CN106546241A - The chemical plant personnel positioning navigation system calculated based on plant area's cartographic information and method - Google Patents
The chemical plant personnel positioning navigation system calculated based on plant area's cartographic information and method Download PDFInfo
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- CN106546241A CN106546241A CN201610907782.6A CN201610907782A CN106546241A CN 106546241 A CN106546241 A CN 106546241A CN 201610907782 A CN201610907782 A CN 201610907782A CN 106546241 A CN106546241 A CN 106546241A
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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
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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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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of chemical plant personnel positioning navigation system calculated based on plant area's cartographic information, including multiple terminals and main control server and display screen in master control room；Terminal includes central processing module, motion sensor module, locating module, display module and communication module；CPU module and motion sensor module and locating module are used for the real-time positioning for realizing personnel, and display module and communication module are used to realize data exchange and man-machine interaction；Include chemical industry plant area map composition in main control server, main control server for by the data summarization of each chemical plant personnel's navigation terminal, process and graphic software platform；The position data of each staff is coordinated chemical industry plant area map composition to include the display screen in master control room in the way of graphic interface after communication module is uploaded to main control server by the location data of each terminal.For the daily safety in production in chemical plant and personnel rescuing when there is accident provides technology and data are supported.
Description
Technical field
The present invention relates to the positioning in location navigation, signal processing and technology of Internet of things, more particularly to a kind of special area
Navigation system.
Background technology
Chemical products have quietly entered the every aspect that we live.However, the chemical plant for producing chemical products
But where becoming a Frequent Accidents, once and there is accident and usually suffer heavy losses.Chemical plant needs to lay a large amount of pipelines,
As raw material is mostly inflammable and explosive, corrosivity dangerous materials, once there is accident, personnel will be put in factory in extremely hazardous border
Ground, need to be accurately positioned indicator of trapped personnel as early as possible.So, the real-time positioning of staff in chemical industry plant area is just become guarantees production peace
One of full important leverage.
Outdoor positioning typically takes GPS (Global Positioning System, global satellite positioning) technology,
And at present can using with the indoor positioning technologies in chemical plant mainly by following several：
For example a kind of is method using wireless lan signal intensity[1].Strongest base stations method (method of approximation), propagation model
It is three kinds of basic location aware technologies that method (triangulation) and location fingerprint send out (scene analysis method).Current position fingerprinting
Study more, its principle is divided into offline exploration and two stages of tuning on-line.Offline exploration is according to one in region undetermined
Fixed interval determines some sampled points, forms a sampling spot net, and the signal intensity that each point is measured together with its position
Information is together saved in lane database, and these information are referred to as location fingerprint (Location Fingerprints) or radio day
Figure (RadioMap).During tuning on-line, the signal strength information of real-time measurement is compared with the information in data base, the number of winning the confidence is strong
The position of immediate point is spent as the position estimated.Positioning navigation method of this method compared to the present invention, preparation
Complicated and be very easy to be affected by environmental change, with very big uncertainty, and the present invention is using architecture structure drawing information,
Comparatively it is more stable.
And for example a kind of method is indoor GPS (Indoor Global Positioning System)[2].Indoor GPS passes through
Transmitting and the Infrared for receiving calculate level angle and vertical angle information of the measured point relative to launch point, and then are changed
It is counted as the coordinate relative to launch point.Such method needs extra Infrared of installing to launch and reception system, its measurement capability
Affected by the technique and mechanical performance of temperature, vibration and emitting head and reception sensor with precision, and when determinand is from anti-
Penetrate thing it is nearer when easily produce pulse bending, cause measurement blind area.In addition, although this kind of method is again based on meter with the present invention
The alignment system of calculation, but positioning datum is infrared transmitter, and the present invention is then used based on architecture structure drawing from host computer.
[list of references]
[1] Zhang Minghua, Zhang Shensheng, Cao Jian. the indoor positioning [J] in WLAN based on signal intensity. computer section
Learn, 2007,34 (6):68-71.
[2] Wang Wei, Li Xiwen, Liu Jishuan. the principle of indoor GPS and application [J]. mapping and spatial geographic information, 2010,
3rd phase:116-119.
The content of the invention
It is contemplated that realizing the real-time positioning of staff and navigation in chemical plant.Due to the usual floor space in chemical plant
It is larger, it is made up of many buildings building, personnel may need to move between different buildings, therefore the present invention is to outdoor and indoor positioning
Take different localization methods.The outdoor method using satellite fix, it is indoor (to include pipeline using based on architecture structure drawing information
Map etc.) localization method that calculates, and realize the seamless connection of indoor outside fix.Realized based on architecture structure drawing and plant area simultaneously
The navigation feature of electronic chart, and location data and personal information are uploaded to into main control server, it is the daily safety in chemical plant
Personnel rescuing offer technology and data when producing and occur accident is supported.
In order to solve above-mentioned technical problem, a kind of chemical plant personnel calculated based on plant area's cartographic information proposed by the present invention
Position Fixing Navigation System, including multiple terminals and main control server and display screen in master control room；The terminal is at least wrapped
Central processing module, motion sensor module, locating module, display module and communication module are included；Wherein, the central authorities are processed
Device module and motion sensor module and locating module are used for the real-time positioning for realizing personnel, the display module and communication module
For realizing data exchange and man-machine interaction；Chemical industry plant area map composition, the master control clothes are included in the main control server
Business device for by the data summarization of each chemical plant personnel's navigation terminal, process and graphic software platform；The positioning number of each terminal
According to being uploaded to after the main control server by the communication module, the position data of each staff is coordinated into the chemical industry
Plant area's map composition is displayed in the display screen of master control room in the way of graphic interface.
Wherein, the motion sensor module at least include accelerometer, velometer and gyroscope in one kind of multiple, institute
State locating module at least include satellite fix and RFID in one or two.
Using the above-mentioned method for realizing navigation based on the chemical plant personnel positioning navigation system that plant area's cartographic information is calculated, bag
Include following aspect：
First, obtain plant area cartographic information, wherein, plant area's cartographic information include indoor map information, outdoor cartographic information and
Barrier, mark, motion restriction, pavement behavior, calibration point information, the indoor map information is based on architecture structure drawing
Digitized map information, the outdoor cartographic information is electronic map information；Before navigation system is started working, by above-mentioned plant area
Cartographic information is imported in the storage medium of each terminal, and the corresponding coordinate system of correspondence establishment；
2nd, the current position coordinates and coordinates of targets of personnel are obtained：
2-1) the acquisition of the current position coordinates of personnel includes indoor and outdoor positioned alternate, wherein：
Outdoor positioning is using satellite fix and line distribution figure calculations incorporated；
The indoor positioning includes coarse positioning and being accurately positioned, the coarse positioning be taken based on RFID dynamic calibrations realize it is right
The determination of personnel region, coarse positioning information are used for the distribution letter that main control server shows different operating regional work personnel
Breath, and alarm is made into deathtrap abnormally to staff；Described being accurately positioned is taken based on cartographic information in room
The determination to personnel exact position is realized in the region that interior coarse positioning determines；
Indoor outside fix switching：When system detectio to current persons position is near the gateway of building, while opening
Indoor positioning and outdoor positioning, now, system at least receives a framing signal at any time, so as to ensure the continuous of position fixing process
Property；When system detectio to be located away from building gate area or one of which framing signal disappear after, according to personnel's present bit
It is opening to put reservation indoor positioning or outdoor positioning；
2-2) coordinates of targets is given by terminal user；
3rd, path planning：First when plant area's cartographic information is stored in main control server, while being stored in off-limits danger
Danger zone domain information or the region that can be entered according to personnel identity labelling.Meanwhile, the burst feelings of real-time down loading updating on-site
Condition information；For the path planning of indoor outside fix switching, the method planned using indoor positioning and outdoor positioning respectively；
4th, navigation design：After path planning determines path, start in the case of real-time computing staff current location
Navigate, and pointed out before key position is reached, the mode of prompting includes the one kind in voice message and screen display
Or two kinds of combination；
5th, the upload of data and process：Main control server is being controlled after the personnel positioning data that each terminal is passed back are obtained
The position of all personnel in working region is shown on the screen of room processed, and staff is sent out as desired by communication module
Cloth is instructed, and is realized to location of personnel distribution situation and the monitor in real time of working condition.
Compared with prior art, the invention has the beneficial effects as follows：
First, the present invention can adapt to the location navigation application of indoor and outdoors simultaneously.Outdoor satellite is positioned by the present invention
Technology and the indoor dynamic calibration calculated based on building structure information and location technology seamless combination, can complete chemical plant region
Interior complete navigation is without switched system.
Second, positioning precision of the present invention is controllable, and using coarse positioning be accurately positioned the method that combines.The present invention is not only
Can control positioning precision in several ways, and need to take coarse positioning and be accurately positioned the side that combines according to different
Method.In the indoor orientation method of the present invention, the interval of RFID tag calibration point, interval of indoor object of reference etc. determine that this is fixed
The precision of position, the arithmetic speed of simultaneous processor, precision of sensor etc. also can produce impact to precision
Description of the drawings
The chemical plant personnel positioning navigation system that Fig. 1 is calculated based on architecture structure drawing.
Specific embodiment
Technical solution of the present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, described is concrete
Embodiment is only explained to the present invention, not to limit the present invention.
The system of the present invention works block diagram as shown in figure 1, the mentality of designing of the present invention is：Calculated based on plant area's cartographic information
The main body of chemical plant personnel be chemical plant staff's navigation terminal, before system work, need place chemical plant region
Cartographic information imports alignment system, so as to the operation such as follow-up location navigation and display.After system start-up, you can start simultaneously at and defend
Star is positioned and RFID (Radio Frequency Identification, RF identification) coarse positioning determines initial position as early as possible,
Semaphore request user is sent if it not can determine that or main control server manually gives.Will be by satellite fix (room by afterwards
Outward), RFID dynamic calibrations and the determination for combining to realize position based on cartographic information calculating.Then, you can according to destination
Programme path, completes navigation, and exchanges information with main control server in good time.On the basis of positioning is realized, according to plant area's reality
Situation, completes quick, safe path planning and navigation, and navigation hint information is exported to user by interactive module.With
This simultaneously, main control server shows all in work on control room screen after the location data passed back of each terminal is obtained
The position of personnel in region, and instruction is issued to staff as desired by communication system, realize to location of personnel
The monitor in real time of distribution situation and working condition.
As shown in figure 1, a kind of chemical plant personnel positioning navigation system calculated based on plant area's cartographic information proposed by the present invention
System, the main control server and display screen including multiple terminals and in master control room.
The terminal at least includes central processing module, motion sensor module, locating module, display module and communication
Module；Wherein, the CPU module and motion sensor module and locating module are used for the real-time positioning for realizing personnel,
The display module and communication module are used to realize data exchange and man-machine interaction；The motion sensor module at least includes adding
One kind of multiple in velometer, velometer and gyroscope, the locating module at least include the one kind in satellite fix and RFID
Or two kinds；Include chemical industry plant area map composition in the main control server, the main control server is for by each chemical industry
The system of the data summarization, process and graphic software platform of factory's personnel's navigation terminal；The location data of each terminal is by described logical
After letter module is uploaded to the main control server, the position data of each staff is coordinated chemical industry plant area map composition to scheme
The mode at shape interface is displayed on the screen of master control room, and the staff of such master control room easily can be monitored positioned at each
The number and particular location of the staff in working region, facilitates its allotment and commands.Main control server is used as each simultaneously
The data server of terminal, updates the up-to-date information (including work notice, emergency etc.) of on-site to each terminal dynamic,
Realize digitized, intelligentized management.
Using the above-mentioned method for realizing navigation based on the chemical plant personnel positioning navigation system that plant area's cartographic information is calculated, bag
Include following aspect：
First, plant area's cartographic information is obtained, the cartographic information of chemical industry plant area has the characteristics of scope is big, and indoor and outdoor is combined.Cause
This plant area's cartographic information of the invention is also classified into indoor map information and outdoor two parts of cartographic information.Indoor map information is
It is the digitized map information based on architecture structure drawing, outdoor cartographic information refers to use electronic map information.Additionally, may be used also
Add barrier, mark, motion restriction, pavement behavior, the information such as calibration point as needed on map.Open in navigation system
Before beginning work, during plant area cartographic information should be imported the storage medium of intelligent terminal and the corresponding coordinate system of correspondence establishment, so as to
Read during operation and utilize.
2nd, personnel's current position coordinates and coordinates of targets are the necessary informations for path planning and navigation.Accordingly, it would be desirable to
The current position coordinates and coordinates of targets of acquisition personnel.Wherein, coordinates of targets is given by terminal user according to actual needs；People
The acquisition of the current position coordinates of member is as follows：
The characteristics of for chemical plant plant area, the needs that there is the navigation of indoor and outdoor positioned alternate, so the present invention is for interior
Positioning and outdoor positioning take different methods, improve specific aim, so as to improve positioning precision.And indoor outside fix is cut
Change and design.
Outdoor positioning is using satellite fix and line distribution figure calculations incorporated.The wider alignment system of use range is at present
The GPS (GPS) in the U.S. and the latest generation global position system " Big Dipper two " of China's independent research.This
A little global position systems may be used to the outdoor positioning part of the present invention.At present, the positioning accurate of civilian GPS and " Big Dipper two "
Up to 10 meters, its precision can reach the requirement of navigation to degree.In addition, chemical industry plant area roadside is generally dispersed with a large amount of positions
Fixed pipeline, with reference to line distribution figure, identifies that workman walks along which (several) bar pipeline, can improve the accurate of positioning
Property and specific aim, prevent the situation of positioning runout.
The present invention takes the mode that " coarse positioning " and " being accurately positioned " combine for indoor positioning.Concrete grammar is as follows：
The coarse positioning is taken based on RFID dynamic calibrations and realizes the determination to personnel region.In invention, coarse positioning is
Refer to the determination to staff region.In chemical plant, division can be needed according to what is divided to positioning precision and function
For some regions, such as passage, room, storehouse etc..The implementation of coarse positioning can apply RFID technique.Going out in regional
The transmitting of fixed RFID and reading device are installed in porch, correspond to its position coordinates on architecture structure drawing, and with work people
RFID transmittings and reading device in member's terminal exchanges information.Fixed RFID device sends location coordinate information, staff
Terminal transmission terminal ID info.So, the coordinate of current location will be obtained in the terminal of staff, so as to judge to go to work
Make the region that personnel will enter or leave.And fixed RFID device can obtain the workman's identity information that will be entered or leave,
And passed through communication network and pass main control server back.Coarse positioning information can be used for main control server and show different operating region
The distributed intelligence of staff, and alarm is made into deathtrap abnormally to staff.
Described being accurately positioned is taken based on realizing to the accurate position of personnel in the cartographic information region that coarse positioning determines indoors
The determination put；Here cartographic information includes building structure information (such as door, window, passageway, wall etc.) and the pipe in chemical plant
Line distributed intelligence, these information all have relatively-stationary geographical position, and all limit position and the route of personnel.
After indoor coarse positioning, a scope at personnel place can be determined by the range of signal of RFID, within this range, in combination
The aggregation of data such as figure information, personnel's previous position, motion sensor intersect the exact position of judgement personnel.For example, it is a kind of to realize
Mode is, when a workman enters to the right the scope of inserting RFID tags B from the region of RFID tag A in a passageway, its position should
Be the scope of label B high order end and workman still in the passageway, and can not possibly be in adjacent room, passageway or in label B
Low order end, so as to the coordinate of the point is calculated according to architecture structure drawing.So, for the Position Fixing Navigation System of chemical industry plant area comes
Say, precision is enough.
Indoor outside fix switching：Staff is moved in on-site, is necessarily occurred from interior to outdoor or from outdoor
Interior situation, this just proposes requirement to the seamless switching between indoor and outdoor alignment system.In this regard, the present invention is using as follows
Method come realize under indoor and outdoor change over condition position work seriality.As plant area's cartographic information has been stored in advance in terminal
In the equipment and current position of workman, it is known that therefore, when system detectio to personnel current location building gateway near when,
While unlatching two sets of localization methods of indoor positioning and outdoor positioning (ensure that the localization method opened originally works on, while
Open another set of localization method), such system at least moment can receive a framing signal, so as to ensure the company of position fixing process
Continuous property.When system detectio to be located away from building gate area or one of which framing signal disappear after, stop two sets and position
The state that method is opened simultaneously, retains a localization method according to current location and opens.
3rd, path planning：Path planning algorithm is using the algorithm optimized through chemical industry plant area feature.Chemical industry plant area navigate with
The path planning of the guider such as common vehicle mounted guidance requires difference at present, and in chemical plant, deathtrap is more, and distribution of facilities is more
Complexity, and often refer to the situation from indoor and outdoor switching, it is therefore desirable to the path planning in chemical plant is particularly optimized
Design, is safely and efficiently required with meeting.
First when plant area's cartographic information being stored in system, will be stored in off-limits deathtrap information or root simultaneously
According to the region that personnel identity labelling can be entered.Meanwhile, by data exchange is kept between communication system and main control server, in real time
The information such as the emergency case of down loading updating on-site.
For the path planning of indoor outside fix switching, the method planned using indoor positioning and outdoor positioning respectively；I.e.
If with target location not in same building, path planning is for the current location of personnel：From the current location of personnel to place
The outlet of building, to target structures entrance, to target location, and successively using indoor positioning, outdoor positioning and indoor positioning
Paths planning method.For the path planning between different floors, also can analogy the method.
4th, navigation design：After path planning determines path, you can start in the case where current location is calculated in real time
Navigate, as plant area's cartographic information has been stored in advance in system, system can be in advance in key position (as turned
Curved, stair activity etc.) pointed out, can be to be combined using voice message and screen display by the way of, instruct personnel complete appoint
Business
5th, the upload of data and process：Main control server is being controlled after the personnel positioning data that each terminal is passed back are obtained
The position of all personnel in working region is shown on the screen of room processed, and staff is sent out as desired by communication module
Cloth is instructed, and is realized to location of personnel distribution situation and the monitor in real time of working condition.
Although above in conjunction with accompanying drawing, invention has been described, the invention is not limited in above-mentioned being embodied as
Mode, above-mentioned specific embodiment are only schematic rather than restricted, and one of ordinary skill in the art is at this
Under the enlightenment of invention, without deviating from the spirit of the invention, many variations can also be made, these belong to the present invention's
Within protection.
Claims (3)
1. a kind of chemical plant personnel positioning navigation system calculated based on plant area cartographic information, it is characterised in that including multiple ends
End and main control server and display screen in master control room；The terminal at least includes central processing module, motion and passes
Sensor module, locating module, display module and communication module；Wherein, the CPU module and motion sensor module
It is used to realizing that the real-time positioning of personnel, the display module and communication module to be used to realizing data exchange and man-machine with locating module
Interaction；
Include chemical industry plant area map composition in the main control server, the main control server is for by each chemical plant personnel
The data summarization of navigation terminal, process and graphic software platform；
The location data of each terminal after the communication module is uploaded to the main control server, by each staff's
Position data coordinates the chemical industry plant area map composition that the display screen of master control room is displayed in the way of graphic interface.
2. a kind of chemical plant personnel positioning navigation system calculated based on plant area cartographic information according to claim 1, which is special
Levy and be, the motion sensor module at least include accelerometer, velometer and gyroscope in one kind of multiple, the positioning
Module at least include satellite fix and RFID in one or two.
3. a kind of chemical plant personnel positioning air navigation aid calculated based on plant area cartographic information, it is characterised in that：Including with lower section
Face：
First, plant area's cartographic information is obtained, wherein, plant area's cartographic information includes indoor map information, outdoor cartographic information and obstacle
Thing, mark, motion restriction, pavement behavior, calibration point information, the indoor map information is the numeral based on architecture structure drawing
Change cartographic information, the outdoor cartographic information is electronic map information；Before navigation system is started working, by above-mentioned plant area's map
Information is imported in the storage medium of each terminal, and the corresponding coordinate system of correspondence establishment；
2nd, the current position coordinates and coordinates of targets of personnel are obtained：
2-1) the acquisition of the current position coordinates of personnel includes indoor and outdoor positioned alternate, wherein：
Outdoor positioning is using satellite fix and line distribution figure calculations incorporated；
The indoor positioning includes coarse positioning and is accurately positioned that the coarse positioning is taken based on RFID dynamic calibrations and realizes to personnel
The determination of region, coarse positioning information are used for the distributed intelligence that main control server shows different operating regional work personnel, and
Alarm is made into deathtrap abnormally to staff；Described being accurately positioned is taken based on cartographic information indoors slightly calmly
The determination to personnel exact position is realized in the region that position determines；
Indoor outside fix switching：When system detectio to current persons position is near the gateway of building, while opening indoor
Positioning and outdoor positioning, now, system at least receives a framing signal at any time, so as to ensure the seriality of position fixing process；
When system detectio to be located away from building gate area or one of which framing signal disappear after, protected according to personnel current location
Indoor positioning or outdoor positioning is stayed to be opening；
2-2) coordinates of targets is given by terminal user；
3rd, path planning：First when plant area's cartographic information is stored in main control server, while being stored in off-limits hazardous area
Domain information or the region that can be entered according to personnel identity labelling；Meanwhile, the emergency case letter of real-time down loading updating on-site
Breath；For the path planning of indoor outside fix switching, the method planned using indoor positioning and outdoor positioning respectively；
4th, navigation design：After path planning determines path, start navigation in the case of real-time computing staff current location
, and pointed out before key position is reached, the mode of prompting includes the one kind in voice message and screen display or two
The combination planted；
5th, the upload of data and process：Main control server after the personnel positioning data passed back of each terminal are obtained, in control room
Screen on show the position of all personnel in working region, and staff is issued as desired by communication module and refers to
Order, realizes to location of personnel distribution situation and the monitor in real time of working condition.
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| CN112863120B (en) * | 2020-12-31 | 2024-05-07 | 深圳市启航智通科技有限公司 | Child safety management system based on Beidou satellite positioning system |
| CN116723569A (en) * | 2023-08-10 | 2023-09-08 | 武汉七环电气股份有限公司 | Multimode positioning method and system supporting emergency communication |
| CN116723569B (en) * | 2023-08-10 | 2023-11-03 | 武汉七环电气股份有限公司 | Multimode positioning method and system supporting emergency communication |
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