CN115273399A - Old people rescue equipment and method based on gyroscope three-axis acceleration sensor - Google Patents
Old people rescue equipment and method based on gyroscope three-axis acceleration sensor Download PDFInfo
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- G—PHYSICS
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- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
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- G08B21/0446—Sensor means for detecting worn on the body to detect changes of posture, e.g. a fall, inclination, acceleration, gait
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- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S19/17—Emergency applications
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- G—PHYSICS
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- 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
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M11/00—Telephonic communication systems specially adapted for combination with other electrical systems
- H04M11/04—Telephonic communication systems specially adapted for combination with other electrical systems with alarm systems, e.g. fire, police or burglar alarm systems
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract
The old people rescue equipment and the old people rescue method based on the gyroscope triaxial acceleration sensor comprise a GSM communication module, an ADXL345 tilt angle sensor module and a GPS positioning module; the GSM communication module, the ADXL345 tilt angle sensor module and the GPS positioning module are arranged on the bracelet; the GSM communication module is used for sending a short message to a specified number or calling a telephone function and sending the position information of a wearer so as to facilitate positioning; the ADXL345 tilt angle sensor module is used for calculating whether the wearer falls or not according to the movement condition of the wearer and calculating the movement track of the wearer according to the movement of the wearer; the GPS positioning module is used for determining the specific position of the wearer under the condition of networking or satellite signals; the GPS positioning module transmits the position information to the GSM communication module, and the GSM communication module transmits the position information to a specified number or broadcasts at a certain frequency. The invention can achieve the purposes of detecting whether the old people fall down at ordinary times, giving early warning to remind family members and actively sending positioning signals to the outside for help when natural disasters (such as earthquakes) occur.
Description
Technical Field
The invention belongs to the technical field of old people rescue equipment, and particularly relates to old people rescue equipment and a method based on a gyroscope three-axis acceleration sensor.
Background
After an earthquake occurs, how rescuers sense the positions of trapped people to carry out fixed-point rescue and timely rescue brings life guarantee for the trapped people. After the detection is finished, search and rescue personnel are rescued, and in the face of a complex collapse structure, the work of excavating and rescuing collapsed parts needs hydraulic tongs, hydraulic breaking products, cutting products and crushing products, and huge consumption is generated on physical force of the rescue personnel. With the development of the existing scientific technology, a plurality of novel products for earthquake rescue are developed aiming at the complex geographical environment after the earthquake happens, such as unmanned aerial vehicles and robot technologies, after the sudden earthquake disaster is faced, the disaster situation of the current disaster area can be rapidly detected, and in some narrow and small dangerous places, the robot technology is applied to detect and observe in a mode of replacing manpower. Through this kind of neotype earthquake rescue product, can effectual promotion search and rescue personnel's rescue efficiency and search and rescue effect, can use neotype product simultaneously in search and rescue personnel face under the unable circumstances of solving of manpower, open a life passageway for stranded personnel.
Foreign research on post-disaster localization: the German 'I-LOV' project group provides a set of good ideas, and the project group provides a set of complete victim positioning systems aiming at the conditions of natural disasters such as earthquakes, tsunamis, debris flows and the like. Firstly, designing an interference machine for shielding the communication between the mobile phone and a nearby base station, then establishing a high-power pseudo base station by a software radio technology to promote the connection between the mobile phone and the pseudo base station, then receiving a feedback signal of the mobile phone, and then positioning. The "I-LOV" project group also proposes to use frequency hopping technique to improve the positioning accuracy, but the frequency hopping method needs to be performed in the case of a call. Under actual disaster environment, victims are often buried and lose mobility, and the implementation effect of the method is limited. The I-LOV project is positioned by adopting a TDOA method, and the accuracy is improved by adopting a maximum likelihood estimation algorithm.
Domestic related research: a positioning terminal is designed for post-disaster rescue positioning in a mode of combining an emergency base station and a complete disaster relief command service system is established by Beijing post-telecommunications university. After the emergency base station induces a mobile phone to transmit signals, a positioning terminal is adopted to acquire mobile phone data in real time, then the data are transmitted to a positioning service system through a Win network, and finally the calculation of the position of the mobile phone is completed in the system. The project group of Beijing post and telecommunications university simulates the process of sending a message by a disaster relief service center receiving terminal on a computer, realizes the function of data transmission and mainly completes the work of software design. However, the subject group does not build a complete hardware platform, and does not research on the positioning algorithm. The validity of this system needs further verification.
The fall detection method based on the wearable device comprises the steps that the wearable device is worn or worn on the body, for example, the mobile phone can be used for collecting data and classifying the data into objects which are necessary in daily life of people, action recognition research based on the mobile phone is carried out before, for example, wangwenBin and the like use an acceleration sensor in the intelligent mobile phone to design an action recognition system, chengyang and the like use the mobile phone to transmit the human body motion data collected by the wearable device to a monitoring center to better monitor human body health, horse journey and the like design an old people fall remote intelligent mobile phone monitoring client which can be connected with the wearable device, so that prompt information can be sent to family members in time when the old people fall is monitored, and meanwhile position information is sent to rescue workers, and therefore more serious consequences are avoided.
The design of Wanwen leads the mobile phone to be only capable of identifying the combination of the directions of up, down, left, right, front and back, and the error rate of identification is rapidly increased along with the increase of the combination; the architecture proposed by the cheng wei et al is mainly based on personal data safety, and an algorithm for collecting human motion data is not perfect and is not elaborated in detail; the intelligent monitoring client-side old man that maotai et al established falls down the early warning and relies on wearable equipment's motion detection function equally, excessively needs hardware operation moreover and can not be connected to a plurality of equipment and can only support the android system.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide old people rescue equipment and method based on a gyroscope triaxial acceleration sensor, which have the characteristics of small size, accurate algorithm, low energy consumption and novel use function, and can achieve the purposes of detecting whether the old people fall down at ordinary times, giving an early warning to remind family members, and actively sending a positioning signal to the outside for assistance when a natural disaster (such as an earthquake) occurs.
In order to achieve the purpose, the invention adopts the technical scheme that:
the old people rescue equipment based on the gyroscope triaxial acceleration sensor is of a bracelet structure and is matched with a GSM communication module, an ADXL345 tilt angle sensor module and a GPS positioning module; the GSM communication module, the ADXL345 tilt angle sensor module and the GPS positioning module are arranged on the bracelet;
the GSM communication module is used for sending a short message to a specified number or calling a telephone function and sending the position information of a wearer so as to facilitate positioning;
the ADXL345 tilt angle sensor module is used for calculating whether the wearer falls or not according to the movement condition of the wearer and calculating the movement track of the wearer according to the movement of the wearer;
the GPS location module is used to determine the particular orientation of the wearer (e.g., within which building) when networked or with satellite signals;
the GPS positioning module transmits the position information to the GSM communication module, and the GSM communication module transmits the position information to a designated number or broadcasts the position information at a certain frequency.
The GSM communication module comprises a GSM radio frequency chip, a baseband processing chip, a memory and a power amplifier; the GSM radio frequency chip is used for transmitting and receiving signals, the baseband processing chip is used for converting baseband codes and data signals of the received and transmitted signals, the memory is used for storing the received and transmitted signals and amplifying the signals, and the power amplifier is used for receiving and transmitting data and voice signals.
The GPS positioning module comprises an RF radio frequency chip, a baseband chip and a core CPU;
the RF radio frequency chip converts radio signal communication into a certain waveform, synthesizes and decodes baseband signals, the baseband chip is used for processing transmitting and receiving signals, and the core CPU is used for positioning the position of a wearer.
The ADXL345 tilt angle sensor module comprises a plurality of capacitance plates for measuring acceleration and playing a role in acquiring acceleration data in three directions.
The GSM communication module is connected with a power supply line and a ground line in the integrated circuit, and is connected with a serial data output line (STX) and a serial data input line (SRX) at the same time;
a GPS positioning module is connected with a power supply line in an integrated circuit board with a stm32 control chip, and a ground wire and a data receiving pin (RX) are connected with a data sending pin (TX);
the ADXL345 tilt sensor module is also connected to the power and ground lines of the integrated circuit board and transmits acceleration data to the chip via an integrated line.
The use method of the old people rescue equipment based on the gyroscope triaxial acceleration sensor comprises the following steps;
ADXL345 acceleration sensor in the bracelet can calculate the motion situation of the wearer in real time, fall down and check according to acceleration data, use GSM communication module to send distress messages to family members after detecting the old man's falling down behavior, and send the position information of the old man to family members together, realize that the old man calls for help in time after falling down this function, the buzzer that self has simultaneously reports to the police and rings, arouse the attention of peripheral passerby or driver, increase the old man and can in time discover and be rescued probability after falling down.
Based on the application of the bracelet, the bracelet is matched with a GSM communication module, an ADXL345 tilt angle sensor module and a GPS positioning module, can be used for still recording a motion trail when the bracelet is not connected with a network, and transmits the position information of trapped people to the outside on the basis of original positioning;
the position information of trapped people is transmitted to the outside continuously by using a GSM communication module of the bracelet, and then the data is received by the outside through a relay means (such as a local signal base station or a communication command car), so that the accurate position of people under the ruins is determined, and accurate search and rescue are realized; meanwhile, based on the existing track detection function of the bracelet, the bracelet is matched with a GSM communication module, so that the bracelet has the function of sending short messages to a mobile phone, according to a test result, GPS positioning provides real-time longitude and latitude information under the networking condition, an ADXL345 tilt sensor can measure continuous acceleration data, and the tilt sensor can provide the acceleration of an object in the X, Y and Z axis directions and the tilt of the object motion direction and each coordinate axis within a few milliseconds;
using MATLAB software to process the collected data such as acceleration and the like so as to obtain the motion trail of the trapped person, specifically, performing accumulative trapezoidal data integration on the acceleration data on each coordinate axis so as to obtain speed data on each coordinate axis, obtaining displacement data on each coordinate axis from the speed data by using the same method, and reducing the result error by using a Kalman filtering algorithm; and obtaining a predicted value of the next moment from the estimated value at the moment through an acceleration displacement equation, comparing the predicted value with a true value of the next moment to obtain an error covariance matrix so as to obtain a corresponding Kalman gain, finally obtaining the predicted value of the next moment, obtaining coordinates under a three-dimensional image by using the positions of three coordinate axes of each moment, and fitting each coordinate by using a function so as to draw an accurate object movement track diagram.
The invention has the beneficial effects that:
the invention is a practical product for the old, and has simple and convenient operation and reliable function. In daily life, the method adopts an automatic detection mode to effectively detect whether the old people fall down in daily life, and sends out rescue requirements in a mode of sending short messages to family members, dialing mobile phones or making sounds to attract the attention of surrounding people so as to help and cure the old people. Under more extreme conditions (for example, after an earthquake occurs), the product can actively send position information to the outside for help, so that the probability of finding and rescuing after the disaster is greatly improved.
Drawings
FIG. 1 is a schematic diagram of core board interface of STM32 single chip microcomputer.
Fig. 2 is an interface diagram of the ADXL345 module.
Fig. 3 is a circuit diagram of an ADXL345 module.
Fig. 4 is a schematic diagram of a buzzer alarm circuit.
Fig. 5 is a schematic circuit diagram of the sensor structure.
FIG. 6 is a schematic view of the structure of the present invention.
Fig. 7 is a schematic diagram of module connection according to the present invention.
FIG. 8 is a schematic diagram of the collected sensor data.
Fig. 9 is a schematic diagram of the finally obtained track image.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Earthquake search and rescue-positioning based on motion trail after disaster:
the invention uses a gyroscope and a triaxial acceleration sensor (model ADXL345 tilt sensor) to collect data such as acceleration data of human motion. Based on the test results, the sensor can already measure continuous acceleration data. The GPS positioning can provide satisfactory real-time longitude and latitude information under the networking condition, MATLAB software can be used for processing collected data such as acceleration and the like so as to obtain the motion trail of the trapped person to obtain a more accurate trapped position, a Kalman filtering algorithm, an acceleration displacement algorithm and the like are used in a program, the acceleration can be converted into continuous displacement, the motion trail of an object can be drawn, and a satisfactory test effect can be obtained.
Prevent falling down intellectual detection system and report to the police:
the product takes a 51-single-chip microcomputer STC12C5A60S2 as a core chip, utilizes an ADXL345 acceleration sensor to carry out tumble check, uses a GSM communication module to send distress short messages to family members of the old, and sends position information of the old to the family members together, so that the function of calling for help in time after the old falls down is realized, and meanwhile, a buzzer carried by the old alarms and rings to attract the attention of surrounding passersby or drivers. The probability that the old people can be found in time and rescued after falling is increased.
STM32 singlechip core circuit design:
the STM32 family of processors is a 32-bit microcontroller supporting real-time emulation and tracking based on the ARM7 architecture, produced by ST corporation of italian semiconductors. The control chip is selected because the system design does not pursue lowest cost or smaller power consumption, but rather can provide richer interfaces and functions to facilitate designing peripheral expansion circuits required by each experimental project of the experimental system on the premise of realizing the design function. The control chip is easy to use after the learning of the single chip course is finished, is widely applied to medical instruments, and has good learning and experimental research values.
And (3) ADXL345 tilt angle sensor module circuit design:
the invention selects the inclination angle sensor ADXL345 module to detect relevant state information in real time. ADXL345 is a small and thin ultra-low power consumption 3-axis accelerometer with high resolution (13 bits) and a measurement range of + -16 g. The digital output data is in 16-bit two's complement format and can be accessed through SPI (3 or 4 wire) or I2C digital interface. ADXL345 is well suited for mobile device applications. It can measure static gravitational acceleration in tilt detection applications, and also dynamic acceleration due to motion or shock. The high resolution (3.9 mg/LSB) of the method can not measure the inclination angle change of 1.0 degree. The device provides a number of special detection functions. The active and inactive detection functions detect the presence or absence of motion by comparing the acceleration on any axis to a user-set threshold. The tap detection function can detect single-vibration and double-vibration actions in any direction. The free fall detection function can detect whether the device is falling. These functions can be mapped independently to one of the two interrupt output pins. The integrated memory management system being patented employs a 32-stage first-in-first-out (FIFO) buffer that can be used to store data, thereby minimizing host processor load and reducing overall system power consumption. The low power mode supports motion-based intelligent power management for threshold sensing and motion acceleration measurements with very low power consumption.
The circuit diagram inside the ADXL345 module is shown in fig. 3. U2 is a voltage stabilizing chip, 5V direct current is converted into 3.3V direct current, and C1-C4 are filter capacitors. R2 and R3 are pull-up resistors, so that signal input is more stable. D1 is the power indicator, and R1 is the current-limiting resistor, protects LED lamp D1.
Buzzer alarm circuit (high level effective) design
The active buzzer is an electronic buzzer with an integrated structure, adopts direct current voltage for power supply, and is widely applied to electronic products such as computers, printers, copiers, alarms, electronic toys, automotive electronic equipment, telephones, timers and the like as a sounding device. The alarm module adopted by the system is a 5V active buzzer module, the circuit is driven by a triode 9012, the buzzer alarms when the single chip microcomputer controls the pin to be in a high level state, otherwise, the buzzer does not sound, and the sound mode of the buzzer can be controlled by controlling the square wave output form of the pin of the single chip microcomputer. The resistor is a current-limiting resistor and has a protection effect.
GSM _ SIM800A module circuit design
The GSM module integrates a GSM radio frequency chip, a baseband processing chip, a memory, a power amplifier device and the like on a circuit board, and is a functional module which has an independent operating system, GSM radio frequency processing and baseband processing and provides a standard interface. The GSM module has all basic functions of sending SMS short messages, voice communication, GPRS data transmission and the like, and the communication is carried out based on a GSM network. In brief, the GSM module, in addition to a keyboard, a display screen and a battery, is a mobile phone.
The SIM800A is a high performance GSM/GPRS module in industrial grade, which is introduced by SIMCOM corporation, and has a very high cost performance, and occupies a very large share in the dual-frequency market.
The GSM _ SIM800A module adopts a high-performance industrial grade GSM/GPRS module: SIM800A, the working frequency band is GSM900/1800MHz. Hardware design is optimized on official design, a high-efficiency switching power supply is adopted for supplying power, and the SIM card adopts a mainstream card holder, so that the quality is firmer. The GSM _ SIM800A module refers to the hardware design guide of the SIM800A module in the design of peripheral hardware, and has made a lot of work on the power supply, protection and anti-interference of the board. The power supply is supplied by the switching power supply module, and the power supply utilization efficiency is high.
SIM800A is a two-frequency GSM/GPRS module, which is SMT packaged. The novel LED lamp has stable performance, small appearance and high cost performance, and can meet various requirements of customers. The SIM800A has the working frequency of GSM/GPRS900/1800MHz, and can realize the transmission of voice, SMS and data information with low power consumption. The size of the SIM800A is 24243mm, and the SIM can meet the design requirements of various compact products.
As shown in fig. 6: bracelet display screen 1 is installed to the bracelet, and inside is whole integrated circuit 2, and the main device has STM32 chip 3, three functional module 5. The upper part of the shell 6 of the hand ring is provided with a GPS positioning antenna 4 and the lower part is provided with a loudspeaker (buzzer) 11. The bracelet also has wear-resisting watchband 7, bracelet switch 8. The lower part of the bracelet inner is also provided with a battery groove 9 which is powered by a battery 10.
The bracelet can send distress message and old man's positional information to its family members when the old man takes place to fall down, makes things convenient for family members in time to carry out the treatment to the old man.
The matched GSM communication module, ADXL345 tilt angle sensor module and GPS positioning module of this application have made a bracelet that can detect the orbit, make it when not having connected with the network, still can take notes the motion orbit to outwards transmit stranded personnel's positional information on the basis of original location.
The GSM communication module of the bracelet is used for transmitting the position information of trapped people, so that the data are continuously transmitted to the outside, and then are received by the outside through a relay means (such as a local signal base station or a communication command car), so that the accurate positions of people under the ruins are determined, and accurate search and rescue are realized. Meanwhile, based on the existing track detection function of the bracelet, a project group develops a whole set of algorithm capable of effectively judging whether the old people fall down, and the GSM communication module is matched, so that the bracelet has the function of sending short messages to a mobile phone. Based on the test results, GPS positioning can provide satisfactory real-time latitude and longitude information under networked conditions, while ADXL345 tilt sensors can measure continuous acceleration data. The tilt sensor provides the acceleration of the object in the X, Y, Z axis directions and the tilt of the object motion direction with each coordinate axis in milliseconds. As shown in fig. 8:
the MATLAB software can be used for processing the collected data such as the acceleration and the like so as to obtain the motion trail of the trapped person. The process specifically includes that accumulated trapezoidal data integration is carried out on the acceleration data on each coordinate axis to obtain the speed data on each coordinate axis, and the displacement data on each coordinate axis can be obtained from the speed data by the same method. The kalman filter algorithm is used to reduce the resulting error, since using only the integration algorithm greatly increases the resulting displacement data error. Specifically, the estimated value at the moment is used for obtaining a predicted value at the next moment through an acceleration displacement equation, the predicted value is compared with a real value at the next moment to obtain an error covariance matrix, so that a corresponding Kalman gain is obtained, and finally the predicted value at the next moment is obtained. The predicted value obtained through the Kalman filtering algorithm is combined with the estimated value and the true value obtained through a specific acceleration displacement equation, and the influence of noise and the like on the final displacement data can be well removed. And after more accurate displacement data is obtained, coordinates under the three-dimensional image are obtained by using the positions on three coordinate axes at each moment, and an accurate object movement track graph can be drawn by fitting each coordinate through a function. As shown in fig. 9.
And the trapped position can be obtained more accurately by combining the track with the position information finally obtained by GPS positioning, and the final test result is very satisfactory.
Claims (7)
1. The old people rescue equipment based on the gyroscope triaxial acceleration sensor is characterized in that the equipment is of a bracelet structure and is matched with a GSM communication module, an ADXL345 tilt angle sensor module and a GPS positioning module; the GSM communication module, the ADXL345 tilt angle sensor module and the GPS positioning module are arranged on the bracelet;
the GSM communication module is used for sending a short message to a specified number or calling a telephone function and sending the position information of a wearer so as to facilitate positioning;
the ADXL345 tilt angle sensor module is used for calculating whether the wearer falls or not according to the movement condition of the wearer and calculating the movement track of the wearer according to the movement of the wearer;
the GPS positioning module is used for determining the specific position of the wearer under the condition of networking or satellite signals;
the GPS positioning module transmits the position information to the GSM communication module, and the GSM communication module transmits the position information to a designated number or broadcasts the position information at a certain frequency.
2. The old people rescue device based on the gyroscope triaxial acceleration sensor according to claim 1, wherein the GSM communication module comprises a GSM radio frequency chip, a baseband processing chip, a memory and a power amplifier device; the GSM radio frequency chip is used for transmitting and receiving signals, the baseband processing chip is used for converting baseband codes and data signals of the received and transmitted signals, the memory is used for storing the received and transmitted signals and amplifying the signals, and the power amplifier is used for receiving and transmitting data and voice signals.
3. The elderly rescue equipment based on gyroscope triaxial acceleration sensor according to claim 1, wherein the GPS positioning module comprises an RF radio frequency chip, a baseband chip and a core CPU;
the RF radio frequency chip converts radio signal communication into a certain waveform, synthesizes and decodes baseband signals, the baseband chip is used for processing transmitting and receiving signals, and the core CPU is used for positioning the position of a wearer.
4. The geriatric aid device based on a gyroscope triaxial acceleration sensor of claim 1, wherein the ADXL345 tilt sensor module includes a plurality of capacitive plates therein for measuring acceleration, thereby obtaining acceleration data in three directions.
5. The geriatric aid device based on a gyroscope triaxial acceleration sensor according to claim 1, wherein the GSM communication module connects a power supply line and a ground line in an integrated circuit, and is connected to a serial data output line (STX) and a serial data input line (SRX);
the GPS positioning module is connected with a power supply line in an integrated circuit board with a stm32 control chip, and a ground wire and a data receiving pin (RX) are connected with a data sending pin (TX);
the ADXL345 tilt sensor module is also connected to the power and ground lines of the integrated circuit board and transmits acceleration data to the chip via an integrated line.
6. The method of using the geriatric aid device based on the gyroscope triaxial acceleration sensor of any one of claims 1-5, comprising the steps of;
ADXL345 acceleration sensor in the bracelet can calculate the motion condition of a wearer in real time, carries out falling detection according to acceleration data, uses a GSM communication module to send distress short messages to family members of the old when detecting that the old falls, sends the position information of the old to the family members together, realizes the function of calling for help in time after the old falls, and simultaneously, a buzzer carried by the old alarms and rings to arouse the attention of surrounding passersby or drivers. The probability that the old people can be found in time and rescued after falling is increased.
7. The application of the bracelet according to any one of claims 1-5, wherein the bracelet is provided with a GSM communication module, an ADXL345 tilt sensor module and a GPS positioning module, and can be used for recording a movement track when the bracelet is not connected to a network and transmitting position information of a trapped person to the outside on the basis of original positioning;
the position information transmission of the trapped people is realized by the GSM communication module of the bracelet, and the data is continuously transmitted to the outside and received by the outside through a relay means (such as a local signal base station or a communication command car), so that the accurate positions of people under the ruins are determined, and the accurate search and rescue is realized; meanwhile, based on the existing track detection function of the bracelet, the bracelet is matched with a GSM communication module, so that the bracelet has the function of sending short messages to a mobile phone, GPS positioning provides real-time longitude and latitude information under the networking condition according to a test result, an ADXL345 tilt sensor can measure continuous acceleration data, and the tilt sensor can provide the acceleration of an object in the X, Y and Z axis directions and the tilt of the object motion direction and each coordinate axis within a few milliseconds;
using MATLAB software to process the collected data such as acceleration and the like so as to obtain the motion trail of the trapped person, specifically, performing accumulative trapezoidal data integration on the acceleration data on each coordinate axis so as to obtain speed data on each coordinate axis, obtaining displacement data on each coordinate axis from the speed data by using the same method, and reducing the result error by using a Kalman filtering algorithm; and obtaining a predicted value of the next moment from the estimated value at the moment through an acceleration displacement equation, comparing the predicted value with a real value of the next moment to obtain an error covariance matrix so as to obtain a corresponding Kalman gain, finally obtaining the predicted value of the next moment, obtaining coordinates under a three-dimensional image by using the positions of three coordinate axes of each moment, and fitting each coordinate by using a function so as to draw an accurate object movement track graph.
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