基于室内路网的跨楼层路径规划技术的设计与实现

随着室内定位技术、BIM-GIS技术和室内地图研究的发展,室内位置服务需求日益旺盛。作为室内位置服务的关键技术之一,室内路径规划成为研究与应用热点。但是早先的路径规划技术往往基于单层网络拓扑模型而设计,由于模型缺少楼层之间的连通信息,而不能实现跨楼层导航算法分析;而后随着跨楼层导航算法的出现,跨楼层的路径规划、导航及定位得以实现,但这些跨楼层导航算法基于楼层连接通达规则,往往需要多次遍历楼层信息,运算效率低下。针对这一问题,本文利用电梯、扶梯、楼梯等楼层间连接信息,设计、实现了基于楼层连接表的室内多层路网分析模型,并采用逐层分析的方法和多次网络分析,实现室内跨楼层的带有多个途经点路径分析。整个技术框架包括跨楼层路网生成模块、位置点接收模块、网络分析模块、循环控制模块。算法方面,本研究采用双向遍历的A*最短路径分析算法,通过网络路径分析,最终将满足约束条件的规划路径显示在移动设备上,帮助用户实现跨楼层、多途经点的定位与路径导航。

Design and Implementation of Cross-floor Route Planning Technology Based on Indoor Road Network

With the development of indoor positioning technology, BIM-GIS integration technology and indoor mapping technology, the demand for indoor location service is increasing. As the key technology of indoor location service, indoor route planning technology becomes an important issue. Previous route planning technologies are designed based on single-layer network topology model and cannot realize cross-floor navigation, since the topology model lacks the connectivity information among floors. Cross-floor navigation algorithms are appeared and used for cross-floor route planning. But these algorithms are inefficient, since they are designed based on the access rules of the floor connections and need to traverse the floor information repeatedly. In view of these problems, a cross-floor indoor road network model based on indoor maps is designed and the connection tables generate from the interior connection information (i.e., elevators, escalators and staircases) of the building. The model is used for layer by layer analysis and multi-network analysis to realize the cross-floor route planning with multiple path points. The whole technical framework consists of the cross-floor road network generation module, the position point receiving module, the network analysis module and cycle control module. In the framework, the bidirectional traversal A* algorithm is used as the network analysis algorithm, and the multiple analysis are triggered if setting path point(s). Through network analysis and cycle control, the planning path satisfying the constraints is displayed on the mobile device, and realized the cross-floor positioning and navigation with multiple path points.