CN104596504A - Method and system for quickly setting up map to assist indoor positioning under emergency rescue scene - Google Patents
Method and system for quickly setting up map to assist indoor positioning under emergency rescue scene Download PDFInfo
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention provides a method for quickly setting up a map to assist indoor positioning under an emergency rescue scene. The method comprises the following steps: setting up a three-dimensional map of a target building; obtaining initial position coordinate information of a rescuer entering the target building; reading sensing data and processing the sensing data; deducing the walking position coordinate information of the rescuer at the current moment through a pre-stored calculation algorithm; with one of double feet of the rescuer as a reference foot, judging whether the reference foot is in a static state at the current moment, if so, correcting a calculation error and an accumulative position calculation error, and outputting corrected walking position coordinate information of the rescuer at the current moment, otherwise, outputting deduced walking position coordinate information of the rescuer at the current moment; marking the walking position coordinate information of the rescuer at the current moment in the three-dimensional map of the target building. The method provided by the invention is used for dynamically tracking the rescuer in real time and providing assistance for integral command and dispatch of emergency rescue and the life guarantee of the rescuer.
Description
Technical field
The invention belongs to indoor positioning field, relate to a kind of localization method and system, particularly relate to rapid build map ancillary chamber inner position method and system under a kind of emergency management and rescue scene.
Background technology
The indoor orientation method of current maturation mainly based on wireless technologys such as WIFI, Bluetooth, WLAN, RFID, UWB, and based on the dead reckoning and inertial navigation method etc. of inertial sensor.Wherein, different indoor positioning technologies is applicable to different application, all methods positioned based on wireless technology all depend on disposes relevant base station equipment in advance, and require that signal characteristic database is set up in realization, but under the scene of emergency management and rescue, usually cannot ensure that rescue place is provided with above required facility, have in time and also cannot know its particular location, can not ensure that these equipment are in normal work simultaneously.So the indoor positioning demand under emergency management and rescue scene cannot be completed based on the indoor positioning technologies of wireless technology, the life security of rescue personnel can not be ensured.
So just need under the scenes such as emergency management and rescue a kind of without the need to arrange in advance from complete location technology, namely based on the indoor positioning technologies of inertial sensor.The method, by MEMS (Micro-Electro-Mechanical System, MEMS (micro electro mechanical system)) sensor, utilizes dead reckoning method to calculate pedestrian position coordinate information.Conventional computing method mainly contain two kinds: a kind of mode is that the step-length that the cadence calculating pedestrian is multiplied by estimation obtains positional information, and another kind of mode is to acceleration quadratic integral, and obtains positional information in conjunction with the orientation that gyroscope obtains.But all there is the problem that cumulative errors are dispersed in these two kinds of methods.In order to overcome the shortcoming that error is infinitely accumulated, can utilize Zero velocity Updating, wireless Assisted Combinatorial locate and as methods such as map aided positionings.
In fact, the indoor map obtaining rescue place in advance in emergency management and rescue situation is also unpractical.But applied research is pointed out, emergency management and rescue are room location that personnel positioning precision reaches in buildings.The counting yield of integrated application demand, location technology and precision.
Therefore, under how providing a kind of emergency management and rescue scene, rapid build map ancillary chamber inner position method and system cannot follow the tracks of rescue personnel to cause to provide auxiliary phenomenon for the life support of the overall command scheduling of emergency management and rescue and rescue personnel by dynamic realtime to solve in prior art in emergency management and rescue process, and the many disadvantages such as the demand of existing emergency management and rescue cannot be met, become practitioner in the art's technical matters urgently to be resolved hurrily in fact.
Summary of the invention
The shortcoming of prior art in view of the above, the object of the present invention is to provide rapid build map ancillary chamber inner position method and system under a kind of emergency management and rescue scene, rescue personnel cannot be followed the tracks of to cause to provide auxiliary phenomenon for the life support of the overall command scheduling of emergency management and rescue and rescue personnel by dynamic realtime for solving in prior art in emergency management and rescue process, and the problem of the demand of existing emergency management and rescue cannot be met.
For achieving the above object and other relevant objects, under one aspect of the present invention provides a kind of emergency management and rescue scene, indoor orientation method assisted by rapid build map, described emergency management and rescue scene occurs in a target structures thing, this localization method is performed by rescue personnel, described rescue personnel wears sensing module, under described emergency management and rescue scene, rapid build map assists indoor orientation method to comprise: step one, builds the three-dimensional map of described target structures thing, step 2, makes described rescue personnel before entering described target structures thing, load the three-dimensional map of described target structures thing, and obtains the initial position co-ordinates information that described rescue personnel enters described target structures thing, step 3, reads the sensing data of rescue personnel described in current time that sensing module that described rescue personnel wears senses, and carries out respective handling to described sensing data, measuring error is there is in described sensing data, step 4, calculates rescue personnel's walking position coordinate information described in current time according to described sensing data by the dead reckoning algorithm prestored, wherein, described in the current time extrapolated, rescue personnel's walking position coordinate information comprises the error of calculation and position calculation cumulative errors, step 5, using a pin in described rescue personnel's both feet as reference pin, judge whether this reference pin current time remains static, if, then revise the error of calculation and position calculation cumulative errors that exist in described step 4 to obtain rescue personnel's walking position coordinate information described in rescue personnel described in revised current time, export rescue personnel's walking position coordinate information described in revised current time, proceed to next step, if not, then export rescue personnel's walking position coordinate information described in the current time extrapolated in step 4, proceed to next step, step 6, is labeled in the three-dimensional map of described target structures thing by rescue personnel's walking position coordinate information described in the current time extrapolated in revised current time rescue personnel walking position coordinate information or step 4, step 7, judges whether to stop calculating described rescue personnel's walking position coordinate information, if, using the initial position co-ordinates information of rescue personnel's walking position coordinate information described in the current time extrapolated in revised current time rescue personnel walking position coordinate information or step 4 as rescue personnel described in subsequent time, proceed to step 3, until rescue terminates, if not, process is terminated.
Alternatively, described step one comprises the following steps: obtain target structures thing described in software search by geography information; Obtain the profile of described target structures thing and the location coordinate information of described target structures thing; The planar dimension of described target structures thing is measured respectively by the distance measurement function of described geography information acquisition software; Geometry telemetry is utilized to calculate the height of described target structures thing to estimate the number of floor levels information of described target structures thing; The three-dimensional map of target structures thing according to the planar dimension of described target structures thing and number of floor levels information architecture.
Alternatively, calculate in the step of the height of described target structures thing utilizing geometry telemetry and need to be completed by survey crew, and need to arrange a mark post between described survey crew and described target structures thing, and calculate the height of described target structures thing according to similar triangles theorem; Need described mark post height when calculating the height of described target structures thing, described survey crew is to the distance of mark post, and survey crew is to the distance of target structures thing, and survey crew height.
Alternatively, the formula calculating the height of described target structures thing is: height=(mark post height/survey crew is to the distance of mark post) × survey crew of target structures thing is to the distance+survey crew height of target structures thing.
Alternatively, described rescue personnel wears sensing module and comprises three axis accelerometer, three-axis gyroscope, three axle magnetometer and atmospheric pressure meter: described sensing data comprises the acceleration of rescue personnel described in current time, angular velocity, magnetic induction density and atmospheric pressure.
Alternatively, carry out respective handling to described sensing data in described step 3 specifically to comprise the following steps: eliminate static drift to described angular velocity; Integration is carried out to obtain the anglec of rotation of rescue personnel described in current time to the angular velocity of described rescue personnel, by the anglec of rotation, carries out complementary filter to be obtained from the anglec of rotation after calibration with acceleration and magnetic induction density; Utilize the anglec of rotation to obtain rotation matrix, the rotation matrix premultiplication acceleration of acquisition is carried out ordinate transform with under realizing acceleration convert world coordinate system to from sensing module coordinate system; The acceleration of gravity of gravity direction is deducted from the acceleration the world coordinate system after conversion; To the X-axis under described world coordinate system, Y-axis, the acceleration of Z axis carries out integration to obtain described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis; To described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis carries out integration, obtains coordinate position and the height of described rescue personnel's surface level.
Alternatively, Zero velocity Updating and Kalman filtering algorithm is utilized to eliminate the error of calculation existed in described step 4 in described step 5.
Alternatively, continue to judge whether described reference pin is in step in described step 5 at the last moment static, if not, then export rescue personnel's walking position coordinate information described in the current time extrapolated in step 4, if, profile then based on described target structures thing utilizes particle filter algorithm to revise position calculation cumulative errors, and also comprise in described step 5 and judge whether described rescue personnel receives radio positioning signal, if, the further correction position of radio positioning signal is then utilized to calculate cumulative errors, if not, then exporting utilizes particle filter algorithm to carry out rescue personnel's walking position coordinate information described in revised current time to position calculation cumulative errors.
Under the present invention also provides a kind of emergency management and rescue scene on the other hand, indoor locating system assisted by rapid build map, described emergency management and rescue scene occurs in a target structures thing, this positioning system is performed by rescue personnel, described rescue personnel wears sensing module, under described emergency management and rescue scene, indoor locating system assisted by rapid build map, handheld terminal, and remote control center has coordinated emergency management and rescue, wherein, under described emergency management and rescue scene, rapid build map assists indoor locating system to comprise: three-dimensional map builds module, for building the three-dimensional map of described target structures thing, initial position acquisition module, enters the initial position co-ordinates information of described target structures thing for obtaining described rescue personnel, data read module, the sensing data of rescue personnel described in the current time that the sensing module worn for reading described rescue personnel senses, data processing module, for carrying out respective handling to described sensing data, measuring error is there is in described sensing data, calculate module, for calculating rescue personnel's walking position coordinate information described in current time according to described sensing data by the reckoning algorithm prestored, wherein, described in the current time extrapolated, rescue personnel's walking position coordinate information comprises the error of calculation and position calculation cumulative errors, first judge module, for using a pin in described rescue personnel's both feet as with reference to pin, judge whether this reference pin current time remains static, if, then call the first calibration module for eliminating the error of calculation that described reckoning module produces in reckoning process, in corrected Calculation error and position calculation cumulative errors to obtain rescue personnel's walking position coordinate information described in rescue personnel described in revised current time, and the output module called for exporting rescue personnel's walking position coordinate information described in revised current time, if not, then call described output module, described output module is for rescue personnel's walking position coordinate information described in the current time that exports described reckoning module and extrapolate, labeling module, for being labeled in the three-dimensional map of described target structures thing by rescue personnel's walking position coordinate information described in revised current time rescue personnel walking position coordinate information or the current time extrapolated, 3rd judge module, stops calculating described rescue personnel's walking position coordinate information for judging whether, if so, by the initialization module of rescue personnel's walking position coordinate information described in the current time that calls for extrapolating during revised current time rescue personnel walking position coordinate information or described reckoning module are in reckoning process as the initial position co-ordinates information of described rescue personnel's subsequent time, if not, the termination module for stopping performing emergency management and rescue is called.
Alternatively, described rescue personnel wears sensing module and comprises three axis accelerometer, three-axis gyroscope, three axle magnetometer and atmospheric pressure meter: described sensing data comprises the acceleration of rescue personnel described in current time, angular velocity, magnetic induction density and atmospheric pressure.
Alternatively, described data processing module comprises: offset units, for eliminating static shift to described angular velocity; First integral unit, carries out integration to obtain the anglec of rotation of rescue personnel described in current time to the angular velocity of described rescue personnel; Filter unit, for first integral unit is calculated the anglec of rotation, carry out complementary filter to be obtained from the anglec of rotation after calibration with acceleration and magnetic induction density; Coordinate transformation unit, for utilizing the anglec of rotation to obtain rotation matrix, carries out ordinate transform with under realizing acceleration convert world coordinate system to from sensing module coordinate system by the rotation matrix premultiplication acceleration of acquisition; Subduction unit, for deducting the acceleration of gravity of gravity direction from the acceleration under the world coordinate system after conversion; Second integral unit, for the X-axis under described world coordinate system, Y-axis, the acceleration of Z axis carries out integration to obtain described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis; Third integral unit, for described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis carries out integration, obtains coordinate position and the height of described rescue personnel's surface level.
Alternatively, under described emergency management and rescue scene, rapid build map assists indoor locating system also to comprise the second judge module, described second judge module is for judging whether described reference pin is in the liftoff moment, if, then call described second calibration module to revise described position calculation cumulative errors, if not, then call described output module export described reckoning module calculate current time described in rescue personnel's walking position coordinate information.
As mentioned above, rapid build map ancillary chamber inner position method and system under emergency management and rescue scene of the present invention, have following beneficial effect:
1, under emergency management and rescue scene of the present invention, rapid build map ancillary chamber inner position method and system pass through on-the-spot fast constructing target buildings three-dimensional map, as with reference to thing, and on this map according to motion track and the height and position of the real-time drafting rescue personnel of motion track.Achieve the seamless connection of indoor and outdoor location in the process, and without the need to installation foundation fastening in advance, be a kind of from complete localization method.
2, simultaneously, under emergency management and rescue scene of the present invention, rapid build map ancillary chamber inner position method and system to avoid in traditional map aided positioning complicated algorithm realization and cannot obtain the embarrassment of indoor map, achieve dynamic realtime and follow the tracks of rescue personnel and provide auxiliary for the overall command scheduling of emergency management and rescue and the life support of rescue personnel.
Accompanying drawing explanation
Fig. 1 is shown as rapid build map ancillary chamber inner position method flow schematic diagram schematic diagram under emergency management and rescue scene of the present invention.
Fig. 2 is shown as the concrete steps schematic flow sheet of step S1 of the present invention.
Fig. 3 is shown as the concrete steps schematic flow sheet of step S3 of the present invention.
Fig. 4 is shown as the interval calculating effect schematic diagram terminated with zero velocity at the last moment of zero velocity that the data based on 3-axis acceleration and three-axis gyroscope collection calculate.Fig. 5 is shown as rapid build map ancillary chamber inner position system principle structural representation under emergency management and rescue scene of the present invention.
Element numbers explanation
Under 1 emergency management and rescue scene, indoor locating system assisted by rapid build map
11 three-dimensional maps build module
12 command output module
13 initial position acquisition modules
14 data read modules
15 data processing modules
16 calculate module
17 first judge modules
18 first calibration modules
19 second judge modules
20 second calibration modules
21 output modules
22 labeling module
23 the 3rd judge modules
24 stop module
25 initialization modules
S1 ~ S14 step
Embodiment
Below by way of specific instantiation, embodiments of the present invention are described, those skilled in the art the content disclosed by this instructions can understand other advantages of the present invention and effect easily.The present invention can also be implemented or be applied by embodiments different in addition, and the every details in this instructions also can based on different viewpoints and application, carries out various modification or change not deviating under spirit of the present invention.
Refer to accompanying drawing.It should be noted that, the diagram provided in the present embodiment only illustrates basic conception of the present invention in a schematic way, then only the assembly relevant with the present invention is shown in graphic but not component count, shape and size when implementing according to reality is drawn, it is actual when implementing, and the kenel of each assembly, quantity and ratio can be a kind of change arbitrarily, and its assembly layout kenel also may be more complicated.
Below in conjunction with embodiment and accompanying drawing, the present invention is described in detail.
Embodiment one
Under the present embodiment provides a kind of emergency management and rescue scene, indoor orientation method assisted by rapid build map, described emergency management and rescue scene occurs in a target structures thing, under this emergency management and rescue scene, rapid build map assists indoor orientation method to be performed by rescue personnel, and described rescue personnel wears sensing module.Refer to Fig. 1, be shown as rapid build map ancillary chamber inner position method flow schematic diagram under emergency management and rescue scene, as shown in Figure 1, under described emergency management and rescue scene, rapid build map assists indoor orientation method to comprise:
S1, builds the three-dimensional map of described target structures thing.In the present embodiment by Google Maps search target structures thing, and obtain the profile of target structures thing.The length on each limit of the functional measurement target structures thing of being found range by Google Maps.The plane map of target structures thing is drawn according to above-mentioned information.The height of the way utilizing geometry to find range or Laser Distance Measuring Equipment Quick Measurement buildings.And the number of floor levels of buildings is obtained by estimating or seek advice from skilled staff.In conjunction with height and the number of floor levels of above-mentioned plane map and buildings, the simple and easy three-dimensional map of target structures thing can be drawn out.Obtained the gps data (sampling rate with certain) of target structures thing profile by Google Maps, and preserve, object is in order to rescue personnel's position estimation below provides the restrictive condition of calibration.In actual applications, map system not only comprises Google Maps, conventional ArcGIS, Baidu's map, and high moral map etc. GIS software systems all can as basic platform of the present invention.
Refer to Fig. 2, be shown as the concrete steps process flow diagram of step S1.As shown in Figure 2, described step S1 specifically comprises the following steps:
S11, obtains software by geography information, namely searches for described target structures thing by Google Maps.
S12, obtains the profile of described target structures thing and the location coordinate information of described target structures thing, such as gps data.
S13, obtained the distance measurement function of software by described geography information, such as, in Google Maps, distance measurement function measures the planar dimension of described target structures thing respectively.
S14, according to priori, such as, the visually number of plies of described target structures thing, utilizes geometry telemetry to calculate the height of described target structures thing to estimate the number of floor levels information of described target structures thing.Calculate in the height of described target structures thing utilizing geometry telemetry and need to be completed by survey crew, and need to arrange a mark post between described survey crew and described target structures thing, and calculate the height of described target structures thing according to similar triangles theorem; Need described mark post height when calculating the height of described target structures thing, described survey crew is to the distance of mark post, and survey crew is to the distance of target structures thing, and survey crew height.Wherein, the formula calculating the height of described target structures thing is:
Height=(mark post height/survey crew is to the distance of mark post) of target structures thing ×
Survey crew to target structures thing distance+survey crew height formula (1) in other words, every method that can obtain the height of described target structures thing is all applicable to the present invention.
S15, the three-dimensional map of target structures thing according to the planar dimension of described target structures thing and number of floor levels information architecture.
S2, makes described rescue personnel before entering described target structures thing, load the three-dimensional map of described target structures thing, and obtains the initial position co-ordinates information that described rescue personnel enters described target structures thing.
S3, reads the sensing data of rescue personnel described in current time that sensing module that described rescue personnel wears senses, and carries out respective handling to described sensing data, there is measuring error in described sensing data.Refer to Fig. 3, be shown as the concrete steps process flow diagram of step S3.As shown in Figure 3, described step S3 possesses and comprises the following steps:
S31, reads the sensing data of rescue personnel described in current time that sensing module that described rescue personnel wears senses.Described rescue personnel wears sensing module and comprises three axis accelerometer, three-axis gyroscope, three axle magnetometer and atmospheric pressure meter: described sensing data comprises the acceleration of rescue personnel described in current time, angular velocity, magnetic induction density and atmospheric pressure.
S32, eliminates static drift to described angular velocity.
S33, carries out integration to obtain the anglec of rotation of rescue personnel described in current time to the angular velocity of described rescue personnel.
S34, by the anglec of rotation that step S33 calculates, carries out complementary filter with acceleration information and magnetic induction density and obtains more accurate rotation angle information to be obtained from the anglec of rotation after calibration.
S35, utilizes the self-alignment anglec of rotation to obtain rotation matrix, the rotation matrix premultiplication acceleration of acquisition is carried out ordinate transform with under realizing acceleration convert world coordinate system to from sensing module coordinate system.
S36, deducts the acceleration of gravity of gravity direction from the acceleration the world coordinate system after conversion, namely deduct the gravity acceleration value of Z axis to eliminate the impact of acceleration of gravity with the acceleration under the world coordinate system after conversion.
S37, to the X-axis under described world coordinate system, Y-axis, the acceleration of Z axis carries out integration to obtain described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis.
S38, to described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis carries out integration, obtains coordinate position and the height of described rescue personnel's surface level.Coordinate position and the height of the surface level of described rescue personnel can be obtained by this step.Simultaneous altitude can revise its error by comparing with the height of floor.Such as establish story height 2.6 meters, can judge that rescue personnel does not have the change of story height when the height of integrated acceleration calculating is less than 1.3 meters, can judge that rescue personnel has gone up first floor when result of calculation is greater than 1.3 meters.
Carry out respective handling to described sensing data in step S3 also to comprise:
FIR low-pass filtering is carried out to acceleration and realizes meter step of advancing, and based on the step-length online calibration method of three axis accelerometer metrical information and gait classification identification.Finally utilize step number and step-length to carry out the estimation of travel distance, calculate magnetic heading after the magnetic induction density of the earth magnetism measured being projected to local Department of Geography based on direction cosine matrix simultaneously, and calibrate in conjunction with the angular velocity that gyroscope exports, thus calculate direction of motion.So just achieve location estimation.
S4, calculates rescue personnel's walking position coordinate information described in current time according to described sensing data by the reckoning algorithm prestored.Wherein, described in the current time extrapolated, rescue personnel's walking position coordinate information comprises the error of calculation and position calculation cumulative errors.The described error of calculation derives from the measuring error of sensing module itself, after 2 integrations of these measuring error, the error of calculation can be caused with the 3 power expansions of time.In the present embodiment, described reckoning algorithm comprises dead reckoning algorithm and calibration frame algorithm.In other words, every method can extrapolating rescue personnel's walking position coordinate information described in current time is all applicable to the present invention.
S5, using a pin in described rescue personnel's both feet as with reference to pin, judges whether the current time of this reference pin remains static, if so, then step S6 is performed, if not, then perform step S11, namely export rescue personnel's walking position coordinate information described in the current time that calculates of step S4.In this step, judge whether the current time of this reference pin remains static according to comprising:
Rule of judgment 1:
wherein, α represents acceleration, and k represents current time, and X, Y, Z are three coordinates under world coordinate system.
Rule of judgment 2:
wherein, ω represents angular velocity, and i represents X, and Y, Z are an axle in three coordinates under world coordinate system
Rule of judgment 3:
wherein, n is 3,5,7,9 ... the odd number moment, S represents the variance in a front n moment,
Zero velocity Rule of judgment utilizes logical and to judge in conjunction with above-mentioned three conditions.
S6, revises the error of calculation existed in described step S4.In this step, in order to reduce the accumulation of acceleration, speed and site error under world coordinate system, be exactly intuitively in order to the error of calculation of the estimation by step S4 is reduced to 1 power expansion with step number.In the present embodiment, utilize the algorithm of Zero velocity Updating, check that described rescue personnel carries out filtering in the indirect Kalman filter of time utilization of current time pin kiss the earth to velocity location and deflection.After corrected Calculation error, still location calculates cumulative errors, also needs in the present embodiment to revise described position calculation cumulative errors.In other words, everyly all the present invention can be applicable to the method for the Zero velocity Updating algorithm error of calculation eliminated in described step S4 the same as Kalman filtering.In this step, the algorithm of Zero velocity Updating utilizes logical and to judge in conjunction with above-mentioned three conditions
S7, judges whether described reference pin is in step at the last moment static, if so, then performs step S8, if not, then perform step S11, rescue personnel's walking position coordinate information described in the current time that output step S4 calculates.The Rule of judgment at the last moment that step is static is as follows:
Refer to Fig. 4, be shown as the interval calculating effect schematic diagram terminated with zero velocity at the last moment of zero velocity that the data based on 3-axis acceleration and three-axis gyroscope collection calculate, Fig. 4 presents 3-axis acceleration data successively, three-axis gyroscope data and the zero velocity result calculated based on these 2 raw data, wherein in the 3rd figure, 1 is expressed as the zero velocity moment, 0 represents the non-zero speed moment, (zero velocity and step Still time), point A wherein in figure and zero velocity finish time, particle filter algorithm is utilized in this time trigger, combining cartographic information carrys out the position result of calibration calculations.The acquisition methods of some A is as follows:
If ((zero velocity
k-1==1) & & (zero velocity
k==0)), then moment k is zero velocity finish time.
S8, the profile based on described target structures thing utilizes particle filter algorithm to revise position calculation cumulative errors.For indoor positioning scene, the utilization of architectural plane information can limit run trace, reduces its uncertainty.After providing cartographic information, the line between the corresponding particle of adjacent two steps can not pass through wall or other barriers.If it is still failed to attempt generating new effective particle several times, be so just labeled as invalid particle, the weights of particle are as follows:
The measurement of particle filter is the estimated result of Kalman filtering, and particle filter adopts a kind of simplified model, and namely hypothesis is mixed into long step by step
noise v
lwith a step Orientation differences
noise v
ψall obey the Gaussian distribution of zero-mean.The state transition equation writing out horizontal level (x, y) and orientation ψ is arranged with this:
In the algorithm of particle filter, the transmission of particle upgrades and needs at a upper moment state particle
basis on by significance distribution
sampling obtains.This can obtain particle by first sampling
with
then substitute into state transition equation to obtain respectively
in other words, everyly correction position can to calculate the cumulative errors method of carrying out revising and be all applicable to the present invention.
S9, judges whether described rescue personnel receives reliable radio positioning signal at rescue operations, if so, then performs step S10, if not, then performs S11, namely exports rescue personnel's walking position coordinate information described in the current time that calculates of step S4.In the present embodiment, described radio positioning signal comprises window GPS, wireless signal etc.
S10, utilizes the further correction position of described radio positioning signal to calculate cumulative errors.In indoor positioning situation, once confirm to receive reliable radio positioning signal (window GPS, wireless beacon), initialization is carried out to inertial navigation algorithm and combining adaptive method realizes the correction of inertial navigation algorithm parameter, thus improve positioning precision.
S11, now exports and carries out rescue personnel's walking position coordinate information described in revised current time through particle filter algorithm or through described radio positioning signal.
S12, receive and carry out rescue personnel's walking position coordinate information described in current time that described in revised current time, rescue personnel's walking position coordinate information or step S4 calculate through particle filter algorithm with through described radio positioning signal, and by receive through particle filter algorithm and carry out rescue personnel's walking position coordinate information described in current time that described in revised current time, rescue personnel's walking position coordinate information or step S4 calculate through described radio positioning signal and be labeled in the three-dimensional map of described target structures thing so that remote control center learns the position of rescue personnel in time.
S13, judges whether the walking position coordinate information stopping calculating described rescue personnel, if so, terminates process; If not, then step S14 is performed.
S14, using utilizing particle filter algorithm rescue personnel's walking position coordinate information described in revised current time is carried out to position calculation cumulative errors or utilizes described radio positioning signal to carry out rescue personnel's walking position coordinate information described in current time that described in revised current time, rescue personnel's walking position coordinate information or step S4 calculate as the initial position co-ordinates information of rescue personnel described in subsequent time, and proceed to step S3, circulate successively, until rescue action terminates.
Under emergency management and rescue scene described in the present embodiment, indoor orientation method assisted by rapid build map, by on-the-spot fast constructing target buildings three-dimensional map, as reference thing.And on this map according to motion track and the height and position of the real-time drafting rescue personnel of motion track.Achieve the seamless connection of indoor and outdoor location in the process, and without the need to installation foundation fastening in advance, be a kind of from complete localization method.Meanwhile, to it also avoid in traditional map aided positioning complicated algorithm realization and the embarrassment of indoor map cannot be obtained, achieve dynamic realtime and follow the tracks of rescue personnel and provide auxiliary for the overall command scheduling of emergency management and rescue and the life support of rescue personnel.
Embodiment two
Under the present embodiment provides a kind of emergency management and rescue scene, indoor locating system assisted by rapid build map, described emergency management and rescue scene occurs in a target structures thing, this positioning system is performed by rescue personnel, described rescue personnel wears sensing module, under described emergency management and rescue scene, indoor locating system assisted by rapid build map, and handheld terminal and remote control center have coordinated emergency management and rescue.Refer to Fig. 5, be shown as rapid build map ancillary chamber inner position system principle structural representation under emergency management and rescue scene.As shown in Figure 4, under described emergency management and rescue scene, rapid build map assists indoor locating system 1 to comprise: three-dimensional map builds module 11, command output module 12, initial position acquisition module 13, data read module 14, data processing module 15, calculates module 16, first judge module 17, first calibration module 18, second judge module 19, second calibration module 20, output module 21, labeling module 22, the 3rd judge module 23, termination module 24 and initialization module 25.
Described three-dimensional map builds module 11 for building the three-dimensional map of described target structures thing.In the present embodiment by Google Maps search target structures thing, and obtain the profile of target structures thing.The length on each limit of the functional measurement target structures thing of being found range by Google Maps.The plane map of target structures thing is drawn according to above-mentioned information.The height of the way utilizing geometry to find range or Laser Distance Measuring Equipment Quick Measurement buildings.And the number of floor levels of buildings is obtained by estimating or seek advice from skilled staff.In conjunction with height and the number of floor levels of above-mentioned plane map and buildings, the simple and easy three-dimensional map of target structures thing can be drawn out.Obtained the gps data (sampling rate with certain) of target structures thing profile by Google Maps, and preserve, object is in order to rescue personnel's position estimation below provides the restrictive condition of calibration.In actual applications, map system not only comprises Google Maps, conventional ArcGIS, Baidu's map, and high moral map etc. GIS software systems all can as basic platform of the present invention.
Described three-dimensional map builds module 11 and specifically comprises following unit:
Search unit is used for obtaining software by geography information, namely searches for described target structures thing by Google Maps.
Acquiring unit for the location coordinate information of the profile and described target structures thing that obtain described target structures thing, such as gps data.
Measuring unit is used for the distance measurement function being obtained software by described geography information, and such as, in Google Maps, distance measurement function measures the planar dimension of described target structures thing respectively.
Computing unit is used for according to priori, and such as, the visually number of plies of described target structures thing, utilizes geometry telemetry to calculate the height of described target structures thing to estimate the number of floor levels information of described target structures thing.Calculate in the height of described target structures thing utilizing geometry telemetry and need to be completed by survey crew, and need to arrange a mark post between described survey crew and described target structures thing, and calculate the height of described target structures thing according to similar triangles theorem; Need described mark post height when calculating the height of described target structures thing, described survey crew is to the distance of mark post, and survey crew is to the distance of target structures thing, and survey crew height.Wherein, the formula calculating the height of described target structures thing is:
Height=(mark post height/survey crew is to the distance of mark post) of target structures thing ×
Survey crew is to the distance+survey crew height formula (1) of target structures thing
Construction unit is used for the three-dimensional map of target structures thing according to the planar dimension of described target structures thing and number of floor levels information architecture.
The three-dimensional map of described command output module 12 for making described rescue personnel load described target structures thing to described handheld terminal and remote control center before entering described target structures thing.
Described initial position acquisition module 13 enters the initial position co-ordinates information of described target structures thing for obtaining described rescue personnel.
The sensing data of rescue personnel described in the current time that described data read module 14 senses for the sensing module reading described rescue personnel and wear.Described rescue personnel wears sensing module and comprises three axis accelerometer, three-axis gyroscope, three axle magnetometer and atmospheric pressure meter: described sensing data comprises the acceleration of rescue personnel described in current time, angular velocity, magnetic induction density and atmospheric pressure.
Described data processing module 15 is for carrying out respective handling to described sensing data.Measuring error is there is in described sensing data.Described data processing module specifically comprises following unit:
Denoising unit is for removing acceleration and the angular velocity high-frequency noises of described rescue personnel;
Offset units is used for eliminating static shift to described angular velocity;
First integral unit carries out integration to obtain the anglec of rotation of rescue personnel described in current time to the angular velocity of described rescue personnel;
The anglec of rotation that filter unit calculates for utilizing described first integral unit, carries out complementary filter with acceleration information and magnetic induction density and obtains more accurate rotation angle information to be obtained from the anglec of rotation after calibration.
Coordinate transformation unit is used for utilizing the anglec of rotation to obtain rotation matrix, the rotation matrix premultiplication acceleration of acquisition is carried out ordinate transform with under realizing acceleration convert world coordinate system to from sensing module coordinate system;
Subduction unit is used for the acceleration of gravity deducting gravity direction from the acceleration the world coordinate system after conversion;
Second integral unit is used for the X-axis under described world coordinate system, Y-axis, and the acceleration of Z axis carries out integration to obtain described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis;
Third integral unit is used for described rescue personnel X-axis under world coordinate system, Y-axis, and the speed of Z axis carries out integration, obtains coordinate position and the height of described rescue personnel's surface level.
Described reckoning module 16 is for calculating rescue personnel's walking position coordinate information described in current time according to described sensing data by the reckoning algorithm prestored, in the present embodiment, the reckoning algorithm prestored in described reckoning module 16 comprises dead reckoning algorithm and calibration frame algorithm.Wherein, described in the current time extrapolated, rescue personnel's walking position coordinate information comprises the error of calculation and position calculation cumulative errors.The described error of calculation derives from the measuring error of sensing module itself, after 2 integrations of these measuring error, the error of calculation can be caused with the 3 power expansions of time.
First judge module 17 is for using a pin in described rescue personnel's both feet as with reference to pin, judge whether this reference pin current time remains static, if, then call the first calibration module 18 for revising the error of calculation that described reckoning module 16 produces in reckoning process, after corrected Calculation error, still location calculates cumulative errors, call for judging whether described reference pin is in static the second judge module 19 at the last moment of step, if, then call the second calibration module 20 and described position calculation cumulative errors are revised to obtain rescue personnel's walking position coordinate information described in revised current time, and call described output module 21 and export rescue personnel's walking position coordinate information described in revised current time, if not, then call described output module 21, namely export described reckoning module 16 calculate current time described in rescue personnel's walking position coordinate information, if not, call described output module 21 equally, export described reckoning module 16 calculate current time described in rescue personnel's walking position coordinate information.In order to reduce the accumulation of acceleration, speed and site error under world coordinate system, it is exactly intuitively the 1 power expansion in order to the error of calculation of the estimation calculating module 16 being reduced to step number.In the present embodiment, utilize the algorithm of Zero velocity Updating, check that described rescue personnel carries out filtering in the indirect Kalman filter of time utilization of current time pin kiss the earth to velocity location and deflection.After the reduction error of calculation, in described measuring error, still location calculates cumulative errors, also needs in the present embodiment to revise described position calculation cumulative errors.
Described second calibration module 20 is for utilizing particle filter algorithm to revise position calculation cumulative errors based on the profile of described target structures thing.For indoor positioning scene, the utilization of architectural plane information can limit run trace, reduces its uncertainty.After providing cartographic information, the line between the corresponding particle of adjacent two steps can not pass through wall or other barriers.If it is still failed to attempt generating new effective particle several times, be so just labeled as invalid particle, the weights of particle are as follows:
The measurement of particle filter is the estimated result of Kalman filtering, and particle filter adopts a kind of simplified model, and namely hypothesis is mixed into long step by step
noise v
lwith a step Orientation differences
noise v
ψall obey the Gaussian distribution of zero-mean.The state transition equation writing out horizontal level (x, y) and orientation ψ is arranged with this:
In the algorithm of particle filter, the transmission of particle upgrades and needs at a upper moment state particle
basis on by significance distribution
sampling obtains.This can obtain particle by first sampling
with
then substitute into state transition equation to obtain respectively
Described second calibration module 19 is also for judging whether described rescue personnel receives radio positioning signal at rescue operations, if, the further correction position of described radio positioning signal is then utilized to calculate cumulative errors, and call described output module 21, rescue personnel's walking position coordinate information described in the current time now exported is through particle filter algorithm and the corrected location coordinate information of radio positioning signal, i.e. rescue personnel's walking position coordinate information described in revised current time.In indoor positioning situation, once confirm to receive reliable radio positioning signal (window GPS, wireless beacon), initialization is carried out to inertial navigation algorithm and combining adaptive method realizes the correction of inertial navigation algorithm parameter, thus raising positioning precision, if not, then call described output module 21 export described reckoning module 16 calculate current time described in rescue personnel's walking position coordinate information.
Described labeling module 22 is for rescue personnel's walking position coordinate information being labeled in the three-dimensional map of described target structures thing so that remote control center learns the position of rescue personnel in time described in the current time that receives output module 21 and export.
Described 3rd judge module 23, for judging whether the walking position coordinate information stopping described rescue personnel, if so, then calls the termination module 24 for stopping performing emergency management and rescue; If not, then call rescue personnel's walking position coordinate information described in the current time for being exported by described output module 21 as the initialization module 25 of the initial position co-ordinates information of rescue personnel described in subsequent time and data read module 14, circulate successively, until rescue action terminates.
Rapid build map ancillary chamber inner position method and system under emergency management and rescue scene of the present invention, by on-the-spot fast constructing target buildings three-dimensional map, as reference thing.And on this map according to motion track and the height and position of the real-time drafting rescue personnel of motion track.Achieve the seamless connection of indoor and outdoor location in the process, and without the need to installation foundation fastening in advance, be a kind of from complete localization method.Meanwhile, to it also avoid in traditional map aided positioning complicated algorithm realization and the embarrassment of indoor map cannot be obtained, achieve dynamic realtime and follow the tracks of rescue personnel and provide auxiliary for the overall command scheduling of emergency management and rescue and the life support of rescue personnel.
In sum, the present invention effectively overcomes various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all without prejudice under spirit of the present invention and category, can modify above-described embodiment or changes.Therefore, such as have in art usually know the knowledgeable do not depart from complete under disclosed spirit and technological thought all equivalence modify or change, must be contained by claim of the present invention.
Claims (12)
1. under an emergency management and rescue scene, indoor orientation method assisted by rapid build map, described emergency management and rescue scene occurs in a target structures thing, this localization method is performed by rescue personnel, described rescue personnel wears sensing module, it is characterized in that, under described emergency management and rescue scene, rapid build map assists indoor orientation method to comprise:
Step one, builds the three-dimensional map of described target structures thing;
Step 2, makes described rescue personnel before entering described target structures thing, load the three-dimensional map of described target structures thing, and obtains the initial position co-ordinates information that described rescue personnel enters described target structures thing;
Step 3, reads the sensing data of rescue personnel described in current time that sensing module that described rescue personnel wears senses, and carries out respective handling to described sensing data; Measuring error is there is in described sensing data;
Step 4, calculates rescue personnel's walking position coordinate information described in current time according to described sensing data by the dead reckoning algorithm prestored; Wherein, described in the current time extrapolated, rescue personnel's walking position coordinate information comprises the error of calculation and position calculation cumulative errors;
Step 5, using a pin in described rescue personnel's both feet as reference pin, judge whether this reference pin current time remains static, if, then revise the error of calculation and position calculation cumulative errors that exist in described step 4 to obtain rescue personnel's walking position coordinate information described in rescue personnel described in revised current time, export rescue personnel's walking position coordinate information described in revised current time, proceed to next step, if not, then export rescue personnel's walking position coordinate information described in the current time extrapolated in step 4, proceed to next step,
Step 6, is labeled in the three-dimensional map of described target structures thing by rescue personnel's walking position coordinate information described in the current time extrapolated in revised current time rescue personnel walking position coordinate information or step 4;
Step 7, judges whether to stop calculating described rescue personnel's walking position coordinate information; If, using the initial position co-ordinates information of rescue personnel's walking position coordinate information described in the current time extrapolated in revised current time rescue personnel walking position coordinate information or step 4 as rescue personnel described in subsequent time, proceed to step 3, until rescue terminates; If not, process is terminated.
2. under emergency management and rescue scene according to claim 1, indoor orientation method assisted by rapid build map, it is characterized in that: described step one comprises the following steps:
Target structures thing described in software search is obtained by geography information;
Obtain the profile of described target structures thing and the location coordinate information of described target structures thing;
The planar dimension of described target structures thing is measured respectively by the distance measurement function of described geography information acquisition software;
Geometry telemetry is utilized to calculate the height of described target structures thing to estimate the number of floor levels information of described target structures thing;
The three-dimensional map of target structures thing according to the planar dimension of described target structures thing and number of floor levels information architecture.
3. under emergency management and rescue scene according to claim 2, indoor orientation method assisted by rapid build map, it is characterized in that: calculating in the step of the height of described target structures thing utilizing geometry telemetry needs to be completed by survey crew, and need to arrange a mark post between described survey crew and described target structures thing, and calculate the height of described target structures thing according to similar triangles theorem; Need described mark post height when calculating the height of described target structures thing, described survey crew is to the distance of mark post, and survey crew is to the distance of target structures thing, and survey crew height.
4. under emergency management and rescue scene according to claim 3, indoor orientation method assisted by rapid build map, it is characterized in that: the formula calculating the height of described target structures thing is: height=(mark post height/survey crew is to the distance of mark post) × survey crew of target structures thing is to the distance+survey crew height of target structures thing.
5. under emergency management and rescue scene according to claim 1, indoor orientation method assisted by rapid build map, it is characterized in that: described rescue personnel wears sensing module and comprises three axis accelerometer, three-axis gyroscope, three axle magnetometer and atmospheric pressure meter: described sensing data comprises the acceleration of rescue personnel described in current time, angular velocity, magnetic induction density and atmospheric pressure.
6. under emergency management and rescue scene according to claim 5, indoor orientation method assisted by rapid build map, it is characterized in that: carry out respective handling to described sensing data in described step 3 and specifically comprise the following steps:
Static drift is eliminated to described angular velocity;
Integration is carried out to obtain the anglec of rotation of rescue personnel described in current time to the angular velocity of described rescue personnel, by the anglec of rotation, carries out complementary filter to be obtained from the anglec of rotation after calibration with acceleration and magnetic induction density;
Utilize the anglec of rotation to obtain rotation matrix, the rotation matrix premultiplication acceleration of acquisition is carried out ordinate transform with under realizing acceleration convert world coordinate system to from sensing module coordinate system;
The acceleration of gravity of gravity direction is deducted from the acceleration the world coordinate system after conversion;
To the X-axis under described world coordinate system, Y-axis, the acceleration of Z axis carries out integration to obtain described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis;
To described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis carries out integration, obtains coordinate position and the height of described rescue personnel's surface level.
7. under emergency management and rescue scene according to claim 1, indoor orientation method assisted by rapid build map, it is characterized in that: utilize Zero velocity Updating and Kalman filtering algorithm to eliminate the error of calculation existed in described step 4 in described step 5.
8. under emergency management and rescue scene according to claim 1, indoor orientation method assisted by rapid build map, it is characterized in that: continue to judge whether described reference pin is in step in described step 5 at the last moment static, if not, then export rescue personnel's walking position coordinate information described in the current time extrapolated in step 4, if, profile then based on described target structures thing utilizes particle filter algorithm to revise position calculation cumulative errors, and also comprise in described step 5 and judge whether described rescue personnel receives radio positioning signal, if, the further correction position of radio positioning signal is then utilized to calculate cumulative errors, if not, then exporting utilizes particle filter algorithm to carry out rescue personnel's walking position coordinate information described in revised current time to position calculation cumulative errors.
9. under an emergency management and rescue scene, indoor locating system assisted by rapid build map, described emergency management and rescue scene occurs in a target structures thing, this positioning system is performed by rescue personnel, described rescue personnel wears sensing module, it is characterized in that, under described emergency management and rescue scene, indoor locating system assisted by rapid build map, and handheld terminal and remote control center have coordinated emergency management and rescue, wherein, under described emergency management and rescue scene, rapid build map assists indoor locating system to comprise:
Three-dimensional map builds module, for building the three-dimensional map of described target structures thing;
Initial position acquisition module, enters the initial position co-ordinates information of described target structures thing for obtaining described rescue personnel;
Data read module, the sensing data of rescue personnel described in the current time that the sensing module worn for reading described rescue personnel senses,
Data processing module, for carrying out respective handling to described sensing data; Measuring error is there is in described sensing data;
Calculate module, for calculating rescue personnel's walking position coordinate information described in current time according to described sensing data by the reckoning algorithm prestored; Wherein, described in the current time extrapolated, rescue personnel's walking position coordinate information comprises the error of calculation and position calculation cumulative errors;
First judge module, for using a pin in described rescue personnel's both feet as with reference to pin, judge whether this reference pin current time remains static, if, then call the first calibration module for eliminating the error of calculation that described reckoning module produces in reckoning process, in corrected Calculation error and position calculation cumulative errors to obtain rescue personnel's walking position coordinate information described in rescue personnel described in revised current time, and the output module called for exporting rescue personnel's walking position coordinate information described in revised current time, if not, then call described output module, described output module is for rescue personnel's walking position coordinate information described in the current time that exports described reckoning module and extrapolate,
Labeling module, for being labeled in the three-dimensional map of described target structures thing by rescue personnel's walking position coordinate information described in revised current time rescue personnel walking position coordinate information or the current time extrapolated;
3rd judge module, stops calculating described rescue personnel's walking position coordinate information for judging whether; If so, by the initialization module of rescue personnel's walking position coordinate information described in the current time that calls for extrapolating during revised current time rescue personnel walking position coordinate information or described reckoning module are in reckoning process as the initial position co-ordinates information of described rescue personnel's subsequent time; If not, the termination module for stopping performing emergency management and rescue is called.
10. under emergency management and rescue scene according to claim 9, indoor locating system assisted by rapid build map, it is characterized in that: described rescue personnel wears sensing module and comprises three axis accelerometer, three-axis gyroscope, three axle magnetometer and atmospheric pressure meter: described sensing data comprises the acceleration of rescue personnel described in current time, angular velocity, magnetic induction density and atmospheric pressure.
Under 11. emergency management and rescue scenes according to claim 10, indoor locating system assisted by rapid build map, it is characterized in that: described data processing module comprises:
Offset units, for eliminating static shift to described angular velocity; First integral unit, carries out integration to obtain the anglec of rotation of rescue personnel described in current time to the angular velocity of described rescue personnel;
Filter unit, for first integral unit is calculated the anglec of rotation, carry out complementary filter to be obtained from the anglec of rotation after calibration with acceleration and magnetic induction density;
Coordinate transformation unit, for utilizing the anglec of rotation to obtain rotation matrix, carries out ordinate transform with under realizing acceleration convert world coordinate system to from sensing module coordinate system by the rotation matrix premultiplication acceleration of acquisition;
Subduction unit, for deducting the acceleration of gravity of gravity direction from the acceleration under the world coordinate system after conversion;
Second integral unit, for the X-axis under described world coordinate system, Y-axis, the acceleration of Z axis carries out integration to obtain described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis;
Third integral unit, for described rescue personnel X-axis under world coordinate system, Y-axis, the speed of Z axis carries out integration, obtains coordinate position and the height of described rescue personnel's surface level.
Under 12. emergency management and rescue scenes according to claim 9, indoor locating system assisted by rapid build map, it is characterized in that: under described emergency management and rescue scene, rapid build map assists indoor locating system also to comprise the second judge module, described second judge module is for judging whether described reference pin is in the liftoff moment, if, then call described second calibration module to revise described position calculation cumulative errors, if not, then call described output module export described reckoning module calculate current time described in rescue personnel's walking position coordinate information.
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