CN114564551A - BIM campus personnel positioning method based on Unity3D and GIS - Google Patents
BIM campus personnel positioning method based on Unity3D and GIS Download PDFInfo
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Abstract
The invention discloses a BIM park personnel positioning method based on Unity3D and GIS, which has small positioning error and small resource occupation. The personnel positioning method comprises the following steps: (10) obtaining the on-site scaling of the model: obtaining the scaling of the garden model and the garden site according to the ratio of the garden level distance of the two reference points on the site to the model level distance; (20) calculating the distance between personnel on site: calculating to obtain the field distance between the personnel and the reference point location according to the field longitude and latitude coordinates of the personnel and the field longitude and latitude coordinates of the reference point location; (30) acquiring the relative azimuth included angle of the personnel site: calculating to obtain a site relative position included angle between the personnel and the reference point location according to the site longitude and latitude coordinates of the personnel and the site longitude and latitude coordinates of the reference point location; (40) acquiring the personnel coordinates: and calculating to obtain the coordinates of the personnel relative to the reference point at the model level according to the direction and distance of the personnel relative to the reference point at the park level and the park scaling.
Description
Technical Field
The invention relates to the technical field of target positioning, in particular to a BIM park personnel positioning method based on Unity3D and GIS, which is small in positioning error and small in resource occupation.
Background
In order to timely master the motion position information, the distribution position, the historical track return visit and the like of various park inspectors, the park personnel need to be accurately positioned in the visual management of the smart buildings in modern parks, the positions of the inspectors can be mastered in real time, the position information of the inspectors is accurately displayed in the Unity3D scene in the scenes of parks, factories, warehouses and the like, the refined management of personnel production is realized, the accurate management and control are realized, the reasonable scheduling arrangement is realized, and the management level is improved.
At present, a method for positioning park personnel, as described in the chinese invention patent "a route point positioning method, device and system based on BIM + GIS" (application No. CN201910353845.1 published japanese: 2019.04.29), includes:
extracting interval information of a route, wherein the interval information comprises a starting point mileage stake mark, an end point mileage stake mark, a starting point coordinate and an end point coordinate;
step two, constructing a query condition-interval information query database by taking the mileage stake marks or point coordinates as query conditions;
step three, receiving the input mileage stake mark or point coordinate, and inquiring target interval information from the inquiry condition-interval information inquiry database;
and step four, calculating coordinates corresponding to the mileage stake marks by adopting a space geometric function according to the mileage stake marks and the target interval information.
However, the above-mentioned campus personnel positioning method has the problems of large personnel positioning error and large resource occupation due to operations such as modeling and establishing an independent query database.
The Unity3D software is a piece of multi-platform scene development software. The powerful physical engine and particle system of Unity3D can well simulate scenes in the real world, so that the system has good application value in the fields of system simulation, industrial design, intelligent building visualization and the like.
In the intelligent building visualization, a park building model rendered by a Unity3D engine can be used for digitally and virtually displaying the whole park, centralized management can be performed on facility equipment assets, house renting, maintenance and management, park safety monitoring and the like of the park, integration and optimization configuration of various resources is realized, the service quality and the operation management level of an industrial park are comprehensively improved, the intelligent process of the industrial park is deepened, and the full life cycle service of the intelligent park is provided. In practical application, a park model rendered based on the Unity3D engine generally has a function of positioning and displaying the actual position of an inspector in a 3D scene according to the position coordinates of the inspector, so that the movement position information, the distribution position, the historical track return visit and the like of the inspector are facilitated.
However, the personnel location technology in the Unity3D scenario has a large error due to the complex garden reality, the limitation of equipment, and the like. For example, in the prior art, collected longitude and latitude coordinates of people in the real world are converted into coordinates in a three-dimensional scene model space only through coordinate conversion, but the conversion algorithm is often required to be reset aiming at different garden models, so that the problems of development cost increase, non-uniform conversion standards, inaccurate positioning and the like are caused, and the application requirements cannot be met.
Disclosure of Invention
The invention aims to provide a BIM park personnel positioning method based on Unity3D and GIS, which has small positioning error and small resource occupation.
The technical solution for realizing the purpose of the invention is as follows:
a BIM campus personnel positioning method based on Unity3D and GIS comprises the following steps:
(10) obtaining the on-site scaling of the model: obtaining the scaling ratio of the garden model to the garden site according to the ratio of the garden level distance of the two reference points of the garden site to the model level distance;
(20) calculating the distance between personnel on site: calculating to obtain the campus site distance between the personnel and the reference point according to the collected campus site longitude and latitude coordinates of the personnel and the campus site longitude and latitude coordinates of the reference point;
(30) acquiring the relative azimuth included angle of the personnel site: calculating to obtain a garden site relative orientation included angle between the personnel and the reference point location according to the collected garden site longitude and latitude coordinates of the personnel garden and the park site longitude and latitude coordinates of the reference point location;
(40) acquiring the personnel coordinates: and calculating to obtain the coordinates of the personnel at the model level relative to the reference point according to the direction and the distance of the personnel at the park level relative to the reference point and the park scaling.
Compared with the prior art, the invention has the following remarkable advantages:
1. the positioning error is small: according to the real-time positioning method, the longitude and latitude coordinates of a garden of a person in the real world are obtained, the longitude and latitude coordinates are converted into corresponding position coordinates in the Unity3D scene model, and then the position point of the corresponding model prefabricated body on the ground model in the Unity3D scene model is determined according to the position coordinates, so that the real-time positioning function of the patrol person in the garden is realized. Compared with the prior art that all park models with large positioning errors are positioned according to a unified scaling, namely a rough conversion ratio on a unified ground model, the conversion ratio of the corresponding park models in the three-dimensional scene model and the positions of the park models relative to a reference point are calculated for each park model, so that the coordinates of personnel models can be adapted to the changes of the park models in a scene in the actual park model, the coordinate positions of target point positions can be accurately obtained, the problem that the heights of the model prefabricated bodies and the longitude and latitude coordinates of actual park patrol patrollers are not matched is solved, the requirement of checking the positioning of the patrol patrollers in real time and accurately is met, and the positioning accuracy is high and the error is small.
2. The resource occupation is less: according to the invention, through the Unity3D engine, the acquired real-time longitude and latitude data of the inspection personnel is displayed in real time on the positioning information of the corresponding position in the scene through the conversion algorithm, so that the personnel production fine management, accurate management and control, reasonable scheduling arrangement, unified planning and management level improvement are realized, and the purpose of saving resources is achieved.
The invention is described in further detail below with reference to the figures and the detailed description.
Drawings
FIG. 1 is a main flow chart of the BIM campus personnel location method based on Unity3D and GIS.
Fig. 2 is a flow chart of the in-situ scaling acquisition step of the model of fig. 1.
Fig. 3 is a flowchart of the step of calculating the distance to the person's scene in fig. 1.
Fig. 4 is a schematic diagram of the derivation of the Haversine formula in fig. 3.
Fig. 5 is a schematic diagram of the calculation of the longitudinal offset of the reference point in fig. 3.
Fig. 6 is a schematic diagram of the actual distance calculation of the reference points in fig. 3.
Fig. 7 is a schematic diagram of the acquisition of the relative azimuth angle of the personnel site in fig. 3.
Detailed Description
The invention will be described in further detail with reference to the drawings and detailed description, so that the objects, features and advantages of the invention can be understood more clearly. The described embodiments are only some, but not all embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the park model project rendered by the Unity3D, the function of positioning and displaying the actual position of the staff in the 3D scene according to the position coordinates of the patrol staff returned by collection is realized. The functional requirement aspect requires to develop a method which can visually express the two-dimensional longitude and latitude coordinates of the patrol personnel near the current park in the 3D park, and compared with the park, the positioning of the patrol personnel can generate errors when the positioning is caused by different latitude and longitude intervals of different parks and different scaling ratios in the Unity3D scene. That is, the position of the person model does not match the actual model position.
In view of the above situation, the embodiment of the present invention provides a method for realizing real-time positioning of an inspector according to longitude and latitude in a Unity3D project scene, and the method performs coordinate transformation by collecting longitude and latitude data of the inspector in a campus and displays the data at a corresponding position in a Unity3D scene model.
The core concept of the embodiment of the invention is as follows: the method comprises the steps of acquiring longitude and latitude coordinates of an inspector, converting to obtain corresponding coordinate points in a 3D scene to determine the position of the inspector, mainly calculating the distance and the direction between a target longitude and latitude and a known reference point to obtain an orientation vector, then calculating the corresponding coordinates according to the coordinates of the reference point in Unity3D and a model scaling ratio, generating a point location model prefabricated body on the coordinate points, completing the conversion from two-dimensional longitude and latitude to three-dimensional space point location, and realizing the effect of viewing the position of the inspector in real time.
As shown in FIG. 1, the BIM campus personnel positioning method based on Unity3D and GIS of the present invention includes the following steps:
(10) obtaining the on-site scaling of the model: obtaining the scaling ratio of the garden model to the garden site according to the ratio of the garden level distance of the two reference points of the garden site to the model level distance;
as shown in fig. 2, the (10) model field scale obtaining step includes:
(11) acquiring reference point position coordinates: selecting two site locations of a garden site as reference locations, and respectively acquiring the longitude and latitude coordinates of the garden site of the two reference locations and the Unity3D model coordinates of the two reference locations;
(12) calculating the reference point location distance: calculating the park level distance of the two reference points according to the longitude and latitude coordinates of the park site, and calculating the model level distance of the two reference points according to the Unity3D park model coordinates;
(13) scaling calculation: and obtaining the scaling ratio of the park model to the park site according to the ratio of the model level distance of the two reference points to the park level distance.
The scaling scales of two reference points at the model level and at the model level are calculated as follows,
Scale＝GPSDistance/ModelDistance；
in the formula, GPSDistance is the distance between the two reference points at the campus level, and ModelDistance is the distance between the two reference points at the model level.
(20) Calculating the distance between personnel on site: calculating to obtain the campus site distance between the personnel and the reference point according to the collected campus site longitude and latitude coordinates of the personnel and the campus site longitude and latitude coordinates of the reference point;
the Haverine formula is used in the coordinate point conversion process,
as shown in fig. 3, the (20) personnel site distance calculating step includes:
(21) haverine formula derivation process: according to the trigonometric function and the pythagorean theorem, the hemidyadic vector of one side is equal to the continuous product of the hemidyadic vector of the difference of the other two sides and the hemidyadic vectors of the sine waves of the other two sides and the included angles of the sine waves and the hemidyadic vectors in the spherical triangle.
The principle of this step is shown in fig. 4. In the figure, O is the center of the circle and A, B is the chord. Angle AOB is theta. The angle AOC is theta/2. OC is the perpendicular (perpendicular) to AB. AC length is sin (theta/2), AB length is 2 sin (theta/2), i.e.:
hav(A)＝(1-cos(A))/2＝sin(A/2)*sin(A/2)；
(22) reference point longitudinal offset calculation: calculating to obtain longitude direction offset of the two reference points by adopting a Haverine formula according to the longitude and latitude coordinates of the two reference points;
if the section of the earth is regarded as a circle, knowing the radius of the earth and longitude and latitude coordinates of two reference points, calculating the offset of the two reference points in the longitude direction according to a Haversene formula;
the principle of this step is shown in FIG. 5. if it is assumed that the earth radius R is 1, O is the center of sphere, A (lat1, lon1) and B (lat2, lon2) are 2 points of interest, a two-point longitude line lon1, lon2 intersects the north pole N, the line where EF is the equator, ACBD is the four vertices of an isosceles trapezoid on a plane, and the position of CD is: c (lat2, lon1) and D (lat1, lon2), angle AO 'C is the difference dlat of the latitudes of points a and C, angle EOF is the difference dlon of points longitude E and longitude F, chord AC is AC 2 sin (dlat/2) in length, chord BD is the same length, E, F2 points are 2 points on the equator, their latitudes are 0, EF is EF 2 sin (dlon/2), A, D2 points are lat1 in latitude, the radius of the circle plane of the latitude where AD is located is cos (lat1), the radius of the circle where a perpendicular (perpendialalcu) is made to OE is AG, AO' is the sphere radius, OG is cos (lat1), i.e. the radius (AO) of the circle where A, D is located. At this time, the chord length AD of AD is 2 × sin (dlon/2) × cos (lat1), and similarly the length of CB can be deduced:
CB＝2*sin(dlon/2)*cos(lat2)；
(23) calculating the actual distance of the reference point: calculating to obtain the actual distance between the two reference points by utilizing the pythagorean theorem according to the longitude and latitude coordinates of the two reference points;
knowing the radius of the earth and longitude and latitude coordinates of the two reference points, abstracting an intersected plane of the two reference points and the longitude and latitude into an isosceles trapezoid, and obtaining an actual distance formula of the two reference points according to the pythagorean theorem;
to obtain the length of AB, the above can be abstracted as an isosceles trapezoid, as shown in fig. 6, knowing that AH is the perpendicular to CB, then CH ═ 2 (CB-AD). According to the Pythagorean theorem, the following can be obtained:
AH^2＝AC^2-CH^2＝AC^2-(CB-AD)^2/4；
HB＝AD+CH＝AD+(CB-AD)/2＝(CB+AD)/2；
AB^2＝AH^2+HB^2＝AC^2-(CB-AD)^2/4+(CB+AD)^2/4＝AC^2+CB*AD；
according to the method of solving the longitude and latitude distance on the spherical surface, the lengths of AC, AD and CB are obtained and are substituted into the formula to obtain: AB 2 ^ 4 (sin ^2(dlat/2) +4 ^ cos (lat1) × cos (lat2) × sin ^2 (dlon/2));
assuming that the median h is the square of half the length of AB, one can obtain:
h＝(sin^2(dlat/2))+cos(lat1)*cos(lat2)*sin^2(dlon/2)；
obtaining an angle AOB representing the AB length
Obtaining:
if c is the degree value of the angle AOB.
tan(<AOC)＝tan(c)＝AC/OC＝sqrt(a)/sqrt(1-a)；
c＝2*arctan(sqrt(a)/sqrt(1-a))；
Obtained according to the following formula,
distance＝2*EARTH_RADIUS*c；
wherein, distance is the distance between a person and a reference point on a garden level;
where c is the constant of the spherical triangle and EARTH _ RADIUS is the RADIUS of the EARTH.
(30) Acquiring the relative azimuth included angle of the personnel site: calculating to obtain a garden site relative orientation included angle between the personnel and the reference point location according to the collected garden site longitude and latitude coordinates of the personnel garden and the park site longitude and latitude coordinates of the reference point location;
in order to ensure the accuracy, a method of regarding a garden as a plane is adopted, and the longitude and latitude of a reference point are taken as the origin of a two-dimensional rectangular coordinate system, as shown in fig. 7: and a two-dimensional rectangular coordinate system is established by taking the longitude and latitude of the reference point A as the origin, the east direction X axis and the north direction as the Y axis.
The step (30) of obtaining the azimuth included angle of the target point specifically comprises the following steps:
obtained according to the following formula,
C＝arctan(jingOffect/weiOffect)；
and C is an included angle of the site longitude and latitude coordinates of the personnel park relative to the site longitude and latitude coordinates of the park of the reference point in the latitude direction.
In the formula, the kingOffect is the offset of the longitude of the inspector based on the longitude of the reference point, and the weiOffect is the offset of the latitude of the inspector based on the latitude of the reference point.
jinoffect is personnel longitude-reference point longitude;
weiOffect is person latitude-reference point latitude;
(40) acquiring the personnel coordinates: and calculating to obtain the coordinates of the personnel relative to the reference point at the model level according to the direction and the distance of the personnel relative to the reference point at the park level and the park scaling.
The (40) step of calculating the coordinates of the person at the model level relative to the reference point specifically comprises:
the coordinates of the person at the model level with respect to the reference point are calculated as follows,
TargetPos＝CenterPos+Dir*Distance*Scale；
wherein, targetPos is the model level coordinate after coordinate transformation.
In the formula, the CenterPos is the coordinate of the reference point at the model level, Dir is the orientation included angle of the person relative to the reference point garden level, Distance is the Distance between the person relative to the reference point garden level, and Scale garden scaling is adopted.
Claims (5)
1. A BIM campus personnel positioning method based on Unity3D and GIS is characterized by comprising the following steps:
(10) obtaining the on-site scaling of the model: obtaining the scaling ratio of the garden model to the garden site according to the ratio of the garden level distance of the two reference points of the garden site to the model level distance;
(20) calculating the distance between the personnel on site: calculating to obtain the campus site distance between the personnel and the reference point according to the collected campus site longitude and latitude coordinates of the personnel and the campus site longitude and latitude coordinates of the reference point;
(30) acquiring the relative azimuth included angle of the personnel site: calculating to obtain a garden site relative orientation included angle between the personnel and the reference point location according to the collected garden site longitude and latitude coordinates of the personnel garden and the park site longitude and latitude coordinates of the reference point location;
(40) acquiring the personnel coordinates: and calculating to obtain the coordinates of the personnel at the model level relative to the reference point according to the direction and the distance of the personnel at the park level relative to the reference point and the park scaling.
2. The BIM park personnel location method of claim 1, wherein the (10) model field scale acquisition step comprises:
(11) acquiring reference point position coordinates: selecting two site locations of a garden site as reference locations, and respectively acquiring the longitude and latitude coordinates of the garden site of the two reference locations and the Unity3D model coordinates of the two reference locations;
(12) calculating the reference point location distance: calculating the park level distance of the two reference points according to the park site longitude and latitude coordinates, and calculating the model level distance of the two reference points according to the Unity3D park model coordinates;
(13) scaling calculation: and obtaining the scaling of the garden model and the garden site according to the ratio of the model level distance of the two reference points to the garden level distance.
3. The BIM campus people positioning method of claim 2, wherein the scaling calculation step (13) is to calculate the campus scaling Scale as follows,
Scale＝GPSDistance/ModelDistance；
wherein Scale is the scaling of the two reference points at the model level and at the model level,
GPSDistance is the distance of the two reference points at the model level,
ModelDistance is the distance between the two reference points at the model level.
4. The BIM park personnel positioning method according to claim 3, wherein the step of (30) obtaining the target point included angle specifically is to obtain the target point included angle according to the following formula:
C＝arctan(jingOffect/weiOffect)；
wherein C is the included angle of the site longitude and latitude coordinates of the personnel campus relative to the site longitude and latitude coordinates of the reference point site in the latitude direction,
and the kingOffect is an offset of the longitude of the inspector based on the longitude of the reference point, the weiOffect is an offset of the latitude of the inspector based on the latitude of the reference point, and the kingOffect is the longitude of the inspector-the longitude of the reference point and the weiOffect is the latitude of the inspector-the latitude of the reference point.
5. The BIM park personnel positioning method according to claim 4, wherein the step of (40) calculating the coordinates of the personnel at the model level relative to the reference point is specifically to calculate the coordinates of the personnel at the model level relative to the reference point according to the following formula:
TargetPos＝CenterPos+Dir*Distance*Scale；
in the formula, targetPos is a model level coordinate after coordinate conversion, CenterPos is a coordinate of the reference point at the model level, Dir is an orientation included angle of a person relative to a reference point garden level, Distance is a Distance of the person relative to the reference point garden level, and Scale garden scaling is carried out.
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| CN115937480B (en) * | 2023-01-06 | 2023-07-04 | 河南开放大学 | Virtual reality decentralization redirection system based on artificial potential field |
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