CN107942363A - The fireman's indoor navigation system and its method calculated based on architecture structure drawing - Google Patents
The fireman's indoor navigation system and its method calculated based on architecture structure drawing Download PDFInfo
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- CN107942363A CN107942363A CN201711052730.6A CN201711052730A CN107942363A CN 107942363 A CN107942363 A CN 107942363A CN 201711052730 A CN201711052730 A CN 201711052730A CN 107942363 A CN107942363 A CN 107942363A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention discloses a kind of method of the fireman's indoor navigation calculated based on architecture structure drawing, after fire alarm is connected to, fireman's handheld terminal is retrieved from command system by mobile network and downloads corresponding architecture structure drawing, positioning and navigation for fireman in the scene of a fire；Including the initial alignment of fireman in the 1) scene of a fire, positioning in real time and the dynamic calibration of firefighter locator, 2) burn in the scene of a fire positioning a little and the navigation of fireman；The realization of dynamic calibration is in the present invention：RFID tag network is laid between floors, when fireman is in a RFID tag identification range, RFID read-write device collects the position coordinates of the RFID tag and is sent by communication module to command system in system, command system is with the current position coordinates of the above-mentioned fireman that positioning obtains in real time of position coordinates renewal, the position of fireman can be accurately determined, easy to the navigation of fireman.
Description
Technical field
The present invention relates to indoor positioning, the complex art such as signal processing and Internet of Things, more particularly to it is a kind of based on building knot
Fireman's indoor navigation system that composition calculates.
Background technology
Fire becomes endangers one of disaster of life and property safety of people, and in fire rescue, fire-fighting
Member usually influences to rescue because of the dense smoke diffused in unfamiliar condition and the scene of a fire.Therefore, realize fireman in building of catching fire
Positioning, navigation it is extremely urgent.And the location navigation that extreme case when catching fire is given in building of catching fire brings many challenges.Mesh
It is preceding less to fireman's navigator fix technical research, several technologies of fireman's indoor positioning navigation are presently available for below：
King keeps brightness et al. and proposes a kind of three-dimensional TDOA (Time Difference of based on Kalman filtering
Arrival, reaching time-difference)/AOA (Angle of Arrival, angle of arrival ranging) hybrid algorithm [1].Fireman enters
A simple signal emission source is carried during the scene of a fire.The signal emitting-source actively should outwards launch signal at regular intervals.Fire-fighting
The antenna for being used for receiving signal is housed, antenna uses up-side down triangle, mutiple antennas node is laid with to connect on whole antenna on car
Collect mail number, to realize positioning function, between antenna node known to distance.After antenna receives signal, signal arrival time difference is utilized
(optimized using Kalman filter) with angle of arrival, fireman is positioned using TDOA/AOA hybrid algorithms.But
This positioning method is completely dependent on the reflection of electromagnetic signal, wall, door and window etc. and scattering process all can be to the propagation time of signal
Had an impact with angle, the present invention is different from this, and location data is from the real-time collection of fireman's wearable device, Bu Huishou
Influenced to external condition.
Li Kun et al. proposes one kind and is based on RFID's (Radio Frequency Identification, radio frequency identification)
Fireman positions [2].System is equipped with using the card reader of fixed position as node, fireman is referred to before the scene of a fire is entered
Source electronic tag, the information and concentration of card reader collection fireman pass to the command and control center of fire fighting truck, data are divided
Analysis is handled, to determine the positional information of fireman.The ranging localization of fireman is according to the propagation path loss model of radio wave
Analysis calculating is carried out, is that one kind is based on RSSI (Received Signal Strength Indication, received signal strength
Indicate) location algorithm.The absolute standard that RFID is positioned as fireman in this method, and positioning is to build knot in the present invention
On the basis of composition, RFID is served only for one of reference of dynamic calibration,.
Bibliography：
[1] Wang Shouhui, once brave woods, Guo Jianhong, waits a kind of new fireman's localization method [J] Chinese science and technology information of,
2012(20):147-148。
[2] firemans of Li Kun, Liu Zheng, Chen Xu the sun based on RFID positions [J] electronic productions, 2015 (2).
The content of the invention
It is contemplated that complete a set of fireman's indoor navigation system calculated based on architecture structure drawing.It is well known that
Usually cause fireman can not be leaned under foreign environment with dense smoke when fire occurs and visually find optimal rescue route.This hair
Bright is to solve the problems, such as this, in the form of fireman's wearable device, passes through the autonomous positioning calculated based on architecture structure drawing and coordinates
Path planning algorithm, using the fire communication system for remaining to work normally in power breakdown (as position is fixed, the regularity of distribution
Alarm etc.) realize positioning calibration, and motion sensor data and building structure diagram data are combined, by based on architecture structure drawing
The location algorithm of calculating, cross validation calculate fireman current location, realize that fireman can not see the feelings of indoor environment clearly
Navigation under condition.Meanwhile increase sonac on a handheld device and perceive ranging and obstacle avoidance to realize, couple voice
The problems such as prompt facility is to solve that screen can not be seen in the smog of the scene of a fire clearly.In addition, the smog installed in equipment, temperature are passed through
Deng sensor, fire behavior position and the order of severity are judged, and by communication system by fireman position and current location
The data such as smog, temperature are transmitted back to floor manager in real time, are supported to determine that optimal rescue method provides data.
In order to solve the above-mentioned technical problem, a kind of fireman calculated based on architecture structure drawing proposed by the present invention is indoor
Navigation system, including command system and fireman's handheld terminal, the command system include building structure chart database, communication
Module and display module；Fireman's handheld terminal includes data acquisition module, signal processing module and equipment control mould
Block,
The data acquisition module includes movement sensing module, dynamic calibration module and detection sensing module；The fortune
Dynamic sensing module is made of one group of motion sensor, includes the sensing of the acceleration and angular speed information for gathering fireman
Device；The dynamic calibration module includes at least GPS positioning system or big-dipper satellite alignment system, and RFID read-write module, is used for
By way of satellite positioning or reading RFID tag nearby, the positional information of fireman is provided to the command system, is matched somebody with somebody
The RFID read-write module is closed, multiple RFID tags are installed at the scene, the position of RFID tag is according to positioning on fire-fighting equipment
The architecture structure drawing at precision and scene determines that multiple RFID tags constitute RFID tag network；The detection sensing module
It is made of one group of detection sensor；The signal processing module includes signal adapter, and the signal adapter includes amplification electricity
Road and a/d converter, the device control module include input module, output module, communication module and its live fire-fighting equipment
Interface；The position of the ignition point collected is believed the information collected and the dynamic calibration module by the movement sensing module
Breath is sent to the command system by the communication module of the device control module；Communication module in the command system
Include fire telephone module and wireless communication module with the communication module in the device control module.
In the present invention, the movement sensing module includes at least accelerometer, speedometer and gyroscope；The detection passes
Sense module includes at least smoke detector, temperature sensor, sonac and infrared image sensor.
Realize that the method that the scene of a fire is navigated is with indoor navigation system based on the fireman that architecture structure drawing calculates using above-mentioned,
After fire alarm is connected to, fireman's handheld terminal is retrieved from command system by mobile network and downloads corresponding building knot
Composition, positioning and navigation for fireman in the scene of a fire；Step is as follows：
1) in the scene of a fire fireman positioning, including initial alignment, in real time positioning and dynamic calibration；
(1) initial position of fireman is determined using following two methods or one：First method is to utilize GPS positioning
System or big-dipper satellite alignment system obtain the absolute coordinate of fireman position, and the coordinate then is mapped to building knot
Corresponding point on composition, so that it is determined that the direction of motion of current position and fireman of the fireman on architecture structure drawing；Second
Kind method is given using the entrance that position is fixed in the building of scene, i.e., fireman manually operates fireman and holds end
End, by fireman's entrance for being passed through of disengaging building and its fireman it is current into do well by communication module send to
Command system, is mapped to corresponding point on architecture structure drawing, so that it is determined that position of the fireman on architecture structure drawing by the coordinate
Put, and estimate the direction of motion of fireman；
(2) positioning in real time：Learn that fireman is opposite according to the signal that each motion sensor collects in movement sensing module
The displacement of initial position, and fireman is measured to the fixed reference of building using the sonac in detection sensor
Distance, with reference to architecture structure drawing information, dynamic obtains the current position coordinates of fireman in real time；
(3) dynamic calibration of the current location of fireman is carried out using one of following method：First method is：Building
In be laid with RFID tag network, the signal that RFID tag is sent includes the position coordinates of the RFID tag, at fireman
In in a RFID tag identification range, RFID read-write device is collected the position coordinates of the RFID tag by fireman's handheld terminal
Sent by communication module to command system, command system is with the position coordinates renewal fireman's that positioning obtains above-mentioned in real time
Current position coordinates；Second method is：Fireman manually operates fireman's handheld terminal, fireman is presently in existing
The numbering corresponding to floor, room or staircase in the building of field is sent to command system by communication module, which is reflected
Corresponding point on architecture structure drawing is mapped to, so that it is determined that position of the fireman on architecture structure drawing, command system is with the position
Coordinate renewal it is above-mentioned in real time positioning obtain fireman current position coordinates；
2) in the scene of a fire fireman navigation, including positioning and the scene of a fire path planning and navigation a little that burn in the scene of a fire；
(1) positioning burnt in the scene of a fire a little：Temperature sensor in fireman's handheld terminal that each fireman is carried,
The data that smoke detector and infrared image sensor are gathered are sent to command system, command system by communication module respectively to disappear
The data that anti-member's handheld terminal uploads are calculated, and draw intensity of a fire distribution situation；Wherein, it is special in temperature sensor collection building
Determine the temperature of body surface, which includes at least room door, rolling screen door and wall, passes through the temperature of the certain objects one side
Degree detection obtains the intensity of a fire situation of the certain objects another side spatial dimension；
(2) scene of a fire path planning and navigation：Corridor in building is set as road, the room in building is set to
Free space；Realized using genetic algorithm or neural network algorithm and according to the architecture structure drawing pre-deposited in command system
Path planning；The path of above-mentioned planning is prompted to by fireman by the phonetic function in output module and display function.
The present invention has following advantage compared to the other application technology that fireman positions in the scene of a fire：
First, the system uses the independent positioning calculated based on architecture structure drawing.The present invention is to utilize architecture structure drawing
The positioning method that information and sensor, positioning calibration data Comprehensive Correlation calculate, the collection and calculating of data needed for position fixing process
All by alignment system complete independently itself, it is not required to set up reference point in advance, does not depend on the electromagnetic wave that reference point is sent.
Second, the present invention makes full use of the related facility of automatic fire alarm system.The present invention is in positioning calibration, communication etc.
The design of module takes full advantage of existing fire-fighting equipment, not only has with the same independent electric power supply of fire-fighting equipment, but also
Substantial amounts of construction cost has been saved, can quickly put into rescue when fire behavior occurs.
3rd, the present invention has path planning and speech navigation function, be able to can not visually be completed in fire or dense smoke etc.
In the case of the tasks such as judgement, pathfinding, positioning, become " eyes " and " brain " of fire-fighting and rescue personnel, guiding rescue personnel is certainly
Body positions or goes to predeterminated target, improves rescue efficiency and probability, and improve the safety coefficient of fire-fighting and rescue personnel.
4th, the present invention has the function of architecture structure drawing dynamic download.The present invention after fire alarm start automatically by
Network downloads the architecture structure drawing for building of catching fire, and without manually setting, and saves equipment storage resource.Used not influencing function
In the case of realize simple, quick architecture structure drawing to greatest extent and import work.
5th, personnel positioning with burning point location.The present invention not only realizes the positioning to fireman, is passed always according to detection
The data of sensor have carried out burning point the judgement determined with the order of severity in orientation.Rescue party is preferably formulated for commanding
Case provides a great convenience.
Brief description of the drawings
Fig. 1 is based on the fireman that architecture structure drawing calculates with indoor navigation system block diagram.
Embodiment
Technical solution of the present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, it is described specific
Embodiment is only explained the present invention, is not intended to limit the invention.
A kind of fireman's indoor navigation system calculated based on architecture structure drawing proposed by the present invention, as shown in Figure 1, should
Navigation system includes command system and fireman's handheld terminal, and the command system includes building structure chart database, communication
Module and display module；Command system is erected at commanding in the rear center or floor manager, with now it is widely used based on language
The major incident command system of sound intercommunication is different, and the system not only has the function of speech talkback, moreover it is possible to positions number in real time based on fireman
According to the position of limitation fireman under construction on command terminal, and the data passed back with reference to detection sensor represent intensity of a fire feelings
Condition, makes commanding very clear to field condition, preferably completes commander's work.At the same time, command system can be passed through
Fireman is issued and is instructed, according to overall condition, formulates more preferable rescue method.
Fireman's handheld terminal includes data acquisition module, signal processing module and device control module, described
Data acquisition module includes movement sensing module, dynamic calibration module and detection sensing module；The movement sensing module by
One group of motion sensor composition, includes the sensor of the acceleration and angular speed information for gathering fireman, passes through the mould that communicates
Block sends gathered information by communication module to the command system；The dynamic calibration module includes at least GPS positioning
System or big-dipper satellite alignment system, and RFID read-write module, for passing through RFID tag near satellite positioning or reading
Mode, RFID module store and launch the positional information of calibration point.The supply of its power supply is from existing fire-fighting equipment (including fire
Light crossing-signal, emergent broadcast, fire telephone etc.), using fire-fighting power supply, ensure that it remains to work normally under emergency rating, make
The calibration point of calibration is positioned for the system.The positional information of fireman is provided to the command system, coordinates the RFID to read
Writing module, is provided with multiple RFID tags, the position of RFID tag is according to positioning accuracy and scene at the scene on fire-fighting equipment
Architecture structure drawing determines that multiple RFID tags constitute RFID tag network；The detection sensing module has one group of detection to pass
Sensor forms, and sends the positional information of ignition point to the command system by communication module；The signal processing module includes
Signal adapter, the signal adapter include amplifying circuit and a/d converter, the device control module include input module,
The interface of output module, communication module and its live fire-fighting equipment；The signal collected is passed through letter by the data acquisition module
After the processing of number processing module, the output of device control module and logical with command system according to the output control of signal processing
Letter.The communication module includes fire telephone module and wireless communication module.
In the present invention, the movement sensing module includes at least accelerometer, speedometer and gyroscope；The detection passes
Sense module includes at least smoke detector, temperature sensor, sonac and infrared image sensor.
Wherein, device control module is responsible for the operation and data processing of whole equipment, dynamic calibration module and motion-sensing
Device, distance measuring sensor are used for the positioning of fireman, and detecting module is used for the positioning of ignition point, remaining module is used to aid in fireman
Rescue work.
In view of the actual conditions in fire scene rescue, above-mentioned handheld terminal uses wearable design at the same time, can be placed in
The helmet, knapsack etc., are not take up exceptional space, and do not influence the rescue action of fireman.Terminal device is using rope, stent etc.
Relevant position is fixed on, and is equipped with earphone, the output corollary equipment such as display wrist-watch.
The present invention is the alignment system calculated based on architecture structure drawing, so needing to be loaded into architecture structure drawing letter before use
Breath.But since the position that fire occurs not is fixed and foreseeable, all it is stored in every equipment all known
Architecture structure drawing waste of resource, therefore the present invention is solved the problems, such as using the method for dynamic download.Can be by building and design when institute
Architecture structure drawing directly applies to the system after digitized processing, stores it in a specific command system
In.The information such as barrier, marker, movement limitation, calibration point can also be marked in relevant position as needed.It is being connected to fire
After alarm, terminal device is retrieved from command system by mobile network (3G 4G etc.) and downloads corresponding architecture structure drawing, makees
For the benchmark for positioning and navigating in the scene of a fire.
Realize that the method that the scene of a fire is navigated is with indoor navigation system based on the fireman that architecture structure drawing calculates using above-mentioned,
After fire alarm is connected to, fireman's handheld terminal is retrieved from command system by mobile network and downloads corresponding building knot
Composition, positioning and navigation for fireman in the scene of a fire；Before entering the scene of a fire at the scene, the first of the definite positioning such as GPS module is utilized
Beginning position and direction, alignment system calculates the position of fireman in real time using the data of motion sensor, and coordinates smoke detection
Device, temperature sensor etc. provide the judgement to fire location and serious conditions.After fireman gives target location, by navigation mould
Block coordinates path planning algorithm, guides fireman to advance by way of voice prompt.And adjusted in real time according to the situation of fire
Suggest in path.So as to fulfill rescue navigation of the fireman under strange rescue environment.Pass data back command system in real time at the same time
Handled.
At the same time, command system shows all losing on the screen after the location data that each terminal is passed back is obtained
The position of fireman in fire building, and fireman is issued as desired by communication system and is instructed, realize to firefighter locator
The real time monitoring of distribution situation and rescue work situation.
Step is as follows：
1) in the scene of a fire fireman positioning, including initial alignment, in real time positioning and dynamic calibration；
(1) initial position of fireman is determined using following two methods or one：First method is to utilize GPS positioning
System or big-dipper satellite alignment system obtain the absolute coordinate of fireman position, and the coordinate then is mapped to building knot
Corresponding point on composition, so that it is determined that the direction of motion of current position and fireman of the fireman on architecture structure drawing；Exist
Before fireman enters building of catching fire, current positional information is obtained by the satellite positioning module in equipment.Such a method needs
In the region open system for thering is satellite positioning signal to cover, the given of initial position can be just completed.Second method is using existing
The entrance that position is fixed in the building of field gives, i.e., fireman manually operates fireman's handheld terminal, and fireman is passed in and out
Entrance that building is passed through and its fireman is current is sent into doing well by communication module to command system, this is sat
Mark is mapped to corresponding point on architecture structure drawing, so that it is determined that position of the fireman on architecture structure drawing, and estimate fire-fighting
The direction of motion of member；Such a method needs the manual operation of fireman, but the covering to satellite-signal does not require, it is not required that
The conversion relation of latitude and longitude coordinates and architecture structure drawing coordinate.In addition, both the above method can be used in combination, so as to
It can be realized under different situations and initial position message is determined.
(2) positioning in real time：Learn that fireman is opposite according to the signal that each motion sensor collects in movement sensing module
The displacement of initial position, and (be directed to the environment of dense smoke in the scene of a fire using the sonac in detection sensor, can only use
Sonac, other are such as laser sensor since the scattering process of smog can not work) measurement fireman arrive building
The distance of fixed reference, with reference to architecture structure drawing information, the current position coordinates of the fireman of dynamic acquisition in real time；
Such as according to the definition of acceleration it is recognised that speed is integration of the accelerometer to the time, and displacement is speed pair
The integration of time.I.e. acceleration, which carries out the time integration twice, can calculate the displacement of object.So pass through accelerometer
Real time acceleration value is obtained, then it is done by processor and is integrated twice, you can calculates the distance of displacement.Meanwhile according to
The directions such as gyroscope measure device, the angular speed of real-time detection object movement, and calculate the direction of motion of object in real time.
Range unit can be by identifying that object realizes the calculating of position and according to calculating to the distance of fixed reference
As a result dynamic calibration is carried out.So-called fixed reference, i.e., have the object of fixed position on cartographic information, the position of these objects is consolidated
It is fixed, it will not change easily, such as the object such as door in building, window, wall.
At the same time, using the complaint message on architecture structure drawing, channel information and other necessary informations, by fireman
The possible direction of motion and scope limit within the specific limits, and path (historical path) information pair passed by according to fireman
Position carries out continuous processing, obtains the possible range of fireman position within a unit interval.
In this way, the displacement of fireman's relative initial position can be learnt using motion sensor, can using distance measuring sensor
Fireman is measured to the distance of fixed reference (such as wall), with reference to the letter obtained by architecture structure drawing and historical path
Breath, you can more accurately determine the position of fireman.
(3) the above-mentioned localization method based entirely on calculating accumulates certain error with continuing for time, this is just needed
Positioning calibration is carried out while positioning.The calibration of positioning is comparable to again the positioning datum of given position calculating.Using
One of following method carries out the dynamic calibration of the current location of fireman：First method is：RFID marks are laid with building
Network is signed, the signal that RFID tag is sent includes the position coordinates of the RFID tag, knows when fireman is in a RFID tag
In other scope, the position coordinates that RFID read-write device is collected the RFID tag by fireman's handheld terminal is sent out by communication module
Send to command system, command system is with the current position coordinates of the above-mentioned fireman that positioning obtains in real time of position coordinates renewal；
Second method is：If can not be calibrated by the above method and relatively large deviation is located under adverse circumstances in the scene of a fire
In the case of, fireman manually operates fireman's handheld terminal, and by input module, fireman is presently in live building
In floor, room or the numbering corresponding to staircase sent by communication module to command system, which is mapped to and is built
Corresponding point on building structure figure, so that it is determined that position of the fireman on architecture structure drawing, command system is with the coordinate of the position
Update the current position coordinates of the above-mentioned fireman that positioning obtains in real time；
2) in the scene of a fire fireman navigation, including positioning and the scene of a fire path planning and navigation a little that burn in the scene of a fire；
(1) in the scene of a fire, not only people is positioned, also extremely important to the positioning burnt in the scene of a fire a little, this is often
Decide how to be put out a fire and rescued.The positioning burnt in the scene of a fire a little：To fire burning point be located through temperature sensor,
The detections such as smoke detector, (infrared) imaging sensor are formed with sensor.Smog and high temperature are two features of fire, will be every
What temperature sensor, smoke detector and infrared image sensor in fireman's handheld terminal that a fireman carries were gathered
Data are sent to command system by communication module, and the data that each fireman's handheld terminal of command system uploads are calculated, obtained
Go out intensity of a fire distribution situation；Wherein, temperature sensor gathers the temperature on certain objects surface in building, which at least wraps
Room door, rolling screen door and wall are included, another space of planes model of the certain objects is obtained by the temperature sensing of the certain objects one side
The intensity of a fire situation enclosed；These local temperature represent the intensity of a fire situation of an another side often, therefore have important measurement meaning.
Such temperature sensor can use infrared temperature sensor, have precision height, fireballing feature.
(2) scene of a fire path planning and navigation：Want to go to a certain position for building of catching fire as the fireman using the system and
When not knowing path again, you can the path planning and navigation function of being calculated using the system based on architecture structure drawing.Building is tied
The different positions such as corridor, room are tackled in the processing of composition should take different planning strategies.Corridor in building is set as
Road, free space is set to by the room in building；Obtain above-mentioned oriented fire point of origin position in real time from command system
Put and the order of severity, avoid the serious impassable region of the intensity of a fire；Using genetic algorithm or neural network algorithm and according to finger
Wave the architecture structure drawing realizing route planning pre-deposited in system；
The path of above-mentioned planning is prompted to by fireman by the phonetic function in output module and display function.Fireman
In dense smoke often can not or no time remove to see information alert on screen, this is just to need to couple voice cue module,
It will need the output for the big volume of information prompted.Because fireman be mostly to strange environment under put out a fire to save life and property and can not see environment clearly,
So the information of output is also more than routing information, should also there are the positional informations such as environmental information barrier, door and window.
The interaction of data in the present invention and the realization of processing are：Except carrying out fireman and commander by speech talkback
Outside information transmission, the data that each terminal gathers also are uploaded to command system by the present invention by communication network.The number of upload
According to positional information, the positional information and order of severity etc. of burning point that should include at least fireman.Command system is receiving these
After information, the information that multiple terminals are gathered is integrated, and is incorporated into architecture structure drawing and is patterned display, with side
Just the commanding outside the scene of a fire be better understood by building in situation and formulate rational rescue method.
Although above in conjunction with attached drawing, invention has been described, and the invention is not limited in above-mentioned specific implementation
Mode, above-mentioned embodiment is only schematical, rather than restricted, and those of ordinary skill in the art are at this
Under the enlightenment of invention, without deviating from the spirit of the invention, many variations can also be made, these belong to the present invention's
Within protection.
Claims (3)
1. a kind of fireman's indoor navigation system calculated based on architecture structure drawing, including command system and fireman hold end
End, it is characterised in that：
The command system includes building structure chart database, communication module and display module；
Fireman's handheld terminal includes data acquisition module, signal processing module and device control module,
The data acquisition module includes movement sensing module, dynamic calibration module and detection sensing module；The movement passes
Sense module is made of one group of motion sensor, includes the sensor of the acceleration and angular speed information for gathering fireman；Institute
State dynamic calibration module and include at least GPS positioning system or big-dipper satellite alignment system, and RFID read-write module, for by defending
Star positions or reads the mode of RFID tag nearby, the positional information of fireman is provided to the command system, described in cooperation
RFID read-write module, is provided with multiple RFID tags at the scene on fire-fighting equipment, the position of RFID tag according to positioning accuracy and
The architecture structure drawing at scene determines that multiple RFID tags constitute RFID tag network；The detection sensing module has one group
Detection sensor forms；
The signal processing module includes signal adapter, and the signal adapter includes amplifying circuit and a/d converter,
The device control module includes the interface of input module, output module, communication module and its live fire-fighting equipment；
The position of the ignition point collected is believed the information collected and the dynamic calibration module by the movement sensing module
Breath is sent to the command system by the communication module of the device control module；
The communication module in communication module and the device control module in the command system includes fire telephone module
And wireless communication module.
2. the fireman's indoor navigation system calculated according to claim 1 based on architecture structure drawing, it is characterised in that：Institute
State movement sensing module and include at least accelerometer, speedometer and gyroscope；The detection includes at least smog with sensing module
Detector, temperature sensor, sonac and infrared image sensor.
A kind of 3. method of the fireman's indoor navigation calculated based on architecture structure drawing, it is characterised in that：Will using such as right
Ask the 1 or 2 fireman's indoor navigation systems calculated based on architecture structure drawing, after fire alarm is connected to, fireman's hand
Hold terminal to retrieve from command system by mobile network and download corresponding architecture structure drawing by communication module, for the scene of a fire
The positioning and navigation of middle fireman；Step is as follows：
1) in the scene of a fire fireman positioning, including initial alignment, in real time positioning and dynamic calibration；
(1) initial position of fireman is determined using following two methods or one：
First method is that the absolute seat of fireman position is obtained using GPS positioning system or big-dipper satellite alignment system
Mark, is then mapped to corresponding point on architecture structure drawing by the coordinate, so that it is determined that current fireman is on architecture structure drawing
Position and the direction of motion of fireman；
Second method is given using the entrance that position is fixed in the building of scene, i.e., fireman manually operates fireman
Handheld terminal, by fireman's entrance for being passed through of disengaging building and its fireman it is current pass through communication module into doing well
Send to command system, which is mapped to corresponding point on architecture structure drawing, so that it is determined that fireman is in architecture structure drawing
On position, and estimate the direction of motion of fireman；
(2) positioning in real time：
The displacement of fireman's relative initial position is learnt according to the signal that each motion sensor collects in movement sensing module, and
Fireman is measured to the distance of the fixed reference of building using the sonac in detection sensor, is tied with reference to building
Composition information, the current position coordinates of the fireman of dynamic acquisition in real time；
(3) dynamic calibration of the current location of fireman is carried out using one of following method：
First method is：RFID tag network is laid with building, the signal that RFID tag is sent includes RFID marks
The position coordinates of label, when fireman is in a RFID tag identification range, fireman's handheld terminal adopts RFID read-write device
The position coordinates for collecting the RFID tag is sent to command system by communication module, and command system is with position coordinates renewal
State the current position coordinates of the fireman that positioning obtains in real time；
Second method is：Fireman manually operates fireman's handheld terminal, and fireman is presently in the building of scene
Floor, room or the numbering corresponding to staircase sent by communication module to command system, which is mapped to building
Corresponding point on structure chart, so that it is determined that position of the fireman on architecture structure drawing, command system with the coordinate of the position more
The current position coordinates of the new above-mentioned fireman that positioning obtains in real time；
2) in the scene of a fire fireman navigation, including：
(1) positioning burnt in the scene of a fire a little：
Temperature sensor, smoke detector and infrared image sensor in fireman's handheld terminal that each fireman is carried
The data gathered are sent to command system by communication module, command system by the data that each fireman's handheld terminal uploads into
Row calculates, and draws intensity of a fire distribution situation；Wherein, temperature sensor gathers the temperature on certain objects surface in building, this is specific
Object includes at least room door, rolling screen door and wall, and it is another to obtain the certain objects by the temperature sensing of the certain objects one side
The simultaneously intensity of a fire situation of spatial dimension；
(2) scene of a fire path planning and navigation
Corridor in building is set as road, the room in building is set to free space；Using genetic algorithm or
Neural network algorithm simultaneously plans that the path planning passes through logical according to the architecture structure drawing realizing route pre-deposited in command system
Letter module is sent to handheld terminal, meanwhile, by the phonetic function in output module and display function by the path of above-mentioned planning
It is prompted to fireman.
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| CN108734356A (en) * | 2018-05-25 | 2018-11-02 | 中国电子科技集团公司第二十八研究所 | A kind of indoor positioning in the case of fire fighting and rescue and paths planning method |
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| CN113138400A (en) * | 2021-03-25 | 2021-07-20 | 贵州电网有限责任公司 | Navigation method and system based on dynamic calibration and controllable precision autonomous positioning |
| CN113310490A (en) * | 2021-05-14 | 2021-08-27 | 厦门大学 | Indoor positioning method and system combining GRNN with genetic algorithm |
| CN114187734A (en) * | 2021-12-01 | 2022-03-15 | 深圳市中西视通科技有限公司 | Image identification method and system for smoke alarm |
| CN114509072A (en) * | 2022-01-06 | 2022-05-17 | 珠海格力电器股份有限公司 | Indoor navigation method, device, storage medium, mobile terminal and system |
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