CN108446785A - A kind of optimal visual overlay path planing method based on landform visible range - Google Patents
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Abstract
The visual overlay path planing method based on landform visible range that the present invention provides a kind of.This method includes：（1）It checks the integrality of DEM terrain datas and is carried out by interpolation calculation perfect；（2）The weighting of DEM grid terrain elevation datas is assigned into directed networks；（3）According to the invalid arc in the judgement of landform characteristic threshold value, processing network；（4）Calculate the visible range on vertex in directed networks；（5）Null Spot is removed according to terrain data；（6）The visible range power for calculating arc, builds visual overlay network；（7）Optimum route search is carried out, the visual overlay path of landform of a global optimum is finally obtained.Present invention is fully applicable to the optimal visual overlay path search applications of the landform visible range of extensive mass data, can improve path planning efficiency and global optimum based on visible range and solve.
Description
Technical field
The present invention relates to a kind of optimal visual overlay path planing methods, particularly belong to Path Planning Technique field.
Background technology
Path planning problem be always Geographical Information Sciences, computer science, operational research, one of traffic and transport field grind
Study carefully hot spot.Many practical problems can be abstracted as network path planning problem, study it with main practical value.
Some shortest route-planning algorithms can preferably realizing route planning problem, but shortest path first is applied to complex network
When problem solving, such as network flow optimization, resource allocation, there are still the low disadvantages of computational efficiency.
Landform path planning refers to the minimal path that a given beginning and end is found on dimensional topography, extensive use
In traffic route planning, robot path selection etc. field.The common algorithm of landform path planning has genetic algorithm, simulation to move back
Change algorithm, ant group algorithm, A* algorithms etc..These algorithms have respective advantage and disadvantage, are adapted to different application environments.However,
It is a complicated optimal models Solve problems that path specification is carried out in three-dimensional large-scale complex landform, and the above method all exists
Convergence rate is slow, be easy to be absorbed in local optimum and can not rapid solving the problems such as.
Optimum path planning based on landform visible range is that visualization analysis and ken result are used for optimum route search
In process, and the influence factors such as features of terrain, the traffic capacity are considered simultaneously, obtain the tourism route of maximum visual, or most hidden
The emergency route etc. covered.
DEM (Digital Elevation Model) is a kind of field model of landform expression.Due to visualization analysis and its
It is analyzed using DEM is all based on, and establishes path optimization model on DEM from terms of the modeling and model solution side
Face is all more complicated, and towards the application of magnanimity dem data, so the solving speed of algorithm can not effectively improve.Moreover,
Involved data have dependency characteristic in these applications, therefore can not improve the efficiency calculated by parallelization means.
On the one hand, what DEM models reflected is the field model of landform altitude, and in the landform that is beyond expression between grid unit
Reachability relation needs to be parsed by application.Algorithm based on neighborhood search is unable to get global optimum, when in face of magnanimity number
Usually cause data explosion problem when according to complex environment information, algorithm is caused almost to be stagnated.On the other hand, with various new
The appearance of type sensor and measuring technique, dem data in series increase, so as to cause under stand-alone environment to large-scale data
It carries out being treated as a very difficult thing.
Invention content
The technical problem to be solved by the present invention is to：For the visual overlay path planning problem of above-mentioned dimensional topography, in conjunction with
Recallable amounts and ken result, it is proposed that a kind of field model by 2.5 dimension terrain datas expressions is converted into visual in graph theory
Domain directed networks；On this basis, the visual overlay path of global optimum is realized using Dijsktra Shortest Path Searching Algorithms
Fast method.
The technical solution that the present invention uses to solve above-mentioned technical problem is as follows：
A kind of optimal visual overlay path planing method based on landform visible range, which is characterized in that this method include with
Lower step：
Step 1, the directed networks being converted into the dem data of Rule acquisition based on graph theory；
Invalid arc in step 2, processing directed networks：The threshold value of invalid arc is set, deletes weights in directed networks and is more than this
The arc of threshold value；
Step 3, processing Null Spot：Delete the vertex and its connection for being in waters or the unsuitable vehicle to run of cliffside
Arc obtains an effective directed networks by the processing to these points；
Step 4, structure visible range cover directed networks：According to the visual thresholding on each vertex in directed networks, calculating has
The visible range weights of every arc into network；
Step 5, the search of optimal visible range overlay path：Route searching is carried out based on obtained directed networks, according to path
Starting point and terminal obtain the visual covering route of a global optimum.
Further, transfer process described in step 1 includes the following steps：
Step [1-1] checks DEM terrain data integralities：The altitude data of DEM grid is swept according to required precision
It retouches, has analysed whether that there are assigning null datas on grid unit, and if it exists, execute interpolation calculation and obtain the altitude data of the unit；
Step [1-2], structure directed networks：Using grid unit as the vertex of directed networks, the connection between vertex claims
For arc, the weights of the connection arc in directed networks between every opposite vertexes are calculated, preliminary directed networks are obtained；
Step [1-3], the visible range for calculating grid unit：According to visualization analysis algorithm, the visual of each vertex i is calculated
Thresholding size Pi；
Step [1-4] preserves oriented network data.
Further, step [1-2] the connection arc LijWeight computing it is as follows：According to route searching required precision, choosing
The grid unit of structure directed networks is selected adjacent to calculating pattern, calculates the power of the connection arc in directed networks between every opposite vertexes
Value.
Further, the neighbouring calculating mode type of grid unit selected in step [1-2] is 8 grid units adjacent to mould
Formula.
Further, the visible range weight calculation method of every arc is in calculating directed networks in step 4：
P in formulaiAnd PjRepresent the visible range size of vertex i and j, LijIt represents by the weights of the connection arc of vertex i and j.
Further, optimal visual overlay path is obtained using classical global optimum's Dijsktra algorithms in step 5.
The present invention uses above technical scheme, has the beneficial effect that compared with prior art：
1, the method for searching path proposed by the present invention towards Terrain Visibility, in conjunction with the DEM landform of digital Terrain Analysis
Regular grid data indicate field model, on the basis of based on graph theory, build visible range directed networks, be landform path planning with
It is basic using establishing.
2, the optimal visual overlay path planing method proposed by the present invention based on visible range directed networks, to take landform into account
The optimum route search of feature and visual field result and quickly calculating, provide new approach.
3, present invention is fully applicable to the optimal visual overlay path planning of the landform visible range of extensive mass data
Quick calculating, for example, tourism path planning, hazardous materials transportation path planning based on recallable amounts, army march it is hidden
Path planning can also be applied to the visible range point in the fields such as landscape Analysis and assessment, military, spatial cognition and decision, archaeology
Treatment effeciency is improved in the application scenarios such as the research means based on analysis.
Description of the drawings
Fig. 1 is the flow of the visible range directed networks structure and optimal visual overlay path search in the embodiment of the present invention
Figure.
Fig. 2 is the DEM grid adjacent modes figures towards landform visible range in the embodiment of the present invention, wherein a) is 4 grid
Unit mode；B) it is 8 grid unit patterns.
Fig. 3 is that the weight computing of arc in 4 grid adjacent unit mode visible domain directed networks in the embodiment of the present invention shows
It is intended to.
Fig. 4 is that the weight computing of arc in 8 grid adjacent unit mode visible domain directed networks in the embodiment of the present invention shows
It is intended to.
Specific implementation mode
The present invention is illustrated below in conjunction with attached drawing.It may be noted that described embodiment is only deemed as the mesh of explanation
, rather than to the limitation of invention.
If the field model that dem data indicates is converted into a kind of directed networks based on graph theory, carry out on this basis
Path planning, so that it may to be brought great convenience using the path search algorithm based on directed networks, and be Terrain Visibility point
Analysis application establishes new theoretical foundation, provides new tool.In addition, may be used simultaneously after dem data is transformed into directed networks
Row computing technique improves the efficiency of data processing.On the digital terrain surface indicated based on gridded DEM data, each grid
Unit can be regarded as a node, and the relationship (such as distance, depth displacement etc.) between grid unit can be described as having power
The side of value, to which the regions DEM with 2.5 dimensions for forming regular grid unit are abstracted as one with 2 dimensional plane features
Virtual directed networks.Different regular grid units has 4 grid unit patterns, 8 grid unit patterns, 16 lattice substantially adjacent to pattern
Net unit pattern.Select different adjacent modes depending on the precision of problem and solution efficiency requirement and data volume and calculating
Complexity constraint.
On the basis of based on directed networks, recallable amounts and the ken are considered as a result, being calculated using existing shortest path
Method can quickly cook up an optimal visual overlay path.
The present invention proposes a kind of optimal visual overlay path search fast solution method based on landform visible range, such as Fig. 1
It is shown, include the following steps：
Step 1, DEM terrain datas integrity checking：DEM grid altitude datas are analyzed according to required precision, point
Analysis whether on certain grid units there are the data of null value, and if it exists, execute interpolation calculation obtain the altitude data of the unit.
Step 2, directed networks are built.The active block that the field model that dem data indicates is converted into figuring.By lattice
Vertex of the net unit as directed networks, the connection between grid unit are known as arc.
Neighbouring calculating pattern is determined first.According to route searching required precision, the grid unit of selection structure directed networks
Neighbouring calculating pattern.Mode type includes 4 grid unit adjacent modes (precision is low) and 8 grid unit adjacent modes (precision
It is high).Different adjacent modes reflect the complexity of active block, as shown in Figure 2.For 4 grid unit adjacent modes,
Only the adjacent unit of coordinate direction is associated, thus the degree of each unit is 4.That is, each route searching is only
It can be searched for along this 4 directions, selectable leeway is less, and precision is not high.For 8 grid unit adjacent modes, except to coordinate side
To adjacent unit be associated outer, also add and the unit of diagonal be associated, the degree of each unit can reach
To 8.Thus, each route searching can only be searched for along this 8 directions, and precision is high and search calculation amount is moderate.
Then the weights for the arc that vertex is connected in directed networks are calculated.According to determining adjacent modes, direct net is calculated
The weights of connection arc in network between every opposite vertexes, and then obtain preliminary directed networks.Its arc LijWeight calculation method adopt
With triangulation method, as shown in Figure 2.
Step 3, visible range calculates.According to visualization analysis algorithm, such as XDraw algorithms, R2, R3 algorithm, calculate each
The visual thresholding size P of vertex ii。
Step 4, invalid arc processing.According to the constraint requirements of landform route, some vertex in directed networks can be deleted
Connection arc between vertex.If the gradient is not easy to very much walk suddenly, threshold value can be set, when the weights of certain arcs in directed networks are big
In the threshold value, then this arc is deleted.
Step 5, Null Spot is handled.In landform, certain vertex are in waters range or steep cliff position, are not suitable for vehicle row
It walks, then can delete the arc of these vertex and its connection.By the processing to these points, an effective effective net can be obtained
Network.
Step 6, visible range directed networks are built.According to the visual thresholding of each adjacent vertex in directed networks, calculating has
Into network, the visible range power of every arc, computational methods are as follows：
P in formulaiAnd PjRepresent the visible range size of vertex i and j, LijRepresent the weights of arc.
Step 7, optimal visual overlay path search.Based on obtained visible range directed networks, using Dijsktra algorithms
The landform of path search algorithm, one global optimum of initial point and terminal planning department according to path visually covers route.
The embodiment provides a kind of based on landform recallable amounts with application modeling based on directed networks
Optimal visual overlay path searching method, its purpose is to be divided into the Optimization Modeling problem of the visual overlay path planning of landform
Three steps are completed, first, first by the data conversion of the DEM field models of digital elevation model at the directed networks in graph theory, so
It is the visible range power for taking arc in visualization analysis feature and ken result calculating directed networks into account afterwards, obtains visible range direct net
Network, the optimal visual overlay path modeling and fast search for being finally based on visible range directed networks solve.The advantage of doing so is that
The efficiency of the complexity and route searching of visualization analysis modeling can be simplified.
Such as in the path planning problem based on directed networks, digital elevation model is first converted into directed networks, so
Shortest Path Searching can be carried out using in relation to the algorithm in graph theory by carrying out path planning in directed networks afterwards.Based on visual
Domain analysis and the ken replace as a result, can weigh the weights of the arc of directed networks with visible range, so as to realize a series of bases
In the application of visible range directed networks.For example, militarily, most hidden march road can be found by visually covering directed networks
Line.In path planning of travelling, visual covering directed networks can be utilized to find the tourism route of maximum visual, so as on the road
Most sight spots is able to observe that on line.In hazardous materials transportation route planning, sought on the basis of visually covering directed networks
An optimal visual covering route is looked for, ensures that the harm caused by dangerous material leakage or explosion is minimum.
The method of the present invention is exactly the first step realized in above application, i.e., the digital elevation model of 2.5 dimensions is converted into 2
The plane directed networks of dimension establish basis to carry out optimal path Optimization Modeling using directed networks.Then consider visible range point
Analysis and ken structure establish visible range directed networks, search for optimal visual covering route on this basis.The above method, for into
One step realizes that parallel algorithms design provides new way, to solve the problems, such as the high-performance calculation of large-scale data.This implementation
The conversion method of example, includes the following steps：
1：DEM terrain data integrity checkings.DEM Grid squares are scanned, analyse whether that there are assigning null datas
Grid unit, and if it exists, carry out interpolation calculation, supplement its assigning null data；
2：Directed networks are built.Grid unit adjacent modes are selected first.There are 4 grid adjacent modes and 8 grid adjacent here
Plesiotype.
Based on 4 grid unit adjacent modes, connect along 4 directions of reference axis referring to grid unit a), is considered as in Fig. 2
It connects, i.e. grid center to 1,2,3 and 4 grid points.The weight computing on the side of its directed networks model is fairly simple, geometric representation
As shown in Figure 3.
Assuming that grid unit ViAnd VjHeight value be respectively EiAnd Ej, along a length of a of X-axis between grid, along a length of b of Y-axis, then
The weight computing formula on the side of directed networks is as follows：
If grid is square, i.e. a=b=d, then formula (1) becomes：
If being normalized, formula (2) becomes：
Based on 8 grid unit patterns, referring to the b in Fig. 2), in addition to 4 directions along reference axis (1,2,3 and 4 point), also
There are 4 directions (5,6,7 and) diagonally at 8 points.The weight calculation method on the side of its directed networks is as shown in Figure 4.Assuming that lattice
Net unit ViAnd VjHeight value be respectively EiAnd Ej, along a length of a of X-axis between grid, along a length of b of Y-axis, then the side of directed networks
Weights are：
If it is square grid, i.e. a=b=d, then formula (4) becomes：
It is normalized, then formula (5) becomes：
Calculate the weights of all arcs in directed networks.According to the required precision of path planning, 4 grid may be selected adjacent to mould
Formula or 8 grid adjacent modes carry out the weight computing formula of arc, and calculate the weights size of arc.
Directed networks are the figure representation methods in a kind of graph theory, and the height value of topographic(al) point on regular grid is transformed into use
The network that vertex and arc indicate, new way is provided for Optimization Modeling.
4：The Null Spot of directed networks and the processing of invalid arc.In landform, certain vertex are in waters range or steep cliff position
It sets, is not suitable for vehicle to run, then can delete the arc of these vertex and its connection.By the processing to these points, can obtain
One effective active block；According to the constraint requirements of landform route, some vertex and the vertex in directed networks can be deleted
Between connection arc if the gradient is not easy to very much walk suddenly, threshold value can be set, when certain arcs in directed networks weights be more than the threshold
Value, then delete this arc.
5：Visible range directed networks are built.According to the visible range on each vertex in directed networks, calculate every in directed networks
The visible range power of arc, computational methods are as follows：
P in formulaiAnd PjRepresent the visible range size of vertex i and j, LijRepresent the weights of arc.
The present invention provides a kind of by dem data model conversation to diagrammatized directed networks, and then considers visual
Analysis and the ken carry out path visual coverage method for searching path as a result, being based ultimately upon directed networks.In specific path planning
In, objective optimization model, such as maximum visual path, minimum visual route etc. can be established according to visible range directed networks.
In siteselecting planning, model and its algorithm in the maximum visual domain based on directed networks etc. can be established.
The above is only some embodiments of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of optimal visual overlay path planing method based on landform visible range, which is characterized in that this method includes following
Step：
Step 1, the directed networks being converted into the dem data of Rule acquisition based on graph theory；
Invalid arc in step 2, processing directed networks：The threshold value of invalid arc is set, deletes weights in directed networks and is more than the threshold value
Arc；
Step 3, processing Null Spot：It deletes and is not suitable for the vertex of vehicle to run and its arc of connection, warp in waters or cliffside
The processing to these points is crossed, an effective directed networks are obtained；
Step 4, structure visible range cover directed networks：According to the visual thresholding on each vertex in directed networks, direct net is calculated
The visible range weights of every arc in network；
Step 5, the search of optimal visible range overlay path：Route searching is carried out based on obtained directed networks, according to rising for path
Initial point and terminal obtain the visual covering route of a global optimum.
2. a kind of optimal visual overlay path planing method based on landform visible range as described in claim 1, feature exist
In transfer process described in step 1 includes the following steps：
Step [1-1] checks DEM terrain data integralities：The altitude data of DEM grid is scanned according to required precision,
Analyse whether that there are assigning null datas on grid unit, and if it exists, execute interpolation calculation and obtain the altitude data of the unit；
Step [1-2], structure directed networks：Using grid unit as the vertex of directed networks, the connection between vertex is known as arc,
The weights for calculating the connection arc in directed networks between every opposite vertexes, obtain preliminary directed networks；
Step [1-3], the visible range for calculating grid unit：According to visualization analysis algorithm, the visual thresholding of each vertex i is calculated
Size Pi；
Step [1-4] preserves oriented network data.
3. a kind of optimal visual overlay path planing method based on landform recallable amounts as claimed in claim 2, special
Sign is, step [1-2] the connection arc LijWeight computing it is as follows：According to route searching required precision, selection structure is oriented
The grid unit of network calculates the weights of the connection arc in directed networks between every opposite vertexes adjacent to calculating pattern.
4. a kind of optimal visual overlay path planing method based on landform recallable amounts as claimed in claim 2, special
Sign is that the neighbouring mode type that calculates of the grid unit selected in step [1-2] is 8 grid unit adjacent modes.
5. a kind of optimal visual overlay path planing method based on landform visible range as described in claim 1, feature exist
In the visible range weight calculation method for calculating every arc in directed networks in step 4 is：
P in formulaiAnd PjRepresent the visible range size of vertex i and j, LijIt represents by the weights of the connection arc of vertex i and j.
6. a kind of optimal visual overlay path method based on landform recallable amounts according to claim 1, feature
It is, optimal visual overlay path is obtained using classical global optimum's Dijsktra algorithms in step 5.
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| CN109886505A (en) * | 2019-03-12 | 2019-06-14 | 广西北斗星测绘科技有限公司 | A kind of forestry field investigation routing method |
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