A dynamic indoor navigation update method for underground station environment

Abstract

The present invention provides a dynamic indoor navigation update method for underground station environments, which relates to the field of path planning technology, including: spatial modeling of the indoor space of the underground station based on geographic information system technology to generate an initial three-dimensional map; collecting and obtaining multiple navigation point coordinates of multiple preset navigation points, fitting them to the initial three-dimensional map, and obtaining a target three-dimensional map; using preset starting points and preset target points as optimization constraints and the shortest path as the optimization goal, performing path optimization analysis in the target three-dimensional map to generate an optimal path trajectory; and generating a navigation plan to guide the target user along the path. The present invention solves the technical problem that in underground environments, traditional GPS signals cannot penetrate buildings and strata, resulting in the positioning system being unable to obtain the user's accurate location, and thus being unable to provide path guidance services.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and in particular to a dynamic indoor navigation updating method for an underground station building environment. Background Art

[0002] Due to the closed indoor environment, 4G network signals may be poor or unavailable. Traditional GPS signals cannot penetrate buildings and ground, preventing the positioning system from accurately determining the user's location. This prevents navigation systems from functioning properly in underground stations. Even with the use of auxiliary positioning technologies such as Bluetooth and Wi-Fi, existing technologies still suffer from insufficient positioning accuracy in complex building structures, resulting in inaccurate navigation paths. Furthermore, some existing indoor navigation systems rely primarily on two-dimensional maps to guide users. However, in the multi-layered and complex environments of underground stations, two-dimensional maps struggle to provide sufficient spatial information and are unable to effectively guide users between floors and corridors. Consequently, in practice, users lack accurate, fast, and personalized navigation services. Summary of the Invention

[0003] This application provides a dynamic indoor navigation update method for underground station environments, aiming to solve the technical problem that in underground environments, traditional GPS signals cannot penetrate buildings and strata, resulting in the positioning system being unable to obtain the user's accurate location, and thus unable to provide path guidance services.

[0004] The present application discloses a dynamic indoor navigation update method for an underground station building environment, the method comprising: spatially modeling the indoor space of the underground station building based on geographic information system technology to generate an initial three-dimensional map of the underground station building; collecting and obtaining multiple navigation point coordinates of multiple preset navigation points, and fitting the multiple navigation point coordinates to the initial three-dimensional map according to the point distribution of the multiple preset navigation points to obtain a target three-dimensional map, wherein the target three-dimensional map has a global coordinate system; determining a preset starting point and a preset target point, using the preset starting point and the preset target point as optimization constraints and the shortest path as the optimization goal, performing path optimization analysis in the target three-dimensional map to generate an optimal path trajectory; performing coordinate conversion on the optimal path trajectory based on the global coordinate system to generate a navigation plan, and guiding the target user's path based on the navigation plan.

[0005] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0006] Based on geographic information system technology, the indoor space of the underground station is accurately 3D modeled and an initial 3D map is generated, ensuring a comprehensive digital expression of the underground station space, accurately reflecting the physical layout and structure of the station, and laying the foundation for subsequent path planning and navigation; the coordinates of multiple preset navigation points are collected and fitted into the initial 3D map to generate a target 3D map, which can flexibly adapt to actual navigation needs and use multiple navigation points for path planning, achieving a flexible and accurate positioning effect, which provides highly accurate spatial information for dynamic navigation, allowing the user's path planning to be adjusted in real time based on actual scene changes; path optimization analysis is performed to generate a path from the starting point to the target point The optimal path of the system is determined by the shortest path as the optimization goal, and the optimal route is automatically calculated through the algorithm, which effectively solves the path selection problem in complex indoor environments. Especially in complex environments such as underground station buildings, it can provide users with the shortest path solution, greatly improving the efficiency and accuracy of navigation. The coordinate transformation of the optimal path trajectory is performed, and the path information is converted into an actual navigation solution. The user is guided to select the path according to the solution, ensuring the uniformity of the navigation path in the global coordinate system, so that the navigation solution can seamlessly connect the changes between each node, and ultimately provide users with accurate path guidance. This effectively avoids the deviation problem in the traditional navigation system and improves the overall reliability of the navigation system.

[0007] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 The present invention provides a flow chart of a dynamic indoor navigation update method for an underground station environment.

[0009] Figure 2 An embodiment of the present application provides a schematic diagram of the process of generating an initial three-dimensional map in a dynamic indoor navigation update method for an underground station environment. DETAILED DESCRIPTION

[0010] The embodiment of the present application solves the technical problem that in underground environments, traditional GPS signals cannot penetrate buildings and strata, resulting in the positioning system being unable to obtain the user's accurate location, and thus unable to provide path guidance services, by providing a dynamic indoor navigation update method for underground station environments.

[0011] After introducing the basic principles of the present application, various non-limiting implementation methods of the present application will be specifically introduced in conjunction with the drawings in the specification.

[0012] like Figure 1 As shown, an embodiment of the present application provides a dynamic indoor navigation update method for an underground station environment, the method comprising:

[0013] Based on geographic information system technology, spatial modeling is performed on the indoor space of the underground station building to generate an initial three-dimensional map of the underground station building.

[0014] Based on geographic information system (GIS) technology, precise data collection is carried out on the indoor space of the underground station building to obtain the structure, layout and related physical information of the internal space of the station building. Data collection methods include lidar, image acquisition, total station measurement and CAD drawing acquisition. After the data collection is completed, the collected data is processed and integrated to generate an initial three-dimensional map of the underground station building. This initial three-dimensional map can accurately reflect the spatial layout, structure and internal facility distribution of the underground station building, providing a reliable foundation for subsequent path optimization and navigation.

[0015] Furthermore, if Figure 2 As shown, the method of performing spatial modeling on the indoor space of the underground station building based on geographic information system technology to generate an initial three-dimensional map of the underground station building includes:

[0016] Based on geographic information system technology, data of the indoor space of the underground station building is collected to obtain indoor space information; three-dimensional modeling is performed based on the indoor space information to obtain an indoor space twin model; indoor space layout features are extracted based on the indoor space twin model, and the initial three-dimensional map is established according to the indoor space layout features.

[0017] Data collection for the indoor space of underground station buildings is conducted based on geographic information system technology. For example, laser radar (LiDAR) technology is used to scan spatial structures with laser pulses, generating three-dimensional point cloud data within the building. LiDAR can accurately capture the position and shape of walls, ceilings, floors, columns, and other obstacles. The large amount of three-dimensional point data generated represents the three-dimensional coordinates and position of each sampling point within the space. A total station is used to perform high-precision measurements of key locations within the building, obtaining precise coordinates within the building, particularly turning points, intersections, stairways, elevators, and other locations within the building. High-definition cameras are used for image capture, recording detailed visual information about each area within the building. This image data can be combined with the LiDAR point cloud data to facilitate modeling and texture mapping. The collected data is then integrated to obtain information about the indoor space.

[0018] Integrate data collected by different devices and technologies, such as combining lidar point cloud data with image data, to ensure that the three-dimensional model can truly reflect the spatial structure and visual characteristics of the station building. Generate a preliminary three-dimensional mesh model through point cloud data. The meshing process converts point cloud data into a surface model to form the surface structure of the building. Based on the collected image data, apply texture to the three-dimensional model surface so that the model not only has geometric features, but also can display the visual details of the walls, floors, and facilities. The final generated three-dimensional model is an indoor space twin model, which is the digital twin of the station building. This model not only reflects the physical structure of the station building, but also includes the complete spatial layout of internal equipment, facilities, channels, nodes, etc.

[0019] The indoor space twin model is divided into functional areas, important points are marked, and channels are extracted as spatial layout features. Specifically, based on the actual use and structure of the space, the layout of functional areas is extracted from the twin model. For example, the locations and boundaries of key areas such as waiting areas, ticket gates, platforms, elevators, stairs, and equipment rooms are extracted; the entrances and exits, passages, stairs, elevators, and other points that have a key impact on path planning in the underground station building are marked in the twin model to ensure that the navigation system can identify these nodes; user passage paths such as passages and corridors in the station building are extracted to ensure that the map contains routes that users can actually travel.

[0020] The spatial layout features such as functional areas, nodes and channel information in the twin model are mapped to the initial three-dimensional map, thereby simplifying the complex three-dimensional model into a map form, focusing on information related to navigation and path planning, and establishing an initial three-dimensional map based on the extracted layout features. Each node, path and area in the map has clear coordinates and boundary information, which can provide data support for subsequent navigation.

[0021] Collect and obtain multiple navigation point coordinates of multiple preset navigation points, and fit the multiple navigation point coordinates to the initial three-dimensional map according to the point distribution of the multiple preset navigation points to obtain a target three-dimensional map, wherein the target three-dimensional map has a global coordinate system.

[0022] Navigation points are important positioning nodes in underground stations, providing a reference for path planning and navigation. Based on the actual structure and usage requirements of the underground station, a set of key navigation points, including entrances and exits, stairways, elevators, corridor turning points, and intersections, are preset, and the precise coordinate data of these preset navigation points in the indoor space is obtained. The collected navigation point coordinates are matched with the initial 3D map based on their actual spatial distribution, so that the points are accurately mapped to the initial 3D map. The target 3D map generated after fitting is a further optimized map version with a global coordinate system. This global coordinate system ensures that all coordinates in the 3D map are uniquely identified within the entire station.

[0023] A preset starting point and a preset target point are determined, the preset starting point and the preset target point are used as optimization constraints, the shortest path is used as the optimization goal, and a path optimization analysis is performed in the target three-dimensional map to generate an optimal path trajectory.

[0024] Determine the preset starting point and preset target point. The preset starting point is usually the starting location of the target user, such as the entrance to the underground station building, the waiting hall, etc. The preset target point is the location that the target user needs to reach, such as the entrance and exit of the station building, escalators, elevators, waiting areas, platforms, etc. According to the purpose of the target user, the target point can be preset in advance or dynamically generated.

[0025] When optimizing a path, the main constraints are the preset starting point and the preset target point. The path must start from the preset starting point and reach the preset target point within the shortest path. Specifically, the map nodes and their connection relationships in the three-dimensional map are first extracted. Each node represents a location in the map, and the connection between the nodes represents a feasible path. Based on the node connection relationship in the map, the feasible paths between the starting point and the target point are analyzed, multiple possible paths are generated, and the length of each path is calculated. The shortest path is selected from the multiple feasible paths to generate the optimal path trajectory from the starting point to the target point. This trajectory is represented by a series of connection points, including the starting point, the end point, and multiple nodes in the middle, which are connected into a path.

[0026] Based on the global coordinate system, coordinate transformation is performed on the optimal path trajectory to generate a navigation solution, and path guidance is performed for the target user based on the navigation solution.

[0027] The optimal path trajectory is generated within the target 3D map. Each point in the 3D map uses a global coordinate system, so the generated optimal path trajectory is also based on the global coordinate system. Coordinates of each node in the optimal path trajectory are transformed into a coordinate format suitable for navigation, such as absolute coordinates for a navigation system. This coordinate transformation generates route information for navigation, including all key nodes, directions, and section lengths. The navigation plan provides user prompts based on the specific characteristics of the path, such as "Go straight for 50 meters, turn right onto the escalator, and the exit is 10 meters ahead." Based on the generated navigation plan, real-time guidance is provided to the target user, ensuring they always follow the optimal path.

[0028] Furthermore, the method of performing path optimization analysis in the target three-dimensional map to generate an optimal path trajectory with the preset starting point and the preset target point as optimization constraints and the shortest path as the optimization goal includes:

[0029] Map nodes are extracted from the target three-dimensional map to obtain a plurality of map nodes and a set of node connection relationships between the plurality of map nodes; a start node and a target node are marked in the target three-dimensional map based on the preset start point and the preset target point; adjacent node connection analysis is performed on the start node, the target node, and the plurality of map nodes based on the set of node connection relationships to generate M connection paths, where M≥1; a shortest path analysis is performed on the M connection paths, and an optimal path trajectory is generated based on the analysis results.

[0030] Map nodes refer to important locations or joints within the station building, such as entrances and exits, stairs, elevators, passage corners, corridor intersections, etc. Each node can represent a passable location in space. These nodes are extracted in the target three-dimensional map. There are certain spatial connection relationships between the extracted nodes. These relationships reflect the passage paths inside the station building. For example, two nodes may be connected through corridors, stairs, elevators, etc. By analyzing the spatial channels and paths in the three-dimensional map, the direct connection relationships between the nodes are identified, and a set of node connection relationships is obtained.

[0031] The preset starting point is usually the starting location of the target user, and the preset target point is the location that the target user needs to reach. Based on the preset starting point and target point, they are mapped to specific nodes in the three-dimensional map. For example, if the user enters the station from an entrance A, entrance A is marked as the starting node; if the user's destination is a platform B, platform B is marked as the target node.

[0032] Each node's neighboring nodes are nodes directly connected to it in the map. The goal of neighboring node analysis is to find all feasible paths from the starting node to the target node. Specifically, starting from the starting node, all its neighboring nodes are traversed, and the neighboring nodes of the neighboring nodes are further recursively searched, layer by layer, until the target node is reached. During the search, depending on the node selection, M different paths from the starting node to the target node can be found, where M ≥ 1.

[0033] Among the M connection paths generated, a shortest path analysis is performed, that is, the route with the shortest path length is selected. Based on the results of the shortest path analysis, an optimal path trajectory from the start node to the target node is generated. The optimal path trajectory includes all the nodes passed on the path and the connection relationships between them. This path will serve as the final navigation route and will be used for subsequent path guidance.

[0034] Furthermore, the method for generating M connection paths includes:

[0035] Among the multiple map nodes, obtain a first adjacent node set of the starting node, wherein the first adjacent node set includes multiple first adjacent nodes; among the multiple map nodes, obtain a second adjacent node set of the multiple first adjacent nodes, and so on, until an Nth adjacent node set adjacent to the target node is obtained, N≥1; traverse the first adjacent node set and the second adjacent node set until the Nth adjacent node set, connect the adjacent nodes based on the node connection relationship set, and obtain the M connection paths.

[0036] The starting node serves as the starting point of the path search. Adjacent nodes refer to other nodes connected to a certain node through a direct path. Based on the node connection relationship set in the target three-dimensional map, all directly connected nodes of the starting node are found to form a first adjacent node set. The first adjacent node set includes multiple first adjacent nodes.

[0037] After obtaining the first set of adjacent nodes for the starting node, the search is further conducted to form a second set of adjacent nodes. This second set of adjacent nodes is an extension of the first set of adjacent nodes, allowing for more possible paths. The search continues recursively, forming third and fourth levels of adjacent nodes, until the Nth level of nodes directly connected to the target node is found. These nodes are the target's adjacent nodes, providing a direct path to the target. This search process is represented on the map by expanding outward from the starting point layer by layer until the entire possible network is covered.

[0038] Starting from the first layer of adjacent nodes, traverse all node sets layer by layer, and record each feasible path from the start node to the target node. Each feasible path is from the start node through several adjacent nodes and finally reaches the target node. The connection relationship between each node and its adjacent nodes in the path will be used as the path attribute. By traversing all node connection relationships, M different connection paths are generated and stored as alternative paths.

[0039] Furthermore, the method proceeds in this way until an Nth set of adjacent nodes adjacent to the target node is obtained, and includes:

[0040] A map boundary of a target three-dimensional map is obtained, and based on the map boundary, a plurality of boundary nodes are extracted from the plurality of map nodes; an arbitrary Xth adjacent node set is obtained during the node search process, and a first Xth adjacent node is extracted therefrom; and a determination is made as to whether the first Xth adjacent node is adjacent to the target node, and if so, the first Xth adjacent node is added to the Nth adjacent node set.

[0041] The map boundary refers to the physical boundaries of the target 3D map. For 3D maps of underground stations, this typically includes the building's structural boundaries, walls, entrances, and exits, which restrict path expansion. Boundary nodes are nodes located near the map boundary. Based on the 3D map's coordinate system, boundary nodes are extracted by detecting nodes adjacent to the boundary. These nodes are located at the edge of the map, including passages near walls, entrances, and exits. Boundary nodes prevent invalid paths from extending outside the map during path search and provide reasonable boundary constraints for path optimization.

[0042] During the path search process, adjacent nodes are recursively searched layer by layer to form multiple layers of adjacent node sets such as the first, second, and third layers. The Xth adjacent node set represents the set of all nodes in the current search layer. An arbitrary node is extracted from the current Xth adjacent node set as the first Xth adjacent node. This node serves as the reference point of the current search to determine whether it is adjacent to the target node.

[0043] After extracting the first X-th adjacent node, determine whether the node is directly connected to the target node. The adjacency relationship is determined by the connection relationship set in the map. If there is a direct path between the two nodes, they are determined to be adjacent nodes. Therefore, if there is a direct path between the first X-th adjacent node and the target node, such as a connected corridor, elevator, stairs, etc., they are adjacent nodes. If the first X-th adjacent node is adjacent to the target node, then the node is marked as the N-th adjacent node of the target node. The N-th adjacent node is the set of nodes directly connected to the target node, representing the final layer of nodes in the search process. These nodes are directly connected to the target node, and the path search ends at this layer.

[0044] Furthermore, the method further comprises:

[0045] If not, determine whether the first X-th adjacent node belongs to the plurality of boundary nodes; if so, add the first X-th adjacent node to a tabu search list, and perform node search constraints based on the tabu search list.

[0046] If the first X-th adjacent node is not adjacent to the target node, we further determine whether the node belongs to several previously extracted boundary nodes, that is, whether it is at the edge of the map or other areas where the path cannot be further extended. We can determine whether it is a boundary node by checking the coordinates of the first X-th adjacent node. If a node is a boundary node, it means that the path has reached the limit in this direction and is not suitable for further search.

[0047] The taboo search list is a list that stores nodes that are invalid or not recommended for expansion. During the path search process, these nodes will be excluded to prevent them from participating in further searches. If the first X-th adjacent node is a boundary node, continuing to expand the path in that direction may result in an invalid search. Therefore, such nodes are added to the taboo search list to avoid unnecessary calculations. Based on the taboo search list, each node is checked to see if it belongs to the list during the path search. If the node has been marked as a taboo node, it is skipped to avoid repeated or invalid path calculations. The introduction of taboo search can reduce the exploration of invalid paths, thereby improving search efficiency. By excluding boundary nodes, you can focus more on finding valid paths and avoid extending the search to the edge of the map or areas that are not suitable for travel.

[0048] Furthermore, the method further comprises:

[0049] If not, continue searching for the adjacent node of the first X-th adjacent node.

[0050] If it is determined that the first X-th adjacent node is not a boundary node, it indicates that the node has the potential to continue to expand. In this case, continue to search all adjacent nodes of the first X-th adjacent node, similar to the adjacent node search in the previous layers. This means starting from the X-th adjacent node, continue a new round of adjacent node recursive search until the adjacent node of the target node is found or the path search reaches the boundary node.

[0051] Furthermore, the method further comprises:

[0052] During the movement of the target user, an image acquisition module is used to acquire images on the path to obtain an image acquisition result set; a path modification detection is performed based on the image acquisition result set to obtain a path modification data set, wherein the path modification includes adding obstacles and relocating obstacles; and the target three-dimensional map is optimized based on the path modification data set.

[0053] The image acquisition module is a camera installed on the user's device. This module is used to capture visual information on the user's forward path in real time. As the user moves, the image acquisition module continuously captures the scenes along the way. For example, when the user moves from the station entrance to the platform, the image acquisition module will record all visual information along the way to form an image acquisition result set, which includes images at multiple time points or locations, for subsequent analysis of whether the path has changed.

[0054] By comparing the real-time images collected with the image data in the original three-dimensional map, any modifications on the path can be detected, including new obstacles, relocated items, etc. Specifically, the newly collected images are compared with the existing map data or previously collected images. For example, computer vision algorithms are used to identify changes in objects in the image, and new obstacles, removed facilities, or road closures in the path are detected as a set of path modification data.

[0055] Based on the detected path modification information, the original target 3D map is adjusted. Specifically, when a new obstacle is detected, its location is marked on the map, and the path planning is adjusted accordingly to bypass it. If certain facilities are relocated or removed, the location information of these facilities is deleted or updated in the map. With more image data, the map can be continuously updated, and the navigation plan can be adjusted as necessary. This ensures that in underground station environments, the navigation system can respond to environmental changes in real time, keep the map dynamically updated, and provide users with the latest path information, ensuring safe and efficient passage.

[0056] In summary, the dynamic indoor navigation update method for an underground station environment provided by the embodiments of the present application has the following technical effects:

[0057] Based on geographic information system technology, the indoor space of the underground station is accurately 3D modeled and an initial 3D map is generated, which ensures a comprehensive digital expression of the underground station space and can accurately reflect the physical layout and structure of the station, laying the foundation for subsequent path planning and navigation; the coordinates of multiple preset navigation points are collected and fitted into the initial 3D map to generate a target 3D map, which can flexibly adapt to actual navigation needs and use multiple navigation points for path planning, achieving a flexible and accurate positioning effect, which provides highly accurate spatial information for dynamic navigation, so that the user's path planning can be adjusted in real time based on actual scene changes; path optimization analysis is performed to generate a path from the starting point to the target point Optimal path. This process uses the shortest path as the optimization goal and automatically calculates the optimal route through an algorithm, effectively solving the path selection problem in complex indoor environments. Especially in complex environments such as underground station buildings, it can provide users with the shortest path solution, greatly improving the efficiency and accuracy of navigation. It performs coordinate conversion on the optimal path trajectory, converts the path information into an actual navigation solution, and guides users to select the path according to the solution, ensuring the uniformity of the navigation path in the global coordinate system, so that the navigation solution can seamlessly connect the changes between each node, and ultimately provide users with accurate path guidance. This effectively avoids the deviation problem in traditional navigation systems and improves the overall reliability of the navigation system.

[0058] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dynamic indoor navigation update method for underground station environment, characterized in that: The method comprises: Performing spatial modeling of the indoor space of the underground station building based on geographic information system technology to generate an initial three-dimensional map of the underground station building; Acquire multiple navigation point coordinates of multiple preset navigation points, and fit the multiple navigation point coordinates to the initial three-dimensional map according to the point distribution of the multiple preset navigation points to obtain a target three-dimensional map, wherein the target three-dimensional map has a global coordinate system; Determine a preset starting point and a preset target point, use the preset starting point and the preset target point as optimization constraints, take the shortest path as the optimization goal, perform path optimization analysis in the target three-dimensional map, and generate an optimal path trajectory; Based on the global coordinate system, coordinate conversion is performed on the optimal path trajectory to generate a navigation solution, and path guidance is performed for the target user based on the navigation solution; The method uses the preset starting point and the preset target point as optimization constraints, takes the shortest path as the optimization goal, performs path optimization analysis in the target three-dimensional map, and generates an optimal path trajectory, including: Extracting map nodes from the target three-dimensional map to obtain a plurality of map nodes and a set of node connection relationships between the plurality of map nodes; Based on the preset starting point and the preset target point, marking a starting node and a target node in the target three-dimensional map; Based on the node connection relationship set, performing adjacent node connection analysis on the start node, the target node, and the plurality of map nodes to generate M connection paths, where M≥1; A shortest path analysis is performed on the M connection paths, and an optimal path trajectory is generated according to the analysis result.

2. A dynamic indoor navigation update method for an underground station environment as claimed in claim 1, characterized in that: The method of performing spatial modeling on the indoor space of the underground station building based on geographic information system technology to generate an initial three-dimensional map of the underground station building includes: Collecting data on the indoor space of the underground station building based on geographic information system technology to obtain indoor space information; Performing three-dimensional modeling based on the indoor space information to obtain an indoor space twin model; Indoor space layout features are extracted based on the indoor space twin model, and the initial three-dimensional map is established according to the indoor space layout features.

3. The method for updating dynamic indoor navigation in an underground station environment according to claim 1, wherein: The method for generating M connection paths includes: Acquire a first adjacent node set of the start node from the plurality of map nodes, wherein the first adjacent node set includes a plurality of first adjacent nodes; Obtain, from the plurality of map nodes, a second set of adjacent nodes of the plurality of first adjacent nodes, and so on, until an Nth set of adjacent nodes adjacent to the target node is obtained, where N≥1; The first adjacent node set, the second adjacent node set, and finally the Nth adjacent node set are traversed, and adjacent nodes are connected based on the node connection relationship set to obtain the M connection paths.

4. A dynamic indoor navigation update method for an underground station environment as claimed in claim 3, characterized in that: The above method is repeated in this way until the Nth set of adjacent nodes adjacent to the target node is obtained. The method includes: Acquire a map boundary of the target three-dimensional map, and extract a plurality of boundary nodes from the plurality of map nodes based on the map boundary; Get any X-th adjacent node set in the node search process, and extract the first X-th adjacent node from it; Determine whether the first Xth adjacent node is adjacent to the target node; if so, add the first Xth adjacent node to the Nth adjacent node set.

5. A dynamic indoor navigation update method for an underground station environment as claimed in claim 4, characterized in that: The method further comprises: If not, determining whether the first Xth adjacent node belongs to the plurality of boundary nodes; If so, the first X-th adjacent node is added to a tabu search list, and node search constraints are performed based on the tabu search list.

6. A dynamic indoor navigation update method for an underground station environment as claimed in claim 5, characterized in that: The method further comprises: If not, continue searching for the adjacent node of the first X-th adjacent node.

7. The method for updating dynamic indoor navigation in an underground station environment according to claim 1, wherein: The method further comprises: When the target user is exercising, the image acquisition module is used to acquire images along the path to obtain a set of image acquisition results; Performing path modification detection based on the image acquisition result set to obtain a path modification data set, wherein the path modification includes adding obstacles and relocating obstacles; The target three-dimensional map is optimized based on the path transformation data set.

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