (b), (c), (d), (e) and (e), wherein (x)n,yn,zn) Is the three-dimensional coordinate of the current node, (x)goal,ygoal,zgoal) Is the three-dimensional coordinates of the target node.
6. The utility model provides an indoor outer integrated navigation head of track traffic which characterized in that includes:
the coordinate system construction module is used for constructing an indoor and outdoor integrated space-time coordinate system;
the fusion module is used for fusing the BIM model and the GIS platform based on the indoor and outdoor integrated space-time coordinate system so as to construct a three-dimensional indoor and outdoor live-action model;
the road network construction module is used for constructing the indoor and outdoor integrated path network based on the three-dimensional indoor and outdoor live-action model; and the number of the first and second groups,
and the path planning module is used for planning the optimal path based on the indoor and outdoor integrated path network.
7. An electronic device comprising a memory and a processor; the memory has stored thereon a computer program that can be loaded by the processor and that executes the method according to any of claims 1 to 5.
8. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110840163.0A CN113625321A (en) | 2021-07-24 | 2021-07-24 | Rail transit indoor and outdoor integrated navigation method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110840163.0A CN113625321A (en) | 2021-07-24 | 2021-07-24 | Rail transit indoor and outdoor integrated navigation method, device, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113625321A true CN113625321A (en) | 2021-11-09 |
Family
ID=78380811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110840163.0A Pending CN113625321A (en) | 2021-07-24 | 2021-07-24 | Rail transit indoor and outdoor integrated navigation method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113625321A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114459488A (en) * | 2022-03-11 | 2022-05-10 | 中国民航大学 | Indoor and outdoor integrated emergency disposal path planning method based on three-dimensional fusion road network |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103048671A (en) * | 2011-11-16 | 2013-04-17 | 郭杭 | New RTD (Relative Time Difference), MEMS-IMU (Micro-electromechanical Systems-Inertial Measurement Unit) and ZigBee combined high-precision seamless navigation method for global navigation satellite system |
| CN106646562A (en) * | 2016-09-09 | 2017-05-10 | 华东师范大学 | High-precision three-dimensional real scene indoor and outdoor integrated positioning method and device |
| CN109299203A (en) * | 2018-08-30 | 2019-02-01 | 深圳市赛为智能股份有限公司 | Based on BIM and GIS integrated digital map data storage method and device |
| CN110543721A (en) * | 2019-09-04 | 2019-12-06 | 南京林业大学 | indoor location service-oriented navigation network construction method |
| CN111045058A (en) * | 2019-12-25 | 2020-04-21 | 安徽智龙芯电子科技有限公司 | Indoor positioning method of Beidou GPS pseudo satellite signals based on optical fiber transmission |
| CN111103606A (en) * | 2019-09-23 | 2020-05-05 | 湖南矩阵电子科技有限公司 | Indoor and outdoor seamless space-time service system |
| CN112925001A (en) * | 2021-01-27 | 2021-06-08 | 江苏大学 | UWB positioning and satellite positioning dual-fusion greenhouse internal and external positioning system and method |
-
2021
- 2021-07-24 CN CN202110840163.0A patent/CN113625321A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103048671A (en) * | 2011-11-16 | 2013-04-17 | 郭杭 | New RTD (Relative Time Difference), MEMS-IMU (Micro-electromechanical Systems-Inertial Measurement Unit) and ZigBee combined high-precision seamless navigation method for global navigation satellite system |
| CN106646562A (en) * | 2016-09-09 | 2017-05-10 | 华东师范大学 | High-precision three-dimensional real scene indoor and outdoor integrated positioning method and device |
| CN109299203A (en) * | 2018-08-30 | 2019-02-01 | 深圳市赛为智能股份有限公司 | Based on BIM and GIS integrated digital map data storage method and device |
| CN110543721A (en) * | 2019-09-04 | 2019-12-06 | 南京林业大学 | indoor location service-oriented navigation network construction method |
| CN111103606A (en) * | 2019-09-23 | 2020-05-05 | 湖南矩阵电子科技有限公司 | Indoor and outdoor seamless space-time service system |
| CN111045058A (en) * | 2019-12-25 | 2020-04-21 | 安徽智龙芯电子科技有限公司 | Indoor positioning method of Beidou GPS pseudo satellite signals based on optical fiber transmission |
| CN112925001A (en) * | 2021-01-27 | 2021-06-08 | 江苏大学 | UWB positioning and satellite positioning dual-fusion greenhouse internal and external positioning system and method |
Non-Patent Citations (3)
| Title |
|---|
| 王宇佳: "基于BIM技术的室内路径规划及展示方法研究", 中国优秀硕士学位论文全文数据库工程科技Ⅱ辑, pages 29 - 30 * |
| 赫鑫 等: "基于改进三角剖分算法的导航网格构建", 计算机仿真, vol. 36, no. 10, pages 373 - 377 * |
| 高莉: "改进的Delaunay三角剖分算法研究", 中国优秀硕士学位论文全文数据库信息科技辑, pages 15 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114459488A (en) * | 2022-03-11 | 2022-05-10 | 中国民航大学 | Indoor and outdoor integrated emergency disposal path planning method based on three-dimensional fusion road network |
| CN114459488B (en) * | 2022-03-11 | 2023-11-24 | 中国民航大学 | Indoor and outdoor integrated emergency treatment path planning method based on three-dimensional fusion road network |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9116003B2 (en) | Routing graphs for buildings | |
| Becker et al. | A multilayered space-event model for navigation in indoor spaces | |
| CN104567878B (en) | Map handling for location-based services in compliance with localized environments | |
| Lin et al. | Intelligent generation of indoor topology (i-GIT) for human indoor pathfinding based on IFC models and 3D GIS technology | |
| Liu et al. | A “door-to-door” path-finding approach for indoor navigation | |
| CN111123198B (en) | User positioning and navigation method and system in building | |
| TW201144759A (en) | Using filtering with mobile device positioning in a constrained environment | |
| Zlatanova et al. | Space subdivision for indoor applications | |
| JP2013517480A (en) | Scalable routing for mobile station navigation using location context identifiers | |
| Subakti et al. | A marker-based cyber-physical augmented-reality indoor guidance system for smart campuses | |
| Li et al. | Survey on indoor map standards and formats | |
| Schougaard et al. | Indoor pedestrian navigation based on hybrid route planning and location modeling | |
| Ryoo et al. | Comparison between two OGC standards for indoor space: CityGML and IndoorGML | |
| Boguslawski et al. | 3D building interior modelling for navigation in emergency response applications | |
| CN113625321A (en) | Rail transit indoor and outdoor integrated navigation method, device, equipment and storage medium | |
| KR100908389B1 (en) | Location-based Local Information Provision Method for Wireless Internet Service Users | |
| Stook | Planning an indoor navigation service for a smartphone with Wi-Fi fingerprinting localization | |
| CN113340294A (en) | Landmark-fused AR indoor map navigation method | |
| Subakti et al. | Engfi Gate: An Indoor Guidance System using Marker-based Cyber-Physical Augmented-Reality. | |
| Yan et al. | Navigation network derivation for QR code‐based indoor pedestrian path planning | |
| Wang et al. | Enhancing the map usage for indoor location-aware systems | |
| Claridades et al. | Integrating IndoorGML and indoor POI data for navigation applications in indoor space | |
| Jiang et al. | Status quo and challenges and future development of fire emergency evacuation research and application in built environment | |
| Nikoohemat | Smart campus map | |
| Wijewardena et al. | Towards indoor localization and navigation independent of sensor based technologies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |