CN105509736A - Indoor composite locating method for fire rescue - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention discloses an indoor composite locating method for fire rescue. The method comprises specific steps as follows: an indoor composite locating system comprising a three-axis accelerometer (1), a three-axis gyroscope (2), a three-axis magnetic compass (3), a barometer (4), a card reader (5), an RFID (radio frequency identification) tag (6) and a DSP (digital signal processor) (7) is constructed; a signal acquisition module (8) acquires signals of the three-axis accelerometer (1), the three-axis gyroscope (2), the three-axis magnetic compass (3) and the barometer (4); a dead reckoning module (9) acquires location information of rescue workers; a motion state extraction module (10) determines motion states of the rescue workers; a matching correction module (12) corrects locations of the rescue workers; a fixed-point correction module (13) determines the locations of the rescue workers in combination with cartographic information so as to perform fixed-point correction on the locations of the rescue workers. The indoor composite locating method for fire rescue realizes high-precision indoor location and is easy to implement and low in dependence on external conditions.
Description
Technical Field
The invention relates to an indoor positioning method, in particular to an indoor composite positioning method for fire rescue.
Background
In the fire rescue operation, the indoor positioning method can be used for acquiring the indoor position information of the rescuers, so that the life safety of the rescuers is ensured. The existing indoor positioning method mainly comprises an indoor base station positioning method, an outdoor radio positioning method, an inertial positioning method and the like. The method is based on an indoor base station positioning method, and mainly utilizes indoor base stations such as WIFI (wireless fidelity), Bluetooth and the like which are arranged in advance, and adopts technologies such as identification codes, geometric solution, field intensity detection and the like to perform positioning, so that the method has high requirements on indoor conditions, is difficult to ensure electric power support in a fire environment, and is not suitable for being used in the fire environment; the method is based on an outdoor radio positioning method, mainly utilizes radio transmitting facilities such as an outdoor communication base station, a positioning base station, a navigation satellite and the like, and adopts the technologies such as an arrival angle, arrival time and the like to perform positioning, and the method cannot perform positioning in an indoor environment with serious radio shielding because indoor radio propagation is interfered and has poor positioning accuracy; the method is based on an inertial positioning method, the motion of rescue workers is sensed by using an inertial device, and positioning is realized by navigation calculation.
Disclosure of Invention
The invention aims to provide an indoor composite positioning method for fire rescue, and solves the problems that the existing indoor positioning method is limited in application condition, low in precision and the like, and is not suitable for fire rescue.
An indoor composite positioning method for fire rescue comprises the following specific steps:
first step of building indoor composite positioning system for fire rescue
An indoor composite location system for fire rescue comprising: the system comprises a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetic compass, a barometer, a card reader, an RFID tag and a DSP, wherein the DSP runs a signal acquisition module, a dead reckoning module, a motion state extraction module, an indoor map module, a matching correction module and a fixed point correction module. The output ends of the three-axis accelerometer, the three-axis gyroscope, the three-axis magnetic compass and the barometer are respectively connected with the input end of the DSP, the card reader is bidirectionally connected with the DSP, and the card reader and the DSP are both fixed on the waist of the rescuer; the RFID tag is arranged indoors and interacts with the card reader in a two-way mode through radio waves. The signal acquisition module is used for acquiring signals of a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetic compass and a barometer; the dead reckoning module is used for resolving the position of the rescue worker according to the signal acquired by the signal acquisition module; the motion state extraction module extracts the acquired signal characteristics and determines the motion state of the rescue workers; the indoor map module provides indoor path information; the matching correction module performs matching correction on the positions of the rescuers according to the calculated positions of the rescuers and the extracted motion states of the rescuers and by combining map information; and the fixed point correction module controls the card reader to read the RFID label information and performs fixed point correction on the positioning result by combining the map information.
The second step is that the signal acquisition module acquires signals of a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetic compass and a barometer
The signal acquisition module acquires three-way acceleration information of the three-axis accelerometer, three-way angular velocity information of the three-axis gyroscope, three-way magnetic field intensity information of the three-axis magnetic compass and local atmospheric pressure information of the barometer.
Thirdly, the dead reckoning module obtains the position information of the rescue workers
The dead reckoning module obtains step length, course angle and altitude according to the triaxial acceleration information, triaxial angular velocity information, triaxial magnetic field intensity information and local atmospheric pressure information obtained by the signal acquisition module, and performs dead reckoning according to the formula:
（1）
wherein,、are respectively asThe coordinates of the east and west directions at the moment,、are respectively asThe coordinates of the east and west directions at the moment,in order to be the step size,is composed ofThe heading angle at the moment.
The dead reckoning module realizes the determination of the relative position of the rescue personnel through a formula (1).
Fourth step motion state extraction module determines motion state of rescue personnel
The motion state extraction module judges the motion state of the rescue workers going upstairs, downstairs or walking horizontally according to the three-axis acceleration information obtained by the signal acquisition module and the change of the local atmospheric pressure information; and judging the turning motion state of the rescue workers according to the change of the triaxial angular velocity information and the triaxial magnetic field intensity information obtained by the signal acquisition module.
Fifthly, the matching correction module corrects the position of the rescuers
The dead reckoning module obtains rescue personnel position information, the motion state extraction module determines the motion state of the rescue personnel, the matching correction module combines indoor path information provided by the indoor map module to match the position information and the motion state with an indoor path, the position of the rescue personnel is corrected, more accurate rescue personnel position information is obtained, and the formula is as follows:
（2）
wherein,for the start and end positions of each path,as a result of the current dead-reckoning,to match the corrected location information.
The sixth step is that the fixed-point correction module corrects the position of the rescuers
In an indoor area where the RFID tags are arranged in advance, ID information of the RFID tags is obtained through a card reader, and the fixed-point correction module determines the positions of rescuers according to the ID information and map information and corrects the positions of the rescuers to realize fixed-point correction of the positions of the rescuers.
And the signal acquisition module acquires signals of the three-axis accelerometer, the three-axis gyroscope, the three-axis magnetic compass and the barometer. The dead reckoning module carries out position calculation through a formula (1) through calculation of course and estimation of motion step length. The motion state extraction module is used for extracting the signal characteristics of the motion states of the rescuers going upstairs, going downstairs, turning or walking horizontally. The indoor map in the indoor map module is obtained in advance, the matching correction module matches with the indoor path according to the position calculation result and the motion state, and the matching correction of the positioning result is achieved through a formula (2). The RFID tags are passive tags and independent of the outside, are arranged at key indoor entrances and exits in advance, the effective reading range is controlled within 1.5 meters, and a mapping relation between the RFID tags and indoor coordinate information is established. When the card reader reads the RFID label, the indoor coordinate information is matched through the mapping relation, and fixed-point correction of the positioning result is achieved; the dead reckoning error is compensated through matching correction and fixed point correction, and the positioning precision is improved.
The invention solves the problems that the application condition of the indoor positioning method is limited, the precision is low and the like, which are not suitable for fire rescue, realizes high-precision indoor positioning by adopting the composite positioning method, has simple principle, easy realization and low dependence on external conditions, and can be applied to the field of fire rescue.
Drawings
Fig. 1 is a schematic view of an indoor composite positioning system for fire rescue in an indoor composite positioning method for fire rescue.
1. The system comprises a three-axis accelerometer 2, a three-axis gyroscope 3, a three-axis magnetic compass 4, a barometer 5, a card reader 6, an RFID tag 7, a DSP processor 8, a signal acquisition module 9, a dead reckoning module 10, a motion state extraction module 11, an indoor map module 12, a matching correction module 13 and a fixed point correction module.
Detailed Description
An indoor composite positioning method for fire rescue comprises the following specific steps:
first step of building indoor composite positioning system for fire rescue
An indoor composite location system for fire rescue comprising: the device comprises a three-axis accelerometer 1, a three-axis gyroscope 2, a three-axis magnetic compass 3, a barometer 4, a card reader 5, an RFID tag 6 and a DSP processor 7, wherein the DSP processor 7 runs a signal acquisition module 8, a dead reckoning module 9, a motion state extraction module 10, an indoor map module 11, a matching correction module 12 and a fixed point correction module 13. The output ends of the three-axis accelerometer 1, the three-axis gyroscope 2, the three-axis magnetic compass 3 and the barometer 4 are respectively connected with the input end of the DSP processor 7, the card reader 5 is bidirectionally connected with the DSP processor 7, and the card reader 5 and the DSP processor 7 are both fixed on the waist of the rescuer; the RFID tag 6 is arranged indoors and interacts with the card reader 5 in both directions by radio waves. The signal acquisition module 8 is used for acquiring signals of the three-axis accelerometer 1, the three-axis gyroscope 2, the three-axis magnetic compass 3 and the barometer 4; the dead reckoning module 9 calculates the position of the rescue worker according to the signal acquired by the signal acquisition module 8; the motion state extraction module 10 extracts the collected signal characteristics and determines the motion state of the rescue workers; the indoor map module 11 provides indoor path information; the matching correction module 12 performs matching correction on the positions of the rescuers according to the calculated positions of the rescuers and the extracted motion states of the rescuers and by combining map information; the fixed point correction module 13 controls the card reader 5 to read the information of the RFID tag 6, and performs fixed point correction on the positioning result by combining with the map information.
The second step signal acquisition module 8 acquires signals of the three-axis accelerometer 1, the three-axis gyroscope 2, the three-axis magnetic compass 3 and the barometer 4
The signal acquisition module 8 acquires three-way acceleration information of the three-axis accelerometer 1, three-way angular velocity information of the three-axis gyroscope 2, three-way magnetic field intensity information of the three-axis magnetic compass 3 and local atmospheric pressure information of the barometer 4.
Thirdly, the dead reckoning module 9 obtains the position information of the rescue workers
The dead reckoning module 9 obtains the step length, the course angle and the altitude according to the three-axis acceleration information, the three-axis angular velocity information, the three-axis magnetic field intensity information and the local atmospheric pressure information obtained by the signal acquisition module 8, and performs dead reckoning according to the formula:
（1）
wherein,、are respectively asThe coordinates of the east and west directions at the moment,、are respectively asThe coordinates of the east and west directions at the moment,in order to be the step size,is composed ofThe heading angle at the moment.
The dead reckoning module 9 realizes the determination of the relative position of the rescue workers through formula 1.
Fourth step motion state extraction module 10 determines the motion state of the rescuer
The motion state extraction module 10 judges the motion state of the rescue worker going upstairs, downstairs or walking horizontally according to the three-axis acceleration information obtained by the signal acquisition module 8 and the change of the local atmospheric pressure information; and judging the turning motion state of the rescue workers according to the change of the triaxial angular velocity information and the triaxial magnetic field intensity information obtained by the signal acquisition module 8.
The fifth step is that the matching correction module 12 corrects the position of the rescuers
The dead reckoning module 9 obtains rescue worker position information, the motion state extraction module 10 determines the motion state of the rescue workers, the matching correction module 12 combines the indoor path information provided by the indoor map module 11 to match the position information and the motion state with the indoor path, corrects the positions of the rescue workers, and obtains more accurate rescue worker position information, and the formula is as follows:
（2）
wherein,for the start and end positions of each path,as a result of the current dead-reckoning,to match the corrected location information.
The sixth step of the fixed point correction module 13 corrects the position of the rescuers
In an indoor area where the RFID tags 6 are arranged in advance, the card reader 5 is used for obtaining ID information of the RFID tags 6, and the fixed point correction module 13 is used for determining the positions of rescuers according to the ID information and combining map information and correcting the positions of the rescuers so as to realize fixed point correction of the positions of the rescuers.
The signal acquisition module 8 acquires signals of the three-axis accelerometer 1, the three-axis gyroscope 2, the three-axis magnetic compass 3 and the barometer 4. The dead reckoning module 9 performs position calculation through formula (1) by calculating the course and estimating the motion step length. The motion state extraction module 10 extracts signal features of motion states of the rescue workers during going upstairs, going downstairs, turning or walking horizontally. The indoor map in the indoor map module 11 is obtained in advance, the matching correction module 12 matches the indoor path according to the position calculation result and the motion state, and the matching correction of the positioning result is realized through the formula (2). The RFID tag 6 is a passive tag and independent of the outside, the RFID tag 6 is arranged at an indoor key entrance and exit in advance, the reading effective range is controlled within 1.5 meters, and the mapping relation between the RFID tag 6 and indoor coordinate information is established. When the card reader 5 reads the RFID label 6, matching indoor coordinate information through a mapping relation to realize fixed-point correction of a positioning result; the dead reckoning error is compensated through matching correction and fixed point correction, and the positioning precision is improved.
Claims (1)
1. An indoor composite positioning method for fire rescue is characterized by comprising the following specific steps:
first step of building indoor composite positioning system for fire rescue
An indoor composite location system for fire rescue comprising: the system comprises a three-axis accelerometer (1), a three-axis gyroscope (2), a three-axis magnetic compass (3), a barometer (4), a card reader (5), an RFID tag (6) and a DSP (digital signal processor) (7), wherein the DSP (7) runs a signal acquisition module (8), a dead reckoning module (9), a motion state extraction module (10), an indoor map module (11), a matching correction module (12) and a fixed point correction module (13); the output ends of the three-axis accelerometer (1), the three-axis gyroscope (2), the three-axis magnetic compass (3) and the barometer (4) are respectively connected with the input end of the DSP processor (7), the card reader (5) is bidirectionally connected with the DSP processor (7), and the card reader (5) and the DSP processor (7) are both fixed on the waist of the rescuer; the RFID tag (6) is arranged indoors and interacts with the card reader (5) in a two-way mode through radio waves; the signal acquisition module (8) is used for acquiring signals of the three-axis accelerometer (1), the three-axis gyroscope (2), the three-axis magnetic compass (3) and the barometer (4); the dead reckoning module (9) calculates the position of the rescue worker according to the signal acquired by the signal acquisition module (8); the motion state extraction module (10) extracts the collected signal characteristics and determines the motion state of the rescue workers; the indoor map module (11) provides indoor path information; the matching correction module (12) performs matching correction on the positions of the rescuers by combining map information according to the calculated positions of the rescuers and the extracted motion states of the rescuers; the fixed point correction module (13) controls the card reader (5) to read the information of the RFID tag (6), and fixed point correction is carried out on the positioning result by combining map information;
the second step of signal acquisition module (8) acquires signals of the three-axis accelerometer (1), the three-axis gyroscope (2), the three-axis magnetic compass (3) and the barometer (4)
The signal acquisition module (8) acquires three-way acceleration information of the three-axis accelerometer (1), three-way angular velocity information of the three-axis gyroscope (2), three-way magnetic field intensity information of the three-axis magnetic compass (3) and local atmospheric pressure information of the barometer (4);
thirdly, a dead reckoning module (9) obtains the position information of the rescue workers
The dead reckoning module (9) obtains step length, course angle and altitude according to the triaxial acceleration information, triaxial angular velocity information, triaxial magnetic field intensity information and local atmospheric pressure information obtained by the signal acquisition module (8), and performs dead reckoning according to the formula:
（1）
wherein,、are respectively asThe coordinates of the east and west directions at the moment,、are respectively asThe coordinates of the east and west directions at the moment,in order to be the step size,is composed ofA course angle at a moment;
the dead reckoning module (9) determines the relative position of the rescue workers through a formula (1);
the fourth step is that a motion state extraction module (10) determines the motion state of the rescuers
The motion state extraction module (10) judges the motion state of the rescue workers going upstairs, downstairs or walking horizontally according to the three-axis acceleration information obtained by the signal acquisition module (8) and the change of local atmospheric pressure information; judging the turning motion state of the rescue workers according to the change of the triaxial angular velocity information and the triaxial magnetic field intensity information obtained by the signal acquisition module (8);
the fifth step is that a matching correction module (12) corrects the position of the rescuers
The dead reckoning module (9) obtains rescue personnel position information, the motion state extraction module (10) determines the motion state of the rescue personnel, the matching correction module (12) combines indoor path information provided by the indoor map module (11) to match the position information and the motion state with the indoor path, the position of the rescue personnel is corrected, more accurate rescue personnel position information is obtained, and the formula is as follows:
（2）
wherein,for the start and end positions of each path,as a result of the current dead-reckoning,matching the corrected position information;
the sixth step, a fixed point correction module (13) corrects the position of the rescuers
In an indoor area where the RFID tags (6) are arranged in advance, ID information of the RFID tags (6) is obtained through the card reader (5), and the fixed-point correction module (13) determines the positions of rescuers according to the ID information and map information and corrects the positions of the rescuers to realize fixed-point correction of the positions of the rescuers;
the signal acquisition module (8) acquires signals of the three-axis accelerometer (1), the three-axis gyroscope (2), the three-axis magnetic compass (3) and the barometer (4); the dead reckoning module (9) carries out position calculation through a formula (1) by calculating course and estimating motion step length; the motion state extraction module (10) extracts signal features of motion states of the rescuers going upstairs, going downstairs, turning or walking horizontally; an indoor map in the indoor map module (11) is obtained in advance, the matching correction module (12) matches with an indoor path according to the position calculation result and the motion state, and the matching correction of the positioning result is realized through a formula (2); the RFID tag (6) is a passive tag, is independent of the outside, is arranged at an indoor key entrance and exit in advance, the effective reading range is controlled within 1.5 meters, and the mapping relation between the RFID tag (6) and indoor coordinate information is established; when the card reader (5) reads the RFID label (6), the indoor coordinate information is matched through the mapping relation, and fixed-point correction of the positioning result is achieved; the dead reckoning error is compensated through matching correction and fixed point correction, and the positioning precision is improved.
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