CN112665587A - Tactical positioning device and working method thereof - Google Patents
Tactical positioning device and working method thereof Download PDFInfo
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Abstract
The invention discloses a tactical positioning device and a working method thereof, which relate to the field of communication equipment positioning, can perform teammate positioning and friend-foe identification functions only by at least two portable positioning devices without presetting a positioning base station, and are accurate and quick in positioning. The device of the invention comprises: the device comprises a wireless communication unit, a wireless distance measuring unit, an IMU inertia measuring unit, a three-axis magnetic compass, a barometer, a processor, a display unit and a safety operation unit. The method adopts wireless distance measurement between positioning devices, inertial measurement, orientation measurement of a magnetic compass, course calculation and height calculation of barometer measurement, realizes tactical positioning information sharing through wireless communication between nodes, adopts a dynamic and static combination mode to carry out relative positioning, and graphically displays a positioning result.
Description
Technical Field
The invention relates to the technical field of communication equipment positioning, in particular to a tactical positioning device and a working method thereof.
Background
The time collaboration and space collaboration requirements of special police combat on team members are higher and higher, at present, voice command is mainly carried out through police handheld radio stations, under certain tasks with high collaboration requirements, the traditional means cannot accurately achieve the tactical purpose, the action process is difficult to record in a digital mode, and assessment and improvement on tactical actions in the later stage are not facilitated. In the scenes of street fighting, indoor and outdoor investigation and search and the like, particularly in strange regions under dark conditions, when teammates at different positions approach unintentionally in the process of moving, because the positions of the teammates cannot be predicted in advance and no friend-foe identification system is available, the sudden collision can further strain the nerves which are tight originally to cause firing, and the teammates are easily injured by mistake; stopping after the face is touched to confirm the identity or avoiding first and then confirming, which can lead the enemy to start fire first and the party to lose the first opportunity.
Some police handheld radio stations are provided with GPS or other satellite navigation modules, so that the position information of the police handheld radio stations can be known, but a satellite navigation system can only be used outdoors in open space generally, and is suitable for police deployment in field operations and the like. In the fields of industry or consumption and the like, a positioning base station needs to be arranged in a certain range of structures in advance, for example, positioning based on schemes such as laser, Wi-Fi, Bluetooth, infrared ray, ultra wide band, RFID, ZigBee or ultrasonic wave and the like is needed, and infrared ray, laser and ultrasonic wave cannot penetrate through the wall to communicate and position.
In the existing foundation, a geomagnetic-based positioning method does not need to arrange a base station, but needs to acquire geomagnetic field information at different places of a target place in advance. In the special police operation, the case is not specific in place, the scene may be a complex urban complex including an overground and underground communicated space and a main building group, or a complex structure of a high-rise and super-high-rise building, a large space and a large span and the like, and the prerequisites of arranging a positioning base station in advance or acquiring geomagnetic information and the like are generally not met. In addition, some positioning equipment adopts an inertial navigation technology, a positioning base station is not required to be arranged in advance, but errors of inertial navigation are easy to accumulate, and especially tactical actions such as crawling and rolling of special polices in the process of running are various, and the errors are easy to accumulate, so that the positioning equipment cannot be used.
Disclosure of Invention
The invention provides a tactical positioning device and a working method thereof, which can perform teammate positioning and friend-friend identification functions through a portable positioning device without arranging a positioning device in advance, and are accurate and rapid in positioning.
In order to achieve the purpose, the invention adopts the following technical scheme:
a tactical positioning apparatus, comprising: the device comprises a wireless communication unit, a wireless distance measuring unit, an IMU inertia measuring unit, a three-axis magnetic compass, a barometer, a processor, a display unit and a safety operation unit.
The tactical positioning devices are communicated in an ad hoc network mode, and the wireless communication unit is used for constructing a wireless ad hoc network and realizing wireless data communication among the tactical positioning devices.
The wireless distance measuring unit is used for measuring the distance between each tactical locating device, namely different wearers, and the processor determines the position relation according to the distance between the different wearers.
The IMU inertial measurement unit comprises a three-axis accelerometer and a three-axis gyroscope and is used for detecting the pose of a wearer.
A three-axis magnetic compass is used to detect the direction, i.e. orientation, in which the front of the wearer is facing.
The barometer is used for gathering atmospheric pressure value to contain temperature detection circuit, can gather the temperature of current environment. The air pressure is greatly influenced by the temperature, and the air is expanded when the temperature is increased under the observation of an open space, so that the density of the air is reduced, and the atmospheric pressure is reduced; when the temperature of the closed space is increased, the air expands as observed from the closed space, but the volume of the closed space cannot be changed in a limited manner, and the atmospheric pressure increases.
The invention converts the air pressure value into a height value from the perspective of tactical positioning application. If the height of the team member is not changed, the local temperature change can cause a false height value change, which can cause misjudgment. It is therefore necessary to take into account temperature variations in the calculation of the air pressure for the application environment in which local temperature variations may exist.
The processor carries out temperature compensation on the atmospheric pressure value acquired by the barometer and the current environment temperature, and the current environment air pressure value is obtained through calculation of an air pressure-height formula. On the one hand, two scenes are considered, namely, the tactical elevation is displayed by utilizing height difference information between team members (the two scenes are in a near range area), so that tactical coordination is facilitated; and the other is that the command terminal collects the air pressure height on the ground to be used as a reference value, and the air pressure height obtained by the team member is differentiated from the reference value to obtain the true height with the ground for assisting the command decision. For more complex conditions in actual combat, such as air conditioning and heating in a room, or large-amplitude air pressure change caused by thunderstorm, fire and the like, specific conditions need to be specifically analyzed and correspond to corresponding tactics.
The safety operation unit is used for authenticating and encrypting information between different tactical positioning devices. The main purpose of authentication is to confirm the identity of the other party, and the operation method is to realize bidirectional authentication in a secure operation unit by using a message authentication code, a digital signature and the like. If the authentication fails, the confidential information is not transmitted, and meanwhile, the other party is warned that the other party is probably the enemy, so that the identification of the enemy and the my is realized.
The main purpose of encryption is to keep the confidentiality of information, a public key or a symmetric password is used for encrypting the information in a security arithmetic unit, a changed serial number, a timestamp and the like are added into the information, and the hash of the information can be digitally signed at the same time.
The display unit is used for displaying positioning information, pose, orientation, command and identification and authentication information of the wearer.
A working method of a tactical locating device is suitable for the tactical locating device and comprises the following steps:
the two tactical positioning devices are respectively A and B, the initial moments of the A and the B are respectively the point A and the point B, and the distance between the points AB is collected through a wireless ranging unit;
the device A is static, the device B moves to a point B ', the inertial measurement unit collects the distance between BB ' points, and the wireless measurement unit collects the distance between AB ' points;
the device A is static, the device B moves to a point B' in a direction different from the previous moving direction, the inertial measurement unit acquires the distance between BB points, and the wireless measurement unit acquires the distance between AB points;
judging whether A, B, B 'and B' points are on the same horizontal plane or not according to air pressure data acquired by an air pressure gauge, if so, drawing a circle by respectively taking B, B 'and B' as the center of a circle and AB, AB 'and AB' as the radii, and the intersection point of the three circles is the position of the point A; if the three spheres are not on the same horizontal plane, B, B 'and B' are taken as circle centers respectively, AB 'and AB' are taken as radiuses respectively to draw the spheres, and the intersection area of the three spheres is the position of the point A.
The invention has the beneficial effects that:
the device is worn with one, a positioning base station is not required to be deployed in advance, and only two positioning devices can be used for mutual cooperative positioning, so that indoor and outdoor relative positioning between team members is realized quickly, the accurate cooperative capacity of the fighting space and time is improved, and the fighting capacity is enhanced; according to the invention, identification of friend or foe is realized through message authentication codes, digital signatures and other modes, so that accidental injury caused by scenes such as dark conditions, strange region roadway wars, indoor and outdoor investigation and search is avoided, and accidental injury accidents are reduced; on the other hand, the positioning information is also utilized to search and rescue the team members in distress.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a system diagram of the apparatus of the present invention;
FIG. 2 is a schematic diagram of a two-point location method in an embodiment;
fig. 3 is a schematic diagram of the two-point positioning method in the embodiment in practical application, which utilizes the peripheral environment to assist positioning.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following detailed description.
An embodiment of the present invention provides a tactical positioning apparatus, as shown in fig. 1, including: the device comprises a wireless communication unit, a wireless distance measuring unit, an IMU inertia measuring unit, a three-axis magnetic compass, a barometer, a processor, a display unit, an operation unit, a safety operation unit, an IO interface and a power supply.
And marking the positioning devices as nodes, and carrying out communication among the nodes in an ad hoc mode. The wireless communication unit is used for constructing a wireless ad hoc network and realizing wireless data communication among nodes; the wireless ranging unit is used for measuring the distance between the nodes; the IMU inertial measurement unit comprises a three-axis accelerometer and a three-axis gyroscope and is used for measuring the pose; the three-axis magnetic compass is used for detecting the direction of the node; the barometer is internally provided with a temperature detection circuit, and the processor is used for carrying out temperature compensation on the atmospheric pressure value read by the barometer and calculating to obtain an air pressure value through an air pressure-height formula; the processor calculates the traveling distance, the direction and the height of the node device according to the IMU inertial measurement unit, the three-axis magnetic compass and the barometer data, calculates the relative position relation between the processor and the peripheral nodes by combining the distance between the processor and the peripheral nodes measured by the wireless distance measurement unit, and shares the positioning information with the peripheral nodes through the wireless communication unit; the safety operation unit is used for authentication and encryption of information. The display unit is used for displaying information such as positioning information, node posture orientation, command commands, friend or foe identification and authentication and the like; the operation unit is used for man-machine interaction, and generally adopts a keyboard or a touch screen; the IO interface is used for connecting with external equipment; the power supply is used for supplying power to the equipment.
The working method applicable to this embodiment requires at least two nodes to realize mutual cooperative positioning, and includes the following specific steps:
1) the two tactical positioning devices are respectively A and B, the initial moments of the A and the B are respectively the point A and the point B, and the distance between the points AB is collected through a wireless ranging unit;
2) the device A is static, the device B moves to a point B ', the inertial measurement unit collects the distance between BB ' points, and the wireless measurement unit collects the distance between AB ' points;
3) the device A is static, the device B moves to a point B' in a direction different from the previous moving direction, the inertial measurement unit acquires the distance between BB points, and the wireless measurement unit acquires the distance between AB points;
4) judging whether A, B, B 'and B' points are on the same horizontal plane or not according to air pressure data acquired by an air pressure gauge, if so, drawing a circle by respectively taking B, B 'and B' as the center of a circle and AB, AB 'and AB' as the radii, and the intersection point of the three circles is the position of the point A; if the three spheres are not on the same horizontal plane, B, B 'and B' are taken as circle centers respectively, AB 'and AB' are taken as radiuses respectively to draw the spheres, and the intersection area of the three spheres is the position of the point A. In actual wireless ranging or inertial measurement, due to the influence of measurement errors and the like, three circles or spheres may not intersect at a point, but only one area commonly contained by the three circles or spheres is needed to be estimated by other algorithms, such as a least square method and the like.
The positioning method under the condition of at least 2 nodes is shown, and the core idea is that the position determination of other nodes by a plurality of base stations is simulated by node movement measurement by means of measuring the travel distance and the distance between wireless measurement nodes by inertia by utilizing the static and dynamic changes between the nodes, and the positioning information is shared by a wireless network.
When there are more peripheral nodes, a multilateration positioning method, such as least square method, kalman filter, etc., may be used.
For convenience of describing the principle of the positioning method, the foregoing is the analysis assuming that a is stationary, B is moving and ranging, and so on. In practice, nodes such as A, B may implement ranging and share related information over a wireless communication network. In the actual combat process, all node team members do not necessarily move simultaneously, and do not constantly and continuously move, so that adjacent team members automatically complete positioning and displaying in a certain communication range, the identification of friend or foe and the tactical coordination are realized, and a certain team member is not necessarily required to be static to wait for other team members to move and measure distance.
In the practical application of the embodiment, according to different scenes, the positioning of the A can not be necessarily carried out from B, B 'and B ″ three position points, and the positioning can also be carried out through the auxiliary judgment of the peripheral environment, as shown in FIG. 3, the B utilizes the auxiliary judgment of the wall condition of the building, and only needs to move 1 time to B', the left intersection point of two circles is the position of the A (wall shielding), and the right intersection point of the two circles is visible due to no shielding, so that the right intersection point is directly excluded. Or when the A is in more than one floor or underground space, the intersection point of the two circles is in the unsupported air outside the floor or in the soil layer outside the underground space, and the positions can be quickly eliminated through manual judgment, so that the position of the A can be quickly determined.
When a plurality of nodes in the wireless positioning network realize mutual positioning, when a new node is added and can perform wireless distance measurement with 3 or more than 3 positioned nodes, trilateral or multilateral positioning can be directly utilized, and positioning is not required to be realized in an auxiliary mode through node movement and inertial distance measurement. Because each node belongs to the cooperative target, the newly added node can also acquire the positioning information of other positioned nodes in a wireless mode.
The wireless distance measurement needs a scheme capable of penetrating through a wall body, cannot use modes such as laser distance measurement and ultrasonic wave, and because urban combat is mostly in a complex structure building, the distance measurement error based on an RSSI (Received Signal Strength Indication) form is large, and generally cannot be used alone, for example, a TOF (Time of Flight Time) distance measurement scheme can be adopted. If SX1280 and other chips are selected, the communication and distance measurement can be integrated into a structure. The security removal unit is used for authentication, data encryption signature, time stamping and the like in information communication, and prevents enemy interference, eavesdropping, counterfeiting, information replay and the like.
Although the inertial measurement unit has inherent characteristics of error accumulation, in the embodiment, the inertial measurement unit only measures a short distance for positioning calculation, and subsequent measurement is restarted, so that the error accumulation is not performed all the time. By utilizing the inertia measurement unit and the barometer, the postures of standing, walking, running, lying down, getting on and off the elevator, getting on and off the stairs, falling and the like of the dequeue personnel can be judged.
The method for judging the posture of the team member comprises the following steps: when the variation range of the inertia measurement unit and the barometer is smaller than a certain threshold value, judging that the team member is in a static state; if the inertia measurement unit is basically static and the height is increased or decreased at a higher speed, the team member can be judged to be moving up and down on the elevator; the inertia measurement unit generates a certain low-frequency rhythm and a certain intensity of impact waveform on an axis vertical to the ground, and judges that the team member is walking if the corresponding horizontal motion stroke exists; if the frequency, intensity and corresponding travel increase based on the determination of walking, the player is considered to be running. On the basis of walking or running, if the height changes correspondingly, the team member can be judged to go up and down stairs or ramps. Whether the team member is in a lying state, such as prone position, supine position or left-right side lying, can also be judged by utilizing the numerical value of the inertia measurement unit; when the numerical value change rate of a certain axis of the inertia measurement unit exceeds a certain threshold value, the falling of the team member is judged.
Atmospheric pressure itself changes in a day, the height value obtained directly through air pressure calculation changes with the air pressure, the relative height of the node relative to the ground may not change at the moment, but the height changes basically synchronously because the tactical positioning device mainly compares the relative height between adjacent nodes, and the height is basically not influenced after the calculation through filtering. The tactical positioning device is connected with a flat plate and the like, sets corresponding authority, can be used as a command terminal, when the command terminal is on the ground, the calculated air pressure height can be used as a reference value of the air pressure height of other tactical positioning terminals, the reference value is differed with the calculated air pressure height to obtain the height of the tactical positioning terminal relative to the ground, the floor where the tactical positioning terminal is located can be judged according to the floor height, and cooperative operation and command are facilitated.
When the tactical positioning device is used, the tactical positioning device needs to be worn in a specific direction, the azimuth of the magnetic compass data represents the orientation of a team member except for participating in inertial navigation calculation, and the orientation is displayed on a screen, so that the tactical positioning device is convenient for cooperatively commanding operation. The advancing course of the team member is comprehensively calculated and judged through inertial navigation and a magnetic compass, and the advancing track is displayed as required for navigation or war evaluation and the like.
The display unit in the tactical positioning device can display the relative position relation among the team members in a certain distance, including horizontal distance, vertical distance, the direction orientation and the posture of the team members, carries out identification and authentication of friend or foe, displays command commands and the like, and can realize time synchronization, countdown and the like under the coordination of the command terminal.
The invention has the beneficial effects that:
the embodiment of the invention adopts wireless distance measurement between nodes, inertial measurement, magnetic compass orientation measurement, course calculation and barometer height measurement calculation, realizes tactical positioning information sharing through wireless communication between nodes, does not need to arrange a positioning base station in advance, adopts a dynamic and static combined mode to carry out relative positioning, and graphically displays the positioning effect.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. A tactical positioning apparatus, comprising: the device comprises a wireless communication unit, a wireless distance measuring unit, an IMU inertia measuring unit, a three-axis magnetic compass, a barometer, a processor, a display unit and a safety operation unit;
the tactical positioning devices are communicated in an ad hoc network mode, and the wireless communication unit is used for constructing a wireless ad hoc network and realizing wireless data communication among the tactical positioning devices;
the wireless ranging unit is used for measuring the distance between the tactical positioning devices, namely different wearers, and the processor determines the position relation according to the distance between the different wearers;
the IMU inertial measurement unit comprises a three-axis accelerometer and a three-axis gyroscope and is used for detecting the pose of a wearer;
the three-axis magnetic compass is used for detecting the direction, namely the orientation, facing the front of the wearer;
the barometer is used for acquiring an atmospheric pressure value, comprises a temperature detection circuit and can acquire the temperature of the current environment;
the processor performs temperature compensation on the atmospheric pressure value acquired by the barometer and the current environment temperature, and calculates the current environment air pressure value through an air pressure-height formula;
the safety operation unit is used for authenticating and encrypting information between different tactical positioning devices;
the display unit is used for displaying positioning information, pose, orientation, command and friend/foe identification authentication information of the wearer.
2. A method of operating a tactical locating apparatus, suitable for use with a tactical locating apparatus of claim 1, comprising:
the two tactical positioning devices are respectively A and B, the initial moments of the A and the B are respectively the point A and the point B, and the distance between the points AB is collected through a wireless ranging unit;
the device A is static, the device B moves to a point B ', the inertial measurement unit collects the distance between BB ' points, and the wireless measurement unit collects the distance between AB ' points;
the device A is static, the device B moves to a point B' in a direction different from the previous moving direction, the inertial measurement unit acquires the distance between BB points, and the wireless measurement unit acquires the distance between AB points;
judging whether A, B, B 'and B' points are on the same horizontal plane or not according to air pressure data acquired by an air pressure gauge, if so, drawing a circle by respectively taking B, B 'and B' as the center of a circle and AB, AB 'and AB' as the radii, and the intersection point of the three circles is the position of the point A; if the three spheres are not on the same horizontal plane, B, B 'and B' are taken as circle centers respectively, AB 'and AB' are taken as radiuses respectively to draw the spheres, and the intersection area of the three spheres is the position of the point A.
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Application publication date: 20210416 |