CN106323278A - Sensing network anti-failure positioning switching control method and system for rescue - Google Patents
Sensing network anti-failure positioning switching control method and system for rescue Download PDFInfo
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Abstract
The invention discloses a sensing network anti-failure positioning switching control method and system for rescue. The method comprises constructing a rescue sensing network for a zone to be positioned in a disastrous environment, wherein the rescue sensing network comprises a wireless sensor unit and an inertial sensor unit, carrying out wireless positioning resolving and inertial parameter resolving through a positioning resolving unit according to the wireless sensor unit and the inertial sensor unit, determining if the wireless sensor unit and the inertial sensor unit lose efficacy through a combined positioning unit, and carrying out rescue sensing network anti-failure switching control through the combined positioning unit when the different sensor units lose efficacy so that stable positioning of an object to be positioned in the disastrous environment is realized. The method solves the problem that a single wireless sensor unit or inertial sensor unit positioning method easily produces an error position, fully performs advantages of two positioning systems and improves rescue sensing network combined positioning system performances.
Description
Technical field
The present invention relates to anti-location method for handover control and the system of losing efficacy of a kind of sensing network for rescue, it is possible to realize
Stranded target positions.
Background technology
In high-risk production region, causality loss can be reduced to without emergency management and rescue system by effective accident emergency rescue system
The 6% of system.Emergency management and rescue both at home and abroad it turns out that: suing and labouring trapped personnel the most timely, probability of being rescued is the biggest.At underground coal mine
The high-risk production regions such as tunnel, architecture construction ground, underground commerce center, combustible and explosive area and dangerous toxic chemical,
Once there is serious accident, trapped personnel the most often can only be relied on actively to call for help and confirm, delay the of preciousness
Rescue efficiency is reduced while one rescue time.Therefore, emergency management and rescue to be carried out under Disastrous environment, it is necessary to realize stranded
The detection of personnel positions, i.e. realizes the location of trapped personnel.Once in coal mine inferior region, dangerous situation and disaster occur, rescue
Accident spot personnel amount, each personal information and the position that personnel can provide according to alignment system, formulates targetedly
Rescue measure, it is provided that optimal escape route, improves speedily carry out rescue work under Disastrous environment efficiency and rescue effect.Except personnel location system
Application in emergency management and rescue, when properly functioning, staff's alignment system can add up work at present personnel amount, according to
Staff current location and motion track add up the rate of attendance and rate of leaving early, and limit staff and enter deathtrap so that ground
Face manager can carry out rational management management to staff and implement.High-risk production area people alignment system undertakes
The task such as first aid and daily management after staff attendance, track and localization, calamity, high-risk production area people location is safe life
The important content produced, is to set up production safety emergency rescue mechanism, national management and the weight of the ability to ward off risks of coping with various crises of raising
Want ingredient.
On ground or aerial wait under outdoor free environments, for mobile target installation global positioning system, it is possible to obtain in real time
The movement position of mobile target, although its positioning precision ratio is the highest, still has become as the scheme of a kind of maturation and is subject to wide
General application.At the environment that the satellite-signals such as building, mine down-hole, the underground space and large tunnel are shielded from,
Can this space-like be called to close space, owing to global positioning system signal propagation is blocked by complex environment, thus cannot profit
The position of mobile target is obtained with global positioning system signal.In this kind of closing space, owing to motion feature is complicated, network is opened up
The factor such as flutter that structure time-varying, topographic structure be unknown and distribution of obstacles is irregular, brings all to Disastrous environment Moving objects location
Many challenges.Therefore, a lot of scholar's research do not rely on the Moving objects location of global positioning system, and its main contents have movement
The analysis of target ranging method, location algorithm and positioning precision.
In recent years, various countries' research worker carries out the research of this respect one after another, uses speedometer, vision localization, infrared emission
And Disastrous environment is moved target and positions by the method such as laser ranging, and eliminate in cumulative errors in actual applications, image
The aspects such as deformation, discontinuous output and barrier cover have done useful research.Owing to high-risk production region uses wired monitoring
Needing to lay substantial amounts of cable, high risk zone narrow space makes cable distribution loaded down with trivial details, and easily makes cable pound disconnected or connect
Touch bad, simultaneously because adverse circumstances make cable be subject to corrosive wear, add line interruption fault rate and data
The bit error rate, thus affect the performance of whole alignment system.For the deficiency overcoming wired remote to monitor, wireless mode is used to carry out
The long-range monitoring in high-risk production region, can set up the monitoring system that a networking flexibility, extensibility are strong and safe and reliable,
Can realize that target to be positioned carries out information gathering, data process, merge the tasks such as resolving and position tracking.But, along with
Its applied environment is gradually severe, and the required precision to target to be positioned also improves constantly, and needs to introduce inertial navigation system and nothing
Line Sensor Network location combines so that target to be positioned has stronger stability in global scope.
Summary of the invention
For the problems referred to above, the present invention propose a kind of for rescue sensing network anti-lost efficacy location method for handover control and
System.
Realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions:
The anti-location method for handover control that lost efficacy of a kind of sensing network for rescue, comprises the following steps:
Step 1, structure be the sensing network for rescue of area to be targeted under Disastrous environment, including wireless senser
Unit, inertial sensor unit, wireless sensor unit includes: be arranged on multiple wireless anchor node and the installation of area to be targeted
Wireless mobile node in each target to be positioned；Inertial sensor unit includes that the inertia being arranged in each target to be positioned passes
Sensor；
Step 2, positioning calculation unit carry out wireless location resolving according to the output of wireless sensor unit, and it is wireless fixed to obtain
The position parameter L of the target to be positioned that position method is measuredwsn；Positioning calculation unit enters according to the output of inertial sensor unit simultaneously
Row inertia parameter resolves, and obtains the position parameter L of the target to be positioned that inertial positioning method is measuredsins；
Whether step 3, integrated positioning unit judges wireless sensor unit and inertial sensor unit lost efficacy, and carried out not
Under losing efficacy with sensor unit, the rescue anti-failover of Sensor Network controlled, it is achieved it is fixed to stablize target to be positioned under Disastrous environment
Position.
The concrete operations of described step 3 are as follows:
A: when wireless sensor unit and inertial sensor unit are all effective, obtain the to be positioned of wireless location method measurement
The position parameter L of targetwsnPosition parameter L with the target to be positioned that inertial positioning method is measuredsins, defeated to two kinds of localization methods
Go out result and carry out space-time alignment, wireless sensor unit position is set and trusts weights with inertial sensor unit position, by melting
Close the position L being calculated target to be positionedsins/wsn；
B: when wireless sensor unit lost efficacy, i.e. at unit interval △ twsnInterior by treating that wireless location method measurement obtains
The location variation △ L of location targetwsnWhen exceeding threshold value σ, utilize by inertial positioning method measure within the unit interval to be positioned
The location variation △ L of targetsinsLocation variation △ L to the target to be positioned measured by wireless location methodwsnCarry out school
Just, the position parameter L of the target to be positioned then wireless sensor unit after correction obtainedwsnAnd inertial sensor unit
The position parameter L of the target to be positioned obtainedsinsCarry out space-time alignment, wireless sensor unit position and inertial sensor are set
Cell position trusts weights, is obtained the position L of target to be positioned by fusion calculationsins/wsn；
Time △ t is run when the length of C: when inertial sensor unit lost efficacy, i.e. inertial sensor unit is navigatedsinsMore than threshold
Value τ, is accurately positioned result L by the combination of rescue Sensor Networksins/wsnAs the initial position of inertial sensor unit, eliminate it and add up
Site error, inertial sensor carries out high speed integral operation on the position updated, then obtains wireless sensor unit
The position parameter L of target to be positionedwsnPosition parameter L with the target to be positioned that the inertial sensor unit after correction obtainssins
Carry out space-time alignment, wireless sensor unit position is set and trusts weights with inertial sensor unit position, pass through fusion calculation
Obtain the position L of target to be positionedsins/wsn；
D: when wireless sensor unit and inertial sensor unit all lost efficacy, i.e. at unit interval △ twsnInterior by wireless
The location variation △ L of the target to be positioned that positioning mode is measuredwsnExceed threshold value σ, and run when the length of inertial sensor unit is navigated
Time △ tsinsMore than threshold tau, it is impossible to use rescue Sensor Network that target to be positioned is accurately positioned, pass through inertial sensor
The output of middle acceleration module judges the walking states of target to be positioned, particularly as follows:
When acceleration module detects target travel to be positioned, walking step-length f based on target to be positionedlWith cadence ff
Target to be positioned is carried out position estimation.
Each inertial sensor in inertial sensor unit in described step 2 all includes that three-axis gyroscope and three axles accelerate
Degree meter, three-axis gyroscope is measured angular velocity, and then is tried to achieve attitude parameter, is finally constituted attitude matrix by each attitude parameter, and three
Axis accelerometer obtains ratio force information, in conjunction with target initial velocity to be positioned, initial position, initial attitude parameter, by it
Carry out high speed integration and obtain the real-time speed of target to be positioned and position parameter Lsins。
In described step 2, wireless sensor unit is by time of arrival (toa) between detection radio node, in conjunction with angle of arrival
Detection obtains and differs from and angle of arrival the time of advent between wireless anchor node and wireless mobile node；And wireless information source is not relied on
Channel model carries out the discriminating of non-visual environment, uses Local Subspace error modeling to enter noisy range error with compensation method
Row is revised, it is thus achieved that the wireless position parameter L of target to be positionedwsn。
The anti-location handover control system that lost efficacy of a kind of sensing network for rescue, including wireless sensor unit, inertia
Sensor unit, positioning calculation unit, integrated positioning unit；Described wireless sensor unit and the output of inertial sensor unit
End is connected with the input of positioning calculation unit, and the outfan of positioning calculation unit is connected with integrated positioning unit.
Described wireless sensor unit includes: is arranged on the multiple wireless anchor node of area to be targeted and is arranged on each undetermined
Wireless mobile node in the target of position；Inertial sensor unit includes the inertial sensor being arranged in each target to be positioned；
Described positioning calculation unit carries out wireless location resolving according to the output of wireless sensor unit, obtains wireless location
The position parameter L of the target to be positioned that method is measuredwsn；Positioning calculation unit is carried out according to the output of inertial sensor unit simultaneously
Inertia parameter resolves, and obtains the position parameter L of the target to be positioned that inertial positioning method is measuredsins。
Whether described integrated positioning unit judges wireless sensor unit and inertial sensor unit lost efficacy, and carried out difference
Under sensor unit loses efficacy, the rescue anti-failover of Sensor Network controlled, it is achieved it is fixed to stablize target to be positioned under Disastrous environment
Position.
The concrete operations of described integrated positioning unit are as follows:
A: when wireless sensor unit and inertial sensor unit are all effective, obtain the to be positioned of wireless location method measurement
The position parameter L of targetwsnPosition parameter L with the target to be positioned that inertial positioning method is measuredsins, defeated to two kinds of localization methods
Go out result and carry out space-time alignment, wireless sensor unit position is set and trusts weights with inertial sensor unit position, by melting
Close the position L being calculated target to be positionedsins/wsn；
B: when wireless sensor unit lost efficacy, i.e. at unit interval △ twsnInterior by treating that wireless location method measurement obtains
The location variation △ L of location targetwsnWhen exceeding threshold value σ, utilize by inertial positioning method measure within the unit interval to be positioned
The location variation △ L of targetsinsLocation variation △ L to the target to be positioned measured by wireless location methodwsnCarry out school
Just, the position parameter L of the target to be positioned then wireless sensor unit after correction obtainedwsnAnd inertial sensor unit
The position parameter L of the target to be positioned obtainedsinsCarry out space-time alignment, wireless sensor unit position and inertial sensor are set
Cell position trusts weights, is obtained the position L of target to be positioned by fusion calculationsins/wsn；
Time △ t is run when the length of C: when inertial sensor unit lost efficacy, i.e. inertial sensor unit is navigatedsinsMore than threshold
Value τ, is accurately positioned result L by the combination of rescue Sensor Networksins/wsnAs the initial position of inertial sensor unit, eliminate it and add up
Site error, inertial sensor carries out high speed integral operation on the position updated, then obtains wireless sensor unit
The position parameter L of target to be positionedwsnPosition parameter L with the target to be positioned that the inertial sensor unit after correction obtainssins
Carry out space-time alignment, wireless sensor unit position is set and trusts weights with inertial sensor unit position, pass through fusion calculation
Obtain the position L of target to be positionedsins/wsn；
D: when wireless sensor unit and inertial sensor unit all lost efficacy, i.e. at unit interval △ twsnInterior by wireless
The location variation △ L of the target to be positioned that positioning mode is measuredwsnExceed threshold value σ, and run when the length of inertial sensor unit is navigated
Time △ tsinsMore than threshold tau, it is impossible to use rescue Sensor Network stranded target to be accurately positioned, by each inertial sensor
The output of middle acceleration module judges the walking states of target to be positioned, particularly as follows:
When acceleration module detects target travel to be positioned, walking step-length f based on target to be positionedlWith cadence ff
Target to be positioned is carried out position estimation.
Each inertial sensor in described inertial sensor unit includes three-axis gyroscope and three axis accelerometer, and inertia passes
The output of sensor cell includes angular velocity and the acceleration of the target to be positioned that each inertial sensor measures；Three-axis gyroscope
Output valve represent angular speed that carrier relative inertness system rotates carrier system each axially on amount；Three axis accelerometer is measured
Go out inertia force and indirectly obtain each axial instantaneous acceleration of carrier system；The angular velocity measured by three-axis gyroscope obtains attitude
Parameter, is finally constituted attitude matrix by attitude parameter, and ratio force information, target to be positioned in conjunction with three axis accelerometer acquisition are initial
Speed, initial position, initial attitude inertia parameter, obtain the real-time speed of target to be positioned by they are carried out high speed integration
With position parameter Lsins。
Described wireless sensor unit, by time of arrival (toa) between detection radio node, obtains in conjunction with angle of arrival detection
The time of advent between wireless anchor node and wireless mobile node differs from and angle of arrival；And wireless information source is not relied on channel model
Carry out the discriminating of non-visual environment, use Local Subspace error modeling with compensation method, noisy range error to be modified,
Obtain the wireless position parameter L of target to be positionedwsn。
Beneficial effects of the present invention:
The present invention is analyzed by inertial sensor and wireless senser are positioned failure mode, it is proposed that inertial navigation positions
Failover control method anti-with wireless location, and position error under two kinds of localization methods is corrected.
Owing to stranded target can be positioned by inertial sensor and wireless senser respectively, wireless sensor network is subject to
Wireless distance finding precision can be affected, even at local location due to barrier to the factor interference such as sensor noise and environment noise
Cover and multipath diffraction etc. is disturbed there is location of mistake, simultaneously because acceleration noise is integrated so that it by inertial sensor
When long boat can there are cumulative errors in location, it is therefore desirable to the suppression of combining wireless range error and inertia parametric error propagate spy
Property, solve the position of stranded target under inertial sensor and wireless senser respectively.
In order to improve accuracy and the stability of stranded target location, it is considered to inertial sensor and wireless senser location are deposited
Losing efficacy, two kinds of alignment systems were combined, judged whether wireless senser location lost efficacy with stranded target location variable quantity,
Judge whether inertial sensor location lost efficacy with time threshold simultaneously, carry out location switching when integrated positioning system exists and lost efficacy
Control, it is achieved under Disastrous environment, rescue Sensor Network stranded target stable position.This invention can solve the problem that simple employing inertia passes
Sensor and the deficiency of output error position, wireless senser location, given full play to the advantage of two kinds of alignment systems, it is possible to increase
The performance of integrated positioning system.
Accompanying drawing explanation
Fig. 1 is the anti-location handover control system schematic diagram that lost efficacy of the sensing network for rescue of the present invention.
Fig. 2 is the sensing network positioning calculation unit for rescue and the resolving of integrated positioning unit and the control of the present invention
Method schematic diagram.
Fig. 3 is the sensing network integrated positioning anti-failover control method schematic diagram for rescue of the present invention.
Fig. 4 is the principle schematic of the anti-location method for handover control that lost efficacy of the sensing network for rescue of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, to the present invention
It is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to
Limit the present invention.
Below in conjunction with the accompanying drawings the application principle of the present invention is explained in detail.
As in Figure 2-4, the anti-location method for handover control that lost efficacy of a kind of sensing network for rescue, including following step
Rapid:
Step 1, structure be the sensing network for rescue of area to be targeted under Disastrous environment, including wireless senser
Unit, inertial sensor unit, wireless sensor unit includes: be arranged on multiple wireless anchor node and the installation of area to be targeted
Wireless mobile node in the target of location；Inertial sensor unit includes the inertial sensor being arranged in the target of each location；
Step 2, positioning calculation unit carry out wireless location resolving according to the output of wireless sensor unit, and it is wireless fixed to obtain
The position parameter L of the target to be positioned that position method is measuredwsn；Positioning calculation unit enters according to the output of inertial sensor unit simultaneously
Row inertia parameter resolves, and obtains the position parameter L of the target to be positioned that inertial positioning method is measuredsins；
Whether step 3, integrated positioning unit judges wireless sensor unit and inertial sensor unit lost efficacy, and carried out not
Under losing efficacy with sensor unit, the rescue anti-failover of Sensor Network controlled, it is achieved it is fixed to stablize target to be positioned under Disastrous environment
Position.
The concrete operations of described step 3 are as follows:
A: when wireless sensor unit and inertial sensor unit are all effective, obtain the to be positioned of wireless location method measurement
The position parameter L of targetwsnPosition parameter L with the target to be positioned that inertial positioning method is measuredsins, defeated to two kinds of localization methods
Go out result and carry out space-time alignment, wireless sensor unit position is set and trusts weights with inertial sensor unit position, by melting
Close the position L being calculated target to be positionedsins/wsn；
B: when wireless sensor unit lost efficacy, i.e. at unit interval △ twsnInterior by treating that wireless location method measurement obtains
The location variation △ L of location targetwsnExceed threshold value σ (wireless senser is interfered at wireless signal, node failure or
Participating in produce location of mistake when location anchor node quantity is inadequate, kinematics model based on stranded target, it is in the unit interval
In change in location always in an interval range, the most stranded target location variable quantity threshold value σ) time, utilize by inertial positioning method
The location variation △ L of the target to be positioned measured within the unit intervalsinsTo the target to be positioned measured by wireless location method
Location variation △ LwsnIt is corrected, then the position to the target to be positioned that the wireless sensor unit after correction obtains
Parameter LwsnPosition parameter L with the target to be positioned that inertial sensor unit obtainssinsCarry out space-time alignment, wireless biography is set
Weights are trusted with inertial sensor unit position in sensor cell position, are obtained the position of target to be positioned by fusion calculation
Lsins/wsn；Described it is corrected to: inertia increment size is replaced wireless increment size, by wireless previous moment position and inertia increment size
Obtain target current time position.
Time △ t is run when the length of C: when inertial sensor unit lost efficacy, i.e. inertial sensor unit is navigatedsinsMore than threshold
Value τ, is accurately positioned result L by the combination of rescue Sensor Networksins/wsnAs the initial position of inertial sensor unit, eliminate it and add up
Site error, inertial sensor carries out integral operation on the position updated, and then obtain wireless sensor unit is undetermined
The position parameter L of position targetwsnPosition parameter L with the target to be positioned that the inertial sensor unit after correction obtainssinsCarry out
Space-time aligns, and arranges wireless sensor unit position and trusts weights with inertial sensor unit position, is obtained by fusion calculation
The position L of target to be positionedsins/wsn；
D: when wireless sensor unit and inertial sensor unit all lost efficacy, i.e. at unit interval △ twsnInterior by wireless
The location variation △ L of the target to be positioned that positioning mode is measuredwsnExceed threshold value σ, and run when the length of inertial sensor unit is navigated
Time △ tsinsMore than threshold tau, it is impossible to use rescue Sensor Network that target to be positioned is accurately positioned, pass through inertial sensor
The output of middle acceleration module judges the walking states of target to be positioned, particularly as follows:
When acceleration module detects target travel to be positioned, walking step-length f based on target to be positionedlWith cadence ff
Target to be positioned is carried out position estimation.Particularly as follows: owing to acceleration module is capable of detecting when on three axle (X, Y, Z) directions
Data, therefore, when target to be positioned is walked at same floor, the value of Z axis will not change, when target to be positioned is gone downstairs upper
During ladder, the value of Z axis can change, and target to be positioned carries out position.
Each inertial sensor in inertial sensor unit in described step 2 all includes that three-axis gyroscope and three axles accelerate
Degree meter, three-axis gyroscope is measured angular velocity, and then is tried to achieve attitude parameter, is finally constituted attitude matrix by each attitude parameter, and three
The ratio force information that axis accelerometer obtains, in conjunction with target initial velocity to be positioned, initial position, initial attitude parameter, by right
They carry out high speed integration and obtain real-time speed and the position parameter L of target to be positionedsins。
In described step 2, wireless sensor unit is by time of arrival (toa) between detection radio node, in conjunction with angle of arrival
Detection obtains and differs from and angle of arrival the time of advent between wireless anchor node and wireless mobile node；And wireless information source is not relied on
Channel model carries out the discriminating of non-visual environment, uses Local Subspace error modeling to enter noisy range error with compensation method
Row is revised, it is thus achieved that the wireless position parameter L of target to be positionedwsn。
As it is shown in figure 1, the anti-location handover control system that lost efficacy of a kind of sensing network for rescue, including wireless senser
Unit, inertial sensor unit, positioning calculation unit, integrated positioning unit；Described wireless sensor unit and inertial sensor
The outfan of unit is connected with the input of positioning calculation unit, and the outfan of positioning calculation unit is connected with integrated positioning unit
Connect.
Described wireless sensor unit includes: is arranged on the multiple wireless anchor node of area to be targeted and is arranged on each undetermined
Wireless mobile node in the target of position；Inertial sensor unit includes the inertial sensor being arranged in each target to be positioned；
Described positioning calculation unit carries out wireless location resolving according to the output of wireless sensor unit, obtains wireless location
The position parameter L of the target to be positioned that method is measuredwsn；Positioning calculation unit is carried out according to the output of inertial sensor unit simultaneously
Inertia parameter resolves, and obtains the position parameter L of the target to be positioned that inertial positioning method is measuredsins。
Whether described integrated positioning unit judges wireless sensor unit and inertial sensor unit lost efficacy, and carried out difference
Under sensor unit loses efficacy, the rescue anti-failover of Sensor Network controlled, it is achieved it is fixed to stablize target to be positioned under Disastrous environment
Position.
The concrete operations of described integrated positioning unit are as follows:
A: when wireless sensor unit and inertial sensor unit are all effective, obtain the to be positioned of wireless location method measurement
The position parameter L of targetwsnPosition parameter L with the target to be positioned that inertial positioning method is measuredsins, wireless sensor unit energy
Enough target low frequency positional information L under output rectangular coordinate system in spacewsn, and inertial sensor unit can export geographic coordinate system
Lower targeted high frequency positional information Lsins, position the update cycle of data under inertial sensor unit more than under wireless sensor unit
The update cycle of location data, it is therefore desirable to two kinds of localization method output results are carried out space-time alignment, wireless senser is set
Cell position trusts weights with inertial sensor unit position, is obtained the position L of target to be positioned by fusion calculationsins/wsn；
B: when wireless sensor unit lost efficacy, i.e. at unit interval △ twsnIn by wireless location method measure to be positioned
The location variation △ L of targetwsnWhen exceeding threshold value σ, by the target to be positioned measured within the unit interval by inertial positioning method
Location variation △ LsinsLocation variation △ L to the target to be positioned measured by wireless location methodwsnIt is corrected, then
Position parameter L to the target to be positioned that the wireless sensor unit after correction obtainswsnWith treating that inertial sensor unit obtains
The position parameter L of location targetsinsCarry out space-time alignment, wireless sensor unit position and inertial sensor unit position are set
Trust weights, obtained the position L of target to be positioned by fusion calculationsins/wsn；The inefficacy of wireless sensor unit mainly by
Be interfered in wireless signal, node failure or participate in location anchor node quantity inadequate time can produce location of mistake；
C: when inertial sensor unit lost efficacy, is accurately positioned result L by the combination of rescue Sensor Networksins/wsnPass as inertia
The initial position of sensor cell, eliminates its accumulative site error, and inertial sensor is integrated on the position updated
Computing, the position parameter L of the target to be positioned then wireless sensor unit obtainedwsnWith the inertial sensor list after correction
The position parameter L of the target to be positioned that unit obtainssinsCarry out space-time alignment, wireless sensor unit position and inertia sensing are set
Device cell position trusts weights, is obtained the position L of target to be positioned by fusion calculationsins/wsn；The mistake of inertial sensor unit
Effect can produce cumulative errors so that follow-up location data failure after running a period of time mainly due to inertial sensor, draws
The main cause playing inertial sensor cumulative errors is that the stranded target initial motion parameter participating in iteration has cumulative errors；
D: when wireless sensor unit and inertial sensor unit all lost efficacy, i.e. at unit interval △ twsnInterior by wireless
The location variation △ L of the target to be positioned that positioning mode is measuredwsnExceed threshold value σ, and run when the length of inertial sensor unit is navigated
Time △ tsinsMore than threshold tau, it is impossible to use rescue Sensor Network stranded target to be accurately positioned, by each inertial sensor
The output of middle acceleration module judges the walking states of target to be positioned, particularly as follows:
When acceleration module detects target travel to be positioned, walking step-length f based on target to be positionedlWith cadence ff
Target to be positioned is carried out position estimation.
The output of described inertial sensor unit includes the angular velocity of the target to be positioned that each inertial sensor measures
And acceleration；Each inertial sensor includes three-axis gyroscope and three axis accelerometer, and three-axis gyroscope is sensitive carrier angle speed
The device of degree, its output valve represent angular speed that carrier relative inertness system rotates carrier system each axially on amount；And three axles
Accelerometer is the device of sensitive carrier acceleration, and by measuring inertia force, indirectly to obtain carrier system each axial instantaneous
Acceleration；The angular velocity measured by three-axis gyroscope obtains attitude matrix, in conjunction with the ratio force information that three axis accelerometer is sensitive,
Target initial velocity to be positioned, position, attitude inertia parameter auxiliary under, by high speed integration obtain target to be positioned reality
Shi Sudu and position parameter Lsins。
Described wireless sensor unit, by time of arrival (toa) between detection radio node, obtains in conjunction with angle of arrival detection
The time of advent between wireless anchor node and wireless mobile node differs from and angle of arrival；Owing to high-risk production region is multi-path dense ring
Border, makes wireless signal constantly convert at visual environment and non-visual environment, and wireless distance finding easily exists error, therefore to wireless communication
Source does not relies on channel model and carries out the discriminating of non-visual environment, uses Local Subspace error modeling with compensation technique to noisy
Range error is modified, it is thus achieved that the wireless position parameter L of target to be positionedwsn。
The present invention can add up number of workers when high-risk production region normally works, and optimizes workman's production operation and limit
Make its some off-limits region that comes in and goes out, rescue can be formed once the high-risk production region institute's placement sensor that has an accident
Sensor Network, formulates rescue targetedly according to personnel's distributing position in zones of different, it is provided that optimal escape route, improves
Effect is rescued under the Disastrous environment of high-risk production region.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.The technology of the industry
Personnel, it should be appreciated that the present invention is not restricted to the described embodiments, simply illustrating this described in above-described embodiment and description
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these become
Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and
Equivalent defines.
Claims (8)
1. the anti-location method for handover control that lost efficacy of the sensing network for rescue, it is characterised in that comprise the following steps:
Step 1, structure be the sensing network for rescue of area to be targeted under Disastrous environment, including wireless senser list
Unit, inertial sensor unit, wireless sensor unit includes: is arranged on the multiple wireless anchor node of area to be targeted and is arranged on
Wireless mobile node in each target to be positioned；Inertial sensor unit includes the inertia sensing being arranged in each target to be positioned
Device；
Step 2, positioning calculation unit carry out wireless location resolving according to the output of wireless sensor unit, obtain wireless location method
The position parameter L of the target to be positioned measuredwsn；Positioning calculation unit is used to according to the output of inertial sensor unit simultaneously
Property parameter resolve, obtain the position parameter L of target to be positioned that inertial positioning method is measuredsins；
Whether step 3, integrated positioning unit judges wireless sensor unit and inertial sensor unit lost efficacy, and carried out different biography
Under sensor cell loses efficacy, the rescue anti-failover of Sensor Network controlled, it is achieved the stable position to target to be positioned under Disastrous environment.
The anti-location method for handover control that lost efficacy of a kind of sensing network for rescue the most according to claim 1, its feature
It is: the concrete operations of described step 3 are as follows:
A: when wireless sensor unit and inertial sensor unit are all effective, obtain the target to be positioned that wireless location method is measured
Position parameter LwsnPosition parameter L with the target to be positioned that inertial positioning method is measuredsins, to two kinds of localization method output knots
Fruit carries out space-time alignment, arranges wireless sensor unit position and trusts weights with inertial sensor unit position, is counted by fusion
Calculate the position L obtaining target to be positionedsins/wsn；
B: when wireless sensor unit lost efficacy, i.e. at unit interval Δ twsnIn by wireless location method measurement obtain to be positioned
The location variation Δ L of targetwsnWhen exceeding threshold value σ, utilize the target to be positioned measured within the unit interval by inertial positioning method
Location variation Δ LsinsLocation variation Δ L to the target to be positioned measured by wireless location methodwsnIt is corrected, so
Position parameter L to the target to be positioned that the wireless sensor unit after correction obtains afterwardswsnObtain with inertial sensor unit
The position parameter L of target to be positionedsinsCarry out space-time alignment, wireless sensor unit position and inertial sensor unit position are set
Confidence appoints weights, is obtained the position L of target to be positioned by fusion calculationsins/wsn；
Time △ t is run when the length of C: when inertial sensor unit lost efficacy, i.e. inertial sensor unit is navigatedsinsMore than threshold tau,
The combination of rescue Sensor Network is accurately positioned result Lsins/wsnAs the initial position of inertial sensor unit, eliminate its accumulative position
Error, inertial sensor carries out high speed integral operation on the position updated, and then obtain wireless sensor unit is undetermined
The position parameter L of position targetwsnPosition parameter L with the target to be positioned that the inertial sensor unit after correction obtainssinsCarry out
Space-time aligns, and arranges wireless sensor unit position and trusts weights with inertial sensor unit position, is obtained by fusion calculation
The position L of target to be positionedsins/wsn；
D: when wireless sensor unit and inertial sensor unit all lost efficacy, i.e. at unit interval △ twsnInterior by wireless location
The location variation △ L of the target to be positioned that method is measuredwsnExceed threshold value σ, and run the time when length of inertial sensor unit is navigated
△tsinsMore than threshold tau, it is impossible to use rescue Sensor Network target to be positioned to be accurately positioned, by inertial sensor adds
Acceleration module output judges the walking states of target to be positioned, particularly as follows:
When acceleration module detects target travel to be positioned, walking step-length f based on target to be positionedlWith cadence ffTreat
Location target carries out position estimation.
The anti-location method for handover control that lost efficacy of a kind of sensing network for rescue the most according to claim 1 and 2, it is special
Levy and be: each inertial sensor in the inertial sensor unit in described step 2 all includes that three-axis gyroscope and three axles accelerate
Degree meter, three-axis gyroscope is measured angular velocity, and then is tried to achieve attitude parameter, is finally constituted attitude matrix by each attitude parameter, and three
Axis accelerometer obtains ratio force information, in conjunction with target initial velocity to be positioned, initial position, initial attitude parameter, by it
Carry out high speed integration and obtain the real-time speed of target to be positioned and position parameter Lsins。
The anti-location method for handover control that lost efficacy of a kind of sensing network for rescue the most according to claim 1 and 2, it is special
Levy and be: in described step 2, wireless sensor unit is by time of arrival (toa) between detection radio node, examines in conjunction with angle of arrival
Survey and differ from and angle of arrival the time of advent obtained between wireless anchor node and wireless mobile node；And wireless information source is not relied on letter
Road model carries out the discriminating of non-visual environment, uses Local Subspace error modeling to carry out noisy range error with compensation method
Revise, it is thus achieved that the wireless position parameter L of target to be positionedwsn。
5. the anti-location handover control system that lost efficacy of the sensing network for rescue, it is characterised in that: include wireless senser
Unit, inertial sensor unit, positioning calculation unit, integrated positioning unit；Described wireless sensor unit and inertial sensor
The outfan of unit is connected with the input of positioning calculation unit, and the outfan of positioning calculation unit is connected with integrated positioning unit
Connect.
Described wireless sensor unit includes: is arranged on the multiple wireless anchor node of area to be targeted and is arranged on each mesh to be positioned
The wireless mobile node put on；Inertial sensor unit includes the inertial sensor being arranged in each target to be positioned；
Described positioning calculation unit carries out wireless location resolving according to the output of wireless sensor unit, obtains wireless location method and surveys
The position parameter L of the target to be positioned of amountwsn；Positioning calculation unit carries out inertia according to the output of inertial sensor unit simultaneously
Parameter resolves, and obtains the position parameter L of the target to be positioned that inertial positioning method is measuredsins。
Whether described integrated positioning unit judges wireless sensor unit and inertial sensor unit lost efficacy, and carried out different sensing
Rescue the anti-failover of Sensor Network under device element failure to control, it is achieved the stable position to target to be positioned under Disastrous environment.
The anti-location handover control system that lost efficacy of a kind of sensing network for rescue the most according to claim 5, its feature
It is: the concrete operations of described integrated positioning unit are as follows:
A: when wireless sensor unit and inertial sensor unit are all effective, obtain the target to be positioned that wireless location method is measured
Position parameter LwsnPosition parameter L with the target to be positioned that inertial positioning method is measuredsins, to two kinds of localization method output knots
Fruit carries out space-time alignment, arranges wireless sensor unit position and trusts weights with inertial sensor unit position, is counted by fusion
Calculate the position L obtaining target to be positionedsins/wsn；
B: when wireless sensor unit lost efficacy, i.e. at unit interval △ twsnIn by wireless location method measurement obtain to be positioned
The location variation △ L of targetwsnWhen exceeding threshold value σ, utilize the target to be positioned measured within the unit interval by inertial positioning method
Location variation △ LsinsLocation variation △ L to the target to be positioned measured by wireless location methodwsnIt is corrected, so
Position parameter L to the target to be positioned that the wireless sensor unit after correction obtains afterwardswsnObtain with inertial sensor unit
The position parameter L of target to be positionedsinsCarry out space-time alignment, wireless sensor unit position and inertial sensor unit position are set
Confidence appoints weights, is obtained the position L of target to be positioned by fusion calculationsins/wsn；
Time △ t is run when the length of C: when inertial sensor unit lost efficacy, i.e. inertial sensor unit is navigatedsinsMore than threshold tau,
The combination of rescue Sensor Network is accurately positioned result Lsins/wsnAs the initial position of inertial sensor unit, eliminate its accumulative position
Error, inertial sensor carries out high speed integral operation on the position updated, and then obtain wireless sensor unit is undetermined
The position parameter L of position targetwsnPosition parameter L with the target to be positioned that the inertial sensor unit after correction obtainssinsCarry out
Space-time aligns, and arranges wireless sensor unit position and trusts weights with inertial sensor unit position, is obtained by fusion calculation
The position L of target to be positionedsins/wsn；
D: when wireless sensor unit and inertial sensor unit all lost efficacy, i.e. at unit interval △ twsnInterior by wireless location
The location variation △ L of the target to be positioned that method is measuredwsnExceed threshold value σ, and run the time when length of inertial sensor unit is navigated
△tsinsMore than threshold tau, it is impossible to use rescue Sensor Network stranded target to be accurately positioned, by each inertial sensor adds
Acceleration module output judges the walking states of target to be positioned, particularly as follows:
When acceleration module detects target travel to be positioned, walking step-length f based on target to be positionedlWith cadence ffTreat
Location target carries out position estimation.
The anti-location handover control system that lost efficacy of a kind of sensing network for rescue the most according to claim 5, its feature
It is: each inertial sensor in described inertial sensor unit includes three-axis gyroscope and three axis accelerometer, inertia sensing
The output of device unit includes angular velocity and the acceleration of the target to be positioned that each inertial sensor measures；Three-axis gyroscope
Output valve represent angular speed that carrier relative inertness system rotates carrier system each axially on amount；Three axis accelerometer is measured
Inertia force obtains each axial instantaneous acceleration of carrier system indirectly；The angular velocity measured by three-axis gyroscope obtains attitude ginseng
Number, is finally constituted attitude matrix by attitude parameter, and ratio force information, target to be positioned in conjunction with three axis accelerometer acquisition are the fastest
Degree, initial position, initial attitude inertia parameter, by they carry out high speed integration obtain target to be positioned real-time speed and
Position parameter Lsins。
The anti-location handover control system that lost efficacy of a kind of sensing network for rescue the most according to claim 5, its feature
It is: described wireless sensor unit, by time of arrival (toa) between detection radio node, obtains nothing in conjunction with angle of arrival detection
The time of advent between line anchor node and wireless mobile node differs from and angle of arrival；And wireless information source is not relied on channel model enter
The discriminating of the non-visual environment of row, uses Local Subspace error modeling to be modified noisy range error with compensation method, obtains
Obtain the wireless position parameter L of target to be positionedwsn。
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