CN114034308A - Navigation map construction method based on virtual-real fusion - Google Patents
Navigation map construction method based on virtual-real fusion Download PDFInfo
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Abstract
The invention discloses a method for constructing a virtual-real fused navigation map, which comprises two aspects of map information expression capacity generation and navigation capacity generation. The map information expression capacity generation comprises intersection information representation, road information representation, roadside information representation and guide information representation; the navigation capability generation includes a design information search capability, a design path planning capability, and a design navigation guidance capability. The method fuses map information in the traditional sense with an information carrier in a physical space, virtual map information is carried in the physical carrier, the virtual map information and the physical carrier correspond to each other one by one, and the virtual map information and the physical carrier are fused with each other but cannot be fused, so that the problem that a navigation system excessively depends on the positioning and tracking capacity of a user mobile terminal due to the fact that a virtual map coordinate system and a physical space coordinate system are not unified in the conventional electronic navigation can be effectively solved.
Description
Technical Field
The invention discloses a navigation map construction method based on virtual-real fusion, and belongs to the technical field of navigation map construction.
Background
At present, traffic guide boards are mostly arranged at intersections of malls, parks and urban roads to indicate intersection information, so that information support is provided for people to find the roads. Although the information quantity provided by the way-finding guiding mode is limited and navigation guiding can not be carried out, the guiding mode fully combines the perception judgment capability of people, provides information support only at intersections needing people to select directions, and is simple to implement and low in cost.
With the development of navigation technology, common electronic maps such as *** maps, Baidu maps and Gade maps have good outdoor navigation functions, and individual electronic maps have indoor navigation capability in specific physical areas. The electronic navigation map has the capabilities of information search, path planning and navigation guidance. However, when GPS, WIFI or bluetooth signals of the user terminal are disconnected, the electronic maps fail to locate the current position of the user, which results in a failure of navigation capability, and the fundamental reason is that the virtual map coordinate system is not uniform with the physical space coordinate system when the electronic maps are constructed.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problem that the navigation system excessively depends on the positioning and tracking capacity of a user mobile terminal due to the fact that a virtual map coordinate system and a physical space coordinate system are not uniform in the conventional electronic navigation, the invention provides a navigation map construction method based on virtual-real fusion by fully using the idea that information support is only provided at intersections in the traffic guidance board routing guidance.
The technical scheme is as follows: in order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a method for constructing a virtual-real fused navigation map comprises two aspects of map information expression capability generation and navigation capability generation. The virtual navigation map part in the navigation map constructed by the invention has the attribute of an electronic map, can be configured into a navigation APP of a user mobile terminal, and can be matched with a physical carrier part of the navigation map to complete a navigation guiding task.
According to a first aspect of the present invention, a map information expression capability generation method of a navigation map construction method includes the steps of:
step 1, intersection information is shown. Branch intersections that require human selection of direction are represented as vertices in a directed graph.
And 1.1, constructing a vertex set. Assuming that N total intersections in the physical space need to be reflected on the navigation map, the vertex set V (d) { V ═ V1,V2,……VNThe vertices at each physical location in the map are represented.
Step 1.2, vertex information definition. For each vertex ViAnd i is 1,2, … …, wherein N contains information related to intersection description such as number and name. In the whole map, the number of each vertex isIs unique.
And 1.3, representing the three-dimensional space information. The invention is not only suitable for plane position navigation, but also suitable for space three-dimensional navigation. Three-dimensional spatial information can be viewed as a fold of two-dimensional planar information in three-dimensional space. In the scheme of one embodiment of the invention, the navigation among floors is space three-dimensional navigation, and the navigation in each floor is two-dimensional plane navigation. The floors are communicated in a mode of stairs, elevators and the like, the elevator openings of all the floors, the elevator openings and the like can be treated as intersections, and node information is added in the vertex set.
And 2, displaying the road information. The roads are represented as edges of a directed graph. An edge is defined by an ordered pair of vertices in the directed graph.
And 2.1, constructing an edge set. Suppose that V is taken from vertexpTo vertex VqCan pass through, then the vertex pairs (V) are orderedp,Vq) Uniquely defining an edge EjI.e. by
Ej＝(Vp,Vq) Where p, q ≠ 1,2, … …, N
Assuming a total of K connected ordered vertex pairs, j equals 1,2, … …, K. Assuming that a total of M roads need to be represented on the map, M ≦ K<N2. When K is M, all roads are indicated to be one-way traffic; k<N2The reason is that in the discussion process of the invention, each intersection can not be connected with itself to generate a road, and the practical meaning in navigation is that the direction information of each intersection does not point to the current intersection.
Note that, the ordered vertex pair (V)p,Vq) And (V)q,Vp) The meanings of the expressions are different, the former being from the vertex VpTo vertex VqCan be connected, the latter representing the vertex VqTo vertex VpCan be communicated, and the corresponding physical meaning is from the intersection VpTo VqPassable, the latter representing the subordinate crossing VqTo the intersection VpCan be used for passing.
And 2.2, defining side information. For each edge EjIncluding numbers, distances, namesAnd the like. In the whole map, the number of each edge is unique.
And 3, representing the roadside information. Roadside information refers to geographical location information that all users located on both sides of a road may go to.
In one embodiment of the invention, roadside information refers to building structures on both sides of a road when outdoors, and to shops, restrooms, and the like when indoors.
Like road information, roadside information is also recorded in edges of the directed graph. The recording rule is: when walking along the road, all the roadside information located on both sides of the road is recorded in the edges corresponding to the current walking direction, and the roadside information located on the left side of the current walking direction is marked with a 'left side' sign, and the roadside information located on the right side of the road is marked with a 'right side' sign.
And 4, indicating the guide information. The guidance information is represented as an arrow, text, voice, or the like indicating the direction selection.
According to a second aspect of the present invention, a navigation capability generation of a navigation map construction method includes the steps of:
step 1, designing information searching capability. Given any node or edge part name information, automatically generating an information list matched with the given name information for the user to select and confirm.
And 2, designing path planning capacity. After the current position and the target position are given, the shortest path scheme is automatically calculated, and meanwhile, the distance, the direction and other information from each crossing to the target can be calculated, so that information support is provided for the navigation guidance process.
And 3, designing navigation guiding capacity. And mapping the navigation map and the real space by using a virtual-real fusion technology. The general idea of navigation guidance is that map intersection information of a map and physical carriers of the intersection information are mapped one by one, a user operates a navigation guidance function of the navigation map through terminal equipment in a navigation process, the intersection information is analyzed from the physical carriers, and the current position is determined by means of an information search method; meanwhile, a target position is set by using an information search method, and a shortest path scheme is obtained by using a path planning method; and loading corresponding guiding information according to the current intersection information in the shortest path and the next intersection information communicated with the current intersection, and finally realizing navigation guiding.
And 3.1, designing a physical carrier of the intersection information. In order to uniquely identify the identity information of each branch intersection and the direction information of the intersection communicated with the branch intersection relative to the current intersection, different physical carriers of intersection information are designed, wherein the information can be analyzed and acquired by a user by means of a navigation guide function of a navigation map which the user belongs to by operating a terminal device. In one embodiment of the invention, such a physical carrier is a two-dimensional code.
And 3.2, setting a physical carrier of the intersection information. And placing a physical carrier at a proper position of each intersection according to the direction information contained in the physical carrier.
And 3.3, verifying the validity of the intersection information physical carrier. In order to verify whether the position of the physical carrier at the actual intersection and the contained direction information are correct or not, the navigation guiding function operated by the terminal equipment is utilized to analyze the information in the physical carrier and check the information with the actual intersection information.
The map construction method based on the virtual-real fusion is characterized in that map information in the traditional sense is fused with an information carrier in a physical space, and the finally obtained navigation map not only comprises virtual map information but also comprises physical carrier information. The physical carrier bears virtual map information, the virtual map information and the physical carrier are in one-to-one correspondence, and the virtual map information and the physical carrier are mutually fused but cannot be used.
Has the advantages that: compared with the prior art, the invention has the following advantages:
compared with the existing road sign guidance, the navigation map construction method based on the virtual-real fusion has the capabilities of path planning, information search and active guidance, and reduces the processing load of a large amount of information in the road finding process.
Compared with the existing electronic map navigation, the navigation map construction method based on the virtual-real fusion does not depend on GPS, WIFI or Bluetooth signals for positioning, and can be applied to outdoor navigation and indoor navigation;
compared with the existing electronic map navigation, the navigation function of the method only provides direction judgment support at the intersection where people need to select directions, and the people judge whether the destination is reached or not by combining self perception decision-making capability according to the guidance information obtained at the intersection in the advancing process without real-time navigation, thereby simplifying the construction process of the navigation map.
Drawings
FIG. 1 is a schematic view of a block and a road.
Figure 2 is a block road topology graph and a directed graph illustration.
Fig. 3 is a schematic view of the inner floor of the mall in fig. 1.
Fig. 4 is a schematic diagram showing the three-dimensional space topology of the mall floor in fig. 3 expanded to the two-dimensional plane topology.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
A method for constructing a virtual-real fused navigation map comprises two aspects of map information expression capability generation and navigation capability generation. The virtual navigation map part in the navigation map constructed in the embodiment has the attribute of an electronic map, can be configured as a navigation APP of a user mobile terminal, and can be matched with a physical carrier part of the navigation map to complete a navigation guiding task. As shown in fig. 1, the block includes schools, residential areas a, shopping malls, parks, and residential areas B, and the dotted lines indicate that the current block is connected to the external roads.
The map information expression capability generation of the navigation map construction method comprises the following steps:
step 1, intersection information is shown. Branch intersections that require human selection of direction are represented as vertices in a directed graph. As shown in fig. 2, the vertex 1 is a road turning point, and is not set as a directed graph vertex because no selection is made by a person, and this example only focuses on the road information in the current block, so the road information represented by the dotted line does not appear in the following discussion.
And 1.1, constructing a vertex set. If there are 8 total intersections in the entire block to be shown on the navigation map, the vertex set v (d) {2,3,4,5,6,7,8,9} represents the vertices at each intersection in the block map.
Step 1.2, vertex information definition. For each vertex ViThe information related to the intersection description, such as the number and the name, is contained in i-1, 2, … …, 8. The number of each vertex is unique throughout the map.
And 1.3, representing the three-dimensional space information. The navigation inside the mall requires the representation of three-dimensional spatial information in the map, as shown in fig. 3, wherein the dotted lines represent the communication between floors in the form of stairs or elevators. The three-dimensional space information can be regarded as the folding of two-dimensional plane information in the three-dimensional space, each floor landing, elevator landing and the like are treated as the road junction, each node and road information of the S layer which is originally positioned above the D layer can be unfolded into information in the same plane omega as the D layer, and only the information of the elevator and the stair node needs to be added in a vertex set when the vertex information is constructed, as shown in fig. 4.
And 2, displaying the road information. The roads are represented as edges of a directed graph. An edge is defined by an ordered pair of vertices in the directed graph.
And 2.1, constructing an edge set. All ordered vertex pairs in FIG. 2 are set as:
the above ordered vertex pairs constitute all the directed edges of the block road in fig. 2, for a total of 26 directed edges.
Preferably, such directed edges are represented in the computer as a matrix or linked list. The following takes a matrix representation as an example:
each element subscript in the matrix is an ordered pair of vertices to all combinations of all intersection vertex numbers in fig. 2.
For intersections that are directly connected, such as vertices 5 and 6, there is E5,6＝(5,6)，E6,5The other vertices are the same as (6, 5).
For intersections that do not directly communicate, such as vertices 5 and 7, there is E5,7＝E7,5∞, wherein ∞ indicates that intersections 5 and 7 do not directly communicate.
For diagonal elements in the matrix, the processing method is different from direct connection of intersections.
And 2.2, defining side information. For each element E in the ordered vertex pair set EjThe information includes road description related information such as number, distance, name, etc. In the whole map, the number of each edge is unique.
And 3, representing the roadside information. Roadside information refers to geographical location information that all users located on both sides of a road may go to. In this embodiment, the roadside information refers to building buildings on both sides of a road, such as schools, residential areas a and B, when the building is outdoors, the building buildings refer to shopping malls, toilets, and the like when the building is indoors.
Like road information, roadside information is also recorded in edges of the directed graph. The recording rule is: when walking along the road, all the roadside information located on both sides of the road is recorded in the edges corresponding to the current walking direction, and the roadside information located on the left side of the current walking direction is marked with a 'left side' sign, and the roadside information located on the right side of the road is marked with a 'right side' sign. For example: the roadside information corresponding to the directional edge formed by the ordered vertex pairs (5,6) is 'school' and 'market', the 'school' is on the left side of the directional edge, the market is on the right side of the directional edge, therefore, the 'school' information can be marked with a 'left side' mark in the directional edge, and the 'market' information can be marked with a 'right side' mark in the directional edge.
And 4, indicating the guide information. The guidance information is represented as an arrow, text, voice, or the like indicating the direction selection.
The navigation capability generation of the navigation map construction method comprises the following steps:
step 1, designing information searching capability. Given partial name information contained in any node or edge, optionally, a deep preferred digraph search algorithm is adopted to generate a list of vertex and edge information matched with the given information for the user to select and confirm.
And 2, designing path planning capacity. After the current position and the target position are given, optionally, a dixtra algorithm is adopted to calculate a shortest path scheme, and meanwhile, information such as the distance from each crossing to the target and the direction of the crossing can be calculated, so that information support is provided for a navigation guiding process.
And 3, designing navigation guiding capacity. And mapping the navigation map and the real space by using a virtual-real fusion technology. The general idea of navigation guidance is that map intersection information and intersection information physical carriers are mapped one by one, a user operates a navigation guidance function of the navigation map through terminal equipment in a navigation process, the intersection information is analyzed from the physical carriers, and the current position is determined by means of an information search method; meanwhile, a target position is set by using an information search method, and a shortest path scheme is obtained by using a path planning method; and loading corresponding guiding information according to the current intersection information in the shortest path and the next intersection information communicated with the current intersection, and finally realizing navigation guiding.
And 3.1, designing a physical carrier of the intersection information. In order to uniquely identify the identity information of each branch intersection and the direction information of the intersection communicated with the branch intersection relative to the current intersection, different physical carriers of intersection information are designed, wherein the information can be analyzed and acquired by a user by means of a navigation guide function of a navigation map which the user belongs to by operating a terminal device. In the embodiment, a two-dimensional code is adopted as a physical carrier of intersection information.
And 3.2, setting a physical carrier of the intersection information. Optionally, two-dimensional codes are correspondingly posted on the ground, a light pole or a wall and other places of each road close to the intersection, and attention needs to be paid to loss prevention protection.
And 3.3, verifying the validity of the intersection information physical carrier. In order to verify whether the position of the two-dimensional code at the actual intersection and the included direction information are correct or not, the guiding function of the navigation map APP is operated by using the terminal equipment, the information in the two-dimensional code is analyzed, and the information is checked with the actual intersection information.
In addition, techniques not described in detail in the present invention are well known in the art, and examples thereof include a graph search algorithm and a shortest path planning algorithm.
Finally, it should be noted that the above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications or equivalent substitutions may be made without departing from the scope of the present invention for constructing a navigation map by fusing map virtual information and physical information.
Claims (8)
1. A navigation map construction method based on virtual-real fusion is characterized by comprising map information expression capacity generation and navigation capacity generation, wherein the map information expression capacity generation comprises the following steps:
step 1, intersection information shows: branch intersections needing people to make direction selection are represented as vertexes in a directed graph, a vertex set is constructed, vertex information is defined, and node information is added in the vertex set to realize three-dimensional space information representation;
step 2, road information shows: the method comprises the following steps that roads are represented as edges of a directed graph, one edge is defined by an ordered vertex pair in the directed graph, an edge set is constructed, and edge information is defined;
and 3, the roadside information shows that: walking along the road, recording all the roadside information positioned at the two sides of the road in edges corresponding to the current walking direction, and marking a left-side mark on the roadside information positioned at the left side of the current traveling direction and marking a right-side mark on the right side of the road;
step 4, the guiding information shows: the guidance information is represented as information indicating direction selection;
the navigation capability generation comprises the following steps:
step 1, designing information searching capacity: giving any node or edge part name information, and automatically generating an information list matched with the given name information for the user to select and confirm;
step 2, designing path planning capacity: after the current position and the target position are given, a shortest path scheme is automatically calculated, information from each crossing to a destination can be calculated, and information support is provided for a navigation guiding process;
step 3, designing navigation guidance capacity: different physical carriers of intersection information are designed and placed at proper positions of each intersection, and the information can be analyzed and acquired by the navigation guiding function of the navigation map to which the intersection belongs.
2. The method for constructing a navigation map based on virtual-real fusion according to claim 1, wherein in step 1 of generating the map information expression capacity: and constructing a vertex set, and assuming that N intersections in the physical space need to be reflected on the navigation map, wherein the vertex set V (D) { V ═ V)1,V2,……VNThe vertices at each physical location in the map are represented; defining vertex information, for each vertex ViI-1, 2, … …, N contains information about the intersection description, and the number of each vertex is unique throughout the map.
3. The method for constructing a navigation map based on virtual-real fusion according to claim 1, wherein in step 1 of generating the map information expression capacity: when the three-dimensional space information of a multi-floor building is represented, the navigation among floors is space stereo navigation, and the navigation in each floor is two-dimensional plane navigation; the floors are communicated in a mode of stairs, elevators and the like, the elevator openings of all the floors, the elevator openings and the like can be treated as intersections, and node information is added in the vertex set.
4. The method for constructing a navigation map based on virtual-real fusion according to claim 1, wherein in step 2 of generating the map information expression capacity: construct edge set, assuming from vertex VpTo vertex VqCan pass through, then the vertex pairs (V) are orderedp,Vq) Uniquely defining an edge EjI.e. by
Ej＝(Vp,Vq) Where p, q ≠ 1,2, … …, N
Assuming a total of K connected ordered vertex pairs, j equals 1,2, … …, K. Assuming that a total of M roads need to be represented on the map, M ≦ K<N2(ii) a Defining side information, E for each sidejThe map contains information related to road description, and the number of each edge in the whole map is unique.
5. The method for constructing a navigation map based on virtual-real fusion according to claim 1, wherein in step 3 of generating the map information expression capacity: the roadside information includes outdoor and indoor geographical location information that all users located on both sides of a road may go to.
6. The method for constructing a navigation map based on virtual-real fusion according to claim 1, wherein in the step 4 of generating the map information expression capacity: the information indicating the direction selection includes an arrow, text, voice, and the like.
7. The method for constructing a navigation map based on virtual-real fusion according to claim 1, wherein in the step 2 of generating the navigation capability: the information from each intersection to the destination of the route comprises information such as distance, direction and the like.
8. The method for constructing a navigation map based on virtual-real fusion according to claim 1, wherein in the step 3 of generating the navigation capability: the physical carrier is a two-dimensional code.
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| CN117475115A (en) * | 2023-11-11 | 2024-01-30 | 华中师范大学 | Path guiding system in virtual-real fusion environment and working method thereof |
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| CN105547301B (en) * | 2016-02-25 | 2018-09-14 | 华南理工大学 | Indoor map construction method based on earth magnetism and device |
| CN109974739B (en) * | 2019-04-15 | 2020-11-10 | 西安交通大学 | Global navigation system based on high-precision map and navigation information generation method |
| CN110928974A (en) * | 2019-12-02 | 2020-03-27 | 成都信息工程大学 | Method for generating and fusing point based on Kml to simplify road network |
| CN111397618A (en) * | 2020-03-10 | 2020-07-10 | 南京翱翔信息物理融合创新研究院有限公司 | Walking navigation method based on directed labels |
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