{"id":230,"date":"2015-08-11T16:32:14","date_gmt":"2015-08-11T08:32:14","guid":{"rendered":"https:\/\/www.cognav.net\/?p=230"},"modified":"2015-08-11T16:37:48","modified_gmt":"2015-08-11T08:37:48","slug":"%e9%9d%a2%e5%90%91%e8%b7%af%e5%be%84%e6%9f%a5%e8%af%a2%e7%9a%84%e5%ae%a4%e5%86%85%e8%af%ad%e4%b9%89%e5%bb%ba%e6%a8%a1","status":"publish","type":"post","link":"https:\/\/braininspirednavigation.com\/?p=230","title":{"rendered":"\u9762\u5411\u8def\u5f84\u67e5\u8be2\u7684\u5ba4\u5185\u8bed\u4e49\u5efa\u6a21"},"content":{"rendered":"

\n\t\u9762\u5411\u8def\u5f84\u67e5\u8be2\u7684\u5ba4\u5185\u8bed\u4e49\u5efa\u6a21<\/span><\/span>\n<\/p>\n

\n\tIndoor Semantic Modeling to Support Path-Finding<\/span><\/span>\n<\/p>\n

\n\tSisi Zlatanova\u3001Liu Liu \u7b49\u7f16\u5199<\/span><\/span>\n<\/p>\n

\n\tWalter Yu \u8bd1<\/span><\/span>\n<\/p>\n

\n\t \n<\/p>\n

\n\t1\u3001\u5ba4\u5185\u5bfc\u822a<\/strong><\/span><\/span>\n<\/p>\n

\n\t      \u5bfc\u822a\u4e0e\u4f4d\u7f6e\u670d\u52a1\u662fGIS\u9886\u57df\u53d1\u5c55\u5f88\u5feb\u7684\u5e94\u7528\u4e4b\u4e00\u3002\u76ee\u524d\uff0c\u5ba4\u5185\u5bfc\u822a\u6216\u5ba4\u5185\u5916\u65e0\u7f1d\u5bfc\u822a\u5f97\u5230\u4eba\u4eec\u7684\u5e7f\u6cdb\u5173\u6ce8\u3002\u7531\u4e8e\u4eba\u4eec\u7edd\u5927\u90e8\u5206\u65f6\u95f4\u90fd\u5904\u5728\u5ba4\u5185\u7a7a\u95f4\uff08\u5982\u56fe1\u6240\u793a\uff09\uff0c\u5f53\u4eba\u4eec\u5728\u590d\u6742\u7684\u5927\u578b\u5ba4\u5185\u73af\u5883\u65f6\u5f80\u5f80\u9700\u8981\u7c7b\u4f3c\u5ba4\u5916\u5bfc\u822a\u7684\u8bb8\u591a\u5e94\u7528\u670d\u52a1\u3002<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\u56fe1 \u590d\u6742\u5ba4\u5185\u7a7a\u95f4\u793a\u4f8b<\/span><\/span>\n<\/p>\n

\n\t2\u3001\u5b58\u5728\u95ee\u9898<\/strong><\/span><\/span>\n<\/p>\n

\n\t      <\/span>\u5728\u5ba4\u5185\u6570\u636e\u83b7\u53d6\u3001\u5ba4\u5185\u5efa\u6a21\u548c\u7528\u6237\u4e2a\u6027\u5316\u8def\u5f84\u89c4\u5212\u7b49\u65b9\u6cd5\u5b58\u5728\u8bb8\u591a\u6311\u6218\u3002\u867d\u7136\u5df2\u7ecf\u6709\u4e00\u4e9b\u4e0d\u540c\u7c7b\u578b\u76843D\u51e0\u4f55\u5efa\u7b51\u6a21\u578b\u4ee5\u53ca\u9762\u5411\u4e0d\u540c\u76ee\u7684\u7684\u8bed\u4e49\u6a21\u578b\uff08\u5982CityGML\u3001BIM\uff09\uff0c\u4f46\u5b83\u4eec\u7f3a\u4e4f\u652f\u6301\u5927\u91cf\u4e0d\u540c\u7c7b\u578b\u7528\u6237\u5ba4\u5185\u5bfc\u822a\u670d\u52a1\u7684\u6709\u6548\u4fe1\u606f\u3002\u6b64\u5916\uff0c\u7531\u4e8e\u5bfc\u822a\u7f51\u7edc\u548c\u5bfc\u822a\u8bed\u4e49\u7684\u5dee\u5f02\uff0c\u5bfc\u81f4\u6709\u4e9b\u60c5\u51b5\u4e0b\u5ba4\u5916\u8def\u5f84\u89c4\u5212\u65b9\u6cd5\u96be\u4ee5\u5b8c\u5168\u5e94\u7528\u5728\u5ba4\u5185\u73af\u5883\u4e2d\u3002<\/span><\/span>\n<\/p>\n

\n\t3\u3001\u5ba4\u5185\u8bed\u4e49\u5efa\u6a21\u7814\u7a76<\/strong><\/span><\/span>\n<\/p>\n

\n\t      <\/span>Liu Liu \u535a\u58eb\u548cSisi Zlatanova\u6559\u6388\u7814\u7a76\u4e86\u9762\u5411\u5ba4\u5185\u5bfc\u822a\u7684\u8bed\u4e49\u5efa\u6a21\uff0c\u7279\u522b\u662f\u9488\u5bf9\u590d\u6742\u5ba4\u5185\u73af\u5883\u3002\u4ed6\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u8bed\u4e49\u5efa\u6a21\u65b9\u6cd5\uff0c\u53eb\u505aIndoor Navigation Space Model \uff08INSM\uff09\uff0c\u4e0e\u4efb\u610f\u6307\u5b9a\u7c7b\u578b\u7684\u5efa\u7b51\u7269\u5212\u5206\u5bc6\u5207\u76f8\u5173\uff0c\u5982\u56fe2\u6240\u793a\u3002\u5b83\u4e0d\u4ec5\u5b9a\u4e49\u4e86\u652f\u6301\u5bfc\u822a\u7684\u6240\u6709\u9700\u8981\u7684\u5efa\u7b51\u8981\u7d20\uff0c\u800c\u4e14\u4e0e\u5efa\u7b51\u7ec4\u4ef6\uff08\u5982\u623f\u95f4\u3001\u95e8\u3001\u697c\u68af\u706f\uff09\u7684\u51e0\u4f55\u8fdb\u884c\u5173\u8054\u3002<\/span><\/span>\n<\/p>\n

\n\t      <\/span>INSM\u7684\u4e00\u4e2a\u4f18\u70b9\u4e4b\u4e00\u5c31\u662f\u80fd\u591f\u7528\u4e8e\u51e0\u4e4e\u6240\u6709\u7c7b\u522b\u7684\u51e0\u4f55\u6a21\u578b\u3002INSM\u7684\u57fa\u672c\u8bed\u4e49\u5305\u62ecNavigable Space Cell(\u5982\u623f\u95f4\u6216\u7a7a\u95f4)\uff0c\u7b80\u79f0NSC\uff0cOpening\uff08\u5982\u95e8\u6216\u7a97\u6237\uff09\uff0cObstacles\uff08\u5982\u684c\u5b50\u3001\u62a4\u680f\u3001\u5176\u4ed6\u5bb6\u5177\u7b49\uff09\u3002NSC\u7684\u91cd\u8981\u6982\u5ff5\u5305\u62ec\uff1a1)\u652f\u6301\u6c34\u5e73\u79fb\u52a8\u7684\u6c34\u5e73\u5355\u5143\uff08Horizontal Unit\uff09\uff0c\u5305\u62ec\u6c34\u5e73\u8fde\u63a5\u7a7a\u95f4\uff08\u5982\u8d70\u5eca\uff09\u548cEnd\uff08\u4ec5\u4ec5\u8fde\u63a5\u4e86\u4e00\u4e2a\u5176\u4ed6\u7684\u623f\u95f4\uff09\uff1b2\uff09\u652f\u6301\u4e0a\u4e0b\u79fb\u52a8\u7684\u5782\u76f4\u5355\u5143\uff08Vertical Unit\uff09\uff0c\u5982\u697c\u68af\u6216\u7535\u68af\uff1b3\uff09\u5782\u76f4\u8fde\u63a5\u7a7a\u95f4\uff08Vertical Connector\uff09\uff0c\u5b83\u662f\u4e00\u79cd\u7279\u6b8a\u7684\u6c34\u5e73\u5355\u5143\uff0c\u8868\u8fbe\u4e86\u5176\u4ed6\u6c34\u5e73\u5355\u5143\u548c\u5782\u76f4\u5355\u5143\u3002\u57fa\u4e8eINSM\u7684\u8bed\u4e49\uff0c\u5c31\u53ef\u4ee5\u63d0\u53d6\u51fa\u8def\u5f84\u6a21\u5f0f\uff08path pattern\uff09\uff0c\u5e76\u5229\u7528\u8def\u5f84\u6a21\u5f0f\u652f\u6301\u8def\u5f84\u67e5\u8be2\u3002<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\u56fe2 Indoor Navigation Space Model \uff08INSM\uff09<\/span><\/span>\n<\/p>\n

\n\t      <\/span>\u4ed6\u4eec\u4e5f\u63d0\u4f9b\u4e86\u4e00\u79cd\u4ece\u4e00\u4e9b\u8bed\u4e49\u6570\u636e\u683c\u5f0f\uff08\u5982CityGML LoD4 \u6216\u8005BIM IFC\uff09\u8fdb\u884c\u8f6c\u6362\u7684\u65b9\u5f0f\u3002INSM\u4e2d\u7684\u8bed\u4e49\u4e0d\u662f\u8bb8\u591a\u73b0\u6709\u7684\u6570\u636e\u683c\u5f0f\u4e2d\u6240\u56fa\u6709\u7684\u8981\u7d20\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u5c06CityGML LoD4\u548cBIM IFC\u4e24\u79cd\u7c7b\u578b\u7684\u8bed\u4e49\u6570\u636e\u4f5c\u4e3a\u8f93\u5165\uff0c\u7528INSM\u7684\u8bed\u4e49\u4e30\u5bcc\u8fd9\u4e9b\u6570\u636e\u3002\u8fd9\u79cd\u8f6c\u6362\u65b9\u5f0f\u4e5f\u652f\u6301\u5305\u542b\u6709\u6240\u9700\u5206\u7c7b\u4fe1\u606f\uff08\u5982\u697c\u68af\u548c\u7535\u68af\uff09\u7684\u6570\u5b57\u697c\u5c42\u5e73\u9762\u56fe\u3002<\/span><\/span>\n<\/p>\n

\n\t      <\/span>\u4eceCityGML\u6570\u636e\u4e2d\u5bfc\u51fa\u8fde\u901a\u56fe\uff08Connectivity Graph\uff09\uff0c\u5982\u56fe3\u30014\u6240\u793a\u3002<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\u56fe3 \u751f\u6210\u903b\u8f91\u6a21\u578b<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\u56fe4 \u4eceFloor Plans\u751f\u6210\u5bfc\u822a\u6a21\u578b<\/span><\/span>\n<\/p>\n

\n\t      <\/span>\u4eceIFC\u6a21\u578b\u4e2d\u5bfc\u51fa\u8fde\u901a\u56fe\uff08Connectivity Graph\uff09\uff0c\u5982\u56fe5\u6240\u793a\u3002<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\u56fe5 \u4eceIFC\u6a21\u578b\u4e2d\u5bfc\u51fa\u8fde\u901a\u56fe<\/span><\/span>\n<\/p>\n

\n\t4\u3001\u4e24\u5c42\u5bfc\u822a\u65b9\u6cd5\u7814\u7a76\uff08Two level approach for navigation\uff09<\/strong><\/span><\/span>\n<\/p>\n

\n\t      <\/span>\u5728INSM\u57fa\u7840\u4e0a\uff0c\u8bbe\u8ba1\u5b9e\u73b0\u4e86\u4e00\u79cd\u4e24\u5c42\u5ba4\u5185\u8def\u5f84\u89c4\u5212\u65b9\u6cd5\u3002\u5728\u7c97\u7565\u5c42\uff08Coarse Level\uff09\uff0c\u4eceINSM\u4e2d\u5bfc\u51fa\u8fde\u901a\u56fe\uff0c\u5373\u903b\u8f91\u8def\u5f84\uff1b\u5728\u8be6\u7ec6\u5c42\uff08Detailed Level\uff09\uff0c\u8ba1\u7b97\u51fa\u6ca1\u6709\u969c\u788d\u7269\u623f\u95f4\u7684\u8be6\u7ec6\u51e0\u4f55\u8def\u5f84\u3002\u901a\u8fc7\u7ed3\u5408\u5ba4\u5185\u8bed\u4e49\u5efa\u6a21\u548c\u4e24\u5c42\u7b56\u7565\uff0c\u80fd\u591f\u751f\u6210\u7528\u6237\u4e2a\u6027\u5316\u5ba4\u5185\u8def\u5f84\u3002\u5728\u591a\u8def\u5f84\u9009\u62e9\u65f6\u7528\u6237\u5c5e\u6027\u548c\u504f\u597d\u65f6\u91cd\u8981\u7684\u4f9d\u636e\u3002<\/span><\/span>\n<\/p>\n

\n\t      <\/span>\u7c97\u7565\u5c42\u7684\u8def\u5f84\uff0c\u5982\u56fe6\u6240\u793a\u3002<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\u56fe6 \u7c97\u7565\u5c42\u8def\u5f84<\/span><\/span>\n<\/p>\n

\n\t      <\/span>\u8be6\u7ec6\u5c42\u8def\u5f84\uff0c\u5982\u56fe7\u6240\u793a\u3002<\/span><\/span>\n<\/p>\n

\n\t\"\"<\/span><\/span>\n<\/p>\n

\n\t\u56fe7 \u8be6\u7ec6\u5c42\u8def\u5f84<\/span><\/span>\n<\/p>\n

\n\t5\u3001\u53c2\u8003\u8d44\u6599<\/strong><\/span><\/span>\n<\/p>\n

\n\t[1] https:\/\/3d.bk.tudelft.nl\/projects\/indoor\/<\/a><\/span><\/span>\n<\/p>\n

\n\t[2] Multi-level path planning method<\/strong>. Qing Xiong, Qing Zhu, Sisi Zlatanova, Zhiqiang Du, Yeting Zhang and Li Yang Zeng. In Takashi Fuse and Masafumi Nakagawa (eds.), Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-4\/W5, 2015<\/em>, ISPRS Archives, ISPRS, 2015, pp. 19–23. <\/span><\/span><\/span>\n<\/p>\n

\n\t[3] Leveraging spatial model to improve indoor tracking<\/strong>. Liu Liu, Weilin Xu, Wouter Penard and Sisi Zlatanova. In Takashi Fuse and Masafumi Nakagawa (eds.), Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-4\/W5, 2015<\/em>, ISPRS Archives, ISPRS, 2015, pp. 75–80. <\/span><\/span><\/span>\n<\/p>\n

\n\t[4] A bim-oriented model for supporting indoor navigation requirements<\/strong>. Umit Isikdag, Sisi Zlatanova and Jason Underwood. Computers, Environment and Urban Systems 4(9), 2013, pp. 112–123.<\/span><\/span>\n<\/p>\n

\n\t[5] A two-level path-finding strategy for indoor navigation<\/strong>. Liu Liu and Sisi Zlatanova. Intelligent Systems for Crisis Management, Lecture Notes in Geoinformation and Cartography 2013<\/em>, Springer Berlin Heidelberg, 2013, pp. 31–42. <\/span><\/span><\/span>\n<\/p>\n

\n\t[6] Modelling 3D topographic space against indoor navigation requirements<\/strong>. Gavin Brown, Claus Nagel, Sisi Zlatanova and Thomas Kolbe H.. In Jacynthe Pouliot, Sylvie Daniel and Frédéric Hubert (eds.), Progress and New Trends in 3D Geoinformation Sciences<\/em>, Lecture Notes in Geoinformation and Cartography, Springer, Berlin Heidelberg, 2013, pp. 1–22. <\/span><\/span><\/span>\n<\/p>\n

\n\t[7] Improved geometric network model (ignm): a novel approach for deriving connectivity graphs for indoor navigation<\/strong>. Filippo Mortari and Sisi Zlatanova. ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci, 2014, pp. 45–51.<\/span><\/span>\n<\/p>\n

\n\t[8] Indoor space subdivision for indoor navigation<\/strong>. Marija Kr\u016bminait\u0117 and Sisi Zlatanova. Proceedings of the Sixth ACM SIGSPATIAL International Workshop on Indoor Spatial Awareness<\/em>, ISA '14, ACM, New York, NY, USA, 2014, pp. 25–31. <\/span><\/span><\/span>\n<\/p>\n

\n\t[9] Problems in indoor mapping and modelling<\/strong>. Sisi Zlatanova, G. Sithole, M. Nakagawa and Q. Zhu. ISPRS Acquisition and Modelling of Indoor and Enclosed Environments<\/em>, 2013, pp. 63–68. <\/span><\/span><\/span>\n<\/p>\n

\n\t[10] A conceptual framework of space subdivision for indoor navigation<\/strong>. Sisi Zlatanova, Liu Liu and G. Sithole. Proceeding of ISA 2013 Proceedings of the Fifth ACM SIGSPATIAL International Workshop on Indoor Spatial Awareness<\/em>, 2013, pp. 37–41. <\/span><\/span><\/span>\n<\/p>\n

\n\t[11] A 3D model based indoor navigation system for hubei provincial museum<\/strong>. W. Xu, M. Kruminaite, B. Onrust, H. Liu, Q. Xiong and Sisi Zlatanova. ISPRS Acquisition and Modelling of Indoor and Enclosed Environments<\/em>, 2013, pp. 51–55. <\/span><\/span><\/span>\n<\/p>\n

\n\t[12] Multi-dimensional indoor location information model<\/strong>. Q. Xiong, Q. Zhu, Sisi Zlatanova, L. Huang, Y. Zhou and Z. Du. ISPRS Acquisition and Modelling of Indoor and Enclosed Environments<\/em>, 2013, pp. 45–49. <\/span><\/span><\/span>\n<\/p>\n

\n\t[13] Generating navigation models from existing building data<\/strong>. Liu Liu and Sisi Zlatanova. Acquisition and Modelling of Indoor and Enclosed Environments 2013, ISPRS Archives Volume XL-4\/W4<\/em>, 2013, pp. 19–25. <\/span><\/span><\/span>\n<\/p>\n

\n\t[14] Space subdivision for indoor applications<\/strong>. Sisi Zlatanova and Liu Liu. Technical report, 2014. <\/span><\/span><\/span>\n<\/p>\n

\n\t <\/p>\n","protected":false},"excerpt":{"rendered":"

\u9762\u5411\u8def\u5f84\u67e5\u8be2\u7684\u5ba4\u5185\u8bed\u4e49\u5efa\u6a21 Indoor Semantic Modeling to Support Path-Finding Sisi Zlatanova\u3001Liu Liu \u7b49\u7f16\u5199 Walter Yu \u8bd1   1\u3001\u5ba4\u5185\u5bfc\u822a       \u5bfc\u822a\u4e0e\u4f4d\u7f6e\u670d\u52a1\u662fGIS\u9886\u57df\u53d1\u5c55\u5f88\u5feb\u7684\u5e94\u7528\u4e4b\u4e00\u3002\u76ee\u524d\uff0c\u5ba4\u5185\u5bfc\u822a\u6216\u5ba4\u5185\u5916\u65e0\u7f1d\u5bfc\u822a\u5f97\u5230\u4eba\u4eec\u7684\u5e7f\u6cdb\u5173\u6ce8\u3002\u7531\u4e8e\u4eba\u4eec\u7edd\u5927\u90e8\u5206\u65f6\u95f4\u90fd\u5904\u5728\u5ba4\u5185\u7a7a\u95f4\uff08\u5982\u56fe1\u6240\u793a\uff09\uff0c\u5f53\u4eba\u4eec\u5728\u590d\u6742\u7684\u5927\u578b\u5ba4\u5185\u73af\u5883\u65f6\u5f80\u5f80\u9700\u8981\u7c7b\u4f3c\u5ba4\u5916\u5bfc\u822a\u7684\u8bb8\u591a\u5e94\u7528\u670d\u52a1\u3002 \u56fe1 \u590d\u6742\u5ba4\u5185\u7a7a\u95f4\u793a\u4f8b 2\u3001\u5b58\u5728\u95ee\u9898       \u5728\u5ba4\u5185\u6570\u636e\u83b7\u53d6\u3001\u5ba4\u5185\u5efa\u6a21\u548c\u7528\u6237\u4e2a\u6027\u5316\u8def\u5f84\u89c4\u5212\u7b49\u65b9\u6cd5\u5b58\u5728\u8bb8\u591a\u6311\u6218\u3002\u867d\u7136\u5df2\u7ecf\u6709\u4e00\u4e9b\u4e0d\u540c\u7c7b\u578b\u76843D\u51e0\u4f55\u5efa\u7b51\u6a21\u578b\u4ee5\u53ca\u9762\u5411\u4e0d\u540c\u76ee\u7684\u7684\u8bed\u4e49\u6a21\u578b\uff08\u5982CityGML\u3001BIM\uff09\uff0c\u4f46\u5b83\u4eec\u7f3a\u4e4f\u652f\u6301\u5927\u91cf\u4e0d\u540c\u7c7b\u578b\u7528\u6237\u5ba4\u5185\u5bfc\u822a\u670d\u52a1\u7684\u6709\u6548\u4fe1\u606f\u3002\u6b64\u5916\uff0c\u7531\u4e8e\u5bfc\u822a\u7f51\u7edc\u548c\u5bfc\u822a\u8bed\u4e49\u7684\u5dee\u5f02\uff0c\u5bfc\u81f4\u6709\u4e9b\u60c5\u51b5\u4e0b\u5ba4\u5916\u8def\u5f84\u89c4\u5212\u65b9\u6cd5\u96be\u4ee5\u5b8c\u5168\u5e94\u7528\u5728\u5ba4\u5185\u73af\u5883\u4e2d\u3002 3\u3001\u5ba4\u5185\u8bed\u4e49\u5efa\u6a21\u7814\u7a76       Liu Liu \u535a\u58eb\u548cSisi Zlatanova\u6559\u6388\u7814\u7a76\u4e86\u9762\u5411\u5ba4\u5185\u5bfc\u822a\u7684\u8bed\u4e49\u5efa\u6a21\uff0c\u7279\u522b\u662f\u9488\u5bf9\u590d\u6742\u5ba4\u5185\u73af\u5883\u3002\u4ed6\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u8bed\u4e49\u5efa\u6a21\u65b9\u6cd5\uff0c\u53eb\u505aIndoor Navigation Space Model \uff08INSM\uff09\uff0c\u4e0e\u4efb\u610f\u6307\u5b9a\u7c7b\u578b\u7684\u5efa\u7b51\u7269\u5212\u5206\u5bc6\u5207\u76f8\u5173\uff0c\u5982\u56fe2\u6240\u793a\u3002\u5b83\u4e0d\u4ec5\u5b9a\u4e49\u4e86\u652f\u6301\u5bfc\u822a\u7684\u6240\u6709\u9700\u8981\u7684\u5efa\u7b51\u8981\u7d20\uff0c\u800c\u4e14\u4e0e\u5efa\u7b51\u7ec4\u4ef6\uff08\u5982\u623f\u95f4\u3001\u95e8\u3001\u697c\u68af\u706f\uff09\u7684\u51e0\u4f55\u8fdb\u884c\u5173\u8054\u3002       INSM\u7684\u4e00\u4e2a\u4f18\u70b9\u4e4b\u4e00\u5c31\u662f\u80fd\u591f\u7528\u4e8e\u51e0\u4e4e\u6240\u6709\u7c7b\u522b\u7684\u51e0\u4f55\u6a21\u578b\u3002INSM\u7684\u57fa\u672c\u8bed\u4e49\u5305\u62ecNavigable Space Cell(\u5982\u623f\u95f4\u6216\u7a7a\u95f4)\uff0c\u7b80\u79f0NSC\uff0cOpening\uff08\u5982\u95e8\u6216\u7a97\u6237\uff09\uff0cObstacles\uff08\u5982\u684c\u5b50\u3001\u62a4\u680f\u3001\u5176\u4ed6\u5bb6\u5177\u7b49\uff09\u3002NSC\u7684\u91cd\u8981\u6982\u5ff5\u5305\u62ec\uff1a1)\u652f\u6301\u6c34\u5e73\u79fb\u52a8\u7684\u6c34\u5e73\u5355\u5143\uff08Horizontal Unit\uff09\uff0c\u5305\u62ec\u6c34\u5e73\u8fde\u63a5\u7a7a\u95f4\uff08\u5982\u8d70\u5eca\uff09\u548cEnd\uff08\u4ec5\u4ec5\u8fde\u63a5\u4e86\u4e00\u4e2a\u5176\u4ed6\u7684\u623f\u95f4\uff09\uff1b2\uff09\u652f\u6301\u4e0a\u4e0b\u79fb\u52a8\u7684\u5782\u76f4\u5355\u5143\uff08Vertical Unit\uff09\uff0c\u5982\u697c\u68af\u6216\u7535\u68af\uff1b3\uff09\u5782\u76f4\u8fde\u63a5\u7a7a\u95f4\uff08Vertical Connector\uff09\uff0c\u5b83\u662f\u4e00\u79cd\u7279\u6b8a\u7684\u6c34\u5e73\u5355\u5143\uff0c\u8868\u8fbe\u4e86\u5176\u4ed6\u6c34\u5e73\u5355\u5143\u548c\u5782\u76f4\u5355\u5143\u3002\u57fa\u4e8eINSM\u7684\u8bed\u4e49\uff0c\u5c31\u53ef\u4ee5\u63d0\u53d6\u51fa\u8def\u5f84\u6a21\u5f0f\uff08path pattern\uff09\uff0c\u5e76\u5229\u7528\u8def\u5f84\u6a21\u5f0f\u652f\u6301\u8def\u5f84\u67e5\u8be2\u3002 \u56fe2 Indoor Navigation Space Model \uff08INSM\uff09       \u4ed6\u4eec\u4e5f\u63d0\u4f9b\u4e86\u4e00\u79cd\u4ece\u4e00\u4e9b\u8bed\u4e49\u6570\u636e\u683c\u5f0f\uff08\u5982CityGML 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