CN106323278B - A kind of anti-failure positioning method for handover control of sensing network for rescue and system - Google Patents
A kind of anti-failure positioning method for handover control of sensing network for rescue and system Download PDFInfo
- Publication number
- CN106323278B CN106323278B CN201610635622.0A CN201610635622A CN106323278B CN 106323278 B CN106323278 B CN 106323278B CN 201610635622 A CN201610635622 A CN 201610635622A CN 106323278 B CN106323278 B CN 106323278B
- Authority
- CN
- China
- Prior art keywords
- sensor unit
- target
- wireless
- inertial sensor
- wsn
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 71
- 238000005259 measurement Methods 0.000 claims description 35
- 230000001133 acceleration Effects 0.000 claims description 22
- 230000004927 fusion Effects 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 15
- 238000012937 correction Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000004807 localization Effects 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000002620 method output Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims 2
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000007812 deficiency Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 13
- 230000001186 cumulative effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 4
- 238000011105 stabilization Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000002844 melting Methods 0.000 description 3
- 230000008018 melting Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000000873 masking effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 231100000481 chemical toxicant Toxicity 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000003440 toxic substance Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a kind of anti-failure positioning method for handover control of sensing network for rescue and systems, comprising: sensing network for rescue of the building for area to be targeted under Disastrous environment, including wireless sensor unit, inertial sensor unit；Positioning and calculating unit carries out wireless location according to the output of wireless sensor unit and inertial sensor unit respectively and resolves and the resolving of inertia parameter；Whether integrated positioning unit judges wireless sensor unit and inertial sensor unit fail, and carry out rescuing the anti-failover control of sensing network under different sensors element failure, realize the stable position to target to be positioned under Disastrous environment.The present invention is able to solve the simple deficiency that easy output error position is positioned using wireless sensor and inertial sensor, gives full play to the advantage of two kinds of positioning systems, improves the performance of rescue sensing network integrated positioning system.
Description
Technical field
The present invention relates to a kind of anti-failure positioning method for handover control of sensing network for rescue and systems, can be realized
Target positioning to be positioned.
Background technique
In high-risk production area, causality loss can be reduced to no emergency management and rescue system by effective accident emergency rescue system
The 6% of system.Domestic and international emergency management and rescue it turns out that: sue and labour to trapped person more timely, possibility of being rescued is bigger.In underground coal mine
Tunnel, architecture construction, underground commerce center, the high-risk production area such as combustible and explosive area and dangerous toxic chemical,
It once serious accident occurs, often can only actively call for help at present by trapped person to confirm, delay valuable the
Rescue efficiency is reduced while one rescue time.Therefore, to carry out emergency management and rescue under Disastrous environment, it is necessary to realize to stranded
The positioning of trapped person is realized in the detection of personnel positions.When there is dangerous situation and disaster in the inferior region of coal mine, rescue
Accident spot personnel amount, each personal information and the position that personnel can provide according to positioning system are formulated targeted
Rescue measure provides optimal escape route, improves speedily carry out rescue work under Disastrous environment efficiency and rescue effect.In addition to personnel location system
Application in emergency management and rescue, when operating normally, staff's positioning system can count work at present personnel amount, according to
Staff current location and the motion track statistics rate of attendance and rate of leaving early, limitation staff enters danger zone, so that ground
Face administrator can carry out rational management management to staff and operating equipment.High-risk production area personnel location system undertakes
The tasks such as first aid and daily management after staff attendance, tracking and positioning, calamity, high-risk production area personnel positioning is raw safely
The important content of production is the weight established production safety emergency rescue mechanism, improve national cope with various crises management and the ability to ward off risks
Want component part.
Under ground or aerial equal outdoor free environments, for mobile target installation global positioning system, it can obtain in real time
The movement position of mobile target, although its positioning accuracy ratio is less high, still have become a kind of scheme of maturation and by wide
General application.In 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 referred to as enclosure space, since complex environment blocks global positioning system signal propagation, thus can not benefit
The position of mobile target is obtained with global positioning system signal.In this kind of enclosure space, since motion feature is complicated, network is opened up
The factors such as structure time-varying, topographic structure are unknown and distribution of obstacles is irregular are flutterred, are brought to Disastrous environment Moving objects location all
More challenges.Therefore, many scholars have studied the Moving objects location independent of global positioning system, and the main contents include movements
The analysis of target ranging method, location algorithm and positioning accuracy.
In recent years, various countries researcher carries out the research of this respect one after another, using odometer, vision positioning, infrared emission
And the methods of laser ranging positions the mobile target of Disastrous environment, and in practical applications in cumulative errors elimination, image
Beneficial research has been done in deformation, discontinuous output and barrier masking etc..Since high-risk production area uses wired monitoring
Need to lay a large amount of cable, high risk zone narrow space makes cable distribution cumbersome, and is easy that cable is made to pound disconnected or connect
It touches bad, simultaneously because adverse circumstances make cable be subject to corrosive wear, increases line interruption failure rate and data
The bit error rate, to influence the performance of entire positioning system.In order to overcome the shortcomings of that wired remote monitors, carried out using wireless mode
The long-range monitoring of high-risk production area can establish the strong and safe and reliable monitoring system of a networking flexibility, scalability,
It may be implemented to carry out target to be positioned the tasks such as information collection, data processing, fusion resolving and position tracking.But with
Its application environment is gradually severe, is also continuously improved to the required precision of target to be positioned, needs to introduce inertial navigation system and nothing
The positioning of line Sensor Network combines, so that target to be positioned has stronger stability in global scope.
Summary of the invention
In view of the above-mentioned problems, the present invention propose a kind of anti-failure positioning method for handover control of the sensing network for rescue and
System.
It realizes above-mentioned technical purpose, reaches above-mentioned technical effect, the invention is realized by the following technical scheme:
A kind of anti-failure of sensing network for rescue positions method for handover control, comprising the following steps:
The sensing network for rescue of step 1, building for area to be targeted under Disastrous environment, including wireless sensor
Unit, inertial sensor unit, wireless sensor unit include: to be mounted on multiple wireless anchor nodes 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 mounted in each target to be positioned passes
Sensor；
Step 2, positioning and calculating unit carry out wireless location resolving according to the output of wireless sensor unit, and it is wirelessly fixed to obtain
The position parameter L of the target to be positioned of position method measurementwsn；Simultaneously positioning and calculating unit according to the output of inertial sensor unit into
Row inertia parameter resolves, and obtains the position parameter L of the target to be positioned of inertial positioning method measurementsins；
Whether step 3, integrated positioning unit judges wireless sensor unit and inertial sensor unit fail, and carry out not
The anti-failover control of rescue Sensor Network under failing with sensor unit, it is fixed to the stabilization of target to be positioned under Disastrous environment to realize
Position.
The concrete operations of the step 3 are as follows:
A: when wireless sensor unit and effective inertial sensor unit, the to be positioned of wireless location method measurement is obtained
The position parameter L of targetwsnWith the position parameter L of the target to be positioned of inertial positioning method measurementsins, defeated to two kinds of localization methods
Result carries out space-time alignment out, and weight is trusted in setting wireless sensor unit position and inertial sensor unit position, by melting
Close the position L that target to be positioned is calculatedsins/wsn；
B: when wireless sensor unit failure, i.e., in unit time △ twsnIt is interior by wireless location method measurement obtain to
Position the location variation △ L of targetwsnIt is to be positioned using being measured within the unit time by inertial positioning method when more than threshold value σ
The location variation △ L of targetsinsTo the location variation △ L of 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 obtained target to be positionedsinsSpace-time alignment is carried out, wireless sensor unit position and inertial sensor are set
Cell position trusts weight, obtains the position L of target to be positioned by fusion calculationsins/wsn；
C: when inertial sensor unit failure, i.e. the long endurance runing time △ t of inertial sensor unitsinsGreater than threshold
Rescue Sensor Network combination is accurately positioned result L by value τsins/wsnAs the initial position of inertial sensor unit, it is accumulative to eliminate it
Location error, inertial sensor carry out high speed integral operation on the position of update, then obtain to wireless sensor unit
The position parameter L of target to be positionedwsnThe position parameter L of the target to be positioned obtained with the inertial sensor unit after correctionsins
Space-time alignment is carried out, setting wireless sensor unit position and inertial sensor unit position trust weight, pass through fusion calculation
Obtain the position L of target to be positionedsins/wsn；
D: when wireless sensor unit and inertial sensor unit fail, i.e., in unit time △ twsnIt is interior by wireless
The location variation △ L of the target to be positioned of positioning mode measurementwsnMore than threshold value σ, and the long endurance of inertial sensor unit is run
Time △ tsinsGreater than threshold tau, target to be positioned can not be accurately positioned using rescue Sensor Network, pass through inertial sensor
Middle acceleration module exports the walking states to judge target to be positioned, specifically:
When acceleration module detects target to be positioned movement, the walking step-length f based on target to be positionedlWith cadence ff
Position estimation is carried out to target to be positioned.
Each inertial sensor in inertial sensor unit in the step 2 includes that three-axis gyroscope and three axis accelerate
Degree meter, three-axis gyroscope measure angular velocity, and then acquire attitude parameter, are finally made of attitude matrix each attitude parameter, and three
Axis accelerometer is obtained than force information, in conjunction with target initial velocity to be positioned, initial position, initial attitude parameter, by it
Carry out high speed and integrate the real-time speed and position parameter L for obtaining target to be positionedsins。
Wireless sensor unit is by time of arrival (toa) between detection radio node in the step 2, in conjunction with angle of arrival
Detection obtains the reaching time-difference and angle of arrival between wireless anchor node and wireless mobile node；And to wireless information source independent of
Channel model carries out the identification of non-visual environment, using Local Subspace error modeling and compensation method to noisy range error into
Row amendment, obtains the wireless position parameter L of target to be positionedwsn。
A kind of anti-failure of sensing network for rescue positions handover control system, including wireless sensor unit, inertia
Sensor unit, positioning and calculating unit, integrated positioning unit；The output of the wireless sensor unit and inertial sensor unit
End is connected with the input terminal of positioning and calculating unit, and the output end of positioning and calculating unit is connected with integrated positioning unit.
The wireless sensor unit includes: to be mounted on multiple wireless anchor nodes of area to be targeted and be mounted on each undetermined
Wireless mobile node in the target of position；Inertial sensor unit includes the inertial sensor being mounted in each target to be positioned；
The positioning and calculating 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 of method measurementwsn；Positioning and calculating 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 of inertial positioning method measurementsins。
Whether the integrated positioning unit judges wireless sensor unit and inertial sensor unit fail, and carry out difference
The anti-failover control of the lower rescue Sensor Network of sensor unit failure, it is fixed to the stabilization of target to be positioned under Disastrous environment to realize
Position.
The concrete operations of the integrated positioning unit are as follows:
A: when wireless sensor unit and effective inertial sensor unit, the to be positioned of wireless location method measurement is obtained
The position parameter L of targetwsnWith the position parameter L of the target to be positioned of inertial positioning method measurementsins, defeated to two kinds of localization methods
Result carries out space-time alignment out, and weight is trusted in setting wireless sensor unit position and inertial sensor unit position, by melting
Close the position L that target to be positioned is calculatedsins/wsn；
B: when wireless sensor unit failure, i.e., in unit time △ twsnIt is interior by wireless location method measurement obtain to
Position the location variation △ L of targetwsnIt is to be positioned using being measured within the unit time by inertial positioning method when more than threshold value σ
The location variation △ L of targetsinsTo the location variation △ L of 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 obtained target to be positionedsinsSpace-time alignment is carried out, wireless sensor unit position and inertial sensor are set
Cell position trusts weight, obtains the position L of target to be positioned by fusion calculationsins/wsn；
C: when inertial sensor unit failure, i.e. the long endurance runing time △ t of inertial sensor unitsinsGreater than threshold
Rescue Sensor Network combination is accurately positioned result L by value τsins/wsnAs the initial position of inertial sensor unit, it is accumulative to eliminate it
Location error, inertial sensor carry out high speed integral operation on the position of update, then obtain to wireless sensor unit
The position parameter L of target to be positionedwsnThe position parameter L of the target to be positioned obtained with the inertial sensor unit after correctionsins
Space-time alignment is carried out, setting wireless sensor unit position and inertial sensor unit position trust weight, pass through fusion calculation
Obtain the position L of target to be positionedsins/wsn；
D: when wireless sensor unit and inertial sensor unit fail, i.e., in unit time △ twsnIt is interior by wireless
The location variation △ L of the target to be positioned of positioning mode measurementwsnMore than threshold value σ, and the long endurance of inertial sensor unit is run
Time △ tsinsGreater than threshold tau, target to be positioned can not be accurately positioned using rescue Sensor Network, pass through each inertia sensing
Acceleration module exports the walking states to judge target to be positioned in device, specifically:
When acceleration module detects target to be positioned movement, the walking step-length f based on target to be positionedlWith cadence ff
Position estimation is carried out to target to be positioned.
Each inertial sensor in the inertial sensor unit includes three-axis gyroscope and three axis accelerometer, and inertia passes
The output of sensor cell includes the angular speed and acceleration of the target to be positioned that each inertial sensor is measured；Three-axis gyroscope
Output valve indicate amount of the angular speed in each axial direction of carrier system of carrier relative inertness system rotation；Three axis accelerometer measurement
Inertia force obtains each axial instantaneous acceleration of carrier system indirectly out；Posture is obtained by the angular speed that three-axis gyroscope measures
Parameter finally constitutes attitude matrix by attitude parameter, initial in conjunction with the ratio force information of three axis accelerometer acquisition, target to be positioned
Speed, initial position, initial attitude inertia parameter, by carrying out the real-time speed that high speed integral obtains target to be positioned to them
With position parameter Lsins。
The wireless sensor unit is detected in conjunction with angle of arrival and is obtained by time of arrival (toa) between detection radio node
Reaching time-difference and angle of arrival between wireless anchor node and wireless mobile node；And to wireless information source independent of channel model
The identification for carrying out non-visual environment is modified noisy range error using Local Subspace error modeling and compensation method,
Obtain the wireless position parameter L of target to be positionedwsn。
Beneficial effects of the present invention:
The present invention is analyzed by positioning failure mode to inertial sensor and wireless sensor, proposes inertial navigation positioning
With the anti-failover control method of wireless location, and position error under two kinds of localization methods is corrected.
Since inertial sensor and wireless sensor can respectively position target to be positioned, wireless sensor network
It will affect wireless distance finding precision by the interference of the factors such as sensor noise and ambient noise, or even in local location due to obstacle
There is location of mistake in object masking and the interference such as multipath diffraction, simultaneously because inertial sensor acceleration noise is integrated so that
It can have cumulative errors in the positioning of long endurance, it is therefore desirable to which combining wireless range error inhibits and inertia parametric error propagates spy
Property, the position of target to be positioned under inertial sensor and wireless sensor is solved respectively.
In order to improve the accuracy and stability of target positioning to be positioned, inertial sensor and wireless sensor positioning are considered
Two kinds of positioning systems are combined in the presence of failure, judge whether wireless sensor positioning loses with target position variable quantity to be positioned
Effect, while judging whether inertial sensor positioning fails with time threshold, it is positioned when integrated positioning system exists and fails
Switching control is realized and rescues Sensor Network target stable position to be positioned under Disastrous environment.The invention is able to solve simple use
The deficiency of inertial sensor and wireless sensor positioning output error position, has given full play to the advantage of two kinds of positioning systems, energy
Enough improve the performance of integrated positioning system.
Detailed description of the invention
Fig. 1 is that the anti-failure of the sensing network for rescue of the invention positions handover control system schematic diagram.
Fig. 2 is of the invention for the sensing network positioning and calculating unit of rescue and the resolving and control of integrated positioning unit
Method schematic diagram.
Fig. 3 is the anti-failover control method schematic diagram of sensing network integrated positioning for rescue of the invention.
Fig. 4 is the schematic illustration of the anti-failure positioning method for handover control of the sensing network for rescue of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
As in Figure 2-4, the anti-failure of a kind of sensing network for rescue positions method for handover control, including following step
It is rapid:
The sensing network for rescue of step 1, building for area to be targeted under Disastrous environment, including wireless sensor
Unit, inertial sensor unit, wireless sensor unit include: to be mounted on multiple wireless anchor nodes and the installation of area to be targeted
Wireless mobile node in positioning target；Inertial sensor unit includes the inertial sensor being mounted in each positioning target；
Step 2, positioning and calculating unit carry out wireless location resolving according to the output of wireless sensor unit, and it is wirelessly fixed to obtain
The position parameter L of the target to be positioned of position method measurementwsn；Simultaneously positioning and calculating unit according to the output of inertial sensor unit into
Row inertia parameter resolves, and obtains the position parameter L of the target to be positioned of inertial positioning method measurementsins；
Whether step 3, integrated positioning unit judges wireless sensor unit and inertial sensor unit fail, and carry out not
The anti-failover control of rescue Sensor Network under failing with sensor unit, it is fixed to the stabilization of target to be positioned under Disastrous environment to realize
Position.
The concrete operations of the step 3 are as follows:
A: when wireless sensor unit and effective inertial sensor unit, the to be positioned of wireless location method measurement is obtained
The position parameter L of targetwsnWith the position parameter L of the target to be positioned of inertial positioning method measurementsins, defeated to two kinds of localization methods
Result carries out space-time alignment out, and weight is trusted in setting wireless sensor unit position and inertial sensor unit position, by melting
Close the position L that target to be positioned is calculatedsins/wsn；
B: when wireless sensor unit failure, i.e., in unit time △ twsnIt is interior by wireless location method measurement obtain to
Position the location variation △ L of targetwsnMore than threshold value σ (wireless sensor is interfered in wireless signal, node failure or
It participates in that location of mistake can be generated when positioning anchor number of nodes is inadequate, based on the kinematics model of target to be positioned, in unit
In change in location always in an interval range, i.e., variable quantity threshold value σ in target position to be positioned) when, determine using by inertia
The location variation △ L for the target to be positioned that position method measures within the unit timesinsIt is to be positioned to being measured by wireless location method
The location variation △ L of targetwsnIt is corrected, the target to be positioned that then wireless sensor unit after correction is obtained
Position parameter LwsnThe position parameter L of the target to be positioned obtained with inertial sensor unitsinsSpace-time alignment is carried out, nothing is set
Weight is trusted in line sensor unit position and inertial sensor unit position, obtains the position of target to be positioned by fusion calculation
Lsins/wsn；The correction are as follows: inertia incremental value is replaced into wireless incremental value, passes through wireless previous moment position and inertia incremental value
Obtain target current time position.
C: when inertial sensor unit failure, i.e. the long endurance runing time △ t of inertial sensor unitsinsGreater than threshold
Rescue Sensor Network combination is accurately positioned result L by value τsins/wsnAs the initial position of inertial sensor unit, it is accumulative to eliminate it
Location error, inertial sensor carry out integral operation on the position of update, then obtain to wireless sensor unit undetermined
The position parameter L of position targetwsnThe position parameter L of the target to be positioned obtained with the inertial sensor unit after correctionsinsIt carries out
Weight is trusted in space-time alignment, setting wireless sensor unit position and 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 fail, i.e., in unit time △ twsnIt is interior by wireless
The location variation △ L of the target to be positioned of positioning mode measurementwsnMore than threshold value σ, and the long endurance of inertial sensor unit is run
Time △ tsinsGreater than threshold tau, target to be positioned can not be accurately positioned using rescue Sensor Network, pass through inertial sensor
Middle acceleration module exports the walking states to judge target to be positioned, specifically:
When acceleration module detects target to be positioned movement, the walking step-length f based on target to be positionedlWith cadence ff
Position estimation is carried out to target to be positioned.Specifically: since acceleration module is capable of detecting when on three axis (X, Y, Z) directions
Data, therefore, when target to be positioned is when same floor is walked, the value of Z axis will not change, when target to be positioned is gone downstairs upper
When terraced, the value of Z axis can change, and target to be positioned carries out position.
Each inertial sensor in inertial sensor unit in the step 2 includes that three-axis gyroscope and three axis accelerate
Degree meter, three-axis gyroscope measure angular velocity, and then acquire attitude parameter, are finally made of attitude matrix 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 the real-time speed and position parameter L that high speed integral obtains target to be positionedsins。
Wireless sensor unit is by time of arrival (toa) between detection radio node in the step 2, in conjunction with angle of arrival
Detection obtains the reaching time-difference and angle of arrival between wireless anchor node and wireless mobile node；And to wireless information source independent of
Channel model carries out the identification of non-visual environment, using Local Subspace error modeling and compensation method to noisy range error into
Row amendment, obtains the wireless position parameter L of target to be positionedwsn。
As shown in Figure 1, a kind of anti-failure of sensing network for rescue positions handover control system, including wireless sensor
Unit, inertial sensor unit, positioning and calculating unit, integrated positioning unit；The wireless sensor unit and inertial sensor
The output end of unit is connected with the input terminal of positioning and calculating unit, and the output end of positioning and calculating unit is connected with integrated positioning unit
It connects.
The wireless sensor unit includes: to be mounted on multiple wireless anchor nodes of area to be targeted and be mounted on each undetermined
Wireless mobile node in the target of position；Inertial sensor unit includes the inertial sensor being mounted in each target to be positioned；
The positioning and calculating 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 of method measurementwsn；Positioning and calculating 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 of inertial positioning method measurementsins。
Whether the integrated positioning unit judges wireless sensor unit and inertial sensor unit fail, and carry out difference
The anti-failover control of the lower rescue Sensor Network of sensor unit failure, it is fixed to the stabilization of target to be positioned under Disastrous environment to realize
Position.
The concrete operations of the integrated positioning unit are as follows:
A: when wireless sensor unit and effective inertial sensor unit, the to be positioned of wireless location method measurement is obtained
The position parameter L of targetwsnWith the position parameter L of the target to be positioned of inertial positioning method measurementsins, wireless sensor unit energy
Enough export target low frequency location information L under rectangular coordinate system in spacewsn, and inertial sensor unit can export geographic coordinate system
Lower targeted high frequency location information Lsins, the update cycle of location data is greater than under wireless sensor unit under inertial sensor unit
The update cycle of location data, it is therefore desirable to space-time alignment be carried out to two kinds of localization method output results, wireless sensor is set
Weight is trusted in cell position and inertial sensor unit position, obtains the position L of target to be positioned by fusion calculationsins/wsn；
B: when wireless sensor unit failure, i.e., in unit time △ twsnIt is interior measured by wireless location method it is to be positioned
The location variation △ L of targetwsnWhen more than threshold value σ, by the target to be positioned measured within the unit time by inertial positioning method
Location variation △ LsinsTo the location variation △ L of the target to be positioned measured by wireless location methodwsnIt is corrected, then
To the position parameter L for the target to be positioned that the wireless sensor unit after correction obtainswsnWith inertial sensor unit obtain to
Position the position parameter L of targetsinsCarry out space-time alignment, setting wireless sensor unit position and inertial sensor unit position
Trust weight, the position L of target to be positioned is obtained by fusion calculationsins/wsn；The failure of wireless sensor unit mainly by
Be interfered in wireless signal, node failure or participate in positioning anchor number of nodes it is inadequate when can generate location of mistake；
C: when inertial sensor unit failure, rescue Sensor Network combination is accurately positioned result Lsins/wsnIt is passed as inertia
The initial position of sensor cell adds up location error to it and eliminates, and inertial sensor is integrated on the position of update
Operation, the position parameter L for the target to be positioned that then wireless sensor unit is obtainedwsnWith the inertial sensor list after correction
The position parameter L for the target to be positioned that member obtainssinsSpace-time alignment is carried out, wireless sensor unit position and inertia sensing are set
Device cell position trusts weight, obtains the position L of target to be positioned by fusion calculationsins/wsn；The mistake of inertial sensor unit
Effect can generate cumulative errors after mainly running a period of time due to inertial sensor so that the failure of subsequent location data, draws
The main reason for playing inertial sensor cumulative errors is that the target initial motion parameter to be positioned for participating in iteration has cumulative errors；
D: when wireless sensor unit and inertial sensor unit fail, i.e., in unit time △ twsnIt is interior by wireless
The location variation △ L of the target to be positioned of positioning mode measurementwsnMore than threshold value σ, and the long endurance of inertial sensor unit is run
Time △ tsinsGreater than threshold tau, target to be positioned can not be accurately positioned using rescue Sensor Network, pass through each inertia sensing
Acceleration module exports the walking states to judge target to be positioned in device, specifically:
When acceleration module detects target to be positioned movement, the walking step-length f based on target to be positionedlWith cadence ff
Position estimation is carried out to target to be positioned.
The output of the inertial sensor unit includes the angular speed for the target to be positioned that each inertial sensor is measured
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, output valve indicate amount of the angular speed of carrier relative inertness system rotation in each axial direction of carrier system；And three axis
Accelerometer is the device of sensitive carrier acceleration, and it is each axial instantaneous to obtain carrier system indirectly by measuring inertia force
Acceleration；Attitude matrix is obtained by the angular speed that three-axis gyroscope measures, in conjunction with the ratio force information of three axis accelerometer sensitivity,
Target initial velocity to be positioned, position, posture inertia parameter auxiliary under, pass through the reality that high speed integral obtains target to be positioned
Shi Sudu and position parameter Lsins。
The wireless sensor unit is detected in conjunction with angle of arrival and is obtained by time of arrival (toa) between detection radio node
Reaching time-difference and angle of arrival between wireless anchor node and wireless mobile node；Since high-risk production area is multi-path dense ring
Border converts wireless signal constantly in visual environment and non-visual environment, and wireless distance finding is easy that there are errors, therefore to wireless communication
Source carries out the identification of non-visual environment independent of channel model, using Local Subspace error modeling and compensation technique to noisy
Range error is modified, and obtains the wireless position parameter L of target to be positionedwsn。
The present invention can count number of workers when high-risk production area works normally, and optimize worker's production operation and limit
It makes its and enters and leaves certain off-limits regions, be capable of forming rescue once high-risk production area accident occurs when institute's placement sensor
Sensor Network formulates targetedly rescue according to distributing position of the personnel in different zones, provides optimal escape route, improve
Effect is rescued under high-risk production area Disastrous environment.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. a kind of anti-failure of sensing network for rescue positions method for handover control, which comprises the following steps:
The sensing network for rescue of step 1, building for area to be targeted under Disastrous environment, including wireless sensor list
Member, inertial sensor unit, wireless sensor unit include: to be mounted on multiple wireless anchor nodes of area to be targeted and be mounted on
Wireless mobile node in each target to be positioned；Inertial sensor unit includes the inertia sensing being mounted in each target to be positioned
Device；
Step 2, positioning and calculating 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 of measurementwsn；Positioning and calculating unit is used to according to the output of inertial sensor unit simultaneously
Property parameter resolve, obtain inertial positioning method measurement target to be positioned position parameter Lsins；
Whether step 3, integrated positioning unit judges wireless sensor unit and inertial sensor unit fail, and carry out different biographies
The anti-failover control of the lower rescue Sensor Network of sensor cell failure, realizes the stable position to target to be positioned under Disastrous environment；
The concrete operations of the step 3 are as follows:
A: when wireless sensor unit and effective inertial sensor unit, the target to be positioned of wireless location method measurement is obtained
Position parameter LwsnWith the position parameter L of the target to be positioned of inertial positioning method measurementsins, to two kinds of localization method output knots
Fruit carries out space-time alignment, and setting wireless sensor unit position and inertial sensor unit position are trusted weight, counted by fusion
Calculation obtains the position L of target to be positionedsins/wsn；
B: when wireless sensor unit failure, i.e., in unit time Δ twsnIt is interior obtained by wireless location method measurement it is to be positioned
The location variation Δ L of targetwsnWhen more than threshold value σ, the target to be positioned measured within the unit time by inertial positioning method is utilized
Location variation Δ LsinsTo the location variation Δ L of the target to be positioned measured by wireless location methodwsnIt is corrected, so
The position parameter L for the target to be positioned that the wireless sensor unit after correction is obtained afterwardswsnIt is obtained with inertial sensor unit
The position parameter L of target to be positionedsinsCarry out space-time alignment, setting wireless sensor unit position and inertial sensor unit position
Confidence appoints weight, obtains the position L of target to be positioned by fusion calculationsins/wsn；
C: when inertial sensor unit failure, i.e. the long endurance runing time △ t of inertial sensor unitsinsGreater than threshold tau,
Rescue Sensor Network combination is accurately positioned result Lsins/wsnAs the initial position of inertial sensor unit, its accumulative position is eliminated
Error, inertial sensor carry out high speed integral operation on the position of update, then obtain to wireless sensor unit undetermined
The position parameter L of position targetwsnThe position parameter L of the target to be positioned obtained with the inertial sensor unit after correctionsinsIt carries out
Weight is trusted in space-time alignment, setting wireless sensor unit position and 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 fail, i.e., in unit time △ twsnIt is interior by wireless location
The location variation △ L of the target to be positioned of method measurementwsnMore than threshold value σ, and the long endurance runing time of inertial sensor unit
△tsinsGreater than threshold tau, target to be positioned can not be accurately positioned using rescue Sensor Network, by adding in inertial sensor
Acceleration module exports the walking states to judge target to be positioned, specifically:
When acceleration module detects target to be positioned movement, the walking step-length f based on target to be positionedlWith cadence ffIt treats
It positions target and carries out position estimation.
2. the anti-failure of a kind of sensing network for rescue according to claim 1 positions method for handover control, feature
Be: each inertial sensor in the inertial sensor unit in the step 2 includes three-axis gyroscope and 3-axis acceleration
Meter, three-axis gyroscope measures angular velocity, and then acquires attitude parameter, and attitude matrix, three axis are finally made of each attitude parameter
Accelerometer is obtained than force information, in conjunction with target initial velocity to be positioned, initial position, initial attitude parameter, by them
Carry out real-time speed and position parameter L that high speed integral obtains target to be positionedsins。
3. the anti-failure of a kind of sensing network for rescue according to claim 1 positions method for handover control, feature
Be: wireless sensor unit is detected by time of arrival (toa) between detection radio node in conjunction with angle of arrival in the step 2
Obtain the reaching time-difference and angle of arrival between wireless anchor node and wireless mobile node；And to wireless information source independent of channel
Model carries out the identification of non-visual environment, is repaired using Local Subspace error modeling and compensation method to noisy range error
Just, the wireless position parameter L of target to be positioned is obtainedwsn。
4. a kind of anti-failure of sensing network for rescue positions handover control system, it is characterised in that: including wireless sensor
Unit, inertial sensor unit, positioning and calculating unit, integrated positioning unit；The wireless sensor unit and inertial sensor
The output end of unit is connected with the input terminal of positioning and calculating unit, and the output end of positioning and calculating unit is connected with integrated positioning unit
It connects；
The wireless sensor unit includes: to be mounted on multiple wireless anchor nodes of area to be targeted and be mounted on each mesh to be positioned
The wireless mobile node put on；Inertial sensor unit includes the inertial sensor being mounted in each target to be positioned；
The positioning and calculating unit carries out wireless location resolving according to the output of wireless sensor unit, obtains the survey of wireless location method
The position parameter L of the target to be positioned of amountwsn；Positioning and calculating 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 of inertial positioning method measurementsins；
Whether the integrated positioning unit judges wireless sensor unit and inertial sensor unit fail, and carry out different sensings
The anti-failover control of Sensor Network is rescued under device element failure, realizes the stable position to target to be positioned under Disastrous environment；
The concrete operations of the integrated positioning unit are as follows:
A: when wireless sensor unit and effective inertial sensor unit, the target to be positioned of wireless location method measurement is obtained
Position parameter LwsnWith the position parameter L of the target to be positioned of inertial positioning method measurementsins, to two kinds of localization method output knots
Fruit carries out space-time alignment, and setting wireless sensor unit position and inertial sensor unit position are trusted weight, counted by fusion
Calculation obtains the position L of target to be positionedsins/wsn；
B: when wireless sensor unit failure, i.e., in unit time △ twsnIt is interior obtained by wireless location method measurement it is to be positioned
The location variation △ L of targetwsnWhen more than threshold value σ, the target to be positioned measured within the unit time by inertial positioning method is utilized
Location variation △ LsinsTo the location variation △ L of the target to be positioned measured by wireless location methodwsnIt is corrected, so
The position parameter L for the target to be positioned that the wireless sensor unit after correction is obtained afterwardswsnIt is obtained with inertial sensor unit
The position parameter L of target to be positionedsinsCarry out space-time alignment, setting wireless sensor unit position and inertial sensor unit position
Confidence appoints weight, obtains the position L of target to be positioned by fusion calculationsins/wsn；
C: when inertial sensor unit failure, i.e. the long endurance runing time △ t of inertial sensor unitsinsGreater than threshold tau,
Rescue Sensor Network combination is accurately positioned result Lsins/wsnAs the initial position of inertial sensor unit, its accumulative position is eliminated
Error, inertial sensor carry out high speed integral operation on the position of update, then obtain to wireless sensor unit undetermined
The position parameter L of position targetwsnThe position parameter L of the target to be positioned obtained with the inertial sensor unit after correctionsinsIt carries out
Weight is trusted in space-time alignment, setting wireless sensor unit position and 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 fail, i.e., in unit time △ twsnIt is interior by wireless location
The location variation △ L of the target to be positioned of method measurementwsnMore than threshold value σ, and the long endurance runing time of inertial sensor unit
△tsinsGreater than threshold tau, target to be positioned can not be accurately positioned using rescue Sensor Network, by each inertial sensor
Acceleration module exports the walking states to judge target to be positioned, specifically:
When acceleration module detects target to be positioned movement, the walking step-length f based on target to be positionedlWith cadence ffIt treats
It positions target and carries out position estimation.
5. the anti-failure of a kind of sensing network for rescue according to claim 4 positions handover control system, feature
Be: each inertial sensor in the inertial sensor unit includes three-axis gyroscope and three axis accelerometer, inertia sensing
The output of device unit includes the angular speed and acceleration of the target to be positioned that each inertial sensor is measured；Three-axis gyroscope
Output valve indicates amount of the angular speed of carrier relative inertness system rotation in each axial direction of carrier system；Three axis accelerometer is measured
Inertia force to obtain each axial instantaneous acceleration of carrier system indirectly；Posture ginseng is obtained by the angular speed that three-axis gyroscope measures
Number, finally constitutes attitude matrix by attitude parameter, ratio force information, the initial speed of target to be positioned in conjunction with three axis accelerometer acquisition
Degree, initial position, initial attitude inertia parameter, by they carry out high speed integral obtain targets to be positioned real-time speed and
Position parameter Lsins。
6. the anti-failure of a kind of sensing network for rescue according to claim 4 positions handover control system, feature
Be: the wireless sensor unit detects in conjunction with angle of arrival by time of arrival (toa) between detection radio node and obtains nothing
Reaching time-difference and angle of arrival between line anchor node and wireless mobile node；And to wireless information source independent of channel model into
The identification of the non-visual environment of row, is modified noisy range error using Local Subspace error modeling and compensation method, obtains
Obtain the wireless position parameter L of target to be positionedwsn。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610635622.0A CN106323278B (en) | 2016-08-04 | 2016-08-04 | A kind of anti-failure positioning method for handover control of sensing network for rescue and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610635622.0A CN106323278B (en) | 2016-08-04 | 2016-08-04 | A kind of anti-failure positioning method for handover control of sensing network for rescue and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106323278A CN106323278A (en) | 2017-01-11 |
| CN106323278B true CN106323278B (en) | 2019-03-15 |
Family
ID=57739494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610635622.0A Expired - Fee Related CN106323278B (en) | 2016-08-04 | 2016-08-04 | A kind of anti-failure positioning method for handover control of sensing network for rescue and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106323278B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974687A (en) * | 2017-12-28 | 2019-07-05 | 周秦娜 | Co-located method, apparatus and system in a kind of multisensor room based on depth camera |
| CN108169816A (en) * | 2018-01-10 | 2018-06-15 | 上海浩毅安防科技有限公司 | Post disaster relief personnel and indicator of trapped personnel alignment system |
| CN111246367B (en) * | 2019-12-31 | 2021-03-16 | 中国科学院、水利部成都山地灾害与环境研究所 | System for determining the position of a buried-displacement building complex |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102419180A (en) * | 2011-09-02 | 2012-04-18 | 无锡智感星际科技有限公司 | Indoor positioning method based on inertial navigation system and WIFI (wireless fidelity) |
| CN103591952A (en) * | 2013-11-14 | 2014-02-19 | 天津滨海新区泽安泰消防技术有限公司 | Non-blind area locating system in fire rescue |
| CN105353348A (en) * | 2015-06-30 | 2016-02-24 | 山东科技大学 | System and method for positioning moving target under coal mine |
| CN105357754A (en) * | 2015-11-02 | 2016-02-24 | 中国电子科技集团公司第二十八研究所 | Wireless-network-based mobile node combined positioning method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100834761B1 (en) * | 2005-11-23 | 2008-06-05 | 삼성전자주식회사 | Method and apparatus for reckoning position of moving robot |
-
2016
- 2016-08-04 CN CN201610635622.0A patent/CN106323278B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102419180A (en) * | 2011-09-02 | 2012-04-18 | 无锡智感星际科技有限公司 | Indoor positioning method based on inertial navigation system and WIFI (wireless fidelity) |
| CN103591952A (en) * | 2013-11-14 | 2014-02-19 | 天津滨海新区泽安泰消防技术有限公司 | Non-blind area locating system in fire rescue |
| CN105353348A (en) * | 2015-06-30 | 2016-02-24 | 山东科技大学 | System and method for positioning moving target under coal mine |
| CN105357754A (en) * | 2015-11-02 | 2016-02-24 | 中国电子科技集团公司第二十八研究所 | Wireless-network-based mobile node combined positioning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106323278A (en) | 2017-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106500690B (en) | A kind of indoor autonomic positioning method and device based on multi-modal fusion | |
| Kourogi et al. | Indoor/outdoor pedestrian navigation with an embedded GPS/RFID/self-contained sensor system | |
| JP6811341B2 (en) | Tracking and Accountability Devices and Systems | |
| CA2653622C (en) | Method and system for locating and monitoring first responders | |
| CN108957510B (en) | Pedestrian seamless integrated navigation positioning method based on inertia/zero speed/GPS | |
| Stromback et al. | Foot-mounted inertial navigation and cooperative sensor fusion for indoor positioning | |
| CN106643739B (en) | Indoor environment personnel positioning method and system | |
| Fink et al. | RSSI-based indoor positioning using diversity and Inertial Navigation | |
| KR101385093B1 (en) | 3d-position decision system and 3d-position decision method based mems ins for worker in construction filed | |
| CN106323278B (en) | A kind of anti-failure positioning method for handover control of sensing network for rescue and system | |
| WO2017180503A1 (en) | Magnetic beacon and inertial sensor localization technology | |
| Woyano et al. | Evaluation and comparison of performance analysis of indoor inertial navigation system based on foot mounted IMU | |
| KR101795263B1 (en) | Alert system for laborer danger in tunnels and underground based-rtls | |
| EP3338108A1 (en) | Method, device and system for determining an indoor position | |
| CN115767412A (en) | Indoor positioning method integrating ultra-wideband and inertial measurement unit | |
| An et al. | Three-dimensional indoor location estimation using single inertial navigation system with linear regression | |
| Rantakokko et al. | Foot-and knee-mounted INS for firefighter localization | |
| CN109186603A (en) | 3-D positioning method in a kind of fireman room based on multisensor | |
| Kemppi et al. | Use of artificial magnetic anomalies in indoor pedestrian navigation | |
| Rantakokko et al. | Soldier positioning in GNSS-denied operations | |
| CN116907484A (en) | Emergency rescue personnel co-location method based on autonomous navigation and ZigBee constraint | |
| McCroskey et al. | GLANSER–An Emergency Responder Locator System for Indoor and GPS-Denied Applications | |
| Yang et al. | UWB/INS Based Indoor Positioning and NLOS Detection Algorithm for Firefighters | |
| Liu et al. | Pedestrian indoor navigation using foot-mounted IMU with multi-sensor data fusion | |
| CN101694391A (en) | Walking navigation instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190315 |