CN108917771A - A kind of indoor navigation system for fire-fighting first aid - Google Patents
A kind of indoor navigation system for fire-fighting first aid Download PDFInfo
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- CN108917771A CN108917771A CN201810828438.7A CN201810828438A CN108917771A CN 108917771 A CN108917771 A CN 108917771A CN 201810828438 A CN201810828438 A CN 201810828438A CN 108917771 A CN108917771 A CN 108917771A
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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
Abstract
The invention discloses a kind of indoor navigation systems for fire-fighting first aid, it include mainly indoor navigation system, command set monitoring client, mobile client, the indoor navigation system includes database module, indoor positioning module, data processing module, system information transmissions module；The present invention is worked by each module coordination, uses corresponding prospecting mode, quick obtaining indoor map information and environmental information with ambient conditions according to indoor environment, and quickly transmitted information by long-wave communication unit, high-efficient and surveys are accurate.
Description
Technical field
The present invention relates to the generation of indoor real-time map and technical field of navigation and positioning, are specifically related to a kind of for fire-fighting emergency
The indoor navigation system rescued.
Background technique
Indoor scene increasingly bulky complex, the places such as large-scale quotient is super, general hospital, airport, parking lot are for positioning
Also gradually increase with the demand of navigation.Large-scale quotient is super to be wanted to provide by indoor positioning technologies for shopping consumer of coming
Guiding service in real time, while corresponding marketing service is provided based on position.Hospital wishes to position Medical Devices in real time, just
Quick calling when needing；It wishes to carry out positioning monitoring to special sufferer, prevents it from accident occurs.High-risk chemical plant needs pair
Personnel carry out orientation management, prevent safety accident etc..It can be said that indoor positioning is in retail, food and drink, logistics, manufacture, change
The industries such as work, electric power, medical treatment have shown vast market prospect.
In fire-fighting and rescue and some emergency disaster relief fields, understand in advance due to lacking to the scene of the accident, blindly enters scene
Unnecessary injury or even threat to life often are caused to rescue personnel afterwards.Therefore it is indoor to need a kind of effective high-precision
Navigation positioning system guarantees floor manager and rescue personnel in rescue operations to site environment, rescue personnel position and state
Understanding, rescue personnel is along secure path operation for guidance, and the life security for reducing and eliminating rescue personnel threatens.
Summary of the invention
For the above-mentioned problems in the prior art, the present invention provides a kind of indoor navigation systems for fire-fighting first aid
System.
The technical scheme is that：A kind of indoor navigation system for fire-fighting first aid mainly includes indoor navigation system
System, command set monitoring client, mobile client, the indoor navigation system include database module, indoor positioning module, at data
Manage module, system information transmissions module；
The database module includes data storage element and data extracting unit, and the data storage element is used for will be new
Indoor map information be stored in database；The data extracting unit is for extracting relevant information in database；
The indoor positioning module includes WiFi positioning unit, bluetooth positioning unit, ultra wide band UWB positioning unit, infrared
Positioning unit, RFID positioning unit, IMU Inertial Measurement Unit, the WiFi positioning unit are wireless by mobile device and three
The wireless signal strength of network access point, by difference algorithm, to compare the accurately carry out triangulation location to people and vehicle, or
Person records the signal strength of the determination location point of flood tide into database module in advance, by strong with the signal for the equipment being newly added
Degree comparison possesses the database of mass data, to determine position；The bluetooth positioning unit passes through the triangulation location technology of bluetooth,
Position is determined by the Bluetooth base. station disposed around building；The ultra wide band UWB positioning unit is stored in number using prior
It according to the anchor node and bridge node of known location in library module, is communicated with the blind node being newly added, and utilizes triangulation location side
Formula determines position；The infrared positioning unit knits infrared net by multipair transmitter and receiver and covers space to be measured, directly
It connects and moving target is positioned；The RFID positioning unit reads the spy of target RFID tag by one group of fixed reader
Reference breath, determines position using three kinds of nearest neighbour method, polygon positioning mode, received signal strength methods；The IMU inertia measurement list
Angular speed when member is for obtaining personnel's movement and works as geomagnetic field information at acceleration information；
The data processing module includes computer processing unit, and the computer processing unit is used for according to indoor positioning
The information creating map of module real-time collecting, while providing access interface for command and monitor end, and by data information it is real-time on
Reach database module；
The system information transmissions module includes system information long-wave communication unit, the system information long-wave communication unit
Information result for handling data processing module passes to the command set monitoring client；
Command set monitoring client is used to receive the information result of indoor navigation system processing, and commanding passes through command set
Monitoring client transmitting instruction；
The mobile client is for obtaining Indoor Environmental Condition and personnel location information.
Further, the command set monitoring client includes command set data processing module, the command set data processing mould
Block includes floor manager unit, remote command unit, and the floor manager unit receives indoor navigation system by WLAN
The information of system simultaneously sends instruction to mobile client；The remote command unit receives indoor navigation system by Internet
Information simultaneously sends instruction to mobile client；The cartographic information of command set monitoring client combination indoor navigation system transmitting and mobile visitor
The customer position information of family end transmitting is to assign suitable instruction.
Further, the mobile client includes locating module and client-side information transmission module, the locating module
Including GPRS positioning unit, the GPRS positioning unit is for determining mobile client end position；The client-side information transmits mould
Block includes client long-wave communication unit, and the client long-wave communication unit is for receiving the finger that command set monitoring client is assigned
It enables；Mobile client uploads the environmental information of surrounding with location information in real time, guarantees the working efficiency of personnel used in connection with.
Further, the system information long-wave communication unit supports 2/3/4G mobile network；Guarantee that information can be more
Normal transmission under kind complex environment.
Further, the client long-wave communication unit supports 2/3/4G mobile network；Guarantee that information can be a variety of
Normal transmission under complex environment.
Further, smokescope sensor and temperature sensor are equipped in the mobile client；It can be more detailed
Upload ambient condition information.
Further, estimation error module is additionally provided in the indoor navigation system, the estimation error module includes：
Indoor map unit and error evaluation unit are predicted, when the indoor positioning module is uploaded to the data processing module processing
When information result is not enough to draw indoor whole maps, the prediction indoor map unit is according to the WiFi positioning unit, indigo plant
The positioning distribution side of tooth positioning unit and RFID positioning unit and indoor map information；The error evaluation unit is according to prediction
The information that the predictive information of indoor map unit and the mobile client upload in real time carries out Real-time Error estimation and rectifys with error
Just.
The beneficial effects of the invention are as follows：
1. the present invention reconnoitres the method combined by a variety of, effectively indoor environment and route planning can be come out,
To pass to mobile client, to play the role of navigation；
2. command set can receive and summarize indoor information when the present invention is applied to the environment such as emergency rescue, from
And more efficient method is taken to carry out emergency rescue activity；
3. smoke sensor device and temperature sensor are equipped in mobile client of the present invention, so that the present apparatus is not only available
Indoor map information, while indoor environment can also be detected.
4. the present invention is worked by each module coordination, corresponding prospecting mode is used with ambient conditions according to indoor environment,
Quick obtaining indoor map information and environmental information, and quickly transmitted information by long-wave communication unit, it is high-efficient
And surveys are accurate.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention.
Wherein, 1- indoor navigation system, 2- command set monitoring client, 3- mobile client, 11- database module, in the room 12-
Locating module, 13- data processing module, 14- system information transmissions module, 111- data storage element, 112- data are extracted single
Member, 121-WiFi positioning unit, 122- bluetooth positioning unit, 123- ultra wide band UWB positioning unit, 124- infrared positioning unit,
125-RFID positioning unit, 126-IMU Inertial Measurement Unit, 131- computer processing unit, 141- system information long-wave communication
Unit, 21- command set data processing module, 211- floor manager unit, 212- remote command unit, 31- locating module, 32-
Client-side information transmission module, 311-GPRS positioning unit, 321- client long-wave communication unit.
Specific embodiment
With reference to the accompanying drawing 1 and specific embodiment come to the present invention be further described in detail.
As shown in Figure 1, a kind of indoor navigation system for fire-fighting first aid, mainly includes indoor navigation system 1, command set
Monitoring client 2, mobile client 3, indoor navigation system 1 include database module 11, indoor positioning module 12, data processing module
13, system information transmissions module 14；
Database module 11 includes data storage element 111 and data extracting unit 112, and data storage element 111 is used for
New indoor map information is stored in database；Data extracting unit 112 is for extracting relevant information in database；
Indoor positioning module 12 includes WiFi positioning unit 121, bluetooth positioning unit 122, ultra wide band UWB positioning unit
123, infrared positioning unit 124, RFID positioning unit 125, IMU Inertial Measurement Unit 126, WiFi positioning unit 121 pass through shifting
The wireless signal strength of dynamic equipment and three wireless network access points, by difference algorithm, to compare accurately to people and vehicle
Carry out triangulation location, or in advance into database module 11 record flood tide determination location point signal strength, pass through use
The signal strength comparison for the equipment being newly added possesses the database of mass data, to determine position；Bluetooth positioning unit 122 passes through
The triangulation location technology of bluetooth, determines position by the Bluetooth base. station disposed around building；Ultra wide band UWB positioning unit
123, using the anchor node and bridge node for being stored in known location in database module 11 in advance, carry out with the blind node being newly added
Communication, and position is determined in the way of triangulation location；Infrared positioning unit 124 is knitted infrared by multipair transmitter and receiver
Gauze covers space to be measured, directly positions to moving target；RFID positioning unit 125 is read by one group of fixed reader
The characteristic information for taking target RFID tag determines position using three kinds of nearest neighbour method, polygon positioning mode, received signal strength methods
It sets；Angular speed when IMU Inertial Measurement Unit 126 is used to obtain personnel's movement and works as geomagnetic field information at acceleration information；
Data processing module 13 includes computer processing unit 131, and computer processing unit 131 is used for according to indoor positioning
The information creating map of 12 real-time collecting of module, while access interface is provided for command and monitor end, and data information is real-time
It is uploaded to database module 11；
System information transmissions module 14 includes system information long-wave communication unit 141, system information long-wave communication unit 141
Information result for handling data processing module 13 passes to command set monitoring client 2；
Command set monitoring client 2 is used to receive the information result of the processing of indoor navigation system 1, and commanding passes through commander
The transmitting instruction of platform monitoring client 2；
Mobile client 3 is for obtaining Indoor Environmental Condition and personnel location information.
Wherein, command set monitoring client 2 includes command set data processing module 21, and command set data processing module 21 includes existing
Field commander unit 211, remote command unit 212, floor manager unit 211 pass through WLAN and receive indoor navigation system 1
Information and to mobile client 3 send instruct；Remote command unit 212 receives indoor navigation system 1 by Internet
Information simultaneously sends instruction to mobile client 3；The cartographic information and shifting that command set monitoring client 2 combines indoor navigation system 1 to transmit
The customer position information that dynamic client 3 is transmitted is to assign suitable instruction；Mobile client 3 includes locating module 31 and client
Client information transmission module 32, locating module 31 include GPRS positioning unit 311, and GPRS positioning unit 311 is for determining mobile visitor
3 position of family end；Client-side information transmission module 32 includes client long-wave communication unit 321, client long-wave communication unit 321
The instruction assigned for receiving command set monitoring client 2；Mobile client 3 by the environmental information of surrounding and location information it is real-time on
It passes, guarantees the working efficiency of personnel used in connection with；System information long-wave communication unit 141 supports 2/3/4G mobile network；Guarantee
Information can be in normal transmission under various complicated；Client long-wave communication unit 321 supports 2/3/4G mobile network；Guarantee
Information can be in normal transmission under various complicated；Smokescope sensor and temperature sensor are equipped in mobile client 3；
Ambient condition information can be uploaded in more detail.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that：It still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；And
These are modified or replaceed, the spirit and model of technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (6)
1. a kind of indoor navigation system for fire-fighting first aid, which is characterized in that mainly include indoor navigation system (1), commander
Platform monitoring client (2), mobile client (3), the indoor navigation system (1) include database module (11), indoor positioning module
(12), data processing module (13), system information transmissions module (14)；
The database module (11) includes data storage element (111) and data extracting unit (112), the data storage list
First (111) are for new indoor map information to be stored in database；The data extracting unit (112) is for extracting data
Relevant information in library；
The indoor positioning module (12) includes WiFi positioning unit (121), bluetooth positioning unit (122), ultra wide band UWB positioning
Unit (123), infrared positioning unit (124), RFID positioning unit (125), IMU Inertial Measurement Unit (126), the WiFi are fixed
Bit location (121) passes through the wireless signal strength of mobile device and three wireless network access points, by difference algorithm, to compare
Accurately to the carry out triangulation location of people and vehicle, or the determination location point of flood tide is recorded into database module (11) in advance
Signal strength, by possessing the database of mass data with the comparison of the signal strength of the equipment being newly added, to determine position；Institute
The triangulation location technology that bluetooth positioning unit (122) pass through bluetooth is stated, is determined by the Bluetooth base. station disposed around building
Position；The ultra wide band UWB positioning unit (123) utilizes the anchor node for being stored in database module (11) interior known location in advance
And bridge node, it is communicated with the blind node being newly added, and determine position in the way of triangulation location；The infrared positioning list
First (124) knit infrared net by multipair transmitter and receiver and cover space to be measured, directly position to moving target；Institute
State the characteristic information that RFID positioning unit (125) read target RFID tag by one group of fixed reader, using nearest neighbour method,
Three kinds of polygon positioning mode, received signal strength methods determine position；The IMU Inertial Measurement Unit (126) is for obtaining people
Angular speed when member's movement and works as geomagnetic field information at acceleration information；
The data processing module (13) includes computer processing unit (131), and the computer processing unit (131) is used for root
Access interface is provided according to the information creating map of indoor positioning module (12) real-time collecting, while for command and monitor end, and will
Data information is uploaded to database module (11) in real time；
The system information transmissions module (14) includes system information long-wave communication unit (141), and the system information long wave is logical
Letter unit (141) is used to the information result that data processing module (13) are handled passing to the command set monitoring client (2)；
Command set monitoring client (2) is used to receive the information result of indoor navigation system (1) processing, and commanding passes through commander
Platform monitoring client (2) transmitting instruction；
The mobile client (3) is for obtaining Indoor Environmental Condition and personnel location information.
2. a kind of indoor navigation system for fire-fighting first aid according to claim 1, which is characterized in that the command set
Monitoring client (2) includes command set data processing module (21), and the command set data processing module (21) includes floor manager list
First (211), remote command unit (212), the floor manager unit (211) receive indoor navigation system by WLAN
(1) information and sending to mobile client (3) instructs；The remote command unit (212) passes through in Internet receiving chamber
The information of navigation system (1) simultaneously sends instruction to mobile client (3).
3. a kind of indoor navigation system for fire-fighting first aid according to claim 1, which is characterized in that the mobile visitor
Family end (3) includes locating module (31) and client-side information transmission module (32), and the locating module (31) includes GPRS positioning
Unit (311), the GPRS positioning unit (311) is for determining mobile client (3) position；The client-side information transmits mould
Block (32) includes client long-wave communication unit (321), and the client long-wave communication unit (321) is for receiving command set prison
The instruction that control end (2) is assigned.
4. a kind of indoor navigation system for fire-fighting first aid according to claim 1, which is characterized in that the system letter
It ceases long-wave communication unit (141) and supports 2/3/4G mobile network.
5. a kind of indoor navigation system for fire-fighting first aid according to claim 3, which is characterized in that the client
Long-wave communication unit (321) supports 2/3/4G mobile network.
6. a kind of indoor navigation system for fire-fighting first aid according to claim 1, which is characterized in that the mobile visitor
Smokescope sensor and temperature sensor are equipped in family end (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810828438.7A CN108917771A (en) | 2018-07-25 | 2018-07-25 | A kind of indoor navigation system for fire-fighting first aid |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810828438.7A CN108917771A (en) | 2018-07-25 | 2018-07-25 | A kind of indoor navigation system for fire-fighting first aid |
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| CN108917771A true CN108917771A (en) | 2018-11-30 |
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| CN201810828438.7A Pending CN108917771A (en) | 2018-07-25 | 2018-07-25 | A kind of indoor navigation system for fire-fighting first aid |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110044348A (en) * | 2019-03-15 | 2019-07-23 | 广东康云科技有限公司 | A kind of three-dimensional indoor navigation system and its implementation |
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- 2018-07-25 CN CN201810828438.7A patent/CN108917771A/en active Pending
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| US20090138353A1 (en) * | 2005-05-09 | 2009-05-28 | Ehud Mendelson | System and method for providing alarming notification and real-time, critical emergency information to occupants in a building or emergency designed area and evacuation guidance system to and in the emergency exit route |
| CN104833354A (en) * | 2015-05-25 | 2015-08-12 | 梁步阁 | Multibasic multi-module network integration indoor personnel navigation positioning system and implementation method thereof |
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