CN103994767A - Rescuer indoor cooperated positioning device and method - Google Patents
Rescuer indoor cooperated positioning device and method Download PDFInfo
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- CN103994767A CN103994767A CN201410198780.5A CN201410198780A CN103994767A CN 103994767 A CN103994767 A CN 103994767A CN 201410198780 A CN201410198780 A CN 201410198780A CN 103994767 A CN103994767 A CN 103994767A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The invention provides a rescuer indoor cooperated positioning device and a method. A system comprises at least three inertial navigation positioning devices, a plurality of single chip microcomputers, a plurality of ZigBee wireless sensor network nodes, a plurality of GPRS modules, and a remote server. The inertial navigation positioning devices are separately disposed on at least three rescuers. All the rescuers are provided with one of the single chip microcomputers, one of the ZigBee wireless sensor network nodes and one of the GPRS modules. The inertial navigation positioning devices are carried by some of the rescuers, thus achieving indoor positioning. A real-time positioning network is formed through a ZigBee wireless sensor network, and position data is provided for other rescuers not carrying the inertial navigation positioning devices in a rescuing site. When a rescuer can verify the position of himself or herself, the position information can be corrected and the precision of a dynamic positioning network can be corrected. A headquarter can know the positions and distribution of the rescuers on the site in real time, and the rescuers can known the position information of themselves and their teammates, thus increasing the disaster rescuing efficiency so as to guarantee human safety.
Description
Technical field
The present invention relates to indoor positioning, wireless sensor network and disaster relief field, be specifically related to the indoor colocated device and method of a kind of rescue personnel.
Background technology
In disaster relief activity, to charge first-line rescue personnel often in desperate situation, its life security is difficult to obtain effective guarantee.Rescue personnel cannot understand own and team member in information such as indoor positions, in there is emergency situation, can not mutually support timely and effectively, is easy to cause injures and deaths.Meanwhile, commander and field staff can not grasp rescue personnel's status of implementation, and situation about cannot face rescue personnel immediately makes accurate judgment and reasonably commands, and has had a strong impact on commander's efficiency.The situation of therefore, rescue personnel being carried out to indoor positioning and make rescue personnel understand near team member is very necessary.Traditional GPS location effective coverage range is large, and location navigation signal is free.But in actual environment, GPS cannot penetrate the roof of buildings, indoorly often cannot receive gps signal, thereby cannot use GPS accurately to locate rescue personnel at indoor particular location.Inertial navigation location utilizes gyroscope and accelerometer, the accurately position of output mobile target and attitude information.Utilize inertial navigation set to carry out indoor position accuracy higher, but inertial navigation equipment cost is higher, restricted on usage quantity.Sensor network has self-organization feature, can form real-time fixer network, is widely used at present internal home network communication and disposes.
Summary of the invention
The deficiency existing for prior art, the invention provides the indoor colocated device and method of a kind of rescue personnel.
Technical scheme of the present invention is:
The indoor colocated device of a kind of rescue personnel, comprises at least 3 inertial navigation locating devices, multiple single-chip microcomputer, multiple ZigBee wireless sensor network node, multiple GPRS module and remote server;
Each inertial navigation locating device is placed in respectively with it at least 3 rescue personnels, and all rescue personnels are all mounted with single-chip microcomputer, ZigBee wireless sensor network node and GPRS module with it, and the output terminal of inertial navigation locating device connects the input end of single-chip microcomputer;
Each ZigBee wireless sensor network node forms ZigBee wireless sensor network, and single-chip microcomputer is set up wireless telecommunications by GPRS module and remote server.
The positional information that described ZigBee wireless sensor network node is used for sending in real time its corresponding rescue personnel place by ZigBee wireless sensor network is to other rescue personnels' ZigBee wireless sensor network node and real-time other rescue personnels' of reception positional information.
3-axis acceleration and three axis angular rates that described inertial navigation locating device moves for its corresponding rescue personnel of Real-time Obtaining are also sent to single-chip microcomputer.
The 3-axis acceleration that described single-chip microcomputer moves for the corresponding rescue personnel who obtains according to inertial navigation locating device and three axis angular rates position and calculate rescue personnel's positional information, or the each rescue personnel's who carries inertial navigation locating device of transmitting according to ZigBee wireless sensor network node positional information is carried out self poisoning.
Described GPRS module is sent to remote server for rescue personnel's positional information that single-chip microcomputer is transmitted.
Described remote server is for receiving rescue personnel's positional information that GPRS module transmits and depositing to database.
Described single-chip microcomputer is connected with LCD MODULE, for the indoor environment of rescue site is shown with interior architecture object plane diagram form, and each rescue personnel position is presented on this interior architecture object plane figure and real-time update with the form of coordinate.
Described single-chip microcomputer is connected with operation push-button module, for the rescue personnel of rescue process at the scene, its definite positional information is manually inputted to single-chip microcomputer, and the positional information of calculating is revised.
Adopt the described indoor colocated device of a kind of rescue personnel to carry out the method for the indoor colocated of rescue personnel, comprise the steps:
Step 1: all rescue personnels carry single-chip microcomputer, ZigBee wireless sensor network node and GPRS module, and wherein more than three rescue personnel also carries inertial navigation locating device;
Step 2: the rescue personnel who carries inertial navigation locating device is carried out to initial alignment, and obtain acceleration of gravity direction and size by measuring this rescue personnel at the rescue personnel's of current location 3-axis acceleration;
Step 3: the indoor environment of rescue site is shown by LCD MODULE with interior architecture object plane diagram form;
Step 4: it is indoor that all rescue personnels enter rescue site, 3-axis acceleration and three axis angular rates of its corresponding rescue personnel's motion of inertial navigation locating device Real-time Obtaining are also sent to single-chip microcomputer;
Step 5: the 3-axis acceleration that single-chip microcomputer sends according to inertial navigation locating device and three axis angular rates calculate the rescue personnel that the carries inertial navigation locating device displacement with respect to initial alignment position coordinates, and then obtain carrying rescue personnel's current location of inertial navigation locating device;
Step 6: by GPRS module, the rescue personnel's current location information that carries inertial navigation locating device is sent to remote server, by ZigBee wireless sensor network node, the rescue personnel's current location information that carries inertial navigation locating device is sent to other rescue personnels simultaneously;
Step 7: three of ZigBee wireless sensor network node Real-time Obtainings that do not carry the rescue personnel of inertial navigation locating device carry the rescue personnel's of inertial navigation locating device RSSI data, and these RSSI data are sent to its corresponding single-chip microcomputer by ZigBee wireless sensor network node;
Step 8: single-chip microcomputer calculates respectively this rescue personnel who does not carry inertial navigation locating device and these three and carry the rescue personnel's of inertial navigation locating device distance according to the RSSI data obtained, and do not carry the rescue personnel of inertial navigation locating device and these three and carry rescue personnel's the distance of inertial navigation locating device and these three and carry the rescue personnel's of inertial navigation locating device current location information according to this calculating, adopt three limit localization methods to calculate the current location of self;
Step 9: in rescue personnel's rescue process at the scene as while determining himself position, by operation push-button module, its positional information is manually inputted to single-chip microcomputer, the positional information of calculating is revised, each rescue personnel position is presented on interior architecture object plane figure and real-time update with the form of coordinate by LCD MODULE.
Beneficial effect:
The indoor colocated device and method of rescue personnel of the present invention is to carry inertial navigation locating device by part rescue personnel to realize indoor positioning, form real-time network for location by ZigBee wireless sensor network, in rescue site for other rescue personnels that do not carry inertial navigation locating device provide position data.In the time that rescue personnel can confirm self-position, can pass through operation push-button correction position information, make oneself to become new locating source, revise the precision of Kinematic Positioning network.On this basis, directorate can grasp field rescue personnel's position and distribution in real time, and rescue personnel also can understand and grasp mutually own and teammate's positional information, thereby improve disaster relief efficiency to ensure personal safety.By a small amount of ZigBee wireless sensor network anchor node and signal intensity range finding, reduce the usage quantity of expensive inertial navigation locating device to save cost.And, can dynamic self-organization configuration information network due to ZigBee wireless sensor network, do not need erecting equipment in building in advance, make the present invention rescue and there is very strong actual use value for sudden disaster.
Brief description of the drawings
Fig. 1 is the indoor colocated apparatus structure of the rescue personnel of specific embodiment of the invention schematic diagram;
Fig. 2 is single-chip microcomputer and the peripheral circuit structured flowchart thereof of the specific embodiment of the invention;
Fig. 3 is the single chip circuit schematic diagram of the specific embodiment of the invention;
Fig. 4 is the voltage conversion circuit schematic diagram of the specific embodiment of the invention;
Fig. 5 is the LCD MODULE circuit theory diagrams of the specific embodiment of the invention;
Fig. 6 is the operation push-button modular circuit schematic diagram of the specific embodiment of the invention;
Fig. 7 is the communicating circuit schematic diagram of the specific embodiment of the invention;
Fig. 8 is the rescue personnel's workflow diagram that carries inertial navigation locating device of the specific embodiment of the invention;
Fig. 9 is the rescue personnel's workflow diagram that does not carry inertial navigation locating device of the specific embodiment of the invention;
Figure 10 is the indoor colocated method flow diagram of the rescue personnel of the specific embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.
The indoor colocated device of rescue personnel, comprises at least 3 inertial navigation locating devices, multiple single-chip microcomputer, multiple ZigBee wireless sensor network node, multiple GPRS module and remote server;
Each inertial navigation locating device is placed in respectively with it at least 3 rescue personnels, and all rescue personnels are all mounted with single-chip microcomputer, ZigBee wireless sensor network node and GPRS module with it, and the output terminal of inertial navigation locating device connects the input end of single-chip microcomputer.
As shown in Figure 1, in present embodiment, have 3 rescue personnels to be mounted with inertial navigation locating device with it, these three rescue personnels are made as to rescue personnel A, all the other rescue personnels are rescue personnel B.
Each ZigBee wireless sensor network node forms ZigBee wireless sensor network, and single-chip microcomputer is set up wireless telecommunications by GPRS module and remote server.
The positional information that ZigBee wireless sensor network node is used for sending in real time its corresponding rescue personnel place by ZigBee wireless sensor network is to other rescue personnels' ZigBee wireless sensor network node and real-time other rescue personnels' of reception positional information.
In present embodiment, ZigBee wireless sensor network node adopts STM32W108CBU64, the ARM Cortex-M3 processor cores based on 32, and inner integrated communicaton module, signal is more stable, meets low energy consumption characteristic simultaneously.STM32W108CBU64 supports IEEE802.15.4Zigbee agreement, integrated SimpleMac protocol stack.STM32W108CBU64 receives the position data of single-chip microcomputer, and propagates by position inundation as mobile anchor node, for other node of ZigBee wireless sensor network provides position data.Receive the positional information that other nodes send simultaneously, deliver to single-chip microcomputer and carry out data processing.ZigBee wireless sensor network node is connected with single-chip microcomputer by serial ports.
The 3-axis acceleration that single-chip microcomputer moves for the corresponding rescue personnel who obtains according to inertial navigation locating device and three axis angular rates position and calculate rescue personnel's positional information, or the each rescue personnel's who carries inertial navigation locating device of transmitting according to ZigBee wireless sensor network node positional information is carried out self poisoning.
As shown in Figure 3, the model that single-chip microcomputer is selected is STM32F103, is ARM32 position Cortex-M3CPU, maximum operation frequency 72MHz, 1.25DMIPS/MHz.Monocycle multiplication and hardware division, have and process faster arithmetic speed.Support 3 kinds of low-power consumption modes, thereby between low-power consumption, short start-up time and available wake source, reach a best equilibrium point.
As shown in Figure 8, for the rescue personnel A that carries inertial navigation locating device, single-chip microcomputer passes through initial alignment, obtain the acceleration of gravity under current environment, and receive in real time inertial navigation locating device measure 3-axis acceleration and three axis angular rates, carrying out coordinate conversion transforms to geographic coordinate by the data of acquisition from carrier coordinate system and fastens, then by discrete data being carried out to draw after quadratic integral conversion the positional information of object, current location is upgraded on the figure of interior architecture structural plan, and send to respectively remote server and other ZigBee wireless sensor network node by GPRS module and ZigBee wireless sensor network node, finally be presented in its entrained LCD MODULE.ZigBee wireless sensor network node receives the positional information of other ZigBee wireless sensor network nodes and shows by LCD MODULE when sending oneself positional information.
As shown in Figure 9, for the rescue personnel B that does not carry inertial navigation locating device, single-chip microcomputer is analyzed the wireless data obtaining and process, and wherein position data shows output by LCD MODULE, by the RSSI value of signal, the distance according to the calculating of RSSI localization method with anchor node.Obtaining, behind the position and range information of three anchor nodes, calculating the position of self according to three limit localization methods.Finally show output by LCD MODULE, send the positional information of self to other node by data broadcast simultaneously, and by GPRS, positional information is sent to remote server.
Single-chip microcomputer is connected with communicating circuit, as shown in Figure 7, this circuit comprises two MAX3232CSE chips and 3 RS232 serial ports, single-chip microcomputer carries out serial communication by RS232 serial ports and inertial navigation locating device, GPRS module and ZigBee wireless sensor network node, can realize the transmission of short distance full-duplex data.
Inertial navigation locating device is connected with PA2, PA3, the GND of single-chip microcomputer by RS232 serial ports, sends the data to single-chip microcomputer.ZigBee wireless sensor network node is connected with PA9, PA10, the GND of single-chip microcomputer by serial ports.GPRS module is connected with PB10, PB11, the GND of single-chip microcomputer through serial ports.LCD MODULE is by PB mouth and single-chip microcomputer swap data.The output of power module is connected with 3v3, the GND of single-chip microcomputer, ZigBee wireless sensor network node, GPRS module and LCD MODULE after voltage transitions.Operation push-button module is connected with single-chip microcomputer by PA mouth.
Single-chip microcomputer and peripheral circuit thereof are as shown in Figure 2.
Single-chip microcomputer is also connected with LCD MODULE as shown in Figure 5, for the indoor environment of rescue site is shown with interior architecture object plane diagram form, and each rescue personnel position is presented on this interior architecture object plane figure and real-time update with the form of coordinate.
Single-chip microcomputer is also connected with operation push-button module as shown in Figure 6, for the rescue personnel of rescue process at the scene, its definite positional information is manually inputted to single-chip microcomputer, and the positional information of calculating is revised.
3-axis acceleration and three axis angular rates that inertial navigation locating device moves for its corresponding rescue personnel of Real-time Obtaining are also sent to single-chip microcomputer.Inertial navigation locating device adopts the MTi-G of XSENS company inertial navigation module, and it has the sensor such as gyroscope, accelerometer, motion 3-axis acceleration and angular velocity that can continuous wave output inertial navigation module.Inertial navigation module is connected with STM32F103 by Serial Port Line, and data are sent to STM32F103 continuously.
GPRS module is sent to remote server for rescue personnel's positional information that single-chip microcomputer is transmitted.GPRS module adopts SIM300 chip, adopts serial communication with single-chip microcomputer.
Remote server is for receiving rescue personnel's positional information that GPRS module transmits and depositing to database.
Rescue personnel's indoor positioning of present embodiment and the power module of information synergism system are single-chip microcomputer, ZigBee wireless sensor network node, GPRS wireless module, LCD MODULE power supply.Lithium battery delivery outlet is connected with single-chip microcomputer 3v3, GND respectively by power module.Power module comprises lithium battery and voltage conversion circuit, and wherein, the main chip model of voltage conversion circuit is LM1117-3v3, as shown in Figure 4.
Adopt the described indoor colocated device of rescue personnel to carry out the method for the indoor colocated of rescue personnel, as shown in figure 10, comprise the steps:
Step 1: all rescue personnels carry single-chip microcomputer, ZigBee wireless sensor network node and GPRS module, wherein three rescue personnel A carry inertial navigation locating device;
Step 2: the rescue personnel who carries inertial navigation locating device is carried out to initial alignment, and obtain acceleration of gravity direction and size by measuring this rescue personnel at the rescue personnel's of current location 3-axis acceleration;
Entering before rescue site, rescue personnel A starts inertial navigation locating device and stands still the several seconds, the position of rescue personnel in interior architecture object plane figure is set at this moment, and measures acceleration of gravity direction and the size of current location, for follow-up location provides foundation.
Step 3: the indoor environment of rescue site is shown by LCD MODULE with interior architecture object plane diagram form;
Interior architecture object plane figure refers to the rescue site 2 d plane picture of accurately portraying, and is conventionally put on record by fire department, in the time implementing pick-up operation, can legally obtain.This planimetric map is set to background, in this background, draws curve movement, can show that rescue personnel A or B are at indoor position and movement locus.Rescue personnel position is set, and is the interior architecture object plane figure that automatically transfers buildings when inertial navigation starting, and by current longitude and latitude be mapped on map, thereby realize the switching of outdoor map and indoor planimetric map.
Step 4: it is indoor that all rescue personnels enter rescue site, 3-axis acceleration and three axis angular rates of its corresponding rescue personnel A motion of inertial navigation locating device Real-time Obtaining are also sent to single-chip microcomputer;
Step 5: the 3-axis acceleration that single-chip microcomputer sends according to inertial navigation locating device and three axis angular rates calculate the rescue personnel that the carries inertial navigation locating device displacement with respect to initial alignment position coordinates, and then obtain carrying rescue personnel's current location of inertial navigation locating device;
Enter indoor after, single-chip microcomputer obtains 3-axis acceleration and three axis angular rates of current rescue personnel's motion state, the displacement of calculating the relative origin coordinates of current rescue personnel by coordinate transform and integral transformation continuously from inertial navigation locating device.This position is upgraded on the figure of interior architecture structural plan, and drawn movement locus.
Step 6: by GPRS module, the rescue personnel A current location information that carries inertial navigation locating device is sent to remote server and other rescue personnels carry out position information share, by ZigBee wireless sensor network node, the rescue personnel's current location information that carries inertial navigation locating device is sent to other rescue personnels simultaneously;
The rescue personnel A that carries inertial navigation locating device propagates by position inundation as mobile anchor node, for other node of ZigBee wireless sensor network provides position data, position inundation is propagated and is referred to that source node sends data to by wireless network its each neighbor node, each neighbor node sends data to other nodes except sending the next node of data separately again, realizes all nodes can obtain these data with this.The rescue personnel B that does not carry inertial navigation locating device carries ZigBee wireless sensor network node, forms on-the-spot multidate information contract network with rescue personnel A, receives the position data broadcast that rescue personnel A sends.
Step 7: three of ZigBee wireless sensor network node Real-time Obtainings that do not carry the rescue personnel B of inertial navigation locating device carry the RSSI data of the rescue personnel A of inertial navigation locating device, and these RSSI data are sent to its corresponding single-chip microcomputer by ZigBee wireless sensor network node;
Step 8: single-chip microcomputer calculates respectively this rescue personnel B that does not carry inertial navigation locating device and these three and carry the distance of the rescue personnel A of inertial navigation locating device according to the RSSI data obtained, and do not carry the distance of the rescue personnel A that the rescue personnel B of inertial navigation locating device and these three carry inertial navigation locating device and these three and carry the current location information of the rescue personnel A of inertial navigation locating device according to this calculating, adopt three limit localization methods to calculate the current location of self;
Distance between unknown position node (rescue personnel to be positioned) and anchor node can calculate by the RSSI value of WSN node, judges the distance between self and anchor node by signal intensity.Measure range finding as follows from the relation between d (unit: rice) and the RSSI value, A, the n that obtain:
d=10^（（ABS（RSSI）-A）/（10*n))
Wherein A is the signal intensity when apart from a meter, and n is the attenuation coefficient of environment to signal, and optimum range is 3.25-4.5.For the object of low-speed motion, can improve measuring accuracy by average value filtering.
Three limit localization methods, be in wireless sensor network method for self-locating expense little, be easy to realize localization method.So-called three limit localization methods are to calculate coordinate to be positioned by three anchor node coordinate informations and node to be positioned to anchor node range information.When unknown position node and more than 3 or 3, the distance between anchor node is determined, the localization method based on range finding of combining with wireless sensor network, just can obtain rescue personnel's to be positioned positional information.In the time of the location technology using based on distance, need the cooperation of multiple anchor nodes could determine nodes of locations position.Set up math equation with one group of numerical value measuring, the number of math equation can be greater than the number of variable so, now can obtain the estimated value in Minimum Mean Square Error meaning by maximum-likelihood method.
In two-dimentional radio sensing network, as long as know that the distance of unknown node and 3 anchor nodes just can calculate the position of unknown node.Suppose that 3 anchor node coordinates are respectively (X
1, Y
1), (X
2, Y
2), (X
3, Y
3), the coordinate (X of unknown node
u, Y
u), the distance of 3 anchor nodes of unknown node distance is respectively R1, R2 and R3, can obtain following system of equations according to two-dimensional coordinate system range formula
According to polygon location estimation, can computing node position (X
u, Y
u) be
So just can obtain the coordinate of unknown node, the position of not carried the rescue personnel B of inertial navigation locating device.
Step 9: in rescue personnel A or B rescue process at the scene as while determining himself position, its positional information is manually inputted single-chip microcomputer by directionkeys or numerical key by operation push-button module, the positional information of calculating is revised, each rescue personnel position is presented on interior architecture object plane figure and real-time update with the form of coordinate by LCD MODULE.
The real time position data of rescue personnel A or rescue personnel B, is converted into the physical location of interior architecture object plane figure, and is presented in its entrained LCD MODULE.
Claims (9)
1. the indoor colocated device of rescue personnel, is characterized in that: comprise at least 3 inertial navigation locating devices, multiple single-chip microcomputer, multiple ZigBee wireless sensor network node, multiple GPRS module and remote server;
Each inertial navigation locating device is placed in respectively with it at least 3 rescue personnels, and all rescue personnels are all mounted with single-chip microcomputer, ZigBee wireless sensor network node and GPRS module with it, and the output terminal of inertial navigation locating device connects the input end of single-chip microcomputer;
Each ZigBee wireless sensor network node forms ZigBee wireless sensor network, and single-chip microcomputer is set up wireless telecommunications by GPRS module and remote server.
2. the indoor colocated device of rescue personnel according to claim 1, is characterized in that: the positional information that described ZigBee wireless sensor network node is used for sending in real time its corresponding rescue personnel place by ZigBee wireless sensor network is to other rescue personnels' ZigBee wireless sensor network node and real-time other rescue personnels' of reception positional information.
3. the indoor colocated device of rescue personnel according to claim 1, is characterized in that: 3-axis acceleration and three axis angular rates that described inertial navigation locating device moves for its corresponding rescue personnel of Real-time Obtaining are also sent to single-chip microcomputer.
4. the indoor colocated device of rescue personnel according to claim 1, it is characterized in that: the 3-axis acceleration that described single-chip microcomputer moves for the corresponding rescue personnel who obtains according to inertial navigation locating device and three axis angular rates position and calculate rescue personnel's positional information, or the each rescue personnel's who carries inertial navigation locating device of transmitting according to ZigBee wireless sensor network node positional information is carried out self poisoning.
5. the indoor colocated device of rescue personnel according to claim 1, is characterized in that: described GPRS module is sent to remote server for rescue personnel's positional information that single-chip microcomputer is transmitted.
6. the indoor colocated device of rescue personnel according to claim 1, is characterized in that: described remote server is for receiving rescue personnel's positional information that GPRS module transmits and depositing to database.
7. the indoor colocated device of rescue personnel according to claim 1, it is characterized in that: described single-chip microcomputer is connected with LCD MODULE, for the indoor environment of rescue site is shown with interior architecture object plane diagram form, and each rescue personnel position is presented on this interior architecture object plane figure and real-time update with the form of coordinate.
8. the indoor colocated device of rescue personnel according to claim 1, it is characterized in that: described single-chip microcomputer is connected with operation push-button module, for the rescue personnel of rescue process at the scene, its definite positional information is manually inputted to single-chip microcomputer, the positional information of calculating is revised.
9. adopt the indoor colocated device of rescue personnel claimed in claim 1 to carry out the method for the indoor colocated of rescue personnel, it is characterized in that: comprise the steps:
Step 1: all rescue personnels carry single-chip microcomputer, ZigBee wireless sensor network node and GPRS module, and wherein more than three rescue personnel also carries inertial navigation locating device;
Step 2: the rescue personnel who carries inertial navigation locating device is carried out to initial alignment, and obtain acceleration of gravity direction and size by measuring this rescue personnel at the rescue personnel's of current location 3-axis acceleration;
Step 3: the indoor environment of rescue site is shown by LCD MODULE with interior architecture object plane diagram form;
Step 4: it is indoor that all rescue personnels enter rescue site, 3-axis acceleration and three axis angular rates of its corresponding rescue personnel's motion of inertial navigation locating device Real-time Obtaining are also sent to single-chip microcomputer;
Step 5: the 3-axis acceleration that single-chip microcomputer sends according to inertial navigation locating device and three axis angular rates calculate the rescue personnel that the carries inertial navigation locating device displacement with respect to initial alignment position coordinates, and then obtain carrying rescue personnel's current location of inertial navigation locating device;
Step 6: by GPRS module, the rescue personnel's current location information that carries inertial navigation locating device is sent to remote server, by ZigBee wireless sensor network node, the rescue personnel's current location information that carries inertial navigation locating device is sent to other rescue personnels simultaneously;
Step 7: three of ZigBee wireless sensor network node Real-time Obtainings that do not carry the rescue personnel of inertial navigation locating device carry the rescue personnel's of inertial navigation locating device RSSI data, and these RSSI data are sent to its corresponding single-chip microcomputer by ZigBee wireless sensor network node;
Step 8: single-chip microcomputer calculates respectively this rescue personnel who does not carry inertial navigation locating device and these three and carry the rescue personnel's of inertial navigation locating device distance according to the RSSI data obtained, and do not carry the rescue personnel of inertial navigation locating device and these three and carry rescue personnel's the distance of inertial navigation locating device and these three and carry the rescue personnel's of inertial navigation locating device current location information according to this calculating, adopt three limit localization methods to calculate the current location of self;
Step 9: in rescue personnel's rescue process at the scene as while determining himself position, by operation push-button module, its positional information is manually inputted to single-chip microcomputer, the positional information of calculating is revised, each rescue personnel position is presented on interior architecture object plane figure and real-time update with the form of coordinate by LCD MODULE.
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| CN104567862A (en) * | 2015-01-19 | 2015-04-29 | 华侨大学 | Two-feet-positioning-based motion trail acquisition method |
| CN105204054A (en) * | 2015-10-16 | 2015-12-30 | 北京机械设备研究所 | Cluster positioning and commanding system |
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| CN106525044A (en) * | 2016-10-18 | 2017-03-22 | 天津大学 | Person positioning navigation system and method of large naval ship based on ship structure chart |
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| CN106525044A (en) * | 2016-10-18 | 2017-03-22 | 天津大学 | Person positioning navigation system and method of large naval ship based on ship structure chart |
| CN106950536A (en) * | 2017-03-17 | 2017-07-14 | 河南航飞光电科技有限公司 | Localization method based on removable localizer beacon |
| CN106912022A (en) * | 2017-03-20 | 2017-06-30 | 华平智慧信息技术（深圳）有限公司 | Fire-fighting and rescue method and system |
| CN106793088A (en) * | 2017-03-31 | 2017-05-31 | 武汉大学 | A kind of wireless sense network indoor emergency alignment system and method |
| CN107343258A (en) * | 2017-06-12 | 2017-11-10 | 北京中科天合科技有限公司 | A kind of in-car localization method and system based on multi-channel signal intensity detection |
| TWI715823B (en) * | 2018-02-07 | 2021-01-11 | 淡江大學 | Disaster emergency rescue system and control method thereof |
| CN109270487A (en) * | 2018-07-27 | 2019-01-25 | 昆明理工大学 | A kind of indoor orientation method based on ZigBee and inertial navigation |
| CN111148016A (en) * | 2019-03-15 | 2020-05-12 | 广东小天才科技有限公司 | Mobile equipment positioning method and system in indoor environment and mobile equipment |
| CN111148016B (en) * | 2019-03-15 | 2022-05-27 | 广东小天才科技有限公司 | Mobile equipment positioning method and system in indoor environment and mobile equipment |
| CN112153554A (en) * | 2019-06-27 | 2020-12-29 | 京东方科技集团股份有限公司 | Positioning device and system |
| CN112153554B (en) * | 2019-06-27 | 2024-04-05 | 京东方科技集团股份有限公司 | Positioning device and system |
| CN110662166A (en) * | 2019-10-21 | 2020-01-07 | 江苏中利电子信息科技有限公司 | Quick-response intelligent fire-fighting scheduling system and method |
| CN111474561A (en) * | 2020-04-24 | 2020-07-31 | 深圳国信泰富科技有限公司 | Positioning system suitable for intelligent robot |
| CN111474561B (en) * | 2020-04-24 | 2022-08-12 | 深圳国信泰富科技有限公司 | Positioning system suitable for intelligent robot |
| CN112665587A (en) * | 2020-11-25 | 2021-04-16 | 南京森林警察学院 | Tactical positioning device and working method thereof |
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