CN106851578B - Personnel positioning system and method in complex unknown indoor environment - Google Patents
Personnel positioning system and method in complex unknown indoor environment Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses a method and a system for positioning personnel in a complex unknown indoor environment. The method comprises the following steps: modeling and generating an indoor structure diagram of the building and a position schematic diagram of each base station near the building in advance according to the estimation information of the building, the position information of three base stations arranged near the building and the position information among the base stations; calculating the moving path of the personnel according to the walking course, the walking displacement and the walking time of the personnel in the moving process; and extracting the collected data change characteristic value, carrying out cluster analysis on the data change characteristic, judging whether the motion state of the current personnel meets the attribute of the geographic label, and matching the position of the current personnel to the corresponding geographic label of the indoor structure chart if the motion state of the current personnel meets the attribute of the geographic label and the known geographic label is matched with the known geographic label. The embodiment of the invention has the advantages of complex application environment, high positioning precision and good system stability, and is suitable for fire fighting, special police task execution or terrorist exercise and the like.
Description
Technical Field
The invention relates to the technical field of navigation positioning, in particular to a system and a method for positioning personnel in a complex unknown indoor environment.
Background
At present, China is in the period of economic transition and social transition, the pace of urbanization construction is accelerated, various disaster-causing factors are increased obviously, serious fire disasters and other various disaster accidents happen, and the scale of the disasters is enlarged continuously. In the face of complex fire-fighting rescue situation, a problem which cannot be ignored is that the proportion of casualties of vast fire-fighting instructors in fire-fighting rescue in China is gradually increased. Statistically, between 1997 and 2006 and 10, firefighters in the country sacrifice 131 and disability 1610; in 2007 to 2009, only 3 years ago, 153 firefighters sacrifice the country, and more than 500 people are disabled. On average, nearly 30 firefighters sacrifice and nearly 300 firefighters are injured or even disabled every year in China. From the fire fighting cases in recent years, the important reasons for causing the casualties of the firefighters are that the scene of the fire is complex, the protective equipment of the firefighters falls behind, commanders lack comprehensive understanding of the scene, the positions and real-time motion states of the firefighters in the fire extinguishing and rescue process are not clear, and the firefighters can only 'take on the emergency' outside, can not conduct detailed command on fire extinguishing and can not effectively organize subsequent rescue work. Due to the complexity of indoor environment and special requirements on positioning accuracy and safety, the indoor wireless positioning technology has distinct characteristics different from a common positioning system. The indoor positioning range is relatively small, and therefore the accuracy requirement for positioning is relatively higher than that for outdoor positioning. Indoor signals are weak, and reflection phenomena are severe, so that the robustness of a positioning algorithm to various errors is required to be strong. The application occasion of indoor positioning generally determines that the positioning equipment is simple, the power consumption is low, the calculation amount and the communication overhead cannot be too large, and the indoor positioning equipment is not interfered by other indoor equipment in special occasions.
Currently, Ultra Wide Band (UWB) technology, Radio Frequency Identification (RFID) technology, and RSSI-based WIFI indoor positioning are popular for indoor positioning. The three can realize comparatively accurate indoor location. However, all three positioning techniques require nodes to be arranged at known positions in the building in advance, and the system is complex and high in cost. The UWB positioning precision is higher, but the positioning distance is shorter; the accuracy of RFID system location is determined by the location of the reference tag, which affects location. The system needs to increase the density of the reference tags in order to improve the positioning accuracy, but the higher density can generate larger interference and affect the signal strength. Because the distance between the reference label and the undetermined label is obtained by calculating the Euclidean formula through the formula, the calculation amount is large; the WIFI positioning data acquisition workload is large, and in order to achieve higher precision, the position measurement and calculation setting of the fixed point AP is more complicated.
Disclosure of Invention
One of the technical problems to be solved by the invention is to provide a personnel positioning system which does not need to arrange nodes at known positions in a building in advance, has high positioning precision and good system stability, and is suitable for complex unknown indoor environments of fire fighting, special police performing tasks, anti-terrorism exercises and the like.
In order to solve the above technical problem, an embodiment of the present application first provides a method for locating a person in a complex unknown indoor environment, where the method includes: modeling to generate an indoor structure diagram of the building and a position schematic diagram of each base station near the building according to the estimated information of the building, the position information of three base stations arranged near the building and the position information among the base stations in advance, and calculating a moving path of a person according to the walking course, the walking displacement and the walking time of the person in the moving process; extracting the collected data change characteristic value, carrying out cluster analysis on the data change characteristic, judging whether the motion characteristic of the current personnel meets the attribute of the geographic label, if so, but no existing geographic label is matched with the motion characteristic, marking the position of the current personnel as a corresponding new geographic label in the indoor structure chart; and if the existing geographic label can be matched, matching the current personnel position to the corresponding geographic label of the indoor structure chart, and correcting the calculated path to obtain personnel positioning information.
Preferably, the method further comprises at least one of the following steps: before the path of the movement of the personnel is calculated, error compensation is carried out on the acquired data by adopting a zero-speed correction technology; and acquiring the distances between the personnel and the three base stations in the moving process, and further performing auxiliary estimation on the corrected personnel positioning information based on each distance.
Preferably, when the motion characteristics of the current person do not meet the attribute of the geographic tag, the place where the current person is located is identified according to a specific application scenario.
Preferably, the geographic tag comprises at least one of a staircase, an elevator, an entrance and an escalator, and when the GPS signal is attenuated by a set amplitude, the position where the current person is located is judged to meet the entrance attribute; the geotag attributes of an elevator, escalator or stair landmark are obtained through training.
Preferably, the collected data is preprocessed by adopting a footfall point judgment technology and a wide dynamic filtering technology.
According to another aspect, an embodiment of the present invention further provides a people positioning system for use in a complex unknown indoor environment, which is used for positioning people in the complex unknown environment, and the people positioning system includes: a building indoor structure modeling unit which generates an indoor structure diagram of the building and a position schematic diagram of each base station in the vicinity of the building in advance based on the estimated information of the building, the position information of three base stations arranged in the vicinity of the building, and the position information between the base stations; the positioning module is used for calculating a moving path of a person according to the walking course, the walking displacement and the walking time of the person in the moving process, extracting a collected data change characteristic value, carrying out cluster analysis on the data change characteristic value, judging whether the motion characteristic of the current person meets the attribute of a geographic label or not, and if the motion characteristic of the current person meets the attribute of the geographic label but the current person does not have the existing geographic label matched with the geographic label, marking the position of the current person as a corresponding new geographic label in the indoor structure diagram; and if the existing geographic label can be matched, matching the current personnel position to the corresponding geographic label of the indoor structure chart, and correcting the calculated path to obtain personnel positioning information.
Preferably, the positioning module further performs at least one of the following steps: before the path of the movement of the personnel is calculated, error compensation is carried out on the acquired data by adopting a zero-speed correction technology; and acquiring the distances between the personnel and the three base stations in the moving process, and further performing auxiliary estimation on the corrected personnel positioning information based on each distance.
Preferably, the positioning module further identifies a place where the current person is located according to a specific application scenario when the motion characteristics of the current person do not satisfy the geographic tag attribute.
Preferably, the geographic tag comprises at least one of a staircase, an elevator, an entrance and an escalator, and the positioning module further determines that the position of the current person meets the entrance attribute when the GPS signal is attenuated by a set amplitude; and obtaining the geographic label attribute of the elevator, escalator or stair landmark through training.
Preferably, the positioning module further adopts a foothold judgment technology and a wide dynamic filtering technology to preprocess the acquired data.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
the system provided by the embodiment of the invention has the advantages of complex application environment, high positioning precision, good system stability, applicability to fire fighting, special police task execution or terrorist exercise and the like. In terms of hardware, the system does not need to install nodes or emission sources indoors in advance, the use mode is flexible, the outdoor instruction control computer can carry out rapid three-dimensional modeling on the basic structure of an unknown building, the indoor positions of personnel and the channel positions among rooms are obtained in real time, and the indoor three-dimensional positioning function of the personnel is achieved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure and/or process particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the technology or prior art of the present application and are incorporated in and constitute a part of this specification. The drawings expressing the embodiments of the present application are used for explaining the technical solutions of the present application, and should not be construed as limiting the technical solutions of the present application.
FIG. 1 is a system diagram of a system for locating a person in a complex unknown indoor environment, according to an embodiment of the present invention.
Fig. 2 is a flow chart of a method for locating a person in a complex unknown indoor environment according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating a method for calculating a path of a person movement according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of positioning for auxiliary estimation of the person positioning information based on the distances between the base stations of the three radio data transmission stations and the mobile terminal device according to an embodiment of the present invention.
Fig. 5 is a functional block diagram of an instruction control computer C according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the accompanying drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the corresponding technical effects can be fully understood and implemented. The embodiments and the features of the embodiments can be combined without conflict, and the technical solutions formed are all within the scope of the present invention.
Additionally, the steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
FIG. 1 is a system diagram of a system for locating a person in a complex unknown indoor environment, according to an embodiment of the present invention. As shown in fig. 1, the system mainly includes individual equipment (mobile terminal equipment) a, a communication system, a designated computer C, and the like.
The individual equipment A mainly comprises an inertial sensor module, a microcontroller and wireless data transmission radio station label equipment (also can be called as a wireless data transmission radio station terminal), and has the characteristics of small volume, convenience in carrying, suitability for complex building environments, high positioning accuracy and the like. The inertial sensor module mainly acquires the walking course and the walking displacement of a person; and the microcontroller is mainly used for preprocessing the data acquired by the inertial sensor module and controlling the radio station terminal to send the acquired information. And the wireless data transmission radio station terminal is communicated with a communication system in an outdoor environment and sends out the data acquired by the sensor module.
In the aspect of hardware circuits, the current data transmission radio stations are common, and when the data transmission radio stations are selected, the parameters of the radio stations need to meet general technical requirements of individual fire fighter communication systems of GA 1086-2013. Currently, the mature ANYKEY AV1000 individual communication transmission system, LocalSense and the like. The inertial sensor module is preferably an ADIS16405BMLZ gyroscope sensor. ADIS16405BMLZ is a complete three-axis gyroscope, magnetometer, and accelerometer inertial detection system. The sensor combines the iMEMS of ADI company with mixed signal processing technology, provides calibrated digital inertial detection, and is a high-integration solution. The SPI interface and simple output register structure enable convenient data access and configuration control. The following embedded sensors are accessible through the SPI port: x, Y and Z-axis angular velocity; detecting relative first direction; x, Y and Z-axis linear acceleration; an internal temperature; a power source; and auxiliary analog inputs. The inertial sensors perform fine alignment on the various axes and calibrate for misalignment and sensitivity. The embedded controller can dynamically compensate for all major effects on the MEMS sensor, thus enabling a highly accurate sensor output without the need for testing, circuitry, or user intervention. The following programmable features can simplify system integration: automatic bias calibration in the system, digital filtering and sampling rate, self-test, power management, condition monitoring, and auxiliary digital input/output.
The communication system mainly comprises three wireless data transfer station base stations T1, T2, T3 and network communication N. Radio stations are only preferred examples and other forms of stations may be chosen. The three base stations are arranged in a set range around a building, communicate with a wireless data transmission radio station terminal of the mobile terminal device A, and receive acquired data. And a network communication unit N that forwards the received data to the designated computer C in the outdoor environment.
The instruction control computer C includes a data communication unit C1, a data processing unit C2, and a positioning information display unit C3 (see fig. 5), displays positioning information of a firefighter based on a Geographic Information System (GIS), and has a function of rapidly building two-dimensional and three-dimensional building models. Specifically, the data communication unit C1 receives data collected by the inertial sensor module forwarded from the communication system. The data processing unit C2 comprises a building indoor structure modeling unit C21 and a positioning module C22, wherein the building indoor structure modeling unit C21 generates an internal approximate structure diagram of the building H and a position schematic diagram of the radio data transmission station base stations T near the building H in advance according to the estimated information of the building, the position information of the building and three radio data transmission station base stations and the position information among the radio data transmission station base stations by modeling, and specifically generates an approximate external frame and an internal floor diagram of a three-dimensional building by software modeling according to the estimated length, width, height, window position and number of the building; and the positioning module C22 is used for calculating a path of the personnel movement according to the acquired data and based on the walking course, the walking displacement and the walking time of the personnel in the moving process, and correcting the path to obtain personnel positioning information. And a positioning information display unit C3 for displaying the position of the person in the building H based on the internal approximate structure diagram of the building H and the schematic position diagram of the radio base station T in the vicinity of the building H according to the person positioning information.
In one example, building H (shown in fig. 1) is preset as a fire site. Before a fireman enters an indoor fire-fighting and life-saving environment, three base stations T1, T2 and T3 are preferably arranged around a building at a distance of 20-30 m from the building, the relative positions of the base stations T and the building H are known, and the relative positions of the base stations T are known. Each fireman carries an individual soldier device A, the individual soldier device A and each base station T are in wireless communication, and the communication protocol contains the identification code of the individual soldier device A, so that different firemen can be distinguished. The instruction control computer C is connected with three base stations T1, T2 and T3 through a hub M, and adopts a UDP communication protocol or a custom communication protocol suitable for the transmission characteristics of positioning information. The operator of the instruction control computer C roughly measures information about the building H including the floor height, the number of rooms per floor, the window position, etc. of the building H, and also inputs the position information of the base stations T1, T2, T3 including the relative positions of the respective base stations T and the building H and the relative positions between the respective base stations T. Then, the building indoor structure modeling unit C21 in the instruction control computer C generates an approximate structural diagram of the inside of the building H and a position schematic diagram of three base stations T1, T2, T3. The positioning module C22 calculates the moving path of the person according to the walking course, the walking displacement and the walking time of the person, and corrects the path to obtain the positioning information of the person. The instruction control computer C bears a plurality of works such as communication, data processing, three-dimensional modeling and the like, simultaneously takes account of portability, has higher requirements on computer performance, and can select a mobile workstation as the instruction control computer, such as a Del M4800 mobile workstation.
The positioning module C22 in the designated computer C is a core part of the system, and how the positioning module C22 can position the indoor person is described with reference to the flow of the preferred embodiment shown in fig. 2.
In summary, a firefighter initiates individual equipment A at the entrance to building H, initializes the equipment, and serves as an initiation point. When a fireman enters a building H and moves, the inertial sensor module of the individual equipment A collects relevant walking data of the fireman, on one hand, the positioning module C22 reads the inertial sensor data, inputs the reading of an acceleration sensor, an electronic compass and timer data into a dead reckoning system, collects the sensor data, corrects the data in the dead reckoning system by adopting a zero-speed correction technology, determines the movement course and displacement of the fireman, and calculates the route by combining an initial position and utilizing a dead reckoning algorithm; on the other hand, the positioning module C22 extracts a data change feature value from the sensor data, performs cluster analysis on the data change feature, determines whether the current data feature has a landmark attribute, matches the position of the person to an existing landmark if the current data feature has the landmark attribute and can be matched with the existing landmark, corrects the calculated path, adjusts the step length, and plays a role in landmark correction, thereby calculating the current position of the person; if the landmark attribute is possessed but no known landmark is matched with the current position and/or the current data characteristic landmark, marking the position as a new landmark in the indoor structure diagram, and obtaining a calculated path which is the path required by the current position of the dead reckoning person; and if the current data features do not have the landmark attributes, identifying the places according to specific application scenes, and similarly, obtaining the calculated path which is the path required by the current position of the dead reckoning personnel, wherein the related specific application scenes can be application scenes of anti-terrorism exercise and the like besides fire site buildings, and are not limited specifically. Taking the example that the person ascends to the second floor from the first floor by the elevator, the positioning module C22 collects sensor data, extracts characteristic values to perform clustering analysis, obtains the fact that the movement characteristics of the person at the position do not have landmark attributes, and judges that the person moves on the first floor at the moment; if the GPS reading is extracted to have obvious change and the acceleration sensor data has big fluctuation in positive direction and negative direction, analyzing the data to obtain an acceleration value difference larger than a set threshold value, performing cluster analysis to obtain that the movement characteristic of the person at the position has an ascending attribute, comparing the position information with the elevator attribute with the position information of the existing landmark, judging whether the position can be matched with the position of the existing landmark, if not, marking the position as the position of the elevator, taking the currently calculated path as the path required by the position of the person to be calculated, and judging that the person is taking the elevator from the first floor to the second floor; if the distance information can be matched with the existing landmarks, the existing landmarks are matched, and the calculated path is corrected and the step length is adjusted, so that the situation that the personnel go from the first floor to the second floor at present is judged; on the second floor, if the characteristic values are extracted for cluster analysis, and the motion characteristics of the obtained personnel do not have landmark attributes, the personnel are judged to move on the second floor; it should be noted that, whether the two pieces of position information can be matched is obtained by training, and matching is considered to be possible within a certain error range, and matching is considered to be impossible if the error exceeds the error obtained by training. In addition, the positioning module C22 corrects the calculated position of the fire fighter by calculating the distance between the fire fighter and the base stations of the three surrounding radio stations through a three-point positioning technique.
It will be readily appreciated that in order to achieve a high degree of accuracy in the calculated path of travel, the acquired data may be pre-processed by the microcontroller of the inertial sensor module or the positioning module C22 before being positioned in real time in three dimensions. Specifically, a foot drop point judgment technology, a wide dynamic filtering technology and the like can be adopted in the preprocessing process of the inertial sensor data to establish a quantitative gait recognition method for firefighters, so that the interference of human body motion jitter on direction measurement is overcome.
The following is a detailed description of the flow shown in fig. 2 above.
Specifically, in one aspect, the positioning module C22 utilizes a dead reckoning system to calculate a walking path for a person. Based on the coordinate and course of the position at the last momentAnd from the last position, the current position and the current course of the personnel are presumed according to the displacement and the course of the personnel walking in the period of time. As shown in FIG. 3, the person is at T0The starting position of the time is (E)0，N0) Traveling along heading angle α with a displacement of I0，T1Time of arrival position (E)1，N1) At T1The moment begins to travel β along heading angle by a displacement I1，T2Time of arrival position (E)2，N2) At T2Starts to walk along the course angle gamma at the moment by the displacement I2，T3Time of arrival position (E)3，N3)，T1And T2The position information equation at two moments is shown as follows:
E(T2)＝E(T1)+I1sin β formula (1)
N(T2)＝N(T1)+I1Cos β formula (2)
From the above basic principle, the main factors of the positioning accuracy include: initial position, walking course and walking displacement. In the embodiment, the inertial sensor module in the positioning system is used for acquiring data of the walking steps, the course and the step length of the personnel, and the data are analyzed to calculate and track the position of the personnel. More specifically, based on the acceleration sensor readings in the inertial sensor module, the number of steps taken by the person while walking can be calculated, thus enabling the displacement of the user to be inferred; based on the electronic compass, the heading of each step of the person can be known. And by adding time, the motion vector < displacement, direction and time > of the personnel can be obtained, and further the moving path of the personnel can be estimated. However, because the behavior of the movement of the person is random and variable, the number of steps, the step length and the navigation obtained by the analysis of the sensor have errors, and therefore, the position information of the person calculated by the method only has error accumulation, and further causes the accumulation of positioning errors.
Therefore, on the other hand, in the embodiment of the present invention, the positioning module C22 adopts the following method to correct the above position: the positioning module C22 extracts the data change feature value acquired by the inertial sensor module, and determines whether the position of the current person satisfies a certain geographic tag attribute, if so, determines whether an existing geographic tag exists near the current person, and if so, matches the position of the current person to a corresponding geographic tag, thereby correcting the calculated path to obtain the person positioning information. Some specific structures (such as elevator, stair) in the building are regarded as seed landmark to this embodiment, and the data characteristic of inertial sensor discerns the landmark fast when according to personnel move on the landmark, revises fireman's walking route, and then carries out more accurate location, can obtain that the fireman passes through elevator/stair from which floor which room enters into which floor which room etc. realizes that the three-dimensional positioning information of fireman is directly perceived to be displayed and is tracked in real time.
The geographic location tag (also referred to as a "seed landmark") identifies a geographic location within the building that enables the data collected by the inertial sensor module to exhibit a particular characteristic. Because the indoor plane structure chart is approximately generated by modeling of the instruction control computer, and the marked special geographic position is added, the path of the personnel can be corrected according to the labels, and further more accurate indoor positioning is carried out. It should be noted that, after the indoor plane structure diagram modeling is completed, the geographic tags inside the indoor plane structure diagram are incomplete, and the location identification needs to be performed on different geographic positions where the personnel are located in combination with the later stage, and the corresponding geographic tags are additionally labeled in the indoor plane structure diagram, so that the positioning accuracy becomes higher with the increase of the density of the geographic tags.
Seed landmarks are essentially some specific structures of the building-stairs, elevators, entrances, escalators, all of which can cause specific changes in the data collected by the sensor module. For example, when a person enters a building from the outside of the building, the GPS signal is greatly attenuated, and the acquired data is analyzed to obtain the attenuation of the GPS signal with a set amplitude, it can be determined that the position of the person at the time is at the entrance of the building; the acceleration sensor reading is greatly fluctuated when the elevator starts and stops, and the stairs and the escalator ascend and descend, and when the set change is obtained by analyzing the acquired data, the current person is judged to be at the elevator, the escalator or the stairs, and the judgment of the specific landmark attributes of the elevator, the escalator or the stairs can be obtained through training. If a person enters from a door of a building and is ready to go upstairs by taking an elevator, the position of the person can be accurately positioned at the door of the building due to the obvious change of GPS reading, then the position of the person is determined according to path conjecture, and the position of the person can only be determined near the elevator due to certain error. In a similar process, when a person enters a path estimation process of an elevator at a new stage, the path can be accurately corrected every time the person passes through a landmark, so that the system can control the position of the path estimation to reach a certain precision as long as the landmark reaches a certain density. Increasing the density of landmarks in a particular application can cause frequent error zeroing, thereby reducing the average error. Because the positioning system is applied to fire-fighting occasions, the landmark under the environment generally only has the stair, and the characteristic data of the stair can be obtained through tests.
Further, in addition to the above location correction based on the landmark, at least one of the following methods may be performed to correct an error (a flowchart shown in fig. 2): the first method is to adopt a zero-speed correction technology to carry out error compensation on data acquired by an inertial sensor module before calculating a path of personnel movement, and the zero-speed correction is an error compensation technology and can effectively control error accumulation of the inertial navigation system in long-time work. The firefighter cannot be in motion all the time when indoors, and when the firefighter is at rest, other position information of the firefighter is corrected by taking the stopped speed error as an observed quantity. The second method is that in the communication process of the individual equipment A and three data transmission radio stations T1, T2 and T3 in the outdoor environment, the position information of personnel can be obtained through the distance measurement principle, and the corrected personnel positioning information is further subjected to auxiliary estimation.
Zero-speed correction ZUPT is used as an error compensation technology, error accumulation of long-time work of the inertial navigation system can be effectively controlled, and the accuracy of the system is improved. The zero-speed correction is to correct other information of the carrier by using a speed error when the carrier is stopped as an observed quantity. The zero-speed correction method is mature, such as quadratic curve fitting, real-time Kalman filtering, smooth estimation method and the like. The quadratic curve fitting method is simple, but the accuracy is poor. When the real-time Kalman filtering is applied to the ZUPT, the state quantity is large, the calculation precision is reduced, the filtering estimation value is easy to diverge, the azimuth error angle is difficult to estimate in the parking correction period, and the like. In the system, the speed error of a person in uniform motion is tested and measured in advance, and then an improved curve fitting method and a filtering estimation method can be used for calculation.
As shown in fig. 4, in the circumferential positioning model, the personnel location information is calculated by the physical distances between the individual soldier equipment a and three base stations T1, T2 and T3 of the data radio station in the outdoor environment, and the specific principle is as follows: in the circular positioning model, theoretically, if the physical distances from the mobile node to the three beacons are known, the three beacons are used for making the centers of three circles, the physical distances from the mobile node to the three beacons are radii, three circles are drawn, the three circles and the mobile node are intersected, namely the common intersection point of the three circles is the position of the mobile node MS. However, in practice, due to the influence of noise, a sharp decline after the signal encounters an obstacle, an error caused by a measuring tool, and the like, it is impossible for the three circles in the circular model to intersect at one point. In an indoor environment, due to absorption of electromagnetic wave signals by surrounding obstacles and the like, a signal strength value received by a receiver is generally smaller than an expected signal strength value and is reflected on an estimated distance from a mobile node to a beacon node, and as a result, the radii of three drawn circles are large. This should be considered the most common case, as shown in fig. 4: the three circles drawn in the figure have a total of three intersection points, forming a triangular area. The position of the mobile node MS is sought within the common intersection area of the three circles. By taking the centroid of the triangle as the estimated location of the mobile node MS.
The method has the advantages that the positioning can be accurately realized through dead reckoning, zero-speed correction and three-point positioning correction of individual equipment, the landmarks are identified by the method, the building on the fire scene is made transparent, fire commanders can acquire the distribution condition of the firemen on each floor and the motion state of each fireman in real time through a commanding ground station, on one hand, commanding and rescue work is legal, on the other hand, the safety monitoring of the firemen is increased, meanwhile, the landmarks are matched and corrected to correct the position of the firemen, and the positioning accuracy is improved.
The system provided by the embodiment of the invention has the advantages of complex application environment, high positioning precision, good system stability, applicability to fire fighting, special police task execution or terrorist exercise and the like. In the aspect of hardware, the system does not need to install nodes or emission sources indoors in advance, the use mode is flexible, the outdoor instruction control computer can carry out rapid three-dimensional modeling on the basic structure of an unknown building, the positions of indoor personnel are obtained in real time, and the indoor three-dimensional positioning function of the personnel is realized.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A method for locating a person in a complex unknown indoor environment, the method comprising:
modeling to generate an indoor structure diagram of the building and a position schematic diagram of each base station near the building according to the estimated information of the building, the position information of three base stations arranged near the building and the position information among the base stations in advance, and calculating the moving path of the personnel according to the walking course, the walking displacement and the walking time of the personnel in the moving process;
extracting the collected data change characteristic value, carrying out cluster analysis on the data change characteristic, judging whether the motion characteristic of the current personnel meets the attribute of the geographic label, if so, but no existing geographic label is matched with the motion characteristic, marking the position of the current personnel as a corresponding new geographic label in the indoor structure chart; if the existing geographic label can be matched, matching the current personnel position to the corresponding geographic label of the indoor structure chart, and correcting the calculated path to obtain personnel positioning information;
also includes at least one of the following steps:
before the path of the movement of the personnel is calculated, error compensation is carried out on the acquired data by adopting a zero-speed correction technology;
and acquiring the distances between the personnel and the three base stations in the moving process, and further performing auxiliary estimation on the corrected personnel positioning information based on each distance.
2. Person positioning method according to claim 1,
and when the motion characteristics of the current personnel do not meet the attributes of the geographic labels, identifying the place where the current personnel are located according to the specific application scene.
3. Person positioning method according to claim 1,
the geographic tag includes at least one of a staircase, an elevator, an entrance, and an escalator,
when the GPS signal is attenuated by a set amplitude, judging that the position of the current person meets the entrance attribute;
the geotag attributes of an elevator, escalator or stair landmark are obtained through training.
4. A people positioning method according to any one of claims 1 to 3,
and preprocessing the acquired data by adopting a foothold judgment technology and a wide dynamic filtering technology.
5. A people positioning system for use in a complex unknown indoor environment for positioning a person in the complex unknown environment, the people positioning system comprising:
a building indoor structure modeling unit which generates an indoor structure diagram of the building and a position schematic diagram of each base station in the vicinity of the building in advance based on the estimated information of the building, the position information of three base stations arranged in the vicinity of the building, and the position information between the base stations;
the positioning module is used for calculating a moving path of a person according to the walking course, the walking displacement and the walking time of the person in the moving process, extracting a collected data change characteristic value, carrying out cluster analysis on the data change characteristic value, judging whether the motion characteristic of the current person meets the attribute of a geographic label or not, and if the motion characteristic of the current person meets the attribute of the geographic label but the current person does not have the existing geographic label matched with the geographic label, marking the position of the current person as a corresponding new geographic label in the indoor structure diagram; if the existing geographic label can be matched, matching the current personnel position to the corresponding geographic label of the indoor structure chart, and correcting the calculated path to obtain personnel positioning information;
the positioning module further performs at least one of the following steps:
before the path of the movement of the personnel is calculated, error compensation is carried out on the acquired data by adopting a zero-speed correction technology;
and acquiring the distances between the personnel and the three base stations in the moving process, and further performing auxiliary estimation on the corrected personnel positioning information based on each distance.
6. Personnel positioning system according to claim 5,
and the positioning module is further used for identifying the place where the current personnel are located according to a specific application scene when the motion characteristics of the current personnel do not meet the geographic label attribute.
7. Personnel positioning system according to claim 5,
the geographic tag includes at least one of a staircase, an elevator, an entrance, and an escalator,
the positioning module is further used for judging that the position of the current person meets the entrance attribute when the GPS signal is attenuated by a set amplitude; and obtaining the landmark attributes of the geographic labels of the elevators, the escalators or the stairs through training.
8. People positioning system according to any of claims 5-7,
the positioning module is further used for preprocessing the acquired data by adopting a foot drop point judgment technology and a wide dynamic filtering technology.
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| CN111751861B (en) * | 2019-09-10 | 2023-01-24 | 广东小天才科技有限公司 | Building entrance detection method and mobile terminal |
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| CN110749427A (en) * | 2019-10-12 | 2020-02-04 | 江苏省建筑工程质量检测中心有限公司 | General test device for testing structural performance of prefabricated staircase |
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