CN108413967A - A kind of fireman's indoor positioning device and localization method - Google Patents
A kind of fireman's indoor positioning device and localization method Download PDFInfo
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- CN108413967A CN108413967A CN201810538849.2A CN201810538849A CN108413967A CN 108413967 A CN108413967 A CN 108413967A CN 201810538849 A CN201810538849 A CN 201810538849A CN 108413967 A CN108413967 A CN 108413967A
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses a kind of fireman's indoor positioning device and localization methods, belong to positioning device and communication equipment development technique field.Positioning device of the present invention is made of NB IoT narrow band communication positioning devices end, cloud server end and fire-fighting operational commanding end.NB IoT narrow band communication positioning devices end includes the parts such as main control module, NB IoT wireless telecommunications/routing module；Cloud server end includes the parts such as location algorithm module, indoor micro- mapping module.Localization method carries out micro- inertial navigation positioning by the positioning device of the present invention first, and collected real-time indoor geomagnetic data is uploaded to Cloud Server；Indoor geomagnetic data is matched Geomagnetic signal fingerprint base by cloud server end, then completes to position by indoor earth magnetism location algorithm analysis module, and the coordinate for being finally associated with Geomagnetic signal and micro- map realizes visualization positioning；Realize monitoring position and the alarm of personnel in fire-fighting operational commanding end.The present invention's is mainly used for the positioning when no electricity is without rescue in fireman room under network condition and visual command.
Description
Technical field
The present invention relates to positioning devices and communication equipment development field technical field, more specifically to a kind of application
No electricity without when being rescued in fireman room under network condition positioning and the communication locating device that uses of when visual command and calmly
Position method.
Background technology
In Patent No. CN201110047495, date of application 2011.02.28, entitled " Fireman site navigation dress
Set " in patent, this application provides a kind of for scene of fire, can carry out three-dimensional localization, and fireman is assisted to implement rapidly
The Fireman site navigation device of fire fighting and rescue action, including：Central control module, three-dimensional localization module, outer memory module,
Communication module, input/output module and the protection several nucleus modules of shell are determined by the collaborative work of these nucleus modules
Fireman and informs fireman in the three-dimensional position of scene of fire with clear and intuitive voice or image model, while to fire-fighting
Member indicates the orientation of various fire fighting devices, and navigation Service is provided for fireman.The device can make each fireman in the scene of a fire
All such as the function of enhancing eye, ear, while the device combines mating command system so that commander can be apparent intuitive
Commander's fire fighting and rescue action, this also just enhances fighting capacity and protection of the fireman in the scene of a fire to a certain extent, right
The fire fighting and rescue ability for improving fire brigade is very helpful.Disadvantage is that can not be in room using GPS positioning technology
Inside reach locating effect, positioning accuracy is very poor.
It is entitled " a kind of to utilize indoor wireless in Patent No. CN201110416874, date of application 2011.12.14
The fire-fighting and rescue method of location technology ", that application discloses " a kind of fire-fighting and rescue method using indoor wireless location technology ",
The invention is related to a kind of fire-fighting and rescue method using indoor wireless location technology.When fire alarm occurs, each indicator of trapped personnel profit
With in hand smart mobile phone or be stored in the indoor preparation mobile terminal of office, connection is mounted on the wireless communication base in building
It stands, smart mobile phone or mobile terminal is determined by the both-way communication between smart mobile phone or mobile terminal and radio communication base station
Physical location, then by the location information and identity information of smart mobile phone or mobile terminal by radio communication base station receive simultaneously
It is sent to monitoring host computer, monitoring host computer collects the location information of fireman using radio communication base station, and monitoring host computer is collected simultaneously
The information for laying the sensor of all smoke sensor devices in the building and fire resistant doorsets, by relevant information be sent in the scene of a fire by
In oppressive member and rescue personnel's hand.It, can be with it is an advantage of the invention that indicator of trapped personnel and fireman are two-way transparent for scene of a fire form
High degree improves the success rate of fire-fighting and rescue and the escape probability of indicator of trapped personnel.Disadvantage is that not considering the building that catches fire
The case where power-off causes the communication base station placed in building that can not use.
In Patent No. CN201210580902, date of application 2012.12.27, a kind of entitled " fireman's indoor and outdoor
In 3D seamless positionings and attitude detection system and method " patent, this application provides a kind of fireman's indoor and outdoor 3D seamless positionings
And attitude detection system and method, including：One master control circuit board based on STM32 microcontrollers, a GPRS based on Sim-900
Data transmission module, a GPS positioning module, a remote monitoring client and inertial navigation module I and inertial navigation module II；
Master control circuit board by serial ports respectively with GPRS data transmission module, GPS positioning module and inertial navigation module I and inertia
Navigation module II is connected；GPRS data transmission module utilizes the remote monitoring client connection communication of GPRS network and binding.This
Invention realizes fireman's indoor and outdoor 3D seamless positionings and attitude detection, and accurately the motion state of fireman can be identified
Judge, while the indoor and outdoor 3D seamless positionings to fireman may be implemented, for the application scenario of fire fighter, system can expand
Open up the sensors such as toxic gas sensor, smog, temperature.Disadvantage is that can not be reached indoors using GPS positioning technology
To locating effect, positioning accuracy is very poor.
In Patent No. CN201220356804, date of application 2012.07.20, entitled " a kind of intelligent helmet " is special
In profit, this application discloses a kind of intelligent helmet, including：Radio frequency tag device, LED light device, microprocessor and respectively with
Communication device, sensor array module, photographic device, Helmet Mounted Display, microphone, loud speaker, the GPS dresses of microprocessor connection
It sets, storage device and supply unit.Using the technical solution of the utility model, may be implemented to traffic police personnel, public security police,
The wireless identification of fireman and underground mining miner positioning, equipment tracking, to traffic police personnel, public security police, fireman and
The detection of the ambient enviroment of underground mining miner and itself human body condition, multimedia monitoring, wireless communication, hand free voice communication,
The function of positioning and Projection Display in real time.Disadvantage is that indoor positioning skill when not fighting to fireman fire scene
Art, it is not comprehensive enough to the guarantee of the life security of fireman.
In Patent No. CN201420586359, date of application 2014.10.11, entitled " fireman calls for help communication head
In helmet " patent, this application provides a fireman and calls for help communication helmet, solves existing fire helmet and does not have calling function,
It is inconvenient to use and the problem of be not easy to be found, including：Helmet body, speech communication mainboard are called for help module, bearing signal lamp and are prevented
Quick-fried battery, the speech communication mainboard with call for help module couple, calling for help module couple with bearing signal lamp, anti-explosion battery successively with
Speech communication mainboard calls for help module and the connection of bearing signal lamp；The utility model structure novel is unique, and fireman calls for help communication head
Helmet has the function of voice communication, calls for help and quickly position in time, easy to use.Disadvantage is that the mechanics of communication used
Identical as the technology and frequency range that traditional intercom uses, signal of communication is easily influenced by high temperature dense smoke, and swinging of signal is caused
Fixed, the life security of fireman cannot still ensure.
In Patent No. CN201510241697, date of application 2015.05.13, entitled " fireman intelligently fights head
In helmet " patent, this application provides fireman's intelligence combat helmet, solves poor anti jamming capability, complicated for operation and wearing inconvenience
The problem of, including：The helmet, the helmet are molded using advanced composite material (ACM) integrated die；Electricity is installed on the left of the helmet
Road plate and switch, helmet right side are equipped with explosion-proof electrical source, bone-conduction device are equipped at the top of the helmet, inner helmet has connection
Line, for connecting circuit board, switch, explosion-proof electrical source and bone-conduction device；Helmet weight saving 60%, flintiness increase；Intelligence
Combat helmet integrate group busy, listen to, intercommunication, frequency modulation and video multiple functions, it is easy to wear, it is easy to operate；It is shaken using bone
When dynamic acoustic transmission technique is effectively spoken using fireman, the biography of skull vibrated to substitute tradition using the transmission of volume up-down frequency
Talk about device, strong interference immunity；Scene of fire situation can be timely fed back to command centre, to which command centre can timely and effectively do
Go out reply mutation disaster relief scheme.Disadvantage is that technology and frequency range that the mechanics of communication used is used with traditional intercom
Identical, signal of communication is easily influenced by high temperature dense smoke, and jitter is caused.
In Patent No. CN204374427U, date of application 2015.01.30, entitled " one kind is based on compound positioning system
In fireman's indoor positioning device of system " patent, this application provides fixed in a kind of fireman room based on compound positioning system
Position device, including：Central processing module, satellite transceiver module, base station transceiver module, wifi transceiver modules, highly sensing module,
Memory module and power module:The central processing module couples with the power module and the memory module respectively；It is described
Satellite transceiver module, base station transceiver module, wifi transceiver modules and highly sensing module join with the central processing module respectively
It connects.The utility model carries out comprehensive analysis processing by obtaining the location information of each module in positioning system, enters in fireman
What real-time and precise was capable of in interior when putting out a fire to save life and property navigates to its position；The data of each dimension of satellite positioning information are single with millisecond simultaneously
Position is effectively stored so that external data service center can monitor that fireman puts out a fire to save life and property the rail of work indoors in real time
Mark.Disadvantage is that GPRS can not be accounted in use, using WIFI module return data under smoky condition
Scene of a fire power blackout situation then can not be by data back once power-off WIFI will be unable to access network.
Invention content
1. technical problems to be solved by the inivention
It is insufficient in the prior art it is an object of the invention to overcome, a kind of locating infrastructure independent of physics is provided
Fireman's positioning device and localization method.When the present invention solves fire, building without electricity, without network in the environment of, lead to
It crosses a kind of positioning device with high penetrability communication mode and localization method realization at a distance sends out fireman's indoor location
The problem of giving back court commanding.
2. technical solution
In order to achieve the above objectives, technical solution provided by the invention is：A kind of fireman's indoor positioning device, by NB-IoT
Narrow band communication positioning device end, cloud server end and fire-fighting operational commanding end composition, wherein NB-IoT narrow band communication positioning devices
The major function at end is the acquisition realized to the indoor Geomagnetic signal of current location, and is sent out data by NB-IoT communication modules
It is sent to Cloud Server；Cloud server end realizes interconnection with the narrow band communication positioning device ends NB-IoT and fire-fighting operational commanding end,
Positioning and commander's service are provided for the commanding of fireman and rear end；It mainly realizes to fireman position at fire-fighting operational commanding end
The look facility set, and according to fireman whether in the corresponding command predetermined plan of danger zone formulation.
NB-IoT narrow band communication positioning devices end includes main control module, NB-IoT wireless telecommunications/routing module, built-in day
Line, indoor earth magnetism locating module, micro- inertial navigation locating module, built-in power, buzzer, input/output module, explosive-proof protector circuit,
Outer memory module forms.
In NB-IoT narrow band communication positioning devices end, main control module includes MCU and RAM, and main realize communicates and to room
The acquisition and control of interior ground magnetic locating signal and micro-inertial navigation signal；NB-IoT wireless telecommunications/routing module and built-in aerial are embedding
Enter into main control module；Device is powered using built-in lithium battery mode；Buzzer is by different sound frequencies to fire-fighting
Member conveys the back court commanding instruction sent；Explosive-proof protector circuit uses Fuse Type capacitance protection circuit, when the device occurs
When the case where high pressure height stream, the power supply power supply of automatic disconnecting device；Input-output equipment realizes the initialization and debugging of data
Function is realized using serial mode.
Fireman's indoor positioning device cloud server end preserves basic map data, the Geomagnetic signal fingerprint base of positioning,
And realize location algorithm module, cloud server end is realized mutual with the narrow band communication positioning device ends NB-IoT and fire-fighting operational commanding end
Connection provides positioning and commander's service for the commanding of fireman and rear end.
Fireman's indoor positioning device fire-fighting operational commanding end, mainly realizes at the end and checks work(to firefighter locator
Energy.
A method of fireman's indoor positioning being carried out using positioning device of the present invention, is included the following steps：
Step 1, positioning device NB-IoT narrow band communications positioning device carries out micro- inertial navigation positioning, and arriving acquisition in real time
Indoor geomagnetic data upload to positioning device Cloud Server；
Step 2, the indoor geomagnetic data of upload is matched Geomagnetic signal fingerprint base by positioning device cloud server end first, so
It completes to position by indoor earth magnetism location algorithm analysis module afterwards, is finally associated with the coordinate of Geomagnetic signal coordinate and micro- map, from
And realize visualization positioning；
Step 3, micro- map console module is first logged at positioning device fire-fighting operational commanding end, then selection to be checked
Room area inquires the personnel positioning situation in the region, if monitored personnel handle danger zone, sends out alarm.
Fireman's indoor orientation method step 2 includes a kind of indoor micro- Map building hierarchical method of fire-fighting, and method includes
Following steps：
Step 1 realizes being associated with for indoor geomagnetic data and location information using attribute data, and attribute data includes a group loom
Structure manages data, unit one belongs to's data, building information, floor data, partition data, grouped data, group away from data, earth magnetism sample
Notebook data；
Step 2 establishes figure layer data model using GIS spatial data format, and figure layer data model includes base map, path point
Analyse figure layer, room/corridor figure layer, floor figure layer, danger source figure layer, fire extinguisher figure layer, fire resistant doorsets figure layer, stair figure layer, elevator
Figure layer；
Step 3, by attribute data partition data and figure layer data model in rooms of buildings, corridor figure layer one it is a pair of
It answers.
3. advantageous effect
Using technical solution provided by the invention, compared with prior art, have the advantages that：
(1) indoor positioning of the present invention by micro- inertial navigation ancillary chamber magnetic positioning method realization fireman, device pass through
Indoor earth magnetism locating module is modified the indoor location of micro- inertial navigation module, and two-way make up of two ways improves positioning accurate
Degree.
(2) the NB-IoT narrow band communication modes that the NB-IoT wireless telecommunications in apparatus of the present invention/routing module uses are applicable in
When fire interior architecture may have a power failure, without network situations such as, which has the characteristics that penetration capacity is strong, Ke Yizhi
It connects and is communicated with the base station of telecommunications, be not necessarily to other subsidiary communications means.
(3) the fire-fighting operational commanding end in apparatus of the present invention, realizes visual firefighter locator's information monitoring, has
Intuitively, efficiency is commanded in the advantages of containing much information, raising that can be high, and commander is facilitated comprehensively to grasp the position of fireman
Situation.
(4) physical infrastructure of the fireman's localization method proposed in the present invention independent of building, need not carry
Preceding to install other hardware devices, communication mode has penetration capacity strong used by localization method, small power consumption, independent of interior
The advantages of power supply, long distance transmission.
Description of the drawings
Fig. 1 is the overall structure figure of fireman's indoor positioning device
Fig. 2 is NB-IoT narrow band communication positioning device internal structure charts.
Label declaration in figure：1- main control modules；2- wireless telecommunications/routing module；3- built-in aerials；Earth magnetism is fixed in the rooms 4-
Position module；The micro- inertial navigation locating modules of 5-；6- built-in powers；7- buzzers；8- input/output modules；9- explosive-proof protector circuits；10-
Outer memory module；1A-MCU；1B-RAM.
Fig. 3 is fireman's indoor orientation method definition graph of the present invention.
Fig. 4 is the situation analysis of visualization indoor positioning and the display methods definition graph of the present invention.
Specific implementation mode
To further appreciate that present disclosure, in conjunction with attached drawing, the present invention is described in detail.
As shown in Figure 1, fireman's indoor positioning device by NB-IoT narrow band communication positioning devices end, cloud server end, disappear
Three, anti-operational commanding end part is constituted.
NB-IoT narrow band communication positioning devices end, the major function of the device are the indoor earth magnetism letters realized to current location
Number acquisition, and Cloud Server is transmitted data to by NB-IoT communication modules.
Cloud server end, major function are to preserve basic map data, the Geomagnetic signal fingerprint base of positioning, and realize
Location algorithm module, cloud server end is realized with the narrow band communication positioning device ends NB-IoT and fire-fighting operational commanding end and is interconnected, and is
Fireman and the commanding of rear end provide positioning and commander's service.
The look facility to firefighter locator is mainly realized in fire-fighting operational commanding end at the end, and according to fireman whether
Corresponding command predetermined plan is worked out in danger zone.
As shown in Fig. 2, the narrow band communication positioning device ends NB-IoT are by main control module 1, wireless telecommunications/routing module 2, built-in
It is antenna 3, indoor earth magnetism locating module 4, micro- inertial navigation locating module 5, built-in power 6, buzzer 7, input/output module 8, explosion-proof
Protect circuit 9, outer memory module composition 10.Main control module includes MCU (1A) and RAM (1B).
NB-IoT narrow band communications positioning device finger print data used in magnetic orientation of ground in collection room under acquisition mode, due to
The variation of the magnetic signal of anomalous field is similar with the period of change of air, and the different interior spaces its earth magnetism feature not
Together, therefore one of the evidence that can be used for indoor positioning is used, and therefore, carries out region division to the interior space first, so
All positions in the covering space afterwards indoors into row stochastic migration, and as possible, collected interior Geomagnetic signal will lead to
It crosses main control module 1 and wireless communication/routing module 2 uploads to Cloud Server, be saved in earth magnetism fingerprint base, and by indoor earth magnetism
Finger print information and the geographical location of indoor micro- map be associated.
NB-IoT narrow band communications positioning device is extracted currently first with indoor earth magnetism locating module 4 in a positioning mode
The Geomagnetic signal of position realizes positioning, then realizes short-range indoor positioning by micro- inertial navigation locating module 5 in Fig. 2, and
Constantly the indoor location of micro- inertial navigation module 5 is modified by indoor earth magnetism locating module 4, it is two-way to make up to determine to improve
The precision of position.
The communication mode of the present apparatus uses NB-IoT narrow band communication modes, and interior architecture may stop when suitable for fire
Situations such as electric, without network, NB-IoT narrow band communications have the characteristics that penetration capacity is strong, can directly be led to the base station of telecommunications
Letter is not necessarily to other subsidiary communications means.In NB-IoT narrow band communication positioning devices, wireless communication/routing module 2 and built-in aerial
3 are embedded into main control module 1, which includes MCU (1A) and RAM (1B).Main control module 1 in addition to complete communication function with
Outside, it is also responsible for realizing the acquisition and control to indoor ground magnetic locating signal and micro-inertial navigation signal.Wherein MCU (1A) uses 2MB
32 MCU, the outer RAM (1B) of piece are used for the caching of data to be calculated.
In NB-IoT narrow band communication positioning devices, built-in power 6 is powered using lithium battery mode；Buzzer 7 passes through
Different sound frequencies conveys the back court commanding instruction sent to fireman；Input-output equipment 8 realizes the initial of data
Change and debugging function, are realized using serial mode；Explosive-proof protector circuit 9 uses Fuse Type capacitance protection circuit, when device goes out
When the case where existing high pressure height stream, the power supply power supply of automatic disconnecting device.
The method for carrying out fireman's indoor positioning using positioning device of the present invention, includes the following steps：
Step 1 by the positioning device of the present invention carries out micro- inertial navigation positioning first, and in real time by the indoor ground of acquisition arrived
Magnetic data uploads to Cloud Server.
The indoor geomagnetic data of upload is matched Geomagnetic signal fingerprint base by step 2, cloud server end first, then passes through room
Interior earth magnetism location algorithm analysis module completes positioning, and position is finally associated with to the coordinate of indoor micro- map, visual to realize
Change positioning.
Step 3, fire-fighting operational commanding end, back court commanding first log into micro- map console module, and next selection is wanted
Next the room area checked can inquire the personnel positioning situation in the region, if monitored personnel handle danger area
Domain then sends out alarm.
A kind of indoor micro- Map building level side of fire-fighting is contained in step 2 association Geomagnetic signal and micro- map reference
Method, method include the following steps：
Step 1 realizes being associated with for indoor geomagnetic data and location information using attribute data, and attribute data includes a group loom
Structure manages data, unit one belongs to's data, building information, floor data, partition data, grouped data, group away from data, earth magnetism sample
Notebook data；
Step 2 establishes figure layer data model using GIS spatial data format, and figure layer data model includes base map, path point
Analyse figure layer, room/corridor figure layer, floor figure layer, danger source figure layer, fire extinguisher figure layer, fire resistant doorsets figure layer, stair figure layer, elevator
Figure layer；
Step 3, by attribute data partition data and figure layer data model in rooms of buildings, corridor figure layer one it is a pair of
It answers.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (17)
1. a kind of fireman's indoor positioning device, which is characterized in that by NB-IoT narrow band communication positioning devices end, cloud server end
It is formed with fire-fighting operational commanding end.
2. fireman's indoor positioning device according to claim 1, it is characterised in that：The NB-IoT narrow band communications are fixed
Position device end includes main control module, NB-IoT wireless telecommunications/routing module, built-in aerial, indoor earth magnetism locating module, micro- inertial navigation
Locating module, built-in power, buzzer, input/output module, explosive-proof protector circuit, outer memory module composition.
3. fireman's indoor positioning device according to claim 2, which is characterized in that the main control module include MCU and
RAM。
4. fireman's indoor positioning device according to claim 2, which is characterized in that the NB-IoT wireless telecommunications/road
It is embedded into the main control module by module and built-in aerial.
5. fireman's indoor positioning device according to claim 2, which is characterized in that the built-in power is built-in lithium electricity
Pond.
6. fireman's indoor positioning device according to claim 2, which is characterized in that the buzzer has muli-sounds
Frequency.
7. fireman's indoor positioning device according to claim 2, which is characterized in that the explosive-proof protector circuit is fusing
Formula capacitance protection circuit.
8. fireman's indoor positioning device according to claim 2, which is characterized in that the input/output module is serial ports
Mode.
9. fireman's indoor positioning device according to claim 1, which is characterized in that the cloud server end includes positioning
Algoritic module, indoor micro- mapping module and Geomagnetic signal fingerprint base.
10. a kind of fireman's indoor orientation method, which is characterized in that include the following steps：
Step 1, positioning device NB-IoT narrow band communications positioning device carries out micro- inertial navigation positioning, and in real time by the room of acquisition arrived
Interior geomagnetic data uploads to positioning device Cloud Server；
Step 2, the indoor geomagnetic data of upload is matched Geomagnetic signal fingerprint base by positioning device cloud server end first, is then led to
It crosses indoor earth magnetism location algorithm analysis module and completes positioning, position is finally associated with to the coordinate of indoor micro- map, to realize
Visualization positioning；
Step 3, micro- map console module is first logged at positioning device fire-fighting operational commanding end, then selects the interior to be checked
The personnel positioning situation in the site polling region sends out alarm if monitored personnel handle danger zone.
11. fireman's indoor orientation method as claimed in claim 10, which is characterized in that the step 2 includes a kind of visualization
Indoor positioning situation analysis and display methods.
12. fireman's indoor orientation method as claimed in claim 11, which is characterized in that the visualization indoor positioning situation point
Analysis and display methods include the following steps：
Step 1 realizes being associated with for indoor geomagnetic data and location information using attribute data；
Step 2 establishes figure layer data model using GIS spatial data format；
Step 3 corresponds attribute data and figure layer data model.
13. fireman's indoor orientation method as claimed in claim 12, which is characterized in that the visualization indoor positioning situation point
Attribute data includes information department management data, unit one belongs to's data, building information, floor in analysis and display methods step 1
Data, partition data, grouped data, group are away from data, earth magnetism sample data.
14. fireman's indoor orientation method as claimed in claim 12, which is characterized in that the visualization indoor positioning situation point
Geomagnetic data is earth magnetism sample data in analysis and display methods step 1, and location information is group away from data.
15. fireman's indoor orientation method as claimed in claim 12, which is characterized in that the visualization indoor positioning situation point
Analysis and display methods step 2 in figure layer data model include base map, path analysis figure layer, room/corridor figure layer, floor figure layer,
Danger source figure layer, fire extinguisher figure layer, fire resistant doorsets figure layer, stair figure layer, elevator figure layer.
16. fireman's indoor orientation method as claimed in claim 12, which is characterized in that the visualization indoor positioning situation point
Attribute data is partition data in analysis and display methods step 3.
17. fireman's indoor orientation method as claimed in claim 12, which is characterized in that the visualization indoor positioning situation point
Figure layer data model is room/corridor figure layer in analysis and display methods step 3.
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| CN109373997A (en) * | 2018-10-09 | 2019-02-22 | 四川煤矿安全监察局安全技术中心 | Underground engineering autonomous positioning method based on GIS map fusion |
| CN109932740A (en) * | 2019-01-28 | 2019-06-25 | 北京朝宇慧科信息技术有限公司 | Full-time sky intelligent positioning records terminal |
| CN112985378A (en) * | 2019-12-18 | 2021-06-18 | 成都工业学院 | Geomagnetic fingerprint positioning parallel computing method |
| CN115140623A (en) * | 2022-07-18 | 2022-10-04 | 深圳楚光金典科技有限公司 | Elevator cloud control integrated management system, method and storage medium |
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| CN115140623A (en) * | 2022-07-18 | 2022-10-04 | 深圳楚光金典科技有限公司 | Elevator cloud control integrated management system, method and storage medium |
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Application publication date: 20180817 |