Geofence Boundary Violation Detection in 3D Using Triangle Weight Characterization with Adjacency
Geofence Boundary Violation Detection in 3D Using Triangle Weight Characterization with Adjacency
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DOI：
10.1007/s10846-018-0930-5
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发表时间：
2018-09
影响因子：
3.3
通讯作者：
Mia N. Stevens;H. Rastgoftar;E. Atkins
中科院分区：
文献类型：
--
作者：
Mia N. Stevens;H. Rastgoftar;E. Atkins
本文介绍了一种使用邻接三角形权重表征（TWCA）算法的计算高效的地理围栏边界违规检测方法。地理围栏定义为最大和最小高度，水平边界指定为不自相交的多边形。 TWCA初始化将每个地理围栏的水平分量和边界框划分为一组有限的三角形，然后确定包含车辆的三角形。在飞行期间，使用不等式检查每个位置更新是否包含在垂直地理围栏边界内，并使用 TWCA 检查水平地理围栏边界。 TWCA 使用邻接图的广度优先搜索来搜索包含车辆位置的三角形。搜索的根节点是前一时间步占据的三角形。该算法适用于同时包含保留（包含）地理围栏和保留（排除）地理围栏的三维地理围栏。
This paper introduces a computationally efficient geofence boundary violation detection method using the Triangle Weight Characterization with Adjacency (TWCA) algorithm. The geofence is defined as a maximum and a minimum altitude, and a horizontal boundary specified as a polygon that does not self-intersect. TWCA initialization divides the horizontal component and bounding box of each geofence into a finite set of triangles, then determines the triangle containing the vehicle. During flight, each position update is checked for containment within the vertical geofence boundaries using inequalities and the horizontal geofence boundaries using TWCA. TWCA searches for the triangle containing the vehicle position using breadth-first search of the adjacency graph. The root node of the search is the triangle occupied at the previous time step. This algorithm is applicable to three-dimensional geofences containing both keep-in (inclusion) geofences and keep-out (exclusion) geofences.