CN103954930B - A kind of indoor autonomous three-dimensional fix device - Google Patents
A kind of indoor autonomous three-dimensional fix device Download PDFInfo
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- CN103954930B CN103954930B CN201410198798.5A CN201410198798A CN103954930B CN 103954930 B CN103954930 B CN 103954930B CN 201410198798 A CN201410198798 A CN 201410198798A CN 103954930 B CN103954930 B CN 103954930B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
Abstract
A kind of indoor autonomous three-dimensional fix device, this device includes outdoor signal and receives base station, personal intelligent positioning unit and outdoor signal data analysiss terminal.Present invention is mainly applied to the indoor environment such as fire-fighting and rescue and disaster rescue spot is subject to the occasion of heavy damage, the indoor positioning that can make up traditional preset node type needs to install in advance, externally fed, the shortcoming being easily damaged；The shortcoming that drift is big, stability is poor of traditional autonomous type indoor positioning device can effectively be made up simultaneously again.
Description
Technical field
The present invention relates to positioner field, more particularly to one kind are applied in fire-fighting and rescue and the rooms such as disaster rescue spot
Interior environment is subject to the three-dimensional fix device of heavy damage occasion.
Background technology
According to statistics, the direct economic loss that the annual fire in the current whole world causes is about five times of earthquake disaster, and occurs
Frequency be even more committee occupy first of various disasters.The harm that fire causes is extremely serious, and it not only results in casualties, basis sets
Apply infringement moreover it is possible to cause whole city to produce and economic disorder, negative effect is greatly.
In recent years, China achieves great achievement in economic construction with aspects such as social developments, and City's Construction And Development is more
It is to advance by leaps and bounds.City size expands, urban population increases severely and large amount of complex skyscraper, megastore, large-scale logistics storehouse
The building such as storehouse emerges in multitude that disaster relief site environment is complicated, personnel hazard's coefficient is high, secondary calamity so that fireman usually needs to face
Difficulty such as takes place frequently at the new problem.All kinds of fire attacks that fire brigade undertakes and rescue mission are more and more heavier, disaster relief scene
Often occur flash over, the various complicated such as flame, heat radiation, dense smoke, toxic gas, dark, fabric structure complexity to
Fire inspection work brings very big inconvenience, and the complexity of the condition of a disaster increasingly increases, the dangerous more and more higher of fire fighting and rescue action, fire-fighting
The situation that officers and men injures and deaths in fire fighting and rescue and job training happens occasionally, and personal safety is difficult to be guaranteed.Study carefully it former
Cause, mainly due under the conditions of traditional fire-fighting equipment, it is difficult to real-time accurate tracking is fixed after firefighterses enter scene of fire
Position, self-contained rescue beacon and directional light distress alerting can only be passed through, rear cannot judge firefighterses whether face a danger with
And officers and men present position in danger, cause and can not arrange to succour team member in danger in time, fire fighter's life security is difficult to ensure that.With
When, rear fire-fighting and rescue commander expert is it is not known that the practical situation of scene of fire is it is also difficult to give to fire-fighting rescue works comprehensively
Accurately command.Therefore, a kind of fire-fighting and rescue work stopping that can determine fire fighter of urgent needss, the fortune such as walk, run
Dynamic state simultaneously precisely determines the fire-fighting individual soldier interior three-dimensional fix system in rescue site position for the fire fighter.
Existing support satellite, base station, the indoor real time positioning technology of the technology such as UWB, RSSI, are both needed to carry in interior of building
Front preset node, and must have a power failure when fire occurs and stop the supple of gas or steam it is difficult to precise positioning is realized by preset node, there is " non-autonomous "
And the technical bottleneck of " positioning is difficult " is it is impossible to meet fire-fighting demand.
The present invention proposes a kind of indoor autonomous three-dimensional fix device, and the interior that can make up traditional preset node type is fixed
Position needs to install in advance, externally fed, the shortcoming being easily damaged；Traditional autonomous type indoor positioning dress can effectively be made up simultaneously again
The drift put is big, the shortcoming of stability difference.Additionally, the autonomous three-dimensional fix device in this interior also has sets up simple, speed
Hurry up, need not demarcate in advance, stability is strong, the advantages of positioning precision is high, can emphasis apply search and rescue in fire-fighting and rescue and disaster existing
The indoor environments such as field are subject to the occasion of heavy damage.
Content of the invention
Indoor positioning in order to make up traditional preset node type needs to install in advance, externally fed, the problems such as be easily damaged；
The shortcoming that drift is big, stability is poor of traditional autonomous type indoor positioning device can effectively be suppressed simultaneously again, disclosed by the invention
A kind of indoor autonomous three-dimensional fix device.This positioner has that erection is simple, speed is fast, need not demarcate in advance, stable
Property strong, the high advantage of positioning precision, can emphasis apply be subject in fire-fighting and rescue and the indoor environments such as disaster rescue spot serious
The occasion destroyed.
A kind of indoor autonomous three-dimensional fix device disclosed by the invention, including：Outdoor signal receives base station, individual takes
Band intelligent positioning unit and outdoor signal data analysiss terminal.Wherein, outdoor signal receives base station is to be surveyed based near field electromagnetic
A kind of signal away from principle receives base station, for receiving the near field electromagnetic signal that near field electromagnetic label sends, is provided simultaneously with positioning
Information carrying capacity；Individual carries intelligent positioning unit and mainly includes near field electromagnetic label, Inertial Measurement Unit, magnetic survey list
First, personal sender unit and battery；Outdoor signal data analysiss terminal includes receiving the reception that outdoor signal receives base station
Device, reception individual carry receptor, data processing terminal and the display terminal of intelligent positioning unit.
Further, described 3 outdoor signals receive base station and are installed on fire fighting truck, including：Outdoor signal receives base
Stand 1 (1-1), outdoor signal receive base station 2 (1-8), outdoor signal receive base station 3 (1-10)；Outdoor signal receives base station 1 (1-
1), 2 (1-8), 3 (1-10) are made up of 5 parts：Near field electromagnetic signal receiver (2-8), location information receptor (2-7), data
APU (2-4), data transmission machine (2-2), outdoor signal receive base station electric power system (2-12)；Wherein, data is divided
Analysis processing meanss (2-4) United Dispatching near field electromagnetic signal receiver (2-8), location information receptor (2-7) and information transfer
Device (2-2)；Data Analysis Services device (2-4) passes through digital interface 1 (2-5), controls near field electromagnetic signal receiver (2-8)；
Near field electromagnetic signal receiver (2-8), for analyzing near field electromagnetic signal (2-10) feature of fireman, forming position information,
Data Analysis Services device (2-4) is transferred to by digital interface 1 (2-5)；Data Analysis Services device (2-4) is connect by numeral
Mouth 2 (2-6), control location information receptor (2-7)；Location information receptor (2-7) receives personal intelligent positioning unit (1-
12) inertial position information (2-9)；Data Analysis Services device (2-4) passes through digital interface 3 (2-3) will be electric for the near field merged
Magnetic potential information and inertial position information are transferred to data transmission machine (2-2), and data transmission machine (2-2) passes through wireless data transmission
Mode (2-1), by the information transfer after merging to outdoor signal data analysiss terminal (1-4)；Outdoor signal receives base station and powers
System (2-12), by the vehicle power on fire fighting truck, carries out level conversion, is that all parts are powered；Outdoor signal receives base station
Electric power system (2-12) is that data transmission machine (2-2) is powered by level conversion 1 (2-13)；By level conversion 2 (2-14) it is
Data Analysis Services device (2-4) is powered；Powered near field electromagnetic signal receiver by level conversion 3 (2-15)；By electricity
Flat turn is changed 4 (2-11) and is powered for location information receptor.
Described individual's intelligent positioning unit (1-12), is worn on fireman (4-1) waist belt (4-2).Described individual
The inertial coordinate system (4-3) of intelligent positioning unit (1-12) is defined as follows：X-axis (4-4) is pointed on the left of fireman (4-1), y
Axle (4-5) points in front of fireman (4-1), and z-axis (4-6) is pointed to below fireman (4-1).
Personal intelligent positioning unit (1-12) utilizes x-axis gyroscope (3-1), y-axis gyroscope (3-3), z-axis gyroscope (3-
4) gyro system (3-2) forming measures the angular movement of fireman；Using x-axis accelerometer (3-6), y-axis accelerometer (3-
7) accelerometer system (3-9) that, z-axis accelerometer (3-8) forms measures the line motion of fireman；Using x-axis gaussmeter (3-
11) magnetometer system (3-14) that, y-axis gaussmeter (3-12), z-axis gaussmeter (3-13) form measures the magnetic field environment of fireman
Information；Measure fireman's periphery and its personal intelligent positioning unit (1-12) internal components work using temperature sensor (3-16)
Temperature.
X-axis gyroscope (3-1), y-axis gyroscope (3-3) and z-axis gyroscope (3-4) pass through data acquisition 1 (3-5) and enter letter
Number pre-processing assembly (3-19)；X-axis accelerometer (3-6), y-axis accelerometer (3-7), z-axis accelerometer (3-8) pass through data
Collection 2 (3-10) entering signal pre-processing assembly (3-19)；X-axis gaussmeter (3-11), y-axis gaussmeter (3-12), z-axis gaussmeter
(3-13) cross data acquisition 3 (3-15) entering signal pre-processing assembly (3-19)；Data acquisition 4 is passed through in temperature sensor (3-16)
(3-18) entering signal pre-processing assembly (3-19)；Signal Pretreatment assembly (3-19) passes through the gyro system collecting (3-
2), accelerometer system (3-9), magnetometer system (3-14) and temperature sensor (3-16) data carry out signal processing, by mould
Intend signal and be converted to digital signal, transmitted to personal information fusion device (3-21) by AD conversion interface (3-20).
Personal information fusion device (3-21) is responsible for controlling near field electromagnetic label (3-17) by I/O interface (3-22) simultaneously
Signal sends.Gyro system (3-2) that personal information fusion device (3-21) synthetical collection arrives, accelerometer system (3-9), magnetic strength
Meter systems (3-14) and temperature sensor (3-16) information, calculate the inertial position information of fireman.Personal information fusion device (3-
21) pass through digital interface 4 (3-22), control personal sender unit (3-23) outwardly to transmit inertial position information.
Further, personal intelligent positioning unit (1-12) algorithm of this device is：Pretreated sensor (5-1),
Sensor information 1 (5-2) is transmitted in error compensation module (5-3), error compensation module (5-3) will be revised through outside
(5-4) sensor information 2 (5-5) after is transmitted into strapdown inertial navigation system, resolves in module (5-6), carries out dead reckoning,
Obtain inertial position and calculate information (5-7)；It is accurate that sensor information 2 (5-5) after outside correction (5-4) enters human motion
Then determination module (5-11) computed correction and trigger message (5-12), carry out the work feelings of control information fused filtering device (5-13)
Condition, information fusion filtering device (5-13) extrapolates outside correction (5-4) pattern according to fusion results and inertial position calculates information
Error (5-10)；By error concealment means (5-8), finally give inertial position information (5-9).
Data analysiss terminal electric power system (6-1), display terminal (6-3), data processing terminal (6-6), location information connect
Receive device 2 (6-10) and outdoor base station message recipient (6-13)；Data processing terminal (6-6) is obtained by digital interface 5 (6-11)
Take the inertial position information (6-9) that location information receptor 2 (6-10) receives；Obtained outdoor by digital interface 6 (6-12)
3 outdoor base stations analysis information (6-14) that base station information receiver (6-13) receives；Data processing terminal (6-6) is to inertia
Positional information (6-9) and outdoor base station analysis information (6-14) carry out fusion treatment, and the final position information (6- by fireman
5) it is transferred to display terminal (6-3), wherein data processing terminal (6-6) has interactive capability；Data analysiss terminal is powered
System (6-1) is that display terminal (6-3) is powered by level conversion 5 (6-2)；It is that data processing is whole by level conversion 6 (6-4)
End (6-6) power supply；It is that outdoor base station receptor (6-13) is powered by level conversion 7 (6-7)；By level conversion 8 (6-8) it is
Location information receptor 2 (6-13) is powered.
Compared with prior art, the invention has the beneficial effects as follows：
1) a kind of indoor autonomous three-dimensional fix device that the present invention provides, is connect using three outdoors being erected at outdoor
Receive base station, the indoor positioning that compensate for traditional preset node type needs to install in advance, externally fed, the shortcoming being easily damaged.
2) present invention carries out three-dimensional range finding using near field electromagnetic, can effectively make up traditional autonomous type indoor positioning device
Drift is big, the shortcoming of stability difference；Using Inertial Measurement Unit, magnetic survey unit, near field electromagnetic signal is calibrated, increase
The accuracy of strong near field electromagnetic signal is so that positioner can carry out region-wide locating and tracking.
3) a kind of indoor autonomous three-dimensional fix device disclosed by the invention, receives base station, individual including outdoor signal
Carry intelligent positioning unit and outdoor signal data analysiss terminal public, have that erection is simple, speed is fast, need not demarcate in advance,
Stability is strong, the high advantage of positioning precision.
Brief description
Fig. 1 is the indoor autonomous three-dimensional fix apparatus system block diagram of the present invention；
Fig. 2 receives base station system composition frame chart for outdoor signal of the present invention；
Fig. 3 carries intelligent positioning unit composition frame chart for individual of the present invention；
Fig. 4 carries intelligent positioning unit scheme of installation for individual of the present invention；
Fig. 5 carries intelligent positioning unit for individual of the present invention and resolves block diagram；
Fig. 6 is outdoor signal data analysiss terminal composition frame chart of the present invention；
Fig. 7 is the indoor autonomous three-dimensional fix device workflow diagram of the present invention.
Specific embodiment
1-7 with reference to the accompanying drawings, specifically describes a kind of indoor autonomous three-dimensional fix device disclosed by the invention.This device bag
Include outdoor signal and receive base station, personal intelligent positioning unit and outdoor signal data analysiss terminal.Wherein, outdoor signal receives
Base station is to receive base station based on a kind of signal of near field electromagnetic positioning principle, for receiving the near field electricity that near field electromagnetic label sends
Magnetic signal, is provided simultaneously with location information transfer capability；Personal intelligent positioning unit mainly includes near field electromagnetic label, inertia measurement
Unit, magnetic survey unit, personal sender unit and battery；Outdoor signal data analysiss terminal includes receiving outdoor signal
The receptor receiving base station, the location information receptor receiving personal intelligent positioning unit information, data processing terminal and display
Terminal.
When the complex buildings such as residential building, megastore occur fire, fireman carries personal intelligent positioning unit (1-
12) enter the scene of a fire, personal intelligent positioning unit (1-12) sends personal information (1-3,1-9,1-11) and arrives outdoor signal base station 1
(1-1), outdoor signal base station 2 (1-8) and outdoor signal base station 3 (1-10).It is individual that personal intelligent positioning unit (1-12) sends
People's information 1 (1-3) includes near field electromagnetic signal and inertial position information；Personal information 2 (1-9), personal information 3 (1-11) in the same manner
Including near field electromagnetic signal and inertial position information.Outdoor signal base station 1 (1-1), outdoor signal base station 2 (1-8) and outdoor letter
The personal information receiving 1 (1-3), personal information 2 (1-9), personal information 4 (1-11) are carried out respectively by number base station 3 (1-10)
After calculating, transmitted to room by wireless transmission method 1 (1-2), wireless transmission method 2 (1-6) and wireless transmission method 3 (1-7)
External signal data analysiss terminal (1-4).The outdoor signal base station 1 (1- that outdoor signal data analysiss terminal (1-4) analysis receives
1), outdoor signal base station 2 (1-8), the information of outdoor signal base station 3 (1-10) and personal intelligent positioning unit (1-12) send
Personal information 4 (1-5), carries out data fusion, and COMPREHENSIVE CALCULATING goes out the self-position of fireman, and wherein personal information 4 (1-5) is only wrapped
Containing inertial position information.
The present invention comprises 3 outdoor signals and receives base station, is installed on fire fighting truck, main inclusion：Outdoor signal receives
Base station 1 (1-1), outdoor signal receive base station 2 (1-8), outdoor signal receives base station 3 (1-10).Outdoor signal receives base station (1-
1st, 1-8,1-10) mainly it is made up of 5 parts：Near field electromagnetic signal receiver (2-8), location information receptor (2-7), data are divided
Analysis processing meanss (2-4), data transmission machine (2-2), outdoor signal receive base station electric power system (2-12).Data Analysis Services fill
Put (2-4) United Dispatching near field electromagnetic signal receiver (2-8), location information receptor (2-7) and data transmission machine (2-2).
Data Analysis Services device (2-4) passes through digital interface 1 (2-5), controls near field electromagnetic signal receiver (2-8)；Near field electromagnetic
Signal receiver (2-8), near field electromagnetic signal (2-10) feature of analysis fireman, forming position information, by digital interface
(2-5) it is transferred to Data Analysis Services device.Data Analysis Services device (2-4) passes through digital interface 2 (2-6), controls positioning
Message recipient (2-7)；Location information receptor (2-7) receives the inertial position information of personal intelligent positioning unit (1-12)
(2-9).Data Analysis Services device (2-4) pass through digital interface 3 (2-3) by merge near field electromagnetic positional information and inertia position
Confidence breath be transferred to data transmission machine (2-2), data transmission machine (2-2) by wireless data transmission mode (2-1), after merging
Information transfer to outdoor signal data analysiss terminal (1-4).Outdoor signal receives base station electric power system (2-12) by fire-fighting
Vehicle power on car, carries out level conversion, is that all parts are powered.Outdoor signal receives base station electric power system (2-12) to be passed through
Level conversion 1 (2-13) is that data transmission machine (2-2) is powered；It is Data Analysis Services device (2- by level conversion 2 (2-14)
4) power；Powered near field electromagnetic signal receiver by level conversion 3 (2-15)；It is positioning by level conversion 4 (2-11)
Message recipient is powered.
The present invention comprises personal intelligent positioning unit (1-12), and it is worn on fireman (4-1) waist belt (4-2).
The inertial coordinate system (4-3) of personal intelligent positioning unit (1-12) is defined as follows：It is left that x-axis (4-4) points to fireman (4-1)
Side, y-axis (4-5) is pointed in front of fireman (4-1), and z-axis (4-6) is pointed to below fireman (4-1).Personal intelligent positioning unit
(1-12) utilize gyro system (3-2) measurement that x-axis gyroscope (3-1), y-axis gyroscope (3-3), z-axis gyroscope (3-4) form
The angular movement of fireman.Personal intelligent positioning unit (1-12) utilizes x-axis accelerometer (3-6), y-axis accelerometer (3-7), z
The accelerometer system (3-9) that axis accelerometer (3-8) forms measures the line motion of fireman.Personal intelligent positioning unit (1-
12) utilize the magnetometer system (3-14) that x-axis gaussmeter (3-11), y-axis gaussmeter (3-12), z-axis gaussmeter (3-13) form
The magnetic field environment information of measurement fireman.Personal intelligent positioning unit (1-12) utilizes temperature sensor (3-16) to measure fireman
Periphery and its personal intelligent positioning unit (1-12) internal components operating temperature.X-axis gyroscope (3-1), y-axis gyroscope (3-3)
Pass through data acquisition 1 (3-5) entering signal pre-processing assembly (3-19) with z-axis gyroscope (3-4)；X-axis accelerometer (3-6), y
Axis accelerometer (3-7), z-axis accelerometer (3-8) pass through data acquisition 2 (3-10) entering signal pre-processing assembly (3-19)；x
Data acquisition 3 (3-15) entering signal pretreatment crossed by axle gaussmeter (3-11), y-axis gaussmeter (3-12), z-axis gaussmeter (3-13)
Assembly (3-19)；Data acquisition 4 (3-18) entering signal pre-processing assembly (3-19) is passed through in temperature sensor (3-16).Signal is pre-
Process assembly (3-19) is passed through the gyro system collecting (3-2), accelerometer system (3-9), magnetometer system (3-14)
Carry out signal processing with temperature sensor (3-16) data, convert analog signals into digital signal, by AD conversion interface (3-
20) transmit to personal information fusion device (3-21).Personal information fusion device (3-21) is also responsible for by I/O interface (3-22) simultaneously
The signal controlling near field electromagnetic label (3-17) sends.Gyro system (the 3- that personal information fusion device (3-21) synthetical collection arrives
2), accelerometer system (3-9), magnetometer system (3-14) and temperature sensor (3-16) information, calculates the inertia of fireman
Positional information.Its algorithm is mainly：Pretreated sensor (5-1), sensor information 1 (5-2) is transmitted into error compensation
In module (5-3), error compensation module (5-3) by through the outside sensor information 2 (5-5) revised after (5-4) transmit into
SINS (strapdown inertial navigation system, Strapdown Inertial Navigation System) resolves in module (5-6), enters
Row dead reckoning, obtains inertial position and calculates information (5-7)；Sensor information 2 (5-5) after outside correction (5-4) is entered
Enter human motion criterion determination module (5-11) computed correction and trigger message (5-12), carry out control information fused filtering device
(5-13) working condition, information fusion filtering device (5-13) is extrapolated outside correction (5-4) pattern according to fusion results and is used to
Property dead reckoning information error (5-10)；By error concealment means (5-8), finally give inertial position information (5-9).Personal
Information fusion device (3-21) passes through digital interface 4 (3-22), controls personal sender unit (3-23) outwardly to transmit inertia
Positional information.Battery module (3-24) is that each subsystem of personal intelligent positioning unit (1-12) is powered.
The present invention comprises outdoor signal data analysiss terminal (1-4), and it mainly includes：Data analysiss terminal electric power system
(6-1), display terminal (6-3), data processing terminal (6-6), location information receptor 2 (6-10) and outdoor base station information receive
Device (6-13).Data processing terminal (6-6) obtains location information receptor 2 (6-10) by digital interface 5 (6-11) and receives
Inertial position information (6-9)；3 being received by digital interface 6 (6-12) acquisition outdoor base station message recipient (6-13)
Individual outdoor base station analysis information (6-14).Data processing terminal (6-6) is to inertial position information (6-9) and outdoor base station analysis letter
Breath (6-14) carries out fusion treatment, and the final position information (6-5) of fireman is transferred to display terminal (6-3), wherein several
According to processing terminal (6-6), there is certain interactive capability.Data analysiss terminal electric power system (6-1) pass through level conversion 5
(6-2) it is that display terminal (6-3) is powered；It is that data processing terminal (6-6) is powered by level conversion 6 (6-4)；Turned by level
Changing 7 (6-7) is that outdoor base station receptor (6-13) is powered；It is location information receptor 2 (6-13) by level conversion 8 (6-8)
Power supply.
Independently three-dimensional fix device mode of operation is for present invention interior：System boot, carries out System self-test (7-1),
Including outdoor signal data analysiss terminal (1-4), outdoor signal base station 1 (1-1), outdoor signal base station 2 (1-8), outdoor signal
Base station 3 (1-10) and the personal intelligent positioning unit (1-12) of respective amount；Each fireman takes System self-test success (7-2) afterwards
The personal intelligent positioning unit (1-12) of 1 set of band, the origin position setting in outdoor signal data analysiss terminal (1-4) stands still
10 seconds, initially it is aligned；Whole system starts to start (7-5) afterwards to be initially directed at successfully (7-4)；After system start-up (7-6)
Outdoor signal data analysiss terminal (1-4), outdoor signal base station 1 (1-1), outdoor signal base station 2 (1-8), outdoor signal base station 3
(1-10) carry out broadcast verification with the personal intelligent positioning unit (1-12) of respective amount；After broadcast verification success (7-8), entirely
System starts normal work (7-9).
Present invention is mainly applied to fire-fighting and rescue is subject to the occasion of heavy damage, energy with indoor environments such as disaster rescue spots
The indoor positioning enough making up traditional preset node type needs to install in advance, externally fed, the shortcoming being easily damaged；Simultaneously again can
Effectively make up the shortcoming that drift is big, stability is poor of traditional autonomous type indoor positioning device.A kind of interior disclosed by the invention is certainly
Main three-dimensional fix device, has that erection is simple, speed is fast, need not demarcate in advance, stability is strong, high excellent of positioning precision
Point, can apply the occasion being subject to heavy damage in the indoor environment such as fire-fighting and rescue and disaster rescue spot by emphasis.
Finally it should be noted that above example is only in order to illustrate technical scheme and unrestricted, although reference
Preferred embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to the present invention's
Technical scheme is modified or equivalent, and without deviating from the spirit and scope of technical solution of the present invention, it all should be covered
In the middle of scope of the presently claimed invention.
Claims (10)
1. a kind of indoor autonomous three-dimensional fix device it is characterised in that：This positioner include outdoor signal receive base station,
Personal intelligent positioning unit and outdoor signal data analysiss terminal；Wherein, 3 outdoor signals of setting receive base station, are used for connecing
Receive the near field electromagnetic signal that near field electromagnetic label sends, be provided simultaneously with location information transfer capability；Personal intelligent positioning unit bag
Include near field electromagnetic label, Inertial Measurement Unit, magnetic survey unit, personal sender unit and battery；Outdoor signal data
Analysing terminal includes the receptor of reception outdoor signal reception base station, the location information of the personal intelligent positioning unit information of reception connects
Receive device, data processing terminal and display terminal；3 outdoor signals receive base station and are installed on fire fighting truck, including：Outdoor signal
Receive base station 1（1-1）, outdoor signal receive base station 2（1-8）, outdoor signal receive base station 3（1-10）；Outdoor signal receives base
Stand 1（1-1）、2（1-8）、3（1-10）It is made up of 5 parts：Near field electromagnetic signal receiver（2-8）, location information receptor（2-
7）, Data Analysis Services device（2-4）, data transmission machine（2-2）, outdoor signal receive base station electric power system（2-12）；Wherein,
Data Analysis Services device（2-4）United Dispatching near field electromagnetic signal receiver（2-8）, location information receptor（2-7）And letter
Breath transmitter（2-2）；Data Analysis Services device（2-4）By digital interface 1（2-5）, control near field electromagnetic signal receiver
（2-8）；Near field electromagnetic signal receiver（2-8）, for analyzing the near field electromagnetic signal of fireman（2-10）Feature, forming position
Information, by digital interface 1（2-5）It is transferred to Data Analysis Services device（2-4）；Data Analysis Services device（2-4）Pass through
Digital interface 2（2-6）, control location information receptor（2-7）；Location information receptor（2-7）Receive personal intelligent positioning list
Unit（1-12）Inertial position information（2-9）；Data Analysis Services device（2-4）By digital interface 3（2-3）Near by merge
Field electromagnetic position information and inertial position information are transferred to data transmission machine（2-2）, data transmission machine（2-2）By wireless data
Transmission means（2-1）, by the information transfer after merging to outdoor signal data analysiss terminal（1-4）；Outdoor signal receives base station
Electric power system（2-12）By the vehicle power on fire fighting truck, carry out level conversion, be that all parts are powered；Outdoor signal receives
Base station electric power system（2-12）By level conversion 1（2-13）For data transmission machine（2-2）Power supply；By level conversion 2（2-
14）For Data Analysis Services device（2-4）Power supply；By level conversion 3（2-15）Power near field electromagnetic signal receiver；Logical
Over level conversion 4（2-11）Power for location information receptor.
2. a kind of indoor autonomous three-dimensional fix device according to claim 1 it is characterised in that：Described personal intelligence
Positioning unit（1-12）, it is worn on fireman（4-1）On waist belt（4-2）.
3. a kind of indoor autonomous three-dimensional fix device according to claim 2 it is characterised in that：Described personal intelligence
Positioning unit（1-12）Inertial coordinate system（4-3）It is defined as follows：X-axis（4-4）Point to fireman（4-1）Left side, y-axis
（4-5）Point to fireman（4-1）Front, z-axis（4-6）Point to fireman（4-1）Lower section.
4. a kind of indoor autonomous three-dimensional fix device according to claim 2 it is characterised in that：Personal intelligent positioning
Unit（1-12）Using x-axis gyroscope（3-1）, y-axis gyroscope（3-3）, z-axis gyroscope（3-4）The gyro system of composition（3-2）
The angular movement of measurement fireman；Using x-axis accelerometer（3-6）, y-axis accelerometer（3-7）, z-axis accelerometer（3-8）Composition
Accelerometer system（3-9）The line motion of measurement fireman；Using x-axis gaussmeter（3-11）, y-axis gaussmeter（3-12）, z-axis
Gaussmeter（3-13）The magnetometer system of composition（3-14）The magnetic field environment information of measurement fireman；Using temperature sensor（3-
16）Measurement fireman's periphery and its personal intelligent positioning unit（1-12）Internal components operating temperature.
5. a kind of indoor autonomous three-dimensional fix device according to claim 2 it is characterised in that：X-axis gyroscope（3-
1）, y-axis gyroscope（3-3）With z-axis gyroscope（3-4）By data acquisition 1（3-5）Entering signal pre-processing assembly（3-19）；x
Axis accelerometer（3-6）, y-axis accelerometer（3-7）, z-axis accelerometer（3-8）By data acquisition 2（3-10）Entering signal
Pre-processing assembly（3-19）；X-axis gaussmeter（3-11）, y-axis gaussmeter（3-12）, z-axis gaussmeter（3-13）Data pass through number
According to collection 3（3-15）Entering signal pre-processing assembly（3-19）；Temperature sensor（3-16）By data acquisition 4（3-18）Enter
Signal Pretreatment assembly（3-19）；Signal Pretreatment assembly（3-19）By by the gyro system collecting（3-2）, accelerometer
System（3-9）, magnetometer system（3-14）And temperature sensor（3-16）Data carries out signal processing, converts analog signals into
Digital signal, by AD conversion interface（3-20）Transmit to personal information fusion device（3-21）.
6. a kind of indoor autonomous three-dimensional fix device according to claim 5 it is characterised in that：Personal information merges
Device（3-21）It is responsible for passing through I/O interface simultaneously（3-22）Control near field electromagnetic label（3-17）Signal send.
7. a kind of indoor autonomous three-dimensional fix device according to claim 5 it is characterised in that：Personal information merges
Device（3-21）The gyro system that synthetical collection arrives（3-2）, accelerometer system（3-9）, magnetometer system（3-14）Pass with temperature
Sensor（3-16）Information, calculates the inertial position information of fireman.
8. a kind of indoor autonomous three-dimensional fix device according to claim 5 it is characterised in that：Personal information merges
Device（3-21）By digital interface 4（3-22）, control personal sender unit（3-23）Outwardly transmit inertial position information.
9. a kind of indoor autonomous three-dimensional fix device according to claim 1 it is characterised in that：The individual of this device
Intelligent positioning unit（1-12）Algorithm is：Pretreated sensor（5-1）, by sensor information 1（5-2）Transmit and mend into error
Repay module（5-3）In, error compensation module（5-3）To revise through outside（5-4）Sensor information 2 afterwards（5-5）Transmit into
Strapdown inertial navigation system, resolves module（5-6）In, carry out dead reckoning, obtain inertial position and calculate information（5-7）；Through
Outside correction（5-4）Sensor information 2 afterwards（5-5）Enter human motion criterion determination module（5-11）Computed correction and touch
Photos and sending messages（5-12）, carry out control information fused filtering device（5-13）Working condition, information fusion filtering device（5-13）According to melting
Close result and extrapolate outside correction（5-4）Pattern and inertial position calculate information error（5-10）；By error concealment means（5-
8）, finally give inertial position information（5-9）.
10. a kind of indoor autonomous three-dimensional fix device according to claim 1 it is characterised in that：Described outdoor letter
Number analysing terminal includes：Data analysiss terminal electric power system（6-1）, display terminal（6-3）, data processing terminal（6-6）、
Location information receptor 2（6-10）With outdoor base station message recipient（6-13）；Data processing terminal（6-6）By digital interface
5（6-11）Obtain location information receptor 2（6-10）The inertial position information receiving（6-9）；By digital interface 6（6-12）
Obtain outdoor base station message recipient（6-13）The 3 outdoor base station analysis information receiving（6-14）；Data processing terminal（6-
6）To inertial position information（6-9）Analyze information with outdoor base station（6-14）Carry out fusion treatment, and the final position by fireman
Confidence ceases（6-5）It is transferred to display terminal（6-3）, wherein data processing terminal（6-6）There is interactive capability；Data analysiss
Terminal electric power system（6-1）By level conversion 5（6-2）For display terminal（6-3）Power supply；By level conversion 6（6-4）For number
According to processing terminal（6-6）Power supply；By level conversion 7（6-7）For outdoor base station receptor（6-13）Power supply；By level conversion
8（6-8）For location information receptor 2（6-13）Power supply.
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| CN104181498B (en) * | 2014-09-13 | 2017-02-15 | 邓全龙 | Firefighter positioning searching system and method |
| CN104457750B (en) * | 2014-11-17 | 2017-10-20 | 南京沃旭通讯科技有限公司 | The personnel location system and method for a kind of emergency management and rescue |
| CN104596511A (en) * | 2015-01-16 | 2015-05-06 | 浙江汉脑数码科技有限公司 | Positioning information source terminal device capable of being worn by firefighter |
| CN107085209A (en) * | 2017-05-19 | 2017-08-22 | 江苏速度电子科技有限公司 | A kind of UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method |
| CN109751992B (en) * | 2017-11-03 | 2021-07-20 | 北京凌宇智控科技有限公司 | Indoor three-dimensional space-oriented positioning correction method, positioning method and equipment thereof |
| US11361643B2 (en) | 2018-07-13 | 2022-06-14 | Carrier Corporation | High sensitivity fiber optic based detection system |
| WO2020010596A1 (en) | 2018-07-13 | 2020-01-16 | Carrier Corporation | High sensitivity fiber optic based detection system |
| CN109186603B (en) * | 2018-08-16 | 2021-07-30 | 浙江树人学院 | Multi-sensor-based firefighter indoor three-dimensional positioning method |
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| CN103175529B (en) * | 2013-03-01 | 2016-01-06 | 上海美迪索科电子科技有限公司 | Based on pedestrian's inertial positioning system that indoor magnetic signature is auxiliary |
| CN103399333B (en) * | 2013-08-05 | 2016-01-20 | 厦门纳网科技有限公司 | A kind of mobile wireless localization method and system |
| CN203587808U (en) * | 2013-11-29 | 2014-05-07 | 西安科技大学 | Three-dimensional precise positioning system for firefighters |
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