IndoorGML 介绍

写在前面：

为什么要介绍一下IndoorG M L?

因为要做机器人室内智能视觉定位导航，一般都直接研究Octomap，啥的库了。但是发现Octomap也不是包打天下。吐槽一下，首先Octomap库是为SLAM量身定制的，一般不适合作为高精度机器地图使用，应为他的机制是不断的地图更新，概率地图嘛。而我要做高精度室内地图，为各类机器人提供空间参考基准。话不多少，感兴趣请邮件联系。

那为什么要说说IndoorGML呢，因为以前看CityGML,也是OGC的标准，城市三维显示，属性拓扑关系都存在，发展这么些年挺不容易的。IndoorGML 是CityGML的变种，专门为室内三维表达与路径规划设计的，也有一些时间了。吐槽一下，其实就是要搞明白IndoorGML到底搞到什么程度了！这里把官网的介绍翻译一下，不是英语专业水平凑合着看吧。。。。。

看完，大家了解了这个看似神秘的IndoorGML主要解决了室内三维表达和拓扑关系，可以满足室内房间之间的路径规划。但是这个东西是给智能的人使用的，如果要让机器人理解，那就要汲取所长，更深层次设计了。不知道不能吐槽！

What is IndoorGML?

IndoorGML is an OGC standard for an open data model and XML schema for indoor spatial information. It aims to provide a common framework of representation and exchange of indoor spatial information. It is defined as an application schema of OGC Geographic Markup Language (GML) 3.2.1.

 

什么是IndoorGML？

IndoorGML是用于室内空间信息的开放数据模型和XML模式的OGC标准。 它旨在提供一个表示和交换室内空间信息的通用框架。 它被定义为OGC地理标记语言（GML）3.2.1的应用模式。

 

1. Motivations

Indoor space differs from outdoor space in many aspects. Basic concepts, data models, and standards of spatial information should be redefined to meet the requirements of indoor spatial applications. The requirements of indoor spatial information are differently specified according to the types of applications. In general, the applications of indoor spatial information are classified into two categories as follows;

1.目标

室内空间在许多方面与室外空间不同。 应该重新定义空间信息的基本概念，数据模型和标准，以满足室内空间应用的要求。 根据应用类型的不同，室内空间信息的要求也有所不同。 通常，室内空间信息的应用分为两类：

1. Management of building components and indoor facilities and

（1）管理建筑结构和室内设施

（2）Usage of indoor space.

（2）室内空间利用

Building construction and management and facility management belong to the first category. While the main focus of the first category are on building components such as roofs and walls, the second category is focused on usage and localization of features (stationary or mobile) in indoor space. The indoor spatial information of the second category is to represent spatial components such as rooms and corridors, and constraints such as doors. For example, indoor location-based services, indoor route analysis or indoor geo-tagging services belong to the second category.

房屋建筑结构和管理以及设施管理属于第一类。 尽管第一类主要关注屋顶和墙壁等建筑组件，但第二类主要关注室内空间中的功能（固定或移动）的使用和定位。第二类的室内空间信息表示空间成分，例如房间和走廊，以及约束，例如门。 例如，基于室内位置的服务，室内路线分析或室内地理标记服务属于第二类。

The goal of this standard is therefore to define a framework of indoor spatial information to locate stationary or mobile features in indoor space and to provide spatial information services referring their positions in indoor space, instead of representing building architectural components. IndoorGML is intended to provide the following functions;

因此，该标准的目标是定义室内空间信息框架，以定位室内空间中的固定或移动要素，并提供引用其在室内空间中位置的空间信息服务，而不是表示建筑物的建筑组件。 IndoorGML旨在提供以下功能；

Representing the properties of indoor space, and Providing spatial reference of features in indoor space.Note that the IndoorGML version 1 is based on the requirements from indoor navigation due to strong and urgent standardization demands, such as indoor LBS, routing services, and emergency control in indoor space. We expect that other requirements including indoor facility management will be handled by the next version of IndoorGML.

表示室内空间的属性，并提供室内空间要素的空间参考。请注意，由于强烈而迫切的标准化要求（例如室内LBS，路由服务和紧急控制），IndoorGML版本1基于室内导航的要求。 在室内空间。 我们希望其他要求（包括室内设施管理）将由下一版IndoorGML处理。

2. General concepts of IndoorGML

An important difference of indoor space from outdoor is that an indoor space is composed of complicated constraints such as corridors, doors, stairs, elevators, etc., like a road network space is composed of road constraints. It means that proper representations of indoor constraints are key issues of indoor spatial information modelling and standards.

 

 

2.IndoorGML的一般概念
室内空间与室外空间的重要区别在于，室内空间由诸如走廊，门，楼梯，电梯等复杂的约束组成，就像路网空间由道路约束组成一样。 这意味着室内约束的正确表示是室内空间信息建模和标准的关键问题。

 

Cellular space: indoor space as a set of cells, which are defined as the smallest organizational or structural unit of indoor space [Wordnet, Princeton University, 2010]. Cellular space has important properties. First, every cell has an identifier (namely c.ID) such room number. Second, each cell may have common boundary with others but does not overlap with other cells. Third, postion in cellular space can be specified by cell identifier, although we may employ (x, y, z) coordinates to specify a position for more precise location.

2. IndoorGML的一般概念
细胞空间：室内空间是一组细胞，被定义为室内空间的最小组织或结构单位[Wordnet，普林斯顿大学，2010年]。 细胞空间具有重要的性质。 首先，每个单元格都有一个标识符（即c.ID），例如房间号。 第二，每个单元格可能与其他单元格具有公共边界，但不与其他单元格重叠。 第三，虽然我们可以使用（x，y，z）坐标来指定位置以进行更精确的定位，但是可以通过单元标识符指定单元格空间中的位置。

 

Semantic representation: Semantic is an important characteristic of cells. In IndoorGML, semantics is used for two purposes: to provide classification and to identify a cell and determines the connectivity between cells. Semantics allows to define cells which can be of importance for navigation. For example, the most commonly used classification of cells in topolographic space is into navigable (rooms, corridors, doors) and non-navigable (walls, obstacles) cells.

语义表示：语义是细胞的重要特征。 在IndoorGML中，语义用于两个目的：提供分类和标识单元格并确定单元格之间的连通性。 语义允许定义对导航很重要的单元格。 例如，在地形空间中最常用的单元分类是可导航（房间，走廊，门）和不可导航（墙壁，障碍物）单元。

 

Geometric representation: The geometric representation of 2D or 3D feature in indoor space does not belong to the major focus of IndoorGML, since they are clearly defined by ISO 19107, CityGML, and IFC. However, for the sake of self-completeness, the geometry of 2D or 3D object may be optionally defined within IndoorGML according the data model defined by ISO 19107. There are three options to represent the geometry of a cell in IndoorGML as Figure 1;.

几何表示：室内空间中2D或3D要素的几何表示不属于IndoorGML的主要重点，因为它们已由ISO 19107，CityGML和IFC明确定义。 但是，出于自我完整性的考虑，可以根据ISO 19107定义的数据模型在IndoorGML中可选地定义2D或3D对象的几何形状。如图1所示，存在三种选择来表示IndoorGML中单元格的几何形状。

[Figure 1 - Geometry in IndoorGML]

 

（1）External Reference (Option 1): Instead of explicit representation of geometry in IndoorGML, an IndoorGML document only contains external links (namely c.xlink, where c is a cell in IndoorGML) to objects defined in other data sets such as CityGML, where the referenced objects in external data set include geometric information. Then there must be 1:1 or n:1 mappings from cells in IndoorGML to corresponding objects in other dataset.

（1）外部参考（选项1）：IndoorGML文档仅包含指向其他数据集（例如CityGML）中定义的对象的外部链接（即c.xlink，其中c是IndoorGML中的单元格），而不是IndoorGML中的几何图形表示。 ，其中外部数据集中的参考对象包括几何信息。 然后，从IndoorGML中的单元到其他数据集中的对应对象必须存在1：1或n：1映射。

（2）Geometry in IndoorGML (Option 2): Geometric representation of cell (namely c.geom, where c is a cell in IndoorGML) may be included within an IndoorGML document. It is GM_Solid in 3D space and GM_Surface in 2D space as defined in ISO 19107. Note that solid with holes or surface with holes are allowed in this standard.

（2）IndoorGML中的几何（选项2）：IndoorGML文档中可以包含单元的几何表示（即c.geom，其中c是IndoorGML中的单元）。 根据ISO 19107的定义，它在3D空间中为GM_Solid，在2D空间中为GM_Surface。请注意，此标准允许带孔的实体或带孔的表面。

（3）No Geometry (Option 3): No geometric information is included in IndoorGML document.

（3）不包含几何（选项3）：IndoorGML文档中不包含几何信息。

Topological representation: Topology is an essential component of cellular space and IndoorGML.The Node-Relation Graph (NRG) [J.Lee 2004] represents topological relationships, e.g., adjacency and connectivity, among indoor objects. The NRG allows abstracting, simplifying, and representing topological relationships among 3D spaces in indoor environments, such as rooms within a building. It can be implemented as a graph representing the adjacency, connectivity relationships without geometrical properties. It enables the efficient implementation of complex computational problems within indoor navigation and routing systems. The Poincaré duality [JR Munkres 1984] provides a theoretical background for mapping indoor space to NRG representing topological relationships. A given indoor space can be transformed into a NRG in topology space using the Poincaré duality. It simplifies the complex spatial relationships between 3D by a combinatorial (or logical) topological network model [25]. According to Poincaré duality, a k-dimensional object in N-dimensional primal space is mapped to (N-k) dimensional object in dual space. Thus solid 3D objects in 3D primal space, e.g., rooms within a building, are mapped to nodes (0D object) in dual space. 2D surfaces shared by two solid objects is transformed into an edge (1D) linking two nodes in dual space.

拓扑表示：

拓扑是蜂窝空间和IndoorGML的重要组成部分。节点关系图（NRG）[J.Lee 2004]表示室内对象之间的拓扑关系，例如邻接关系和连通性。 NRG允许抽象，简化和表示室内环境中3D空间（例如建筑物内的房间）之间的拓扑关系。可以将其实现为表示没有几何属性的邻接关系，连接关系的图形。它使室内导航和路由系统中的复杂计算问题得以有效实施。庞加莱对偶性[JR Munkres 1984]为将室内空间映射到代表拓扑关系的NRG提供了理论背景。使用庞加莱对偶性，可以将给定的室内空间转换为拓扑空间中的NRG。它通过组合（或逻辑）拓扑网络模型简化了3D之间的复杂空间关系[25]。根据庞加莱对偶性，将N维原始空间中的k维对象映射到对偶空间中的（N-k）维对象。因此，将3D基本空间中的实体3D对象（例如建筑物内的房间）映射到对偶空间中的节点（0D对象）。由两个实体共享的2D曲面被转换为链接双空间中两个节点的边（1D）。

Multi-Layered Representation: A single indoor space is often semantically interpreted into different cellular spaces. For example, an indoor space is represented as a topographic cellular space composed of rooms, corridors, and stairs, while it is also represented as different cellular spaces with WiFi coverage cells and RFID sensor coverage cells respectively as the following figure. For this reason, IndoorGML supports multiple representation layers with different cellular spaces for an indoor space. Each semantic interpretation layer results in a different decomposition of the same indoor space, where each decomposition forms a separate layer of cellular space.

多层表示：单个室内空间通常在语义上解释为不同的蜂窝空间。 例如，室内空间表示为由房间，走廊和楼梯组成的地形蜂窝空间，而室内空间也分别表示为具有WiFi覆盖单元和RFID传感器覆盖单元的不同蜂窝空间，如下图所示。 因此，IndoorGML支持用于室内空间的具有不同蜂窝空间的多个表示层。 每个语义解释层导致相同室内空间的不同分解，其中每个分解形成一个单独的细胞空间层。

 

[Figure 2 - Multi-Layered Representation]

 

3. Structured Space Model

IndoorGML is based on two conceptual frameworks namely Structured Space Model and Multi-Layered Space Model (MLSM). The Structured Space Model defines the general layout of each space layer independent from the specific space model which it represents. Each layer is systematically subdivided into four segments (see Figure 3).

IndoorGML基于两个概念框架，即结构空间模型和多层空间模型（MLSM）。 结构空间模型定义了每个空间层的总体布局，而与它所代表的特定空间模型无关。 每层系统地分为四个部分（参见图3）。

 

[Figure 3 - Structured Space Model]

 

This figure illustrates the structured space model that allows for the distinct separation of primal space from dual space on the one hand, and geometry and pure topology on the other hand. This structure forms the basis for the framework proposed indoor space model. The upper and the lower part of the figure follows the rules of ISO 19107 for modelling geometrical features of real world phenomena, but the transition from primal to dual space cannot be modelled or described via the ISO standard. And topological relationships in IndoorGML such as adjacency and connectivity are not defined by means of the topology in ISO 19107 but by explicit associations within the IndoorGML data model. In the Structured Space Model, topological relationships between 3D (or 2D) spatial objects are represented within topology space (i.e., the lower part of the figure). By applying a duality transformation, the 3D cells in primal space are mapped to nodes (0D) in dual space. The topological adjacency relationships between 3D cells are transformed to edges (1D) linking pairs of nodes in dual space. Furthermore, the node of NRG is called state and the edge of NRG is called transition. The active state is represented by a node within the NRG and denotes the spatial area where the guided object is currently located. Once the object moves into a topologically connected area, another node within the NRG and thus a new active state is reached. The edge connecting both nodes represents the event of this state transition. The NRG representing topological relationships among 3D spatial objects in topological space is a logical NRG, while the NRG embedded to Euclidean IR3 space is a geometric NRG.

该图说明了结构化的空间模型，该模型一方面允许原始空间与对偶空间的分离，另一方面可以进行几何形状和纯拓扑的分离。这种结构构成了提出的室内空间模型框架的基础。该图的上部和下部遵循ISO 19107的规则，用于对现实世界现象的几何特征进行建模，但是无法通过ISO标准对从原始空间到对偶空间的过渡进行建模或描述。而且，IndoorGML中的拓扑关系（例如邻接关系和连通性）不是通过ISO 19107中的拓扑定义的，而是通过IndoorGML数据模型内的显式关联来定义的。在结构空间模型中，3D（或2D）空间对象之间的拓扑关系表示在拓扑空间内（即，图的下部）。通过应用对偶变换，将原始空间中的3D单元映射到对偶空间中的节点（0D）。 3D单元之间的拓扑邻接关系被转换为链接双空间中成对节点的边（1D）。此外，NRG的节点称为状态，NRG的边缘称为过渡。活动状态由NRG中的一个节点表示，表示被引导对象当前所在的空间区域。一旦对象移动到拓扑连接的区域中，则NRG内的另一个节点将到达新的活动状态。连接两个节点的边缘表示此状态转换的事件。表示拓扑空间中3D空间对象之间的拓扑关系的NRG是逻辑NRG，而嵌入到欧几里得IR3空间的NRG是几何NRG。

The UML diagram depicted in Figure 4 shows the data model for the Structured Space Model. A SpaceLayer represents a separate interpretation and a decomposition layer and it is composed of States and Transitions which represent nodes and edges of NRG for dual space, respectively. The NRG and state-transition diagram for each layer are realized by SpaceLayer. Note that the current version of IndoorGML supports logical NRG and geometric NRG for dual space. As mentioned above, NRG as part of the Structured Space Model is implemented in IndoorGML model. In dual space, the logical NRG in the lower right part of structured space model as seen in the previous figure represents topological relationships among spaces in topological space, which is described as the cardinality of State and Transition to Geometry classes is 0 in this figure. When the cardinality is 1 in the figure, the topological model is implemented by coordinate space embedding of NRG (Geometric NRG), which is in the lower left part of structured space model as seen in Figure 3.

 

[Figure 4 - Data Model for Structured Space Model]

图4中描述的UML图显示了结构空间模型的数据模型。 SpaceLayer表示一个单独的解释和分解层，由状态和过渡组成，分别表示对偶空间的NRG的节点和边缘。每层的NRG和状态转换图由SpaceLayer实现。请注意，当前版本的IndoorGML支持双空间的逻辑NRG和几何NRG。如上所述，NRG是结构化空间模型的一部分，是在IndoorGML模型中实现的。在对偶空间中，如上图所示，结构化空间模型右下部分的逻辑NRG表示拓扑空间中各个空间之间的拓扑关系，其描述为该状态的基数和向几何类的过渡的基数为0。当基数为1时，拓扑模型是通过NRG（几何NRG）的坐标空间嵌入实现的，它位于结构化空间模型的左下方，如图3所示。

 

4. Multi-Layered Space Model

The concept of Structure Space model is further extended to Multi-Layered Space Model (MLSM). Multi-Layered Space Model provides an approach for combining multiple space structures for different interpretations and decomposition layers to support full indoor information services.

 

1. 多层空间模型

结构空间模型的概念进一步扩展到了多层空间模型（MLSM）。 多层空间模型提供了一种方法，可以将用于不同解释和分解层的多个空间结构组合起来，以支持完整的室内信息服务.

A same indoor space is often differently interpreted depending on application requirements as discussed above. It results in different decompositions of a same indoor space, and each decomposition results in a NRG. For example, the layers for topographic space layer, WIFI sensor space layer, and RFID sensor space form independent structured spaces and each layer results in three separate NRGs as depicted in Figure 5.

如上所述，通常根据应用要求对相同的室内空间进行不同的解释。 它导致相同室内空间的不同分解，并且每次分解都导致NRG。 例如，地形空间层，WIFI传感器空间层和RFID传感器空间的层形成独立的结构化空间，并且每一层都产生三个单独的NRG，如图5所示。

 

[Figure 5 - Multi-Layered Space Model]

Layers of multi-layered space model can be connected by inter-layer relations. In the following example of Figure 6, there are three space layers, where each layer constitutes a NRG. In a topographic layer, the nodes represent the possible states of a navigating object and correspond to cells with volumetric extent in primal space (e.g. rooms) while the edges represent state transitions, i.e., the movement of an object from one space to another. They correspond to connectivity relations between the cells in primal space (e.g., neighboured rooms connected with a door). In the sensor space, NRG has a slightly different structure. The nodes represent again the cells with volumetric extend (e.g. the entire coverage space of a WIFI transmitter), while the edges represent the transition from one space to another based on the neighbouring WIFI coverage spaces. Since the layers cover the same real world space, the separated dual graphs can be combined into a multi-layered graph.

 

多层空间模型的各层可以通过层间关系连接。 在图6的以下示例中，存在三个空间层，其中每个层构成一个NRG。 在地形层中，节点表示导航对象的可能状态，并对应于原始空间（例如房间）中具有体积范围的单元格，而边沿则表示状态转换，即对象从一个空间移动到另一个空间。 它们对应于原始空间中的单元之间的连接关系（例如，与门相连的相邻房间）。 在传感器领域，NRG的结构略有不同。 节点再次表示具有体积扩展的小区（例如，WIFI发射机的整个覆盖空间），而边缘则表示基于相邻WIFI覆盖空间的从一个空间到另一个空间的过渡。 由于各层覆盖相同的现实世界空间，因此可以将分离的对偶图组合为多层图。

 

[Figure 6 - NRG for Multi-Layered Space Model]

If we assume that each space model, whether it is for topographic or sensor space, is based upon a non-overlapping partitioning of space, a navigating object can only belong to one cell at a time and thus always only one state may be active. Therefore, an object is at any given time exactly in one cell (named state) in each layer simultaneously. This overall state is thereby denoted by the combination of active states from all space layers.

如果我们假设每个空间模型（无论是用于地形还是传感器空间）均基于空间的非重叠分区，则导航对象一次只能属于一个单元，因此始终只能激活一个状态。因此，对象在任何给定时间都同时精确地位于每一层的一个单元（命名状态）中。因此，该总体状态由所有空间层的活动状态的组合表示。

 

However, only specific combinations of states from different layers are valid and can be active at the same time. The combinations are expressed by additional edges linking the nodes between different layers. These so called joint edges are derived by pairwise intersecting the cell geometries from different layers. A joint edge between two such nodes is inserted if the intersection of the interior of the two corresponding cells is non-empty. Therefore, the joint edges represent all relationships according to the eight relation model defined in [OGC Simple Feature Geometry] except “disjoint” and “touch” between two cells from different space layers and thus denote inter-layer relationships.

 但是，只有来自不同层的特定状态组合才有效，并且可以同时处于活动状态。组合由链接不同层之间节点的附加边表示。这些所谓的接合边是通过成对相交来自不同层的单元几何来获得的。如果两个相应单元格内部的交集为非空，则在两个此类节点之间插入一个联合边。因此，关节边缘表示根据[OGC简单特征几何]中定义的八种关系模型的所有关系，除了来自不同空间层的两个单元之间的“不相交”和“接触”之外，因此表示层间关系。

In IndoorGML, the space model for multi-layered space representation, called multi-layered space model, is implemented by MultiSpaceLayer class as shown in Figure 7. MultiLayeredGraph consists of SpaceLayers and InterLayerConnections, while SpaceLayer represents each space layer (e.g. topographic space layer, sensor space layer, etc.) and it forms a NRG composed of objects from Stateand Transition. The inter-layer relationships are implemented by InterLayerConnection class. In Figure 6, {(1,A,Within), (4,A,Within), (3,A,Cross), (3,AB,Cross), (3,B,Cross), (2,B, Within), (A,R1,Contains), (B,R2,Contains), (3,R1,Contains),(3,R2,Contains)} are the set of instances from InterLayerConnection class, where each instance represents the relationship between two cells of different space layers of Figure 2. The MultiSpaceLayer is an aggregation of SpaceLayer and InterLayerConnection.

 在IndoorGML中，多层空间表示的空间模型（称为多层空间模型）由MultiSpaceLayer类实现，如图7所示。MultiLayeredGraph由SpaceLayers和InterLayerConnections组成，而SpaceLayer表示每个空间层（例如地形空间层，传感器空间层等），并形成由State和Transition的对象组成的NRG。层间关系由InterLayerConnection类实现。在图6中，{（1，A，Inside），（4，A，Inner），（3，A，Cross），（3，AB，Cross），（3，B，Cross），（2，B，其中，（A，R1，Contains），（B，R2，Contains），（3，R1，Contains），（3，R2，Contains）}是InterLayerConnection类的实例集，其中每个实例代表关系在图2中不同空间层的两个单元之间。MultiSpaceLayer是SpaceLayer和InterLayerConnection的集合。

 

[Figure 7 - Data Model for Multi-Layered Space Model]

 

 

5. External References

Since the main focus of IndoorGML is on the notion of cellular space and topological representation, it may not contain geometries and detail semantic information of indoor features. Instead, IndoorGML provides a method to reference to an object in external dataset such as CityGML or IFC. Depending on application areas, indoor features may have different geometric and semantic representation models. For example, indoor spaces are often represented by grid model in robotic domain. By separating domain specific representation model from IndoorGML and providing external reference, a high level of flexibility can be achieved.

1. 外部参考

由于IndoorGML的主要重点是蜂窝空间和拓扑表示的概念，因此它可能不包含室内特征的几何形状和详细语义信息。 取而代之的是，IndoorGML提供了一种引用外部数据集中的对象的方法，例如CityGML或IFC。 根据应用领域，室内特征可能具有不同的几何和语义表示模型。 例如，室内空间通常由机器人领域中的网格模型表示。 通过将特定领域的表示模型与IndoorGML分开并提供外部参考，可以实现高度的灵活性。

6. Anchor Node - Connection between Indoor and Outdoor

Connecting indoor and outdoor spaces is an important requirement of indoor spatial information. IndoorGML provides the concept of anchor node to connect indoor and outdoor spaces. We employ additional topology to connect indoor and outdoor space. Every indoor space contains at least one entrance, and it can be used to connect indoor and outdoor spaces. In IndoorGML, entrance is represented as a special node of topological graph in indoor space, connecting indoor and outdoor as shown in Figure 8. We call it anchor node, which differs from other node in topological graph, since it may include additional information for converting indoor CRS to outdoor absolute CRS.

1. 锚节点-室内和室外之间的连接

连接室内和室外空间是室内空间信息的重要要求。 IndoorGML提供了锚节点连接室内外空间的概念。 我们采用其他拓扑来连接室内和室外空间。 每个室内空间至少包含一个入口，可用于连接室内和室外空间。 在IndoorGML中，入口表示为室内空间中拓扑图的特殊节点，连接室内和室外，如图8所示。我们称其为锚节点，它不同于拓扑图中的其他节点，因为它可能包含用于转换的附加信息 室内CRS到室外绝对CRS。

[Figure 8 - Anchor Node]

Anchor node contains attributes to support the seamless conversion between indoor and outdoor spaces.

锚节点包含支持室内和室外空间之间无缝转换的属性。

External reference to outdoor transportation network: Anchor node includes an external reference to a node in ground transportation network, which is connected to the anchor node as shown in Figure 16. Note that the relationship betwteen anchor node and nodes in outdoor ground transportation is bidirectional. The anchor nodes are not only defined within IndoorGML document but also accessible from external data set such as ourdoor ground transportation network. For example, when a vehicle is entering to a building, we can get the IndoorGML document of the building via the external reference from the node in the ground transportation network.

（1）对室外运输网络的外部参考：锚节点包括对地面运输网络中的节点的外部参考，该节点连接到锚点，如图16所示。请注意，室外地面运输中的锚点和节点之间的关系是双向的。 锚节点不仅在IndoorGML文档中定义，而且还可以从外部数据集（例如我们的地面地面运输网络）访问。 例如，当车辆进入建筑物时，我们可以从地面交通网络中的节点通过外部参考获取建筑物的IndoorGML文档。

 

Transformation parameters: In many cases, a relative CRS is applied to an indoor space and it is necessary to transform the coordinates of each point of indoor geometry according to the outdoor absolute CRS. Anchor node therefore contains the parameters for transformation;

 

（2）变换参数：在许多情况下，相对CRS应用于室内空间，因此有必要根据室外绝对CRS变换室内几何图形各点的坐标。 因此，锚点节点包含用于转换的参数。

rotation origin point (x0, y0, z0)

rotation angles (α, β, γ, along x, y, and z-axis),

rescaling factor (sx, sy, sz), and

translation vector (tx, ty, tz).

 

旋转原点（x0，y0，z0）
旋转角度（沿着x，y和z轴的α，β，γ），
重缩放因子（sx，sy，sz）和
平移向量（tx，ty，tz）。

1. In addition to the above attributes, we may include extra information such as radio map of the building for WiFi indoor positioning.

除了上述属性外，我们可能还包括其他信息，例如用于WiFi室内定位的建筑物无线电地图。

 

7. Subspacing

Indoor space has often hierarchical structures and a careful decomposition of an indoor space is required in many cases to reflect hierarchical structures. A feature such as corridor or hall may be divided to accurately represent the geometric properties of indoor space based on the connectivity relationships among space objects.

7替代空间

室内空间通常具有分层结构，在许多情况下需要仔细分解室内空间以反映分层结构。 可以将诸如走廊或大厅之类的特征进行划分，以基于空间对象之间的连接关系准确地表示室内空间的几何特性。

The subspacing by the first option is explained in Figure 9. In the case of corridor of Figure 9-(a), node n6 in the NRG representing a corridor within the indoor space (Figure 9-(a), Figure 9-(b)) is considered as a consolidated Master Node, which is transformed to a sub-graph preserving connectivity relationship among the compartmentalized spaces of the corridor (Figure 9-(c)). It means that node n6 in the original NRG is converted into n6-1 and n6-2 and edge e1 in Figure 9-(c)) in the transformed NRG, which is a sub-graph representing a two-dimensional shape such as a hallway.

在图9中说明了第一个选项的替代空间。在图9-（a）的走廊情况下，NRG中的节点n6代表室内空间内的走廊（图9-（a），图9-（b） ））被视为合并的主节点，该主节点被转换为子图，以保留走廊的分隔空间之间的连接关系（图9-（c））。 这意味着将原始NRG中的节点n6转换为变换后的NRG中的n6-1和n6-2以及图9-（c）中的边e1），这是表示二维形状（例如a）的子图 门厅。

[Figure 9 - Example of Subspacing]

IndoorGML supports the subspacing by means of multi-layered space model to reflect hierarchical structure of indoor space as shown in Figure 10. The NRG G1 is the original graph layer with node n6, while G2 is a transformed graph layer with partitioned nodes n6-1 and n6-2. Then the hierarchical structure is represented by means of inter-layer connection of the multi-layered space model. Note that there are default one-to-one inter-layer connection between G1.nk, G2.nk except n6 as shown in Figure 10.

IndoorGML通过多层空间模型支持子空间化，以反映室内空间的层次结构，如图10所示。NRGG1是具有节点n6的原始图形层，而G2是具有分区节点n6-1的变换后的图形层。 和n6-2。 然后通过多层空间模型的层间连接表示层次结构。 请注意，除了n6之外，G1.nk，G2.nk之间存在默认的一对一层间连接，如图10所示。

[Figure 10 - Hierarchical Structure by Multi-Layered Space Model]

 

8. Modularization

According to the OGC’s policy “The Specification Model - A Standard for Modular specifications”, the overall IndoorGML is split into a core module and extensions which have a mandatory dependency on the core. Therefore, the IndoorGML data model is thematically decomposed into a core module and thematic extension modules (see Figure 11). The core module comprise the basic concept and each extension module covers a specific thematic field such as navigation applications (e.g. pedestrians, wheel-chair, and robot). Each IndoorGML module is specified by an XML Schema definition file and is defined within an individual and globally unique XML target namespace. According to dependency relationships among modules, each module may, in addition, import namespaces associated to such related IndoorGML modules.

8.模块化

根据OGC的政策“规范模型-模块化规范的标准”，整个IndoorGML分为一个核心模块和对核心有强制依赖性的扩展。 因此，IndoorGML数据模型在主题上分解为核心模块和主题扩展模块（请参见图11）。 核心模块包括基本概念，每个扩展模块涵盖特定主题领域，例如导航应用程序（例如行人，轮椅和机器人）。 每个IndoorGML模块均由XML架构定义文件指定，并在单个且全局唯一的XML目标名称空间中定义。 根据模块之间的依赖关系，每个模块还可以导入与此类IndoorGML模块关联的名称空间。

[Figure 11 - Modular Structure of IndoorGML]

The IndoorGML core module defines the basic concepts and component of the IndoorGML data model. While the aspects explained in section 2 except semantic modelling are reflected into the core module, extension modules comprise the semantic modelling aspect of IndoorGML. Based on the IndoorGML core module, the extension module contains a logically separate thematic component of the IndoorGML data model. IndoorGML introduces the first thematic extension module, called IndoorNavigation module.

IndoorGML核心模块定义了IndoorGML数据模型的基本概念和组件。尽管第2节中解释的方面（除了语义建模之外）反映到了核心模块中，但扩展模块包括IndoorGML的语义建模方面。扩展模块基于IndoorGML核心模块，包含IndoorGML数据模型的逻辑上独立的主题组件。 IndoorGML引入了第一个主题扩展模块，称为IndoorNavigation模块。

The dependency relationships among IndoorGML’s modules are illustrated in Figure 11 using an UML package diagram. Each module is represented by a package. The package name corresponds to the module name. A dash arrow in the figure indicates that the schema at the tail of the arrow depends upon the schema at the head of the arrow. For IndoorGML modules, a dependency occurs where one schema s other schema and accordingly the corresponding XML namespace. In the following sections the modules are described in detail.

图11中使用UML封装图说明了IndoorGML模块之间的依赖关系。每个模块由一个包表示。程序包名称与模块名称相对应。图中的虚线箭头表示箭头尾部的模式取决于箭头头部的模式。对于IndoorGML模块，在一个模式与另一个模式以及相应的XML名称空间相对应的地方会发生依赖。