CN113029172A - Indoor and outdoor universal 2D and 3D hybrid navigation system - Google Patents
Indoor and outdoor universal 2D and 3D hybrid navigation system Download PDFInfo
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- CN113029172A CN113029172A CN202110217505.3A CN202110217505A CN113029172A CN 113029172 A CN113029172 A CN 113029172A CN 202110217505 A CN202110217505 A CN 202110217505A CN 113029172 A CN113029172 A CN 113029172A
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- 238000012545 processing Methods 0.000 claims description 30
- 238000004519 manufacturing process Methods 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 11
- 238000007689 inspection Methods 0.000 claims description 9
- 238000013439 planning Methods 0.000 claims description 6
- 238000013523 data management Methods 0.000 claims description 3
- 238000010191 image analysis Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 48
- 239000010410 layer Substances 0.000 description 24
- 230000008571 general function Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
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- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- 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
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- Remote Sensing (AREA)
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Abstract
The invention relates to the technical field of hybrid navigation systems, in particular to an indoor and outdoor universal 2D and 3D hybrid navigation system which comprises a navigation data system, a GIS acquisition module, a GPS positioning module, a 2D plane projection module and a 3D stereoscopic projection module. According to the invention, by arranging the satellite positioning module, the remote sensing control module, the building identification module, the channel identification module and the data sorting module, the function of accurately positioning and navigating indoors is achieved, the remote sensing control module is used for carrying out image analysis on the building, the channel identification module and the building identification module are further used for carrying out data modeling, and then the data modeling is transmitted to the navigation database through the data sorting module to form image reflection, so that the problems that the traditional navigation cannot realize that the traditional navigation for navigating indoors cannot switch between a plane and a three-dimensional building in time, the software structure is too complex, the function is single, and the fault tolerance rate is higher in the traditional navigation, which brings unnecessary troubles to navigation driving.
Description
Technical Field
The invention relates to the technical field of hybrid navigation systems, in particular to a 2D and 3D hybrid navigation system which is universal indoors and outdoors.
Background
The Global Navigation Satellite System, also called Global Navigation Satellite System (GNSS), is a space-based radio Navigation positioning System capable of providing users with all-weather 3-dimensional coordinates and speed and time information at any location on the earth's surface or in the near-earth space. Including one or more satellite constellations and their required augmentation systems to support a particular job.
Suppliers of the global 4-up satellite navigation system published by the international committee on the global navigation system (gnss) include the global positioning system GPS in the united states, the GLONASS satellite navigation system (GLONASS) in russia, the GALILEO satellite navigation system (GALILEO) in the european union, and the beidou satellite navigation system (BDS) in china. The GPS is the first global system established in the world and used for navigation and positioning, and the GLONASS becomes the second largest global satellite navigation system after rapid recovery, and the GLONASS are currently in the modernized updating process; GALILEO is the first fully civilian satellite navigation system, in the experimental phase; the BDS has the functions of navigation positioning and time service in the Asia-Pacific region, gradually transits from the second Beidou to the third Beidou, and is in a global rapid development stage.
However, the traditional navigation has the defects of excessively complex software structure, single function and high fault tolerance rate; the traditional navigation cannot switch between a plane and a three-dimensional building in time, so that unnecessary trouble is brought to navigation driving; problem that traditional navigation cannot realize indoor navigation
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a 2D and 3D hybrid navigation system which is universal indoors and outdoors, overcomes the defects of the prior art, has simple structural design, and effectively solves the problems of too complex software structure, single function and large fault tolerance rate of the traditional navigation; the traditional navigation cannot switch between a plane and a three-dimensional building in time, so that unnecessary trouble is brought to navigation driving; the problem that the traditional navigation can not realize indoor navigation is solved.
In order to solve the technical problems, the invention provides the following technical scheme:
the utility model provides an indoor outer general 2D and 3D hybrid navigation, includes navigation data system, GIS collection module, GPS orientation module, 2D plane projection module, 3D stereoscopic projection module.
As a preferred technical solution of the present invention, the output end of the GIS acquisition module is unidirectionally electrically connected with the input end of the navigation data system, the output end of the GPS positioning module is unidirectionally electrically connected with the input end of the navigation data system, the output end of the 2D plane projection module is unidirectionally electrically connected with the input end of the navigation data system, and the output end of the 3D stereoscopic projection module is unidirectionally electrically connected with the input end of the navigation data system.
As a preferred technical scheme of the invention, the navigation data system comprises an interface control layer, a function processing layer, a geographic information access layer and a navigation database.
As a preferred technical scheme of the invention, the interface control layer comprises a window control module, a drawing control module, a command control module, a mouse control module and the like; the function processing layer comprises a data acquisition module, a data input module, a data editing module, a splicing and cutting module, a data management module, a geographic information inquiry module, a quality inspection module, a map display module, a drawing input module and the like; the geographic information access layer comprises a shared information structure module, a geographic data access module, a geographic data scheduling module, a network service module and the like.
As a preferred technical scheme of the invention, the geographic data scheduling module comprises a satellite positioning module, a remote sensing control module, a building identification module, a channel identification module and a data sorting module.
As a preferred technical scheme of the invention, the system has better expandability and maintainability through the customizable modular architecture; for example, if a completely new function is to be added, a functional component (possibly in the form of a dynamic link library) is developed according to a fixed standard interface, and then the component can be hung in the integrated framework of the system and provided for users to use without modifying or recompiling the integrated framework of the system and other modules; if a certain module is modified, only the specified module is modified and replaced, and the whole system is not required to be replaced.
As a preferred technical scheme of the invention, the control mode describes a control process from production planning, data acquisition, data input editing, quality inspection to data output of the navigation data production system for the navigation data production; navigation data production is a complex system engineering, and comprises a plurality of procedures such as production planning, data acquisition, data input editing, quality inspection and the like.
The embodiment of the invention provides a 2D and 3D hybrid navigation system which is universal indoors and outdoors, and has the following beneficial effects: .
1. By setting the navigation data system, the interface control layer is responsible for uniformly receiving and scheduling the function command, the mouse event, the keyboard event and the drawing event of the system, can uniformly distribute the function command, the mouse event, the keyboard event and the drawing event to the function processing layer through a standard interface, and uniformly processes the returned message. The interface control layer provides a uniform entry point for the whole system, provides an integrated framework for each function, and realizes the overall control of the system and the close integration and coordination work among the function processing modules; the function processing layer mainly completes various processing functions of navigation data, including data acquisition, input, output, editing, processing, query, analysis, drawing, management and the like. Each processing module in the function processing layer receives various system function commands, mouse events, keyboard events and drawing events which are uniformly distributed by the interface control layer, corresponding function processing is completed, and reading and writing access to geographic information data is achieved through a lower geographic information access engine. The functional layer covers all functions provided by the system, and by utilizing a componentization technology, a user can cut and configure the system functions according to the actual needs of the user, so that the system is customized. According to the application range of each processing function in each flow of navigation data production, the processing function can be divided into a general function and a special function. The general functions refer to processing functions to be used in each production process, such as map display, geographic information query, and the like. The special function refers to a processing function which can be used only in a certain production process, for example, data acquisition is only used in field acquisition, and the problems of complex software structure, single function and high fault tolerance rate in the traditional navigation are solved.
2. By arranging the 2D plane projection module and the 3D stereo projection module, the display operation of a plane and a stereo can be freely switched in the navigation use process, and the approximate trend of a navigation route can be systematically observed by utilizing plane projection; the 3D stereoscopic projection module can realize the stereoscopic reflection of turning and complex road conditions in the navigation, can accurately reflect the current road conditions or basic patterns of buildings, and solves the problem that the traditional navigation cannot switch between a plane and a stereoscopic building in time to bring unnecessary trouble to navigation driving.
3. Through setting up satellite positioning module, remote sensing control module, building identification module, passageway identification module, data arrangement module, reached and to having carried out accurate positioning and navigation to indoor, can carry out image analysis to indoor building through remote sensing control module, and then utilize passageway identification module and building identification module to carry out data modeling and form the purpose that the image reflects in data arrangement module transmission to the navigation database via the data, solved the problem that traditional navigation can't realize navigating in indoor.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the overall navigation data system architecture of the present invention;
fig. 3 is a schematic structural diagram of an overall geographic information scheduling module according to the present invention.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Example (b): as shown in fig. 1-3, a 2D and 3D hybrid navigation system for indoor and outdoor use includes a navigation data system, a GIS acquisition module, a GPS positioning module, a 2D planar projection module, and a 3D stereoscopic projection module.
The output end of the GIS acquisition module is in one-way electric connection with the input end of the navigation data system, the output end of the GPS positioning module is in one-way electric connection with the input end of the navigation data system, the output end of the 2D plane projection module is in one-way electric connection with the input end of the navigation data system, and the output end of the 3D stereo projection module is in one-way electric connection with the input end of the navigation data system.
The navigation data system comprises an interface control layer, a function processing layer, a geographic information access layer and a navigation database.
The interface control layer comprises a window control module, a drawing control module, a command control module, a mouse control module and the like; the function processing layer comprises a data acquisition module, a data input module, a data editing module, a splicing and cutting module, a data management module, a geographic information inquiry module, a quality inspection module, a map display module, a drawing input module and the like; the geographic information access layer comprises a shared information structure module, a geographic data access module, a geographic data scheduling module, a network service module and the like.
The geographic data scheduling module comprises a satellite positioning module, a remote sensing control module, a building identification module, a channel identification module and a data sorting module.
Wherein, through the customizable modular system structure, the system has better expandability and maintainability; for example, if a completely new function is to be added, a functional component (possibly in the form of a dynamic link library) is developed according to a fixed standard interface, and then the component can be hung in the integrated framework of the system and provided for users to use without modifying or recompiling the integrated framework of the system and other modules; if a certain module is modified, only the specified module is modified and replaced, and the whole system is not required to be replaced.
The control mode describes a control process from production planning, data acquisition, data input editing, quality inspection to data output of the navigation data production system for the navigation data production; navigation data production is a complex system engineering, and comprises a plurality of procedures such as production planning, data acquisition, data input editing, quality inspection and the like.
The working principle is as follows: by setting the navigation data system, the interface control layer is responsible for uniformly receiving and scheduling the function command, the mouse event, the keyboard event and the drawing event of the system, can uniformly distribute the function command, the mouse event, the keyboard event and the drawing event to the function processing layer through a standard interface, and uniformly processes the returned message. The interface control layer provides a uniform entry point for the whole system, provides an integrated framework for each function, and realizes the overall control of the system and the close integration and coordination work among the function processing modules; the function processing layer mainly completes various processing functions of navigation data, including data acquisition, input, output, editing, processing, query, analysis, drawing, management and the like. Each processing module in the function processing layer receives various system function commands, mouse events, keyboard events and drawing events which are uniformly distributed by the interface control layer, corresponding function processing is completed, and reading and writing access to geographic information data is achieved through a lower geographic information access engine. The functional layer covers all functions provided by the system, and by utilizing a componentization technology, a user can cut and configure the system functions according to the actual needs of the user, so that the system is customized. According to the application range of each processing function in each flow of navigation data production, the processing function can be divided into a general function and a special function. The general functions refer to processing functions to be used in each production process, such as map display, geographic information query, and the like. The special function refers to a processing function which can be used only in a certain production process, for example, data acquisition is only used in field acquisition; by arranging the 2D plane projection module and the 3D stereo projection module, the display operation of a plane and a stereo can be freely switched in the navigation use process, and the approximate trend of a navigation route can be systematically observed by utilizing plane projection; the 3D stereoscopic projection module can realize the stereoscopic reflection of turning and complex road conditions in navigation, and can accurately reflect the current road conditions or basic patterns of buildings; the system achieves the functions of accurate indoor positioning and navigation by arranging the satellite positioning module, the remote sensing control module, the building identification module, the channel identification module and the data sorting module, can analyze images of indoor buildings by the remote sensing control module, and further achieves the purpose of carrying out data modeling by utilizing the channel identification module and the building identification module and transmitting the data modeling to the navigation database through the data sorting module to form image reflection.
Finally, it should be noted that: in the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides an indoor outer general 2D and 3D hybrid navigation, includes navigation data system, GIS collection module, GPS orientation module, 2D plane projection module, 3D stereoscopic projection module.
2. The indoor and outdoor universal 2D and 3D hybrid navigation system according to claim 1, wherein the output end of the GIS acquisition module is unidirectionally and electrically connected with the input end of the navigation data system, the output end of the GPS positioning module is unidirectionally and electrically connected with the input end of the navigation data system, the output end of the 2D planar projection module is unidirectionally and electrically connected with the input end of the navigation data system, and the output end of the 3D stereoscopic projection module is unidirectionally and electrically connected with the input end of the navigation data system.
3. The indoor-outdoor universal 2D and 3D hybrid navigation system according to claim 1, wherein the navigation data system comprises an interface control layer, a function processing layer, a geographic information access layer and a navigation database.
4. The indoor-outdoor universal 2D and 3D hybrid navigation system according to claim 1, wherein the interface control layer comprises a window control module, a drawing control module, a command control module, a mouse control module, and the like; the function processing layer comprises a data acquisition module, a data input module, a data editing module, a splicing and cutting module, a data management module, a geographic information inquiry module, a quality inspection module, a map display module, a drawing input module and the like; the geographic information access layer comprises a shared information structure module, a geographic data access module, a geographic data scheduling module, a network service module and the like.
5. The indoor and outdoor universal 2D and 3D hybrid navigation system according to claim 4, wherein the geographic data scheduling module comprises a satellite positioning module, a remote sensing control module, a building identification module, a channel identification module and a data sorting module.
6. The indoor-outdoor universal 2D and 3D hybrid navigation system according to claim 1, characterized in that by this customizable modular architecture, the system will have better expandability and maintainability; for example, if a completely new function is to be added, a functional component (possibly in the form of a dynamic link library) is developed according to a fixed standard interface, and then the component can be hung in the integrated framework of the system and provided for users to use without modifying or recompiling the integrated framework of the system and other modules; if a certain module is modified, only the specified module is modified and replaced, and the whole system is not required to be replaced.
7. The indoor and outdoor universal 2D and 3D hybrid navigation system according to claim 1, wherein the control mode describes a control process from production planning, data acquisition, data input editing, quality inspection to data output of the navigation data production system; navigation data production is a complex system engineering, and comprises a plurality of procedures such as production planning, data acquisition, data input editing, quality inspection and the like.
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