CN202075415U - Remote monitoring GPS\INS combination tracking system - Google Patents
Remote monitoring GPS\INS combination tracking system Download PDFInfo
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- CN202075415U CN202075415U CN2011201242122U CN201120124212U CN202075415U CN 202075415 U CN202075415 U CN 202075415U CN 2011201242122 U CN2011201242122 U CN 2011201242122U CN 201120124212 U CN201120124212 U CN 201120124212U CN 202075415 U CN202075415 U CN 202075415U
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Abstract
The utility model relates to a remote monitoring GPS\INS combination tracking system. The remote monitoring GPS\INS combination tracking system is characterized by comprising a GPS\INS combination tracking device and a remote reception monitoring device; the GPS\INS combination tracking device is embedded in a fire-fighting protective coat; and the GPS\INS combination tracking device and the remote reception monitoring device are connected in a wireless manner. The remote monitoring GPS\INS combination tracking system can be used for remote-monitoring the position and the moving state information of a firefighter, and the information which has been monitored is transmitted to a control center in a real time for the overall command by the control center. The remote monitoring GPS\INS combination tracking system is small and light, can be embedded in the fire-fighting coat, and is convenient for the firefighter to carry.
Description
Technical field
The utility model relates to a kind of remote monitoring GPS/INS combined tracking system, embeds in the fire-fighting protective clothing to use, and belongs to the fire fighting equipment technical field.
Background technology
The GPS(GPS) is the of new generation Aerospace Satellite positioning system of the seventies in 20th century by U.S.'s the armies of navy, army and air force joint research and development.GPS is distributed in the wireless signal compute location information of 24 satellite transmissions in the space by reception, have characteristics such as high precision, round-the-clock, high-level efficiency, for the user provides accurate position and velocity information, but because the rectilinearity of its radio signal propagation, its serviceability is subjected to the influence of factors such as environment, can't be in the environment that satellite-signals such as high building, tunnel are blocked operate as normal, influence the accuracy of carrier location.
The INS(inertial positioning system) system utilizes inertance element to come information such as the position of sensing carrier and speed, has characteristics such as independent navigation and antijamming capability are strong, has higher precision at short notice.But along with the growth of INS System production time, positioning error also increases thereupon.
The GPS/INS integrated positioning system utilizes the long-time stability of gps system and the short-term high precision of INS system, with two kinds of positioning system Combinatorial Optimizations, makes full use of advantage separately, and the navigational parameter of real-time Transmission carrier makes high-precision location become possibility.The GPS/INS positioning system is state-of-the-art in the world at present GPS, and by feat of its high precision, the advantage of low cost is widely used in every field.
The WSN(wireless sensor network) is by the ad hoc network system that is deployed in the multi-hop that microsensor nodes a large amount of in the surveyed area forms by radio communication, has multiple functions such as information acquisition, data processing and radio communication.Wireless sensor network relates to sensor technology, the network communications technology, Radio Transmission Technology, microelectronic manufacturing technology etc., is that multidisciplinary height intersects, the technical field in emerging, forward position, has broad application prospects.
Summary of the invention
The purpose of this utility model is to utilize existing GPS/INS combined orientation technology, and a kind of GPS/INS combined tracking system that can realize real-time monitoring that embeds firefighter uniform is provided.
In order to realize the foregoing invention purpose, the utility model provides a kind of remote monitoring GPS/INS combined tracking system, it is characterized in that, comprise GPS/INS combined tracking device and long-range reception supervising device, GPS/INS combined tracking device embeds in the fire-fighting protective clothing, between GPS/INS combined tracking device and the long-range reception supervising device by wireless connections.
Preferably, described GPS/INS combined tracking device comprises the GPS locating module, the INS processing module, Kalman filtering and overall treatment module, the first baroceptor module, WSN sending module and power module, the GPS locating module all is connected with the overall treatment module with Kalman filtering with the INS processing module, Kalman filtering all is connected with the WSN sending module with the first baroceptor module with the overall treatment module, and power module connects the GPS locating module respectively, the INS processing module, Kalman filtering and overall treatment module, the first baroceptor module and WSN sending module.
Preferably, described GPS locating module comprises gps antenna and GPS receiver, and gps antenna connects GPS receiver, GPS receiver Connection Card Kalman Filtering and overall treatment module.Gps antenna is used for receiving satellite signal, and the GPS receiver resolves processing to the satellite-signal that receives, output GPS locator data.
Preferably, described INS processing module comprises three-axis gyroscope, three axis accelerometer and INS processing module, and three-axis gyroscope all is connected with the INS processing module with three axis accelerometer, INS processing module Connection Card Kalman Filtering and overall treatment module.Three-axis gyroscope and three axis accelerometer are produced corresponding mobile angular signal and rate pulse signal by carrier movement, and are sent to the INS processing module, and the INS processing module is resolved to handle to the inertial positioning signal and obtained the inertial positioning data.
Described Kalman filtering and overall treatment module receive the output signal of above-mentioned GPS locating module and INS processing module, by Kalman filtering and resolving, obtain revised positional parameter, and this corrected parameter fed back to INS processing module and GPS locating module, obtain the integrated positioning parameter, and this parameter is sent to next module.
Described WSN sending module receiving card Kalman Filtering and the revised integrated positioning parameter of overall treatment module, and signal is real-time transmitted to the WSN receiver module by wireless transmission method, the WSN receiver module is sent to data disaply moudle with the signal that receives.
Preferably, the described first baroceptor module comprises baroceptor, signal amplification circuit, filtering circuit and the A/D change-over circuit that connects successively, and the A/D change-over circuit connects the WSN sending module.
Preferably, adopt ZigBee communication transmission signals between described WSN sending module and the WSN receiver module, its transmission wave band be 2.4GHz exempt to authorize frequency range (ISM).
Preferably, described long-range reception supervising device comprises WSN receiver module, second baroceptor module and the data disaply moudle, and the WSN receiver module all is connected with data disaply moudle with the second baroceptor module.
Preferably, the described second baroceptor module comprises baroceptor, signal amplification circuit, filtering circuit and the A/D change-over circuit that connects successively, and the A/D change-over circuit connects the WSN sending module.The received signal of these two baroceptors is compared and resolves, obtain the elevation information of carrier, can effectively solve the GPS/INS integrated positioning the relatively poor problem of the height measuring accuracy of carrier.
Preferably; described power module comprises lithium ion battery group, batteries charging adapter, power protection module and power supply alarming device; the lithium ion battery group connects batteries charging adapter and power protection module respectively, and the power protection module connects the power supply alarming device.Described power module is the total system power supply, when electric quantity of power supply is not enough, gives the alarm, and reminds the fire fighter in time to withdraw the scene of a fire.
Preferably, described GPS/INS combined tracking device is located at the shoulder position place of fire-fighting protective clothing.Neither can influence the operate as normal of total system, also can not produce and disturb fire fighter's fire-fighting operation.
Compared with prior art, the beneficial effects of the utility model are:
1. the utility model is a kind of tracking means that is applicable to fire-fighting, but remote monitoring fire fighter's position and motion state information, and the information that monitors is sent to control center in real time, so that the pool of control center commander.Little, the light weight of the utility model volume can embed firefighter uniform, is convenient to carrying of fire fighter.
2. the utility model has adopted the GPS/INS combined orientation technology, utilize the long-time stability and all weather operations characteristics of GPS location, and the short-term high precision of INS is improved the performance of system, realized high-precision positioning function, the location of harmonic motion carrier under strong interference environment in being applicable to.
3. the utility model adopts the WSN wireless transmission method, can be in the rugged surroundings that wire transmission can't be carried out the motion state and the positional information of real-time remote monitoring carrier.WSN adopts the ZigBee wireless communication technology, and the transmission wave band is for exempting to authorize frequency range (ISM).
4. the utility model adopts the method for baroceptor subsidiary, has solved the GPS/INS integrated positioning problem bigger to the carrier height measuring error effectively, has improved the bearing accuracy of system.
5. the utility model adopts little, the light weight of a kind of volume, the power supply that can power to system for a long time, and the power supply alarming device is arranged, alarm equipment alarm when electric weight is lower than predetermined value.
Description of drawings
Fig. 1 is a GPS/INS combined tracking apparatus structure block diagram.
Embodiment
Specify the utility model below in conjunction with embodiment.
Embodiment
A kind of remote monitoring GPS/INS combined tracking system, comprise GPS/INS combined tracking device and long-range reception supervising device, as shown in Figure 1, be GPS/INS combined tracking apparatus structure block diagram, described GPS/INS combined tracking device comprises the GPS locating module, the INS processing module, Kalman filtering and overall treatment module, the first baroceptor module, WSN sending module and power module, the GPS locating module all is connected with the overall treatment module with Kalman filtering with the INS processing module, Kalman filtering all is connected with the WSN sending module with the first baroceptor module with the overall treatment module, and power module connects the GPS locating module respectively, the INS processing module, Kalman filtering and overall treatment module, the first baroceptor module and WSN sending module.Described GPS/INS combined tracking device is located at the shoulder position place of fire-fighting protective clothing.
Described GPS locating module comprises gps antenna and GPS receiver, and gps antenna connects GPS receiver, GPS receiver Connection Card Kalman Filtering and overall treatment module.The major function of GPS locating module is a receiving satellite signal, through amplification, filtering, a series of processes such as resolve, realization is to the tracking and the monitoring of carrier, comprising the longitude of carrier, latitude, highly, information such as movement velocity, time, and provide pseudorange, pseudorange rates and ephemeris information for Kalman filtering and overall treatment module.
Described INS processing module comprises three-axis gyroscope, three axis accelerometer and INS processing module, and three-axis gyroscope all is connected with the INS processing module with three axis accelerometer, INS processing module Connection Card Kalman Filtering and overall treatment module.Described three-axis gyroscope is used to detect the motion angular velocity of carrier, and described three axis accelerometer is used to detect the linear acceleration of carrier.The INS processing module receives the mobile angular signal of three-axis gyroscope generation and the rate pulse signal that three axis accelerometer generates, program curing by INS processing module inside, obtain the parameter informations such as position, speed of carrier, and above-mentioned parameter information is sent to Kalman filtering and overall treatment module.
Kalman filtering and overall treatment module receive the positional parameter information of GPS locating module and the detection information of INS processing module, curing algorithm by Kalman filtering and overall treatment inside modules, resolve above-mentioned information is warm, obtain final positional parameter, and this parameter fed back to INS processing module and GPS locating module, simultaneously this parameter is sent to the WSN sending module.
The locating information of WSN sending module receiving card Kalman Filtering and overall treatment module, and finish the teletransmission of locating information from the carrier end to the display end by wireless transmission method.Adopt ZigBee communication transmission signals between described WSN sending module and the WSN receiver module, its transmission wave band be 2.4GHz exempt to authorize frequency range.
The described first baroceptor module comprises baroceptor, signal amplification circuit, filtering circuit and the A/D change-over circuit that connects successively, and the A/D change-over circuit connects the WSN sending module.The described second baroceptor module comprises baroceptor, signal amplification circuit, filtering circuit and the A/D change-over circuit that connects successively, and the A/D change-over circuit connects the WSN sending module.The baroceptor module is measured the atmospheric gas pressure parameter, and sends metrical information to information receiving end by the WSN sending module.In native system, adopt two baroceptor patterns, measure the pneumatic parameter of carrier end and information receiving end respectively, calculate the difference in height of carrier end and receiving end, solved the GPS/INS integrated positioning the relatively poor problem of the height measuring accuracy of carrier by draught head.
Described power module comprises lithium ion battery group, batteries charging adapter, power protection module and power supply alarming device, and the lithium ion battery group connects batteries charging adapter and power protection module respectively, and the power protection module connects the power supply alarming device.The lithium ion battery group is the total system power supply, provides the equipment operate as normal required energy; The batteries charging adapter is made up of power transformer and rectification circuit, and for electric battery provides suitable power supply, normal, the work reliably of assurance equipment has defencive function simultaneously, and equipment can not damaged because of the fluctuation of power supply.The utility model provides 220V Alternating Current Power Supply and two kinds of patterns of vehicle-mounted power supply by the batteries charging adapter, has improved the convenience that equipment uses.The power protection module provides protections such as overcurrent, overheated and short circuit for whole electric power system.In power module, design simultaneously the power supply alarming device, when electric quantity of power supply is not enough, given the alarm, reminded the fire fighter in time to withdraw the scene of a fire.
Described long-range reception supervising device comprises WSN receiver module, second baroceptor module and the data disaply moudle, and the WSN receiver module all is connected with data disaply moudle with the second baroceptor module.
The principle of work of remote monitoring GPS/INS combined tracking of the present utility model system is as follows:
System finishes self check and information initializing process earlier after opening.After all were normally finished, gps antenna began receiving satellite signal, and the signal that receives is passed to the GPS receiver, and the curing algorithm by GPS receiver inside obtains information such as GPS pseudorange and pseudorange rates, and flows to Kalman filtering and overall treatment module.When the carrier setting in motion, three-axis gyroscope in the INS processing module and three axis accelerometer are measured the angular velocity and the linear acceleration of carrier respectively, and enter the INS processing module with the form of mobile angular signal and rate pulse signal, handle position and the velocity information that obtains carrier through resolving.Information such as the position of the pseudorange of GPS, pseudorange rates and INS, speed enter Kalman filtering and overall treatment module respectively, Kalman filtering and overall treatment module are carried out accelerometer deviation and gyroscopic drift correction to three-axis gyroscope and three axis accelerometer, the INS processing module is carried out position, speed, attitude and error correction, the GPS receiver is carried out position, speed, attitude and clocking error correction, and corrected parameter is sent to the WSN sending module.Simultaneously, the baroceptor module is measured atmospheric pressure value, converts digital signal to through amplification, filtering, A/D and enters the WSN sending module.The WSN sending module sends the signal that receives to the WSN receiver module with wireless transmission method, and long-range demonstration, finishes tasks such as the tracking of target and commander's controls.
Claims (10)
1. remote monitoring GPS/INS combined tracking system, it is characterized in that, comprise GPS/INS combined tracking device and long-range reception supervising device, GPS/INS combined tracking device embeds in the fire-fighting protective clothing, between GPS/INS combined tracking device and the long-range reception supervising device by wireless connections.
2. remote monitoring GPS/INS combined tracking as claimed in claim 1 system, it is characterized in that, described GPS/INS combined tracking device comprises the GPS locating module, the INS processing module, Kalman filtering and overall treatment module, the first baroceptor module, WSN sending module and power module, the GPS locating module all is connected with the overall treatment module with Kalman filtering with the INS processing module, Kalman filtering all is connected with the WSN sending module with the first baroceptor module with the overall treatment module, and power module connects the GPS locating module respectively, the INS processing module, Kalman filtering and overall treatment module, the first baroceptor module and WSN sending module.
3. remote monitoring GPS/INS combined tracking as claimed in claim 2 system is characterized in that described GPS locating module comprises gps antenna and GPS receiver, and gps antenna connects GPS receiver, GPS receiver Connection Card Kalman Filtering and overall treatment module.
4. remote monitoring GPS/INS combined tracking as claimed in claim 2 system, it is characterized in that, described INS processing module comprises three-axis gyroscope, three axis accelerometer and INS processing module, three-axis gyroscope all is connected with the INS processing module with three axis accelerometer, INS processing module Connection Card Kalman Filtering and overall treatment module.
5. remote monitoring GPS/INS combined tracking as claimed in claim 2 system, it is characterized in that, the described first baroceptor module comprises baroceptor, signal amplification circuit, filtering circuit and the A/D change-over circuit that connects successively, and the A/D change-over circuit connects the WSN sending module.
6. remote monitoring GPS/INS combined tracking as claimed in claim 2 system; it is characterized in that; described power module comprises lithium ion battery group, batteries charging adapter, power protection module and power supply alarming device; the lithium ion battery group connects batteries charging adapter and power protection module respectively, and the power protection module connects the power supply alarming device.
7. remote monitoring GPS/INS combined tracking as claimed in claim 2 system is characterized in that, adopts ZigBee communication transmission signals between described WSN sending module and the WSN receiver module, its transmission wave band be 2.4GHz exempt to authorize frequency range.
8. remote monitoring GPS/INS combined tracking as claimed in claim 1 system, it is characterized in that, described long-range reception supervising device comprises WSN receiver module, second baroceptor module and the data disaply moudle, and the WSN receiver module all is connected with data disaply moudle with the second baroceptor module.
9. remote monitoring GPS/INS combined tracking as claimed in claim 8 system, it is characterized in that, the described second baroceptor module comprises baroceptor, signal amplification circuit, filtering circuit and the A/D change-over circuit that connects successively, and the A/D change-over circuit connects the WSN sending module.
10. remote monitoring GPS/INS combined tracking as claimed in claim 1 system is characterized in that
,Described GPS/INS combined tracking device is located at the shoulder position place of fire-fighting protective clothing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201242122U CN202075415U (en) | 2011-04-25 | 2011-04-25 | Remote monitoring GPS\INS combination tracking system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011201242122U CN202075415U (en) | 2011-04-25 | 2011-04-25 | Remote monitoring GPS\INS combination tracking system |
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| CN202075415U true CN202075415U (en) | 2011-12-14 |
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| CN2011201242122U Expired - Fee Related CN202075415U (en) | 2011-04-25 | 2011-04-25 | Remote monitoring GPS\INS combination tracking system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076619A (en) * | 2012-12-27 | 2013-05-01 | 山东大学 | System and method for performing indoor and outdoor 3D (Three-Dimensional) seamless positioning and gesture measuring on fire man |
| CN106370183A (en) * | 2016-11-14 | 2017-02-01 | 黑龙江省科学院自动化研究所 | Fire protection integrated positioning system |
-
2011
- 2011-04-25 CN CN2011201242122U patent/CN202075415U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076619A (en) * | 2012-12-27 | 2013-05-01 | 山东大学 | System and method for performing indoor and outdoor 3D (Three-Dimensional) seamless positioning and gesture measuring on fire man |
| CN106370183A (en) * | 2016-11-14 | 2017-02-01 | 黑龙江省科学院自动化研究所 | Fire protection integrated positioning system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111214 Termination date: 20140425 |