CN106291644A - A kind of personal security is combined alignment system and localization method - Google Patents
A kind of personal security is combined alignment system and localization method Download PDFInfo
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- CN106291644A CN106291644A CN201610556215.0A CN201610556215A CN106291644A CN 106291644 A CN106291644 A CN 106291644A CN 201610556215 A CN201610556215 A CN 201610556215A CN 106291644 A CN106291644 A CN 106291644A
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- circuit
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The present invention relates to a kind of personal security and be combined alignment system and localization method, described alignment system includes that physical sign sensing device, described physical sign sensing device have physical sign sensing sensor and physical sign sensing end Bluetooth circuit；Carrying device, described carrying device have mate with described physical sign sensing end Bluetooth circuit carry end Bluetooth circuit, three axle gyros, 3-axis acceleration sensor, baroceptor, Temperature Humidity Sensor, satellite circuit, audible-visual annunciator, speech communication circuit, photographic head, carry end data transmission circuit and core processing circuit；Command device, described command device has and carries, with described, commander's end data transmission circuit that end data transmission circuit mates and the data to transmission carry out process and form personnel positioning, personnel state monitoring and the maneuvering platform of staffing signal.Described localization method uses described alignment system to position.
Description
Technical field
The present invention relates to location systems art field, particularly relate to a kind of personal security and be combined alignment system and location side
Method.
Background technology
Along with information technology and the inherently safe needs of personnel, people are increasingly stronger, especially to the location requirement of self
The when of being collective action, everyone position and the acquisition of status information are the premises of effectively commander, especially rescue in disaster
Help in activity, charge and just seem more often in desperate situation, the location requirement of rescue personnel first-line rescue personnel
Urgently
Current command system is made up of multiple flameproof handhold radio station, is determined by call and rescue during actual use
Help orientation and the state of personnel, but personnel positioning, status monitoring and refer to when this command system cannot solve personnel's collective action
The problem waved.In rescue operations, rescue personnel cannot understand the information such as the position of oneself and team member, occur emergency situation time
Time can not the most mutually be supported, it is easy to causes injures and deaths.Meanwhile, commander and Field Force can not grasp rescue personnel
Real time position and situation, it is impossible to immediately the situation faced by rescue personnel is made accurate judgment and reasonably commands, serious shadow
Ring commander's efficiency.
Summary of the invention
In view of above-mentioned analysis, it is desirable to provide a kind of personal security is combined alignment system and localization method, this is
System uses multisensor to realize effective indoor and outdoor personnel positioning, status monitoring and commander to the mode combined.
The purpose of the present invention is mainly achieved through the following technical solutions:
One aspect of the present invention provides a kind of personal security alignment system, including: physical sign sensing device, described physical sign sensing fills
Put and there is physical sign sensing sensor and physical sign sensing end Bluetooth circuit；Wherein said physical sign sensing sensor output and sign sense
Knowing that end Bluetooth circuit connects, the power supply interface of described physical sign sensing end Bluetooth circuit connects physical sign sensing end power supply；
Carrying device, described carrying device have mate with described physical sign sensing end Bluetooth circuit carry end bluetooth electricity
Road, three axle gyros, 3-axis acceleration sensor, baroceptor, Temperature Humidity Sensor, satellite circuit, architecture circuit, sound
Light crossing-signal, speech communication circuit, photographic head, carry end data transmission circuit and core processing circuit；Wherein said carry end
Bluetooth circuit, three axle gyros, 3-axis acceleration sensor, baroceptor, Temperature Humidity Sensor, satellite circuit, architecture
Circuit, audible-visual annunciator, speech communication circuit, photographic head, carry end data transmission circuit and be connected with described core processing circuit,
End power supply is carried in the power supply interface connection of described core circuit；
Command device, described command device has and carries, with described, commander's end that end data transmission circuit carries out data transmission
Data transmission circuit and the data transmitted are carried out process form personnel positioning, personnel state monitoring and staffing signal
Maneuvering platform.
Further, carry described in end data transmission circuit have carry end 4G circuit and carry end wireless data sending communication electricity
Road, described commander's end data transmission circuit has commander's end 4G circuit and commander's end wireless data sending communicating circuit, wherein commands end
4G circuit matches with the described end 4G circuit that carries, and commander's end wireless data sending communicating circuit carries end wireless data sending communication with described
Circuit matches；Carry described in described carrying device prioritizing selection end 4G circuit conveying data, when described carry end 4G circuit with
During described commander's end 4G Circuit Matching exception, described in the selection of described carrying device, carry end wireless data sending communicating circuit conveying number
According to.
Further, described alignment system also includes relay, carries end 4G circuit and commander's end 4G circuit when described
Coupling, carry end wireless data sending communicating circuit with command end wireless data sending communicating circuit mate all occur abnormal time, described core
The heart processes circuit to be carried out data transmission by described relay with described command device；End 4G circuit and commander is carried when described
Hold 4G Circuit Matching, carry end wireless data sending communicating circuit and command mating of end wireless data sending communicating circuit that exception all occurs
Time, by described speech communication circuit, described core processing circuit informs that personnel open described relay, and by described relaying
Device is placed in anterior approach, sets up and described carrying device, the both-way communication link of command device.
Further, described compound alignment system also includes that standard apparatus, described standard apparatus are disposed in the interior；Described base
Standard apparatus has and the described standard apparatus Bluetooth circuit carried and hold Bluetooth circuit to match, and described standard apparatus Bluetooth circuit supplies
Electrical interface connects standard apparatus power supply.
Further, described carrying device also has ZigBee wireless senser, described ZigBee wireless senser and institute
State core processing circuit to connect, and the ZigBee wireless senser transmission signal carried with surrounding people.
Further, described physical sign sensing sensor has heart rate sensor and oxygen content sensor.
Another aspect of the present invention also provides for a kind of personal security combined positioning method, uses the compound location of above-noted persons' safety
System, including personnel positioning, personnel state monitoring and staffing；
Wherein said personnel positioning is particularly as follows: described command device carries out precisely determining according to satellite circuit and baroceptor
Position, simultaneously according to a upper moment personnel positioning information, in conjunction with three axle gyros, 3-axis acceleration sensor, architecture circuit and
Baroceptor information carries out dead reckoning, architecture and RSSI field intensity location and tests described precise positioning；Work as institute
State satellite circuit when cannot position, use described dead reckoning, architecture and RSSI field intensity localization method auxiliary positioning；Described
Command device labelling personnel's running orbit simultaneously；
Described personnel state monitoring is particularly as follows: described command device is by resolving three axle gyro and 3-axis acceleration sensors
Data, in conjunction with human motion model analysis, calculate the movement state information of personnel, then the kinestate of described personnel believed
Breath, Temperature Humidity Sensor data and physical sign sensing sensing data show as the status information of personnel；Described command device is certainly
Dynamic statistician's quantity of motion, and combine the body data of personnel's early stage, when comprehensive descision personnel work under the same load
Between；
Described staffing is particularly as follows: described command device is according to described personnel positioning data, personnel's running orbit and base
Standard apparatus data commanding reaches target, rescue or evacuation.
Further, when satellite circuit cannot position, described ZigBee wireless senser carries to surrounding people
ZigBee wireless senser sends beacon signal, and the ZigBee wireless senser that described surrounding people carries calculates described beacon letter
Number performance number, and return described ZigBee wireless senser, core processing circuit connects according to described ZigBee wireless senser
The performance number received, navigates in conjunction with described three axle gyros, 3-axis acceleration sensor, architecture circuit and baroceptor
Position reckoning, architecture and RSSI field intensity location.
Further, described three axle gyros and 3-axis acceleration are passed by described command device according to described satellite circuit data
Sensor is modified, and to reduce described three axle gyros and the cumulative error of 3-axis acceleration sensor, so ensure that when defending
When star circuit cannot position, carry out dead reckoning, benchmark according to three axle gyros, 3-axis acceleration sensor and baroceptor fixed
Position and RSSI field intensity location are more accurate.
Further, described localization method also includes that personnel report to the police, described personnel report to the police particularly as follows: described carrying device to
Command device sends warning message, and starts audible-visual annunciator；Wherein said carrying device send warning message use manually or
Automated manner, the sound of described audible-visual annunciator and flash of light can persistently be carried out, until there being personnel actively to close audible-visual annunciator, when
Command device can be confirmed with warning personnel by speech communication circuit after receiving warning message, then arranges to withdraw road
Line or rescue planning.
The present invention has the beneficial effect that:
The application personal security is combined alignment system, and to use the mode that combines of multisensor to realize indoor and outdoor omnibearing
Personnel positioning is commanded, and system uses satellite fix, and three axle gyros, 3-axis acceleration sensor information, architecture circuit are gentle
The elevation information of pressure sensor carries out the mode of dead reckoning, architecture and RSSI field intensity localization method auxiliary positioning and carries out ground
Figure coupling precise positioning, can not only ensure the accurate of location, simultaneously when satellite circuit cannot position, it is also possible to by boat position
Reckoning, architecture and RSSI field intensity localization method position.Carrying device uses 4G and wireless data sending two with command device
The mode of kind carries out communication, and carrying device can point out communication state automatically, if two ways communication state is exception, in can using
The mode continued carries out communication.When personnel enter indoor, by calling the threedimensional model of existing building or can automatically set up building
The mode of three bit models carries out location.Command device can the number of steps of programming count personnel's stair activity, the step number of level walking
And range information, in conjunction with the body data of this personnel's early stage, these personnel of comprehensive descision can also work under the same load time
Between.When needs arrive a certain objectives or when personnel meet difficulty, command device passes through the relative position of personnel, Ren Yuanyun
The reference information commandings such as the path of row reach target or succour.If personnel need to withdraw, command device can be designed
Evacuation route the most easily.Meanwhile, command device the photographic head of remote controlled carrying device, observe carrying device week in detail
The environment enclosed, for commanding's decision-making.Personnel positioning, status monitoring and refer to when this equipment efficiently solves personnel's collective action
The problem waved.
Other features and advantages of the present invention will illustrate in the following description, and, becoming from description of part
Obtain it is clear that or understand by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write
Structure specifically noted in book, claims and accompanying drawing realizes and obtains.
Accompanying drawing explanation
Accompanying drawing is only used for illustrating the purpose of specific embodiment, and is not considered as limitation of the present invention, at whole accompanying drawing
In, identical reference marks represents identical parts.
Fig. 1 is that physical sign sensing device forms schematic diagram；
Fig. 2 carrying device composition schematic diagram；
Fig. 3 command device composition schematic diagram；
Fig. 4 standard apparatus composition schematic diagram；
Fig. 5 relay composition schematic diagram；
Fig. 6 system constitutes schematic diagram；
Detailed description of the invention
Specifically describing the preferred embodiments of the present invention below in conjunction with the accompanying drawings, wherein, accompanying drawing constitutes the application part, and
Together with embodiments of the present invention for explaining the principle of the present invention.
The present embodiment provides a kind of personal security to be combined alignment system and localization method, including physical sign sensing device, carries
Device, command device, standard apparatus and relay.
Wherein said physical sign sensing device has heart rate sensor, oxygen content sensor, physical sign sensing end Bluetooth circuit
With physical sign sensing end power supply, wherein said heart rate sensor, oxygen content sensor output are by wire and physical sign sensing end
Bluetooth circuit connects, and the power supply port of physical sign sensing end Bluetooth circuit connects physical sign sensing end power supply, and annexation is as shown in Figure 1.
It is fixed that described carrying device has three axle gyros, 3-axis acceleration sensor, baroceptor, satellite circuit, base station
Position circuit, carry end Bluetooth circuit, ZigBee wireless senser, carry end 4G circuit, audible-visual annunciator, Temperature Humidity Sensor,
Photographic head, speech communication circuit, carry end wireless data sending communicating circuit, core processing circuit and carry end power supply；Described three axles
Gyro, 3-axis acceleration sensor, baroceptor, satellite circuit, architecture circuit, carry end Bluetooth circuit, ZigBee
Wireless senser, carry end 4G circuit, audible-visual annunciator, Temperature Humidity Sensor, photographic head, speech communication circuit, carry end nothing
Line number passes communicating circuit and is connected with core processing circuit, transmits data signal with core processing circuit respectively；Described three axle gyros,
3-axis acceleration sensor, baroceptor, satellite circuit, architecture circuit, carry end Bluetooth circuit, ZigBee is wireless biography
Sensor, carry end 4G circuit, audible-visual annunciator, Temperature Humidity Sensor, photographic head, speech communication circuit, carry end wireless data sending
The power supply interface of communicating circuit is all connected with core processing circuit supplying power for outside interface, the power supply interface of core processing circuit with take
The supplying power for outside mouth of band edge power supply connects, and concrete annexation is as shown in Figure 2.
Wherein carrying end Bluetooth circuit to mate with physical sign sensing end Bluetooth circuit, physical sign sensing end Bluetooth circuit is by the heart
Rate sensor and oxygen content sensor senses to personnel's heart rate and oxygen content information coding after be sent to carry end bluetooth
Circuit.
Command device has commander's end wireless data sending communicating circuit, commander's end 4G circuit and maneuvering platform, wherein said finger
Wave end 4G circuit, commander's end wireless data sending communicating circuit is all connected with maneuvering platform.Described commander's terminal number passes communicating circuit and takes
Band terminal number passes communicating circuit coupling, and described commander's end 4G circuit holds 4G Circuit Matching with carrying, it is ensured that carrying device and commander
Data transmission between device, and in data transmission procedure, prioritizing selection carries end 4G circuit and commander's end 4G circuit conveying
Data, when delivery circuit occurs abnormal, select to carry end wireless data sending communicating circuit and commander's end wireless data sending communicating circuit
Conveying data, then data are flowed to maneuvering platform, Zhi Huiping by commander's end 4G circuit and commander's end wireless data sending communicating circuit
Platform carries out process and forms personnel positioning, personnel state monitoring and staffing signal data, is then returning to carrying device,
The annexation figure of command device is as shown in Figure 3.
Preferably, described command device also has commander's end Bluetooth circuit, and described commander's end Bluetooth circuit is used for and the external world
Carry out data transmission.
Standard apparatus is installed on indoor, is typically mounted at the position of more indoor keys, and standard apparatus has standard apparatus
Bluetooth circuit and for the standard apparatus power supply powered to benchmark blue-tooth device Bluetooth circuit, described standard apparatus Bluetooth circuit energy
Enough hold Bluetooth circuit to mate with carrying, after personnel enter equipped with the indoor of standard apparatus, carry end Bluetooth circuit and can automatically search
Rope standard apparatus Bluetooth circuit, and mate with standard apparatus Bluetooth circuit, then accept the base that standard apparatus Bluetooth circuit sends
Standard apparatus position, the position of nearest passageway for fire apparatus and evacuation route the most easily, then carry end Bluetooth circuit by these data
Being sent to core processing circuit, then core processing circuit is transferring data to command device, and command device can basis
The position of personnel is modified by the data of standard apparatus, and the annexation of standard apparatus is as shown in Figure 4.
Relay has relay wireless data sending communicating circuit and for relay wireless data sending communicating circuit
The relay power supply of power supply, annexation is as shown in Figure 5.Carry end 4G circuit when described and command end 4G Circuit Matching, take
Band edge wireless data sending communicating circuit with commander end wireless data sending communicating circuit mate all occur abnormal time, described core circuit with
Described command device is carried out data transmission by described relay；End 4G circuit and commander's end 4G circuit is carried when described
Join, carry end wireless data sending communicating circuit with command end wireless data sending communicating circuit mate all occur abnormal time, described core
Process circuit and inform that personnel open described relay by described speech communication circuit, and before described relay is placed on
On route, setting up and described carrying device, the both-way communication link of command device, annexation is as shown in Figure 5.
As shown in Figure 6, before carrying out cluster alignment system work, first carrying device is numbered differentiation, each takes
The numbering of belting is unique, and during the work of cluster location, physical sign sensing device and carrying device are by physical sign sensing end Bluetooth circuit
Holding Bluetooth circuit Auto-matching with carrying, after having mated, heart rate sensor and the oxygen content sensor of physical sign sensing dress will
The human heart rate perceived and oxygen content are sent to physical sign sensing end Bluetooth circuit, physical sign sensing end Bluetooth circuit by heart rate and
It is sent to carry end Bluetooth circuit after oxygen content information coding.
Carry and hold Bluetooth circuit by after the heart rate received and oxygen content information, send information to core processing electricity
Road, core processing circuit gathers three axle gyros, 3-axis acceleration sensor, baroceptor, satellite circuit, architecture simultaneously
The data of circuit, audible-visual annunciator, Temperature Humidity Sensor and photographic head, and carry out coded treatment, after coded treatment completes, core
The heart processes electric circuit inspection and carries end 4G circuit with commander's end 4G Circuit Matching the most normally, if coupling is normal, then and core processing
Coding after process is completed by circuit flows to command device by carrying end 4G circuit；If carry end 4G circuit whether with finger
Wave end 4G Circuit Matching abnormal, then detection is carried when holding wireless data sending communicating circuit and commander's end wireless data sending communicating circuit
Joining normal, if coupling is normal, then the coding after process is completed by core processing circuit is by carrying end wireless data sending communication electricity
Road flows to command device；If mated also with commander's end wireless data sending communicating circuit when carrying end wireless data sending communicating circuit
Abnormal, then by speech communication circuit, core processing circuit informs that personnel, personnel open relay, and is placed by relay
On the route of tape travel, relay is set up and carrying device, the both-way communication link of command device automatically, then core processing
Coding information after circuit will process sends relay wireless number biography communicating circuit to by carrying end wireless data sending communicating circuit, so
Rear relay wireless number passes communicating circuit and communicates information to command end wireless data sending communicating circuit, the commander end 4G electricity of command device
Road, commander end wireless data sending communicating circuit the data received are flowed to maneuvering platform, maneuvering platform again to data at
Reason.
After maneuvering platform receives the data of carrying device core processing circuit conveying, first determine whether that satellite circuit is the most just
Often, if satellite circuit state is normal, then maneuvering platform calls the map office information of self, and the position in conjunction with satellite circuit is gentle
The elevation information of pressure sensor carries out map match, and will carry the station location marker of end personnel on map；Maneuvering platform simultaneously
According to three axle gyros, 3-axis acceleration sensor, architecture circuit and the elevation information of baroceptor, and combined upper a period of time
Carve personnel positions to carry out dead reckoning, architecture and RSSI field intensity localization method carrying device is carried out map match, coupling
The positioning result of satellite circuit can be played the effect of inspection by result, is further ensured that the accurate of location.
In satellite circuit carries out position fixing process, maneuvering platform combines three axle gyros and three axles according to the data of satellite circuit
Three axle gyros and 3-axis acceleration sensor error are estimated by acceleration transducer error model, and then revise three axle tops
Spiral shell and the error of 3-axis acceleration sensor, thus improve three axle gyros and the accuracy of 3-axis acceleration sensor, this be because of
Be three axle gyros and 3-axis acceleration sensor in use, can constantly produce drift, error will constantly accumulate, because of
This is along with the prolongation of the time of use, and the error of three axle gyros and 3-axis acceleration sensor can be increasing, it is therefore desirable to constantly
The data according to satellite circuit be modified.
When maneuvering platform detects that satellite circuit cannot position, the ZigBee wireless senser of carrying device can be to periphery
The ZigBee wireless senser that personnel carry sends beacon signal, and surrounding people's ZigBee wireless senser receives beacon signal
The performance number of rear acquisition beacon signal, and the numbering of the performance number of calculating and corresponding carrying device is returned to this carrying device
ZigBee wireless senser, the performance number that then core processing circuit receives according to described ZigBee wireless senser carries again
To command device, identical with above-mentioned transmission means during transmission data, maneuvering platform sends according to ZigBee wireless senser
Performance number and numbering, three axle gyros, 3-axis acceleration sensor, architecture circuit and the elevation information of baroceptor,
And the upper moment personnel positions of combination carries out dead reckoning, architecture and RSSI field intensity localization method and carries out ground to carrying device
Figure coupling, is marked on map, therefore passes three axle gyros and 3-axis acceleration according to satellite circuit in position fixing process
Sensor correction is able to ensure that when satellite circuit can not position, it is also possible to guarantee to position more accurately information.
When personnel enter building, maneuvering platform carries out map match automatically according to the position of personnel.If these building have in advance
Drawn threedimensional model, then the maneuvering platform position of the building that Search and Orientation is to be entered adjusting in map data base automatically
With the threedimensional model of building, and on the interface of command device, present this building threedimensional model, set up floor structure, draw peace
Full tunnel, walking passageway, labelling fire-fighting equipment and functional area.Maneuvering platform will carry end according to above-mentioned localization method
Station location marker is in concrete floor maps.If these building do not have a most drawn threedimensional model, then maneuvering platform automatically from
Map data base identifies the housing of the building of entrance, and by this profile as the circumference of building, and according to the shifting of personnel
Dynamic position sets up the threedimensional model of building the most up or down, and uses the mode of perspective to make the personnel's track entered visible,
The track of different personnel use different colours just with visualization.Maneuvering platform combines three axle gyros and 3-axis acceleration sensor letter
The elevation information of breath and baroceptor carries out dead reckoning, origin reference location and RSSI field intensity localization method and carries out building map
Join, the station location marker of end will be carried in concrete floor maps, simultaneously according to the track gradual perfection stair position of personnel.Take
Standard apparatus Bluetooth circuit signal in band edge Bluetooth circuit timing search room, mates after searching, then receives benchmark
Standard apparatus position, the position of nearest passageway for fire apparatus and the evacuation route the most easily that device Bluetooth circuit returns, and by this
A little data are sent to core processing circuit, and standard apparatus position data is sent to command device, Zhi Huiping by core processing circuit
The position of personnel is modified by platform.
Maneuvering platform is by resolving the data of three axle gyros, three weeks acceleration transducers, and combines human motion mode and divide
Analysis, extrapolate the movement state information of personnel, the movement state information of personnel preferably include walking, upstairs, downstairs, drop to the ground and stop
Only；Maneuvering platform is then by the numbering of carrying device, Temperature Humidity Sensor, heart rate, oxygen content information and movement state information
Status information as these personnel shows, simultaneously the movement locus of labelling personnel on map；Meanwhile, command device can be united
The number of steps of meter personnel's stair activity, the step number of level walking and range information, it is considered to the heart beating of personnel, blood pressure and calculating of bearing a heavy burden
Going out the consumption of human body, in conjunction with the body data of this personnel's early stage, these personnel of comprehensive descision can also work under the same load
Time, if consider to recall rest and reorganization etc..
When personnel are when dangerous, to maneuvering platform alert, and start audible-visual annunciator, send out to command device
Go out warning message and can use manually, it would however also be possible to employ automated manner, such as, can manually send when dangerous as personnel, but
It is when fortuitous event occur in personnel, the automatic alert of carrying device；Start sound and flash of light meeting after audible-visual annunciator
Persistently carry out until personnel actively close audible-visual annunciator.Maneuvering platform determines concrete warning personnel and position by person number
Put, and confirmed by speech communication circuit and warning personnel.If personnel need to withdraw, command device can be transported according to these personnel
The standard apparatus information run on position that dynamic route, personnel are current and personnel's moving line, designs and removes the most easily
From route, and send carrying device to by commander's end 4G circuit or commander's end wireless data sending communicating circuit, pass through speech communication
Circuit informs evacuating people.If personnel need relief, maneuvering platform by speech communication circuit guide commander map on warning
The other staff that personnel are closer to are near warning personnel, until effectively succouring.Command device can optionally present
The movement locus of warning personnel, is beneficial to the return after relief.
When commanding needs to obtain the actual environment around carrying device, command device sends environment to carrying device
Obtaining order, carrying device starts photographic head work, and allows carrying device that photographic head is directed at certain by the way of speech communication
The most concrete position, image is carried by personnel to hold 4G circuit or carry end wireless data sending communicating circuit and sends command device to.
Command device remotely controls photographic head simultaneously, and photographic head changes to image pickup mode, and regulates the focal length of photographic head as required,
So that observing the environment around carrying device in detail.Image carries end 4G circuit by personnel or wireless data sending communicating circuit passes
Give command device, for commanding's decision-making.
Preferably, carrying device also has protection projection glasses, and protection projection glasses is able to receive that by core processing electricity
Road transmits picture image or the optimum course of action of core processing circuit calculating of photographic head shooting, and uses the side of projection
Formula is incident upon on glasses, is used for reminding personnel to pay close attention to and real-time routes reference.
In sum, embodiments provide a kind of personal security and be combined alignment system and method, use many sensings
The mode that device combines realizes indoor and outdoor omnibearing personnel precise positioning, can monitor the physiological status of personnel simultaneously thus protect
Demonstrate,prove efficient working performance and personnel's life safety；This system from the multi-faceted overall situation that must control operation, thus can be done
Go out the most professional more effective commander, the problem of personnel positioning, status monitoring and commander when effectively solving personnel's collective action.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope that the invention discloses, the change that can readily occur in or replacement,
All should contain within protection scope of the present invention.
Claims (10)
1. a personal security is combined alignment system, it is characterised in that including:
Physical sign sensing device, described physical sign sensing device has physical sign sensing sensor and physical sign sensing end Bluetooth circuit；Wherein
Described physical sign sensing sensor output is connected with physical sign sensing end Bluetooth circuit, the power supply of described physical sign sensing end Bluetooth circuit
Interface connects physical sign sensing end power supply；
Carrying device, described carrying device have mate with described physical sign sensing end Bluetooth circuit carry end Bluetooth circuit, three
Axle gyro, 3-axis acceleration sensor, baroceptor, Temperature Humidity Sensor, satellite circuit, architecture circuit, acousto-optic report
Warn device, speech communication circuit, photographic head, carry end data transmission circuit and core processing circuit；Wherein said carry end bluetooth
Circuit, three axle gyros, 3-axis acceleration sensor, baroceptor, Temperature Humidity Sensor, satellite circuit, architecture circuit,
Audible-visual annunciator, speech communication circuit, photographic head, carry end data transmission circuit and be connected with described core processing circuit, described
End power supply is carried in the power supply interface connection of core circuit；
Command device, described command device has and carries, with described, commander's end data transmission circuit that end data transmission circuit mates
Personnel positioning, personnel state monitoring and the maneuvering platform of staffing signal is formed with the data transmitted being carried out process.
The most according to claim 1, personal security is combined alignment system, it is characterised in that described in carry end data transmission circuit
Having and carry end 4G circuit and carry end wireless data sending communicating circuit, described commander's end data transmission circuit has commander's end 4G electricity
Road and commander end wireless data sending communicating circuit, wherein commander end 4G circuit with described carry end 4G circuit match, command end without
Line number passes communicating circuit and matches with the described end wireless data sending communicating circuit that carries；Carry described in described carrying device prioritizing selection
End 4G circuit conveying data, when described carry end 4G circuit and described commander's end 4G Circuit Matching exception time, described carrying device
End wireless data sending communicating circuit conveying data are carried described in selection.
The most according to claim 2, personal security is combined alignment system, it is characterised in that described alignment system also includes relaying
Device, carries end 4G circuit when described and command end 4G Circuit Matching, carries and hold wireless data sending communicating circuit and commander's end wireless
When the coupling of number biography communicating circuit all occurs abnormal, described core processing circuit and described command device are by described relay
Carry out data transmission；Carry end 4G circuit when described and command end 4G Circuit Matching, carry end wireless data sending communicating circuit and finger
Waving the coupling of end wireless data sending communicating circuit when all occurring abnormal, described core processing circuit is accused by described speech communication circuit
Know that personnel open described relay, and described relay is placed in anterior approach, set up and described carrying device, commander
The both-way communication link of device.
4. it is combined alignment system according to personal security described in any one of claim 1-3, it is characterised in that described compound location system
System also includes that standard apparatus, described standard apparatus are disposed in the interior；Described standard apparatus has and carries end Bluetooth circuit with described
The standard apparatus Bluetooth circuit matched, described standard apparatus Bluetooth circuit power supply interface connects standard apparatus power supply.
The most according to claim 4, personal security is combined alignment system, it is characterised in that described carrying device also has
ZigBee wireless senser, described ZigBee wireless senser is connected with described core processing circuit, and carries with surrounding people
ZigBee wireless senser transmission signal.
6. it is combined alignment system according to claim 1 or 2 or the 3 or 5 described personal security of any one item, it is characterised in that described
Physical sign sensing sensor has heart rate sensor and oxygen content sensor.
7. a personal security combined positioning method, it is characterised in that use personal security as described in any one of claim 1-6
Compound alignment system, including personnel positioning, personnel state monitoring and staffing；
Wherein said personnel positioning particularly as follows: described command device carries out precise positioning according to satellite circuit and baroceptor,
Simultaneously according to a upper moment personnel positioning information, in conjunction with three axle gyros, 3-axis acceleration sensor, architecture circuit and air pressure
Sensor information carries out dead reckoning, architecture and RSSI field intensity location and tests described precise positioning；Defend when described
When star circuit cannot position, use described dead reckoning, architecture and RSSI field intensity localization method auxiliary positioning；Described commander
Device labelling personnel's running orbit simultaneously；
Described personnel state monitoring is particularly as follows: described command device is by resolving three axle gyros and the number of 3-axis acceleration sensor
According to, in conjunction with human motion model analysis, calculate the movement state information of personnel, then by the movement state information of described personnel,
Temperature Humidity Sensor data and physical sign sensing sensing data show as the status information of personnel；Described command device is united automatically
Meter personnel's quantity of motion, and combine the body data of personnel's early stage, comprehensive descision personnel work on the time under the same load；
Described staffing is particularly as follows: described command device fills according to described personnel positioning data, personnel's running orbit and benchmark
Put data commanding and reach target, rescue or evacuation.
Personal security combined positioning method the most according to claim 7, it is characterised in that when satellite circuit cannot position,
The ZigBee wireless senser that described ZigBee wireless senser carries to surrounding people sends beacon signal, described surrounding people
The ZigBee wireless senser carried calculates the performance number of described beacon signal, and returns described ZigBee wireless senser, core
The heart processes the performance number that circuit receives according to described ZigBee wireless senser, in conjunction with described three axle gyros, 3-axis acceleration
Sensor, architecture circuit and baroceptor carry out dead reckoning, architecture and RSSI field intensity location.
9. according to personal security combined positioning method described in claim 7 or 8, it is characterised in that described command device is according to institute
State satellite circuit data described three axle gyros and 3-axis acceleration sensor are modified, to reduce described three axle gyros and three
The cumulative error of axle acceleration sensor.
Personal security combined positioning method the most according to claim 7, it is characterised in that described localization method also includes people
Member reports to the police, and described personnel report to the police particularly as follows: described carrying device sends warning message to command device, and start sound and light alarm
Device；Wherein said carrying device sends warning message and uses manually or automatically mode.
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| CN201610556215.0A CN106291644A (en) | 2016-07-14 | 2016-07-14 | A kind of personal security is combined alignment system and localization method |
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| CN201610556215.0A CN106291644A (en) | 2016-07-14 | 2016-07-14 | A kind of personal security is combined alignment system and localization method |
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| CN106291644A true CN106291644A (en) | 2017-01-04 |
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