CN202975337U - Firefighter indoor/outdoor 3D seamless positioning and attitude detection system - Google Patents

Abstract

The utility model discloses a firefighter indoor/outdoor 3D seamless positioning and attitude detection system. The system includes a main control circuit board based on an STM32 single chip microcomputer, a GPRS data transmission module based on Sim-900, a GPS positioning module, a remote monitoring client and an inertial navigation module I and an inertial navigation module II; the main control circuit board is respectively connected with the GPRS data transmission module, the GPS positioning module and the inertial navigation module I and the inertial navigation module II through serial ports; and the GPRS data transmission module is connected and communicates with the bound remote monitoring client through adopting a GPRS network. The firefighter indoor/outdoor 3D seamless positioning and attitude detection system of the utility model can realize firefighter indoor/outdoor 3D seamless positioning and attitude detection, can accurately identify and judge movement states of firefighters, and at the same time, can realize firefighter indoor/outdoor 3D seamless positioning; according to application occasions of the firefighters, the system can extend sensors such as a toxic gas sensor, a smoke sensor and a temperature sensor; and the system is of great significance in the protection of life safety of the firefighters who work in complex fire environments.

Description

The seamless location of a kind of fireman's indoor and outdoor 3D and attitude detection system

Technical field

The utility model relates to a kind of fireman location and attitude detection system, is specifically related to the seamless location of a kind of fireman's indoor and outdoor 3D and attitude detection system.Belong to fireman's navigation and location, human body attitude detection, behavioural analysis and identification field.

Background technology

At present, along with the increase of population, land area is fewer and feweri per capita, and the building housing-group is gradually towards maximization, high stratification development.In case this baroque skyscraper breaking out of fire, the fireman enters rear because a variety of causes such as smog and floor structure are difficult to position oneself, after the fireman is stranded, even the wireless telecommunications systems such as intercom are arranged, because fireman self can not accurately judge own position, therefore be difficult in time report its accurate floor and position to the external staff, thereby miss best rescue opportunity; Human motion state detection accurately is the important evidence of estimating the current life security state of fireman.Be not only fire protection sector, along with popularizing of the various intelligent terminals such as smart mobile phone, iPad, the market demand of fireman location and attitude detection technology is also more and more urgent.

The utility model relates generally to two main theories and technical matters: the one, and fireman's indoor and outdoor 3D seamless location, the 2nd, fireman's athletic posture detects.

Fireman's navigator fix technology refers to realize real-time location and tracking to the individual by means of the equipment of special use.Fireman's airmanship generally includes outdoor navigator fix technology and indoor navigation location technology.Human body attitude detects and typically refers to self-contained sensors such as utilizing accelerometer, gyroscope, realizes that by the angle of human body privileged site and the variation of acceleration human body posture detects.For the fireman who is operated in complicated fire field environment, indoor and outdoor 3D location and attitude detection are the important leverages of fireman's life security accurately, are also its basic premises of completing scene of a fire detection and rescue task.

At present, fireman's indoor and outdoor navigator fix technology mainly is divided into according to the difference of its location mechanism: based on the GPS(GPS) location technology, based on the RFID(radio-frequency (RF) tag) location technology, based on the location technology of WLAN, based on location technology of self-contained sensor (accelerometer, gyroscope, magnetometer etc.) etc.

Chinese patent application 201010023030.6 and 201210013467.0 is all the fireman's localization method that adopts based on radio frequency ID, the shortcoming of this method is to carry out special transformation to environment, to arrange the rfid interrogator of some in environment, use inconvenience, precision is lower, is fit to environment simple.Based on the method for radio sensing network, as the Wi-Fi technology, Zibgee technology etc. utilize signal intensity to position, and the deficiency of this method is to set up radio sensing network, and cost is high, and wireless signal easily is disturbed, and precision is relatively poor.

Chinese patent application 201010201512.6, adopted a kind of GNSS(GPS (Global Position System)), the UWB(super-broadband tech) and the MEMS(microelectromechanical systems) mode of mixed positioning, and it is regular to have proposed a kind of seamless switching based on satellite-signal intensity and signal to noise ratio (S/N ratio), the weak point of the method is to need to arrange in advance complicated UWB positioning label in environment, and the MEMS location technology that the method adopts is the inertial positioning technology of traditional integration mechanism, the inertial positioning of this traditional quadrature mechanism is very high to the requirement that platform is aimed in people's walking process, and positioning error can constantly be accumulated along with the growth of time, this mode is also that rescue in environment in the scene of a fire that can't be applied to fireman's complexity.

document " based on the seamless location algorithm research of fireman's indoor and outdoor of GPS and self-contained sensor " (2010, China Science ﹠ Technology University [D], p19-25) a kind of localization method based on GPS and self-contained sensor has been proposed, but the method is not considered the impact of body swing on crab angle in people's walking process, like this people in the process of walking swinging of health can produce serious influence to the decomposition result of pedestrian's reckoning location algorithm, the method can only be accomplished the indoor and outdoor location in planar range, story height and fireman's motion state information can't be provided.

Chinese patent application 201010539511.2 discloses a kind of fireman fire scene positioning system based on the Mesh mesh network architectures, this system is by the wireless monitor main frame, some wireless location handsets and some wireless relay form, this system adopts the inertial positioning technology, utilize the Mesh net to communicate, can realize fireman's plane positioning and posture detection function, but this system has only adopted the inertial positioning technology of traditional quadrature mechanism, and traditional quadrature mechanism inertial positioning technology its positioning result itself will be dispersed along with the accumulation of service time, therefore the method can't guarantee the validity of long period location, and the method only relies on the inertial positioning technology, relative positioning information can only be provided and absolute location information can't be provided, can't in time eliminate the cumulative errors of inertial positioning, fireman place story height information also can't be provided.

Chinese patent 201110047495.X has openly illustrated a kind of for the scene of fire by three embodiment, can carry out three-dimensional localization, and assist the fireman to implement rapidly the Fireman site navigation device of fire fighting and rescue action.In embodiment 1, its three-dimensional navigation module comprises GPS module and earth magnetism inertial navigation module, adopts the Combinated navigation method of inertial navigation and earth-magnetic navigation.The method of inertia/earth magnetism integrated navigation is affected seriously by the output error of magnetometer, and the output of magnetometer is easy to be subject to the impact of surrounding environment soft or hard ferromagnetic effects, do not have in this utility model the output error of three axle magnetometers is compensated, therefore the bearing accuracy of this kind method is subjected to such environmental effects very large, as in the buildings of steel design, it is very serious that the output of magnetometer is affected by ferromagnetic effects, adopts the method for embodiment 1 can't obtain positioning result accurately.In addition, in embodiment 1, the locating information of GPS module only as the initial alignment reference, is not done fusion to GPS location and inertial positioning information, and the accumulation positioning error can't be eliminated in good time, can only eliminate cumulative errors by the mode of restarting equipment, be difficult to guarantee the accuracy of long-time location.In embodiment 2, adopt RFID to carry out story height identification, adopt the GPS module to carry out the GPS location.Adopt RFID to carry out story height identification, need to arrange in advance a large amount of RFID electronic tags, and the positioning result of GPS under indoor environment is incredible, so embodiment 2 is difficult to practical application in indoor situation.Embodiment 3 adopts the signal arrival time difference location algorithm, and this localization method is affected seriously by blocking of multipath effect and barrier.The disclosed method of this utility model can't accomplish fireman's athletic posture is carried out Real-Time Monitoring, multiple locating information is not merged, and is difficult to guarantee long bearing accuracy.

Chinese patent application 201210203123.6 discloses a kind of fireman's fire fighting and rescue positioning command system, this command system comprises communication base station, Operation display module, individual soldier's terminal, beacon and beacon read write line, the method can realize fireman's location, but will carry out corresponding operating to institute's carrying device when needing a precalculated position of the every arrival of fireman, under urgent fire field environment, the situation of omission or faulty operation easily occurring, is not the continuous localization method of a kind of active.

Fireman's attitude detection mainly is divided at present based on vision with based on two kinds of Wearable sensors.Can seriously be subject to the impact of external environment based on the human body attitude detection of vision, such as illumination condition, circumstance of occlusion, complex degree of background etc.Human body attitude based on the Wearable sensor detects general angle or acceleration by human body trunk privileged site, and the passing threshold method is carried out the judgement of attitude.

Chinese patent 200910028156.X passes through two accelerometers as attitude sensor, can identify the attitudes such as static, running, jump by setting acceleration rate threshold, bend over and the action such as lie down but be difficult to distinguish, and because the method has only adopted two single-axis accelerometers, therefore can't accomplish the real-time measurement of 3-axis acceleration, the wearing position of device and direction also have strict restriction.

Chinese patent application 201210185040.9 has proposed a kind of the elderly based on inertial navigation module and GPS and has fallen down the detection and location device, this device utilizes neural network, the machine learning scheduling algorithm can identify the situation that the old man falls down comparatively accurately, but the method only relies on the GPS location, positioning function lost efficacy when blocking appears in gps signal, without the indoor positioning function, and the method is utilized an inertial navigation module, can only realize the single detection of falling down, can't distinguish such as bending over, stand, walking, the many attitude such as lie down, be not suitable for the seamless location of 3D and the attitude detection demand of the indoor and outdoor fire field environment of fireman's complexity.

To sum up, existing fireman location and attitude detection technology are difficult to realize simultaneously the seamless location of continuous 3D under the complicated fire field environment of fireman's indoor and outdoor and the demand of multi-motion attitude detection.

Summary of the invention

The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, and the seamless location of a kind of fireman's indoor and outdoor 3D and attitude detection system are provided.Application background for the complicated fire field environment of fireman's indoor and outdoor, abundant advantage in conjunction with GPS location and inertial positioning technology, design a kind of in real time, reliable, accuracy is high, and system and the method thereof of continuous seamless 3D location and multi-motion posture detection function under the indoor and outdoor complex environment can be provided simultaneously for the fireman.

For achieving the above object, the utility model adopts following technical scheme:

The seamless location of a kind of fireman's indoor and outdoor 3D and attitude detection system, comprise a master control circuit board based on the STM32 single-chip microcomputer, the one GPRS data transmission module based on Sim-900, one GPS locating module, a remote monitoring client and be worn on respectively user's waist and inertial navigation module I and the inertial navigation module II of large leg outer side; Described master control circuit board is connected with inertial navigation module II with described GPRS data transmission module, GPS locating module and inertial navigation module I respectively by serial ports; Described GPRS data transmission module utilizes GPRS network to adopt the Socket communication technology based on TCP to be connected communication with the remote monitoring client of binding.

This system also comprises the power supply that is connected in master control circuit board.

Described master control circuit board comprises the STM32 single-chip microcomputer, and the LCD MODULE that is connected with the STM32 single-chip microcomputer respectively, memory module EEPROM24C256, button, temperature sensor, smoke transducer and expansion I/O mouth.

Described inertial navigation module I and inertial navigation module II include a three axis accelerometer, one or three axle magnetometers, and a three-axis gyroscope, described inertial navigation module I also comprises barometer.

The detection method of the seamless location of a kind of fireman's indoor and outdoor 3D and attitude detection system, step is as follows:

1) power-up initializing;

2) receive gps signal, carry out the GPS location;

3) identification of story height and athletic posture: utilize barometrical data to carry out the differentiation of story height, to angle and the acceleration information of output after the data fusion of inertial navigation module I and each sensor three axle magnetometers of inertial navigation module II, three axis accelerometer, three-axis gyroscope, estimate current tested personnel's motion state by look-up table; If current motion state changes step 4) over to for walking, otherwise changes step 5) over to;

4) pedestrian's reckoning locating information: according to the step-length of storing in master control circuit board and step parameter frequently, utilize the acceleration of inertial navigation module I and crab angle information to carry out pedestrian's reckoning location;

5) information that remote monitoring client fireman locates and Attitute detecting device is uploaded, GPS positioning result and pedestrian's reckoning positioning result are merged, and by the interface function that calls satellite map, final positioning result is demarcated on map, the client of remote monitoring is simultaneously completed the prompt facility of current fireman's motion state and scene of a fire interior environment temperature various information.

Described step 2) in, GPS location concrete grammar is as follows:

21) judge whether GPS location is effective location: whether judgement searches the star number greater than 4, more whether the determined level dilution of precision less than 3, if two conditions all meet for effective location and change step 22 over to), otherwise for invalid location and change step 23 over to);

22) judge whether GPS locates is credible location: at first, resolve adjacent two interframe GPS longitude and latitude standoff distances, if described distance is judged as credible location less than 2m, as final positioning result, change the GPS locating information over to step 23); Otherwise be insincere location, change step 3 over to);

23) according to the corresponding zone bit of GPS judged result mark or clear 0, described zone bit comprises: GPS effective marker position, GPS fiducial mark position.

In described step 3), fireman's motion state comprises: walk, stand, bend over, fall, sit down, lie down, creep.

In described step 3) to principle and the process of output angle and acceleration information after the data fusion of inertial navigation module I and each sensor three axle magnetometers of inertial navigation module II, three axis accelerometer, three-axis gyroscope be:

31) inertial navigation module gathers the three-axis gyroscope signal, adopt hypercomplex number gesticulate formula, integration is tried to achieve the gyroscope attitude angle, then adopt three axle magnetometer and three axis accelerometers, utilize geomagnetic field and the gravity magnetic field direction cosine between geographic coordinate and moving coordinate system to carry out resolving of absolute angle.Utilize at last Kalman filtering that the attitude angle that obtains is merged.Attitude angle and 3-axis acceleration information after the output that finally inertial navigation module can be stable is merged.Adopt the benefit of this mode to be, can utilize accelerometer and magnetometer to overcome dispersing of attitude angle that independent employing gyroscope causes, utilize gyroscope can overcome due to vibration on the impact of accelerometer and due to the ferromagnetic impact for magnetometer of soft or hard.

The mutual conversion of hypercomplex number and Eulerian angle:

According to theorem of Euler, rigid body can be also synthetic around the limited rotation of several times of this point around the displacement of point of fixity.In Euler rotates, will participate in the coordinate system rotation and obtain the celestial body coordinate system three times.Each turning axle is a certain coordinate axis that is rotated coordinate system in three times are rotated, and each angle of rotation is Eulerian angle.Therefore, the attitude matrix of determining with Eulerian angle is the product of three coordinate conversion matrixs.These coordinate conversion matrixs have following canonical form:

$R_y\left(\mathrm{\θ}\right)=\left[\begin{array}{ccc}\cos \mathrm{\θ}& 0& -\sin \mathrm{\θ}\\ 0& 1& 0\\ \sin \mathrm{\θ}& 0& \cos \mathrm{\θ}\end{array}\right]$ $R_z\left(\mathrm{\ψ}\right)=\left[\begin{array}{ccc}\cos \mathrm{\ψ}& \sin \mathrm{\ψ}& 0\\ -\sin \mathrm{\ψ}& \cos \mathrm{\ψ}& 0\\ 0& 0& 1\end{array}\right]$

Wherein Be the rotation matrix around x axle (roll axle), R _y(θ) be rotation matrix around y axle (pitch axis), R _z(ψ) be rotation matrix around z axle (yaw axis),

Be the angle around the rotation of x axle, θ is the angle around the rotation of y axle, and ψ is the angle around the rotation of z axle.The same-sign meaning that occurs in the formula of back is identical, does not add and gives unnecessary details.

The utility model adopts the rotation order of Z-Y-X, so can obtain the attitude matrix A that utilizes Eulerian angle to represent:

According to the definition of hypercomplex number, can be by hypercomplex number q of angle configuration of turning axle and rotation:

q＝cos(φ/2)+isin(φ/2)cos(β _x)+jsin(φ/2)cos(β _y)+ksin(φ/2)cos(β _z)

Wherein φ is the angle of rotating around turning axle, cos (β _x), cos (β _y), cos (β _z) be respectively turning axle at x, y, z axle component.The same-sign meaning that occurs in the formula of back is identical, does not add and gives unnecessary details.

Eulerian angle are converted to hypercomplex number, and what the utility model adopted is that Euler Z-Y-X rotates:

First rotate the ψ angle around Z axis for the first time, hypercomplex number is expressed as:

First rotate the θ angle around Y-axis for the second time, hypercomplex number is expressed as:

First rotate around X-axis for the third time

Angle, hypercomplex number is expressed as:

Three axles rotate and synthesize

Have:

Utilize triangle formula: cos φ=2cos ²(φ/2)-1, sin φ=2sin (φ/2) cos (φ/2) can convert hypercomplex number to attitude matrix:

$A=\left[\begin{array}{ccc}{q_1}^2+{{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00002664476300011.png"\; state="\{\{state\}\}">q</figure-callout>}}_2}^2-{{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3}^2-{{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HDA00002664476300012.png"\; state="\{\{state\}\}">q</figure-callout>}}_4}^2& 2(q_2{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3+q_1{q}_4)& 2(q_2{q}_4-q_1{q}_3)\\ 2(q_2{q}_3-q_1{q}_4)& {q_1}^2-{{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00002664476300011.png"\; state="\{\{state\}\}">q</figure-callout>}}_2}^2+{{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3}^2-{{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HDA00002664476300012.png"\; state="\{\{state\}\}">q</figure-callout>}}_4}^2& 2(q_3{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HDA00002664476300012.png"\; state="\{\{state\}\}">q</figure-callout>}}_4+q_1{q}_2)\\ 2(q_2{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3+q_1{q}_4)& 2(q_2{q}_4-q_1{q}_3)& {q_1}^2-{{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00002664476300011.png"\; state="\{\{state\}\}">q</figure-callout>}}_2}^2-{{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3}^2+{{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HDA00002664476300012.png"\; state="\{\{state\}\}">q</figure-callout>}}_4}^2\end{array}\right]$

Carry out computing take hypercomplex number as variable when moving due to this algorithm routine, can not represent intuitively the angle exported due to hypercomplex number, need to convert hypercomplex number to attitude angle, the attitude matrix that is represented by Eulerian angle and hypercomplex number can get hypercomplex number conversion attitude angle formula and be:

θ＝arcsin(-2(q ₂q ₄-q ₁q ₃))

$\mathrm{\&psi;}=\arctan \left(\frac{2(q_2{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3+q_1{q}_4)}{{q_1}^2+{{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00002664476300011.png"\; state="\{\{state\}\}">q</figure-callout>}}_2}^2-{{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3}^2-{{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HDA00002664476300012.png"\; state="\{\{state\}\}">q</figure-callout>}}_4}^2}\right)$

32) the fusion principle of accelerometer and gyro data: utilize the gyroscope dynamic property better and the higher characteristics of accelerometer stable state accuracy, when static with the gyrostatic data of the data correction of accelerometer, in the time of dynamically with the data of gyrostatic value correction accelerometer.3-axis acceleration (Ax, Ay, Az) according to three axis accelerometer output can obtain roll angle With pitching angle theta be:

33) principle of magnetometer and accelerometer fusion: when sensor was in the state of inclination, the crab angle that magnetometer is obtained can produce error, so need to carry out slope compensation to magnetometer with accelerometer.At first ask for roll angle according to 3-axis acceleration data (Ax, Ay, Az)

And pitching angle theta, read subsequently the three-axle magnetic field intensity M of magnetometer output _b=[M _x ^bM _y ^bM _z ^b], then obtain the magnetometer output after slope compensation

According to the output of the magnetometer after slope compensation, can ask for crab angle ψ,

$\mathrm{\&psi;}=a\tan 2\left(\frac{{M_y}^n}{{M_x}^n}\right)$

In described step 4), the concrete storage means of step-length and step frequency parameter is as follows:

4a) enter the step-length training mode, receive and record latitude and longitude information when just having entered the step-length training mode by the GPS receiver;

4b) user is with the fixing segment distance of frequently walking that goes on foot;

The output acceleration information that 4c) passes through the accelerometer of inertial navigation module I is realized step frequency detecting function, records step number that the user walks;

4d) withdraw from the step-length training mode, the record latitude and longitude information that this moment, the GPS receiver received;

4e) according to the latitude and longitude information and the training latitude and longitude information of the finish time of training initial time, obtain user's distance covered S ₁The computing formula of step-length is S=S ₁/ n, in formula, S is step-length, S ₁Be the distance of walking, n be the step frequently result of detection be whether the step number walked and inquiry write Stride length and frequency in the memory module of master control circuit board and preserve;

4a successively circulates) ~ 4e) can obtain corresponding step-length information under the asynchronous frequency of many groups, and the result of above-mentioned training can be deposited in the memory module of master control circuit board and preserve, reuse after facilitating power down.

In described step 4), the process of pedestrian's reckoning location is:

41) step detection frequently: with the sample frequency of 20Hz, collection is worn on the three axis accelerometer information (Ax of inertial navigation module I output, Ay, Az), respectively to 3-axis acceleration the data length of window be 5 etc. power forward terminal moving window averaging method carry out filtering and process, the acceleration information after filtering is processed is asked its vector

Adopting amplitude and time dual threshold algorithm to carry out peak value to resultant acceleration detects: at first, the resultant acceleration data after merging are carried out the judgement of peak point, peak point Sum_A[i] Rule of judgment be Sum_A[i] Sum_A[i-1]; ﹠amp; Sum_A[i]〉Sum_A[i+1]; If current resultant acceleration Sum_A[i] be peak point, judge further whether current resultant acceleration is meter step peak point, what the judgement of meter step peak point was adopted is the amplitude diagnostic method, only has the peak point that satisfies the amplitude condition to think that just meter goes on foot peak point, otherwise thinks local peaking's point;

If current this resultant acceleration is judged as the entry time threshold value differentiation of meter step peak point, only have when two meter steps and just think reasonably meter step peak point when peak point is interval greater than 0.4s, if judge that current resultant acceleration data are that the step number of walking during peak point in Reasonable step adds 1, and change step 42 over to);

42) according to current step frequently, according to be stored in master control circuit board step frequently with the corresponding relation of step-length, according to look-up table, choose current suitable step-length S, and change step 43 over to);

43) with the crab angle information of the waist inertial navigation module course angle as the tested personnel; Suppress body-sway motion to the impact of crab angle with rejection filter;

44) calculating of position and decomposition: after obtaining meter step peak point, all can carry out resolving and decomposing of a position at every turn; The position of supposing previous moment is (E (t ₁), N (t ₁)), the position in a rear moment is (E (t ₂), N (t ₂)), interior course is α (t during this period of time ₁), step-length is S (t ₁), the position relationship in two moment is:

E(t ₂)＝E(t ₁)+S(t ₁)×sin(α(t ₁))

N(t ₂)＝N(t ₁)+S(t ₁)×cos(α(t ₁))。

The criterion that in described step 5), GPS location and pedestrian's reckoning positioning result merge is:

51) if the GPS positioning result is credible location, directly with the GPS positioning result as final positioning result;

52) if the GPS positioning result be effective location but be not credible location, adopt the mode of mixed positioning, with GPS positioning result and pedestrian's reckoning positioning result input card Thalmann filter, the locating information after merging is as final positioning result;

53) if the GPS positioning result is invalid location, directly with the positioning result of pedestrian's reckoning as final positioning result.

The information that in described step 5), fireman location and Attitute detecting device are uploaded comprises: GPS locating information, pedestrian's reckoning locating information, story height information, athletic posture information, ambient temperature information.

The beneficial effects of the utility model:

the utility model has been realized the seamless location of fireman's indoor and outdoor 3D and attitude detection, compare with the conventional planar localization method identification that the utility model can be realized story height, can identify judgement to fireman's motion state accurately, simultaneously can realize the seamless location to fireman's indoor and outdoor 3D, application scenario for the fire fighter, system can expand toxic gas sensor, smog, the sensors such as temperature, facilitate the external staff in time to grasp the positional information of fireman in complicated fire field environment, story height information, the environmental information of motion state information and inside, the scene of a fire, significant for the life security that ensures the fireman of operation under complicated fire field environment.In addition, the utility model slightly namely can be applicable to through transformation the special population that sky nest old man, hospital patient etc. need timely location and attitude monitoring.The utility model is easy to use, and is multiple functional, and accuracy rate is high, stable performance, and applied range has very high using value.Compare with traditional method, the utility model utilizes a covering device to realize simultaneously the seamless location of fireman's indoor and outdoor 3D and the large basic function of attitude detection two, the positioning error of the localization method that adopts can not dispersed along with the accumulation of time, has that accurate positioning, continuity are good, a gesture recognition advantage accurately.

Description of drawings

Fig. 1 is the seamless location of fireman's indoor and outdoor 3D of the present utility model and attitude detection entire system block diagram;

Fig. 2 is the schematic diagram of wearing of the present utility model;

Fig. 3 is the master control circuit board workflow diagram;

Fig. 4 is the workflow diagram of remote monitoring client;

Fig. 5 is fundamental diagram of the present utility model;

Fig. 6 is the gps data processing flow chart;

Fig. 7 is step-length training process flow diagram;

Fig. 8 is the attitude detection algorithm flow chart;

Fig. 9 a-c is pedestrian's reckoning location algorithm process flow diagram;

Wherein, 1. master control circuit board, 2.GPRS data transmission module, 3.GPS locating module, 4. inertial navigation module I, 5. inertial navigation module II, 6. remote monitoring client, 7.GPRS communication, 8. three axis accelerometer, 9. three-axis gyroscope, 10. three axle magnetometers, 11. barometer, 12. LCD MODULE, 13. memory module EEPROM24C256,14. button, 15. temperature sensors, 16. smoke transducers, 17. the expansion I/O mouth, 18.STM32 single-chip microcomputer, 19. power supplys.

Embodiment

Below in conjunction with drawings and Examples, the utility model is further set forth, should be noted that following explanation is only in order to explain the utility model, its content not to be limited.

As Fig. 1, the utility model comprises a master control circuit board 1 based on the STM32 single-chip microcomputer, the one GPRS data transmission module 2 based on Sim-900, one GPS locating module 3, one remote monitoring clients 6 and be worn on respectively user's waist and inertial navigation module I4 and the inertial navigation module II5 of large leg outer side; Master control circuit board 1 is connected with inertial navigation module II5 with GPRS data transmission module 2, GPS locating module 3 and inertial navigation module I4 respectively by serial ports; GPRS data transmission module 2 utilizes GPRS network to adopt the Socket communication technology based on TCP to be connected communication with the remote monitoring client 6 of binding.This system also comprises the power supply 19 that is connected in master control circuit board 1.Master control circuit board 1 comprises STM32 single-chip microcomputer 18, and the LCD MODULE 12 that is connected with STM32 single-chip microcomputer 18 respectively, memory module EEPROM24C25613, button 14, temperature sensor 15, smoke transducer 16 and expansion I/O mouth 17, wherein, memory module EEPROM24C25613 passes through I ²The C communication interface is communicated by letter with STM32 single-chip microcomputer 18.Inertial navigation module I4 and inertial navigation module II5 include three axis accelerometer 8, one three axle magnetometer 10, one three-axis gyroscopes 9, and described inertial navigation module I4 also comprises barometer 11.

The detection method of the seamless location of a kind of fireman's indoor and outdoor 3D and attitude detection system, step is as follows:

1) power-up initializing: at open field, correctly wear described detection system, power on and each sensor of initialization and GPRS data transmission module 2; Judge whether GPRS data transmission module 2 networks successfully, if it is unsuccessful to network, judgement waits for whether the networking time is overtime, the overtime initialization step that returns, not overtime the continuation waited for, successfully changes step 2 over to if network);

2) receive gps signal and carry out the GPS location;

3) identification of story height and athletic posture: utilize the data of barometer 11 to carry out the differentiation of story height, to angle and the acceleration information of output after the data fusion of inertial navigation module I4 and each sensor three axle magnetometers 10 of inertial navigation module II5, three axis accelerometer 8, three-axis gyroscope 9, estimate the motion state of current measurand by look-up table; If current motion state changes step 4) over to for walking, otherwise changes step 5) over to;

4) pedestrian's reckoning locating information: according to the step-length of storage in master control circuit board 1 and step parameter frequently, utilize the acceleration of inertial navigation module I4 and crab angle information to carry out pedestrian's reckoning location;

5) remote monitoring client 6 receives the information that the fireman locates and Attitute detecting device is uploaded, GPS positioning result and pedestrian's reckoning positioning result are merged, and by the interface function that calls satellite map, final positioning result is demarcated on map, the client of remote monitoring simultaneously 6 is completed the prompt facility of current fireman's motion state and scene of a fire interior environment temperature various information.

Described step 2) in, GPS location concrete grammar is as follows:

21) judge whether GPS location is effective location: whether judgement searches the star number greater than 4, more whether the determined level dilution of precision less than 3, if two conditions all meet for effective location and change step 22 over to), otherwise for invalid location and change step 23 over to);

22) judge whether GPS locates is credible location: GPS locating module 3 Data Update frequencies are 1Hz, and generally in the 2steps/s left and right, step-length generally is no more than half of body length to normal person's walking frequency, generally between 55cm-80cm.Consider fluctuation and disturb, reserving certain threshold doseag, at first, resolving adjacent two interframe GPS longitude and latitude standoff distances, if described distance is judged as credible location less than 2m, as final positioning result, changing the GPS locating information over to step 23); Otherwise be insincere location, change step 3) over to;

23) according to the corresponding zone bit of GPS judged result mark or clear 0, described zone bit comprises: GPS effective marker position, GPS fiducial mark position.

In described step 3), fireman's motion state comprises: walk, stand, bend over, fall, sit down, lie down, creep.In order to identify more accurately and reliably fireman's motion state, the utility model has adopted two inertial navigation module.Inertial navigation module I4 can measure the variable quantity of waist angle, inertial navigation module II5 can measure the variable quantity of shank angle, can identify fast and accurately motion states such as standing, walk, bend over, fall, lie down, sit down, creep by look-up table according to the various combination of waist angle and shank angle, also can identify the motion states such as jump by the acceleration information of waist inertial navigation module I4.Compare with fireman's athletic posture detection method of only utilizing an inertial navigation module, this method can be identified more athletic posture, and programming realizes that simply recognition accuracy is high.

The principle of described story height identification is: at first, according to current story height of living in, carry out initial floor adjustment by K3, K4 button, then barometer 11 is carried out initial configuration, read barometer 11 data after initial work is completed.On the sea level, arm's length standard air pressure is the 760mm mercury column, and in the area near the sea level, point-to-point transmission air pressure often differs 1mm mercury column (1mmHg=1.333mb), and two point height differences are about 10.5m.According to formula

$H=44300\&times;(1-{\left(\frac{p}{p_0}\right)}^{\frac{1}{5.25}})$

Can solve easily height corresponding to current air pressure, wherein p is the pressure of measurement point, p ₀Be place, sea level standard atmospheric pressure.Affected by environment temperature, wind speed etc. very large due to air pressure, the atmospheric pressure value that same place does not record in the same time may differ greatly, but the draught head relative variation poor corresponding to sustained height is constant, so the utility model carries out that story height when identification adopt is barometrical relative changing value.

In described step 3) to principle and the process of output angle and acceleration information after inertial navigation module I4 and each sensor of inertial navigation module II5 (three axis accelerometer 8, three axle magnetometers 10, three-axis gyroscope 9) data fusion be:

31) inertial navigation module I4 and inertial navigation module II5 gather three-axis gyroscope 9 signals, adopt hypercomplex number gesticulate formula, integration is tried to achieve three-axis gyroscope 9 attitude angle, then adopt three axle magnetometers 10 and three axis accelerometer 8, utilize geomagnetic field and the gravity magnetic field direction cosine between geographic coordinate and moving coordinate system to carry out resolving of absolute angle.Utilize at last Kalman filtering that the attitude angle that obtains is merged.Attitude angle and 3-axis acceleration information after the output that finally inertial navigation module I4 and inertial navigation module II5 can be stable is merged.Adopt the benefit of this mode to be, can utilize three axis accelerometer 8 and three axle magnetometers 10 to overcome dispersing of attitude angle that independent employing three-axis gyroscope 9 causes, utilize gyroscope can overcome due to vibration on the impact of accelerometer and due to the ferromagnetic impact for magnetometer of soft or hard.

The mutual conversion of hypercomplex number and Eulerian angle:

According to theorem of Euler, rigid body can be also synthetic around the limited rotation of several times of this point around the displacement of point of fixity.In Euler rotates, will participate in the coordinate system rotation and obtain the celestial body coordinate system three times.Each turning axle is a certain coordinate axis that is rotated coordinate system in three times are rotated, and each angle of rotation is Eulerian angle.Therefore, the attitude matrix of determining with Eulerian angle is the product of three coordinate conversion matrixs.These coordinate conversion matrixs have following canonical form:

$R_y\left(\mathrm{\&theta;}\right)=\left[\begin{array}{ccc}\cos \mathrm{\&theta;}& 0& -\sin \mathrm{\&theta;}\\ 0& 1& 0\\ \sin \mathrm{\&theta;}& 0& \cos \mathrm{\&theta;}\end{array}\right]$ $R_z\left(\mathrm{\&psi;}\right)=\left[\begin{array}{ccc}\cos \mathrm{\&psi;}& \sin \mathrm{\&psi;}& 0\\ -\sin \mathrm{\&psi;}& \cos \mathrm{\&psi;}& 0\\ 0& 0& 1\end{array}\right]$

Wherein

Be the rotation matrix around x axle (roll axle), R _y(θ) be rotation matrix around y axle (pitch axis), R _z(ψ) be rotation matrix around z axle (yaw axis),

Be the angle around the rotation of x axle, θ is the angle around the rotation of y axle, is the angle around the rotation of z axle.The same-sign meaning that occurs in the formula of back is identical, does not add and gives unnecessary details.

The utility model adopts the rotation order of Z-Y-X, so can obtain the attitude matrix A that Eulerian angle represent:

According to the definition of hypercomplex number, can be by hypercomplex number q of angle configuration of turning axle and rotation:

q＝cos(φ/2)+isin(φ/2)cos(β _x)+jsin(φ/2)cos(β _y)+ksin(φ/2)cos(β _z)

In formula, φ is the angle of rotating around turning axle, cos (β _x), cos (β _y), cos (β _z) be respectively turning axle at x, y, z axle component.The same-sign meaning that occurs in the formula of back is identical, does not add and gives unnecessary details.

Eulerian angle are converted to hypercomplex number, and what the utility model adopted is that Euler Z-Y-X rotates:

First rotate the ψ angle around Z axis for the first time, hypercomplex number is expressed as:

First rotate the θ angle around Y-axis for the second time, hypercomplex number is expressed as:

First rotate around X-axis for the third time

Angle, hypercomplex number is expressed as:

Three axles rotate and synthesize Have:

Utilize triangle formula: cos φ=2cos ²(φ/2)-1, sin φ=2sin (φ/2) cos (φ/2) can convert hypercomplex number to attitude matrix:

$A=\left[\begin{array}{ccc}{q_1}^2+{{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00002664476300011.png"\; state="\{\{state\}\}">q</figure-callout>}}_2}^2-{{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3}^2-{{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HDA00002664476300012.png"\; state="\{\{state\}\}">q</figure-callout>}}_4}^2& 2(q_2{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3+q_1{q}_4)& 2(q_2{q}_4-q_1{q}_3)\\ 2(q_2{q}_3-q_1{q}_4)& {q_1}^2-{{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00002664476300011.png"\; state="\{\{state\}\}">q</figure-callout>}}_2}^2+{{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3}^2-{{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HDA00002664476300012.png"\; state="\{\{state\}\}">q</figure-callout>}}_4}^2& 2(q_3{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HDA00002664476300012.png"\; state="\{\{state\}\}">q</figure-callout>}}_4+q_1{q}_2)\\ 2(q_2{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3+q_1{q}_4)& 2(q_2{q}_4-q_1{q}_3)& {q_1}^2-{{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00002664476300011.png"\; state="\{\{state\}\}">q</figure-callout>}}_2}^2-{{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3}^2+{{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HDA00002664476300012.png"\; state="\{\{state\}\}">q</figure-callout>}}_4}^2\end{array}\right]$

Carry out computing take hypercomplex number as variable when moving due to this algorithm routine, can not represent intuitively the angle exported due to hypercomplex number, need to convert hypercomplex number to attitude angle, the attitude matrix that is represented by Eulerian angle and hypercomplex number can get hypercomplex number conversion attitude angle formula and be:

θ＝arcsin(-2(q ₂q ₄-q ₁q ₃))

$\mathrm{\&psi;}=\arctan \left(\frac{2(q_2{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3+q_1{q}_4)}{{q_1}^2+{{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00002664476300011.png"\; state="\{\{state\}\}">q</figure-callout>}}_2}^2-{{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00002664476300011.png,HDA00002664476300032.png"\; state="\{\{state\}\}">q</figure-callout>}}_3}^2-{{\mathrm{<figure-callout\; id="4"\; label="q"\; filenames="HDA00002664476300012.png"\; state="\{\{state\}\}">q</figure-callout>}}_4}^2}\right)$

32) the fusion principle of three axis accelerometer 8 and three-axis gyroscope 9 data: utilize three-axis gyroscope 9 dynamic properties better and the higher characteristics of three axis accelerometer 8 stable state accuracies, when static with the data of the data correction three-axis gyroscope 9 of three axis accelerometer 8, in the time of dynamically with the data of the value correction three axis accelerometer 8 of three-axis gyroscope 9.3-axis acceleration (Ax, Ay, Az) according to three axis accelerometer 8 outputs can obtain roll angle

With pitching angle theta be:

33) principle of three axle magnetometers 10 and three axis accelerometer 8 fusions: when sensor was in the state of inclination, the crab angle that three axle magnetometers 10 are obtained can produce error, so need to carry out slope compensation with 8 pairs of three axle magnetometers 10 of three axis accelerometer.At first ask for roll angle according to the 3-axis acceleration data (Ax, Ay, Az) of three axis accelerometer 8 outputs

And pitching angle theta, read subsequently the three-axle magnetic field intensity M of three axle magnetometer 10 outputs _b=[M _x ^bM _y ^bM _z ^b], then obtain the magnetometer output after slope compensation

According to the output of the magnetometer after slope compensation, can ask for crab angle ψ:

$\mathrm{\&psi;}=a\tan 2\left(\frac{{M_y}^n}{{M_x}^n}\right)$

As shown in Figure 7, in described step 4), the concrete storage means of step-length and step frequency parameter is as follows:

4a) press the K1 key and enter the step-length training mode, receive and record latitude and longitude information when just having entered the step-length training mode by GPS locating module 3;

4b) user is with the fixing segment distance of frequently walking that goes on foot;

The output acceleration information that 4c) passes through the three axis accelerometer 8 of inertial navigation module I4 is realized step frequency detecting function, records step number that the user walks;

4d) again press the K1 key and withdraw from the step-length training mode, the latitude and longitude information that record GPS locating module this moment 3 receives;

4e) according to the latitude and longitude information and the training latitude and longitude information of the finish time of training initial time, obtain user's distance covered S ₁The computing formula of step-length is S=S ₁/ n, in formula, S is step-length, S ₁Be the distance of walking, n be the step frequently result of detection be whether the step number walked and inquiry write Stride length and frequency in the memory module EEPROM24C25613 of master control circuit board 1 and preserve;

4a successively circulates) ~ 4e) can obtain corresponding step-length information under the asynchronous frequency of many groups, and the result of above-mentioned training can be deposited in the memory module EEPROM24C25613 of master control circuit board 1 and preserve, reuse after facilitating power down.

In described step 4), the process of pedestrian's reckoning location is:

41) step detection frequently: with the sample frequency of 20Hz, collection is worn on the three axis accelerometer 8 information (Ax of inertial navigation module I4 output, Ay, Az), respectively to 3-axis acceleration 8 the data length of window be 5 etc. power forward terminal moving window averaging method carry out filtering and process, the acceleration information after filtering is processed is asked its vector The effect of described moving window mean filter is to reduce " a step multimodal " phenomenon that causes due to body-sway motion in people's walking process, and Acceleration pulse is carried out smoothly, makes it to be more suitable for peak value and detects;

Adopting amplitude and time dual threshold algorithm to carry out peak value to resultant acceleration detects: at first, the resultant acceleration data after merging are carried out the judgement of peak point, peak point Sum_A[i] Rule of judgment be Sum_A[i] Sum_A[i-1]; ﹠amp; Sum_A[i]〉Sum_A[i+1]; If current resultant acceleration Sum_A[i] be peak point, judge further whether current resultant acceleration is meter step peak point, what the judgement of meter step peak point was adopted is the amplitude diagnostic method, only has the peak point that satisfies the amplitude condition to think that just meter goes on foot peak point, otherwise thinks local peaking's point;

Sliding-window filtering and the checking of dual threshold peak detection algorithm are as shown in Fig. 9 (b), this suite line represents is tested personnel's 19 measured acceleration informations of step of walking, the black color dots setting-out represents original acceleration information, and the solid black curve represents through the acceleration information after sliding-window filtering; Peak point (black circle) number that adopts described dual threshold peak detection algorithm to detect to filtered acceleration information is 19, and the peak value testing result is consistent with the actual walking of tested personnel step number;

If current this resultant acceleration is judged as the entry time threshold value differentiation of meter step peak point, only have when two meter steps and just think reasonably meter step peak point when peak point is interval greater than 0.5s, if judge that current resultant acceleration data are that the step number of walking during peak point in Reasonable step adds 1, and change step 42 over to);

42) according to current step frequently, according to be stored in master control circuit board 1 step frequently with the corresponding relation of step-length, according to look-up table, choose current suitable step-length S, and change step 43 over to);

43) with the crab angle information of the inertial navigation module I4 course angle as the tested personnel; Suppress body-sway motion to the impact of crab angle with rejection filter;

44) calculating of position and decomposition: after obtaining meter step peak point, all can carry out resolving and decomposing of a position at every turn; The position of supposing previous moment is (E (t ₁), N (t ₁)), the position in a rear moment is (E (t ₂), N (t ₂)), interior course is α (t during this period of time ₁), step-length is S (t ₁), as shown in Fig. 9 (b), the position relationship in two moment is:

E(t ₂)＝E(t ₁)+S(t ₁)×sin(α(t ₁))

N(t ₂)＝N(t ₁)+S(t ₁)×cos(α(t ₁))。

The criterion that in described step 5), GPS location and pedestrian's reckoning positioning result merge is:

51) if the GPS positioning result is credible location, directly with the GPS positioning result as final positioning result;

52) if the GPS positioning result be effective location but be not credible location, adopt the mode of mixed positioning, with GPS positioning result and pedestrian's reckoning positioning result input card Thalmann filter, the locating information after merging is as final positioning result;

53) if the GPS positioning result is invalid location, directly with the positioning result of pedestrian's reckoning as final positioning result.

The information that in described step 5), fireman location and Attitute detecting device are uploaded comprises: GPS locating information, pedestrian's reckoning locating information, story height information, athletic posture information, ambient temperature information.

Inertial navigation module I4 and inertial navigation module II5, by to the data acquisition of three axis accelerometer 8, three-axis gyroscope 9,10 3 kinds of sensors of three axle magnetometers and do the data fusion of extension-based Kalman filtering, adopt three-axis attitude angle and the 3-axis acceleration information of AHRS algorithm output accurate stable.Barometer 11 in inertial navigation module I4 is used for the height of judgement floor, realizes the 3D location.GPS locating module 3 can be to STM32 single-chip microcomputer 18 output latitude and longitude information, after completing the step-length model training, STM32 single-chip microcomputer 18 can utilize the acceleration information of inertial navigation module I4 output and complete pedestrian's reckoning through the crab angle information after the filtering fusion and locate, and according to inertial navigation module I4, the angle of inertial navigation module II5 output and acceleration combination, utilize look-up table to complete fireman's posture detection function, and with latitude and longitude information, pedestrian's reckoning positioning result, story height information, athletic posture information and temperature, the environmental informations such as smog are transferred to remote monitoring client 6 according to the communication format of prior setting by Sim-900GPRS data transmission module 2.Remote monitoring client 6 receives GPS locating information, pedestrian's reckoning locating information and above-mentioned locating information is done the EKF of loose coupling, provide final positioning result, by C++ invocation map interface function, directly be presented at final positioning result on map; Simultaneously, remote monitoring client 6 also can be with the fireman's athletic posture information that receives, story height information etc. is pointed out accordingly, can send warning message to the external world when abnomal condition (as the time of falling surpasses setting threshold) appears in fireman's athletic posture information.

As shown in Figure 2, the utility model requires the user that inertial navigation module I4 is worn on waist, and inertial navigation module II5 is worn on large leg outer side.Because the utility model is the three axle resultant acceleration information of inertial navigation module I4 going on foot what adopt when frequently surveying, therefore reduced the installation requirement to inertial navigation module I4, but when wearing, device want degree of tightness suitable, avoid occurring inertial navigation module and wear loosening situation, in order to avoid have influence on the angle output of inertial navigation module I4, inertial navigation module II5, pedestrian's reckoning location and attitude detection are exerted an influence.

As shown in Fig. 3,4,5, workflow of the present utility model is: STM32 single-chip microcomputer 18 carries out system initialization, after initialization, Sim-900GPRS data transmission module 2 is configured, and waits for that it networks successfully.After Sim-900GPRS data transmission module 2 networked successfully, STM32 single-chip microcomputer 18 began to receive gps signal, and gps signal is processed, and the gps signal treatment scheme as shown in Figure 6.If GPS orientates credible location and K1 as by the next step-length model training process that enters, step-length model training flow process as shown in Figure 7.Realize the story height recognition function according to the relative variation of barometer 11 output valves of waist inertial navigation module I4.The data of the three axis accelerometer 8 of collection waist inertial navigation module I4 and shank inertial navigation module II5, three-axis gyroscope 9, three axle magnetometers 10, adopt the method for extension-based Kalman filtering that data are merged, and utilize the pitching accurately of AHRS algorithm stable output, roll and crab angle.Angle and acceleration information according to inertial navigation mould I4 and the output of inertial navigation module II5 piece utilize look-up table to complete posture detection function, and attitude detection is tabled look-up flow process as shown in Figure 8.If current attitude is walking, utilize the 3-axis acceleration of inertial navigation module I4 output and crab angle information to complete pedestrian's reckoning location, the flow process of pedestrian's reckoning location is as shown in Fig. 9 (a).The sensing data such as collecting temperature, smog, and point out by 12 pairs of corresponding informations of LCD MODULE.Complete uploading various information by Sim-900GPRS data transmission module 2.The various information that described needs are uploaded comprises: the latitude and longitude information that GPS locates, pedestrian's reckoning locating information, temperature information, athletic posture information, story height information etc.

Remote monitoring client 6, latitude and longitude information, pedestrian's reckoning locating information, temperature information, athletic posture information, story height information that the GPS of reception Sim-900GPRS data transmission module 2 transmission locates.If the GPS positioning result is credible location, with the GPS locating information as final positioning result; If the GPS positioning result is effective location but is not credible location, adopt the mode of mixed positioning, with GPS locating information and pedestrian's reckoning locating information input card Thalmann filter, the locating information after merging is as final positioning result; If the GPS positioning result is invalid location, with pedestrian's reckoning locating information as final positioning result.By the invocation map interface function, positioning result is presented on map, simultaneously other information such as temperature, floor, athletic posture are also made corresponding demonstration, can send warning message to the external world when improper athletic posture (as the time of falling surpasses setting threshold) appears in the fireman.The workflow diagram of remote monitoring client 6 as shown in Figure 4.

Although above-mentionedly by reference to the accompanying drawings embodiment of the present utility model is described; but be not the restriction to the utility model protection domain; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.

Claims (4)

1. the seamless location of fireman's indoor and outdoor 3D and attitude detection system, comprise a master control circuit board based on the STM32 single-chip microcomputer, the one GPRS data transmission module based on Sim-900, one GPS locating module, a remote monitoring client and be worn on respectively user's waist and inertial navigation module I and the inertial navigation module II of large leg outer side; It is characterized in that, described master control circuit board is connected with inertial navigation module II with described GPRS data transmission module, GPS locating module and inertial navigation module I respectively by serial ports; Described GPRS data transmission module utilizes GPRS network to adopt the Socket communication technology based on TCP to be connected communication with the remote monitoring client of binding.

2. the seamless location of a kind of fireman's indoor and outdoor 3D as claimed in claim 1 and attitude detection system, is characterized in that, this system also comprises the power supply that is connected in master control circuit board.

3. the seamless location of a kind of fireman's indoor and outdoor 3D as claimed in claim 1 and attitude detection system, it is characterized in that, described master control circuit board comprises the STM32 single-chip microcomputer, and the LCD MODULE that is connected with the STM32 single-chip microcomputer respectively, memory module EEPROM24C256, button, temperature sensor, smoke transducer and expansion I/O mouth.

4. the seamless location of a kind of fireman's indoor and outdoor 3D as claimed in claim 1 and attitude detection system, it is characterized in that, described inertial navigation module I and inertial navigation module II include a three axis accelerometer, one or three axle magnetometers, one three-axis gyroscope, described inertial navigation module I also comprises barometer.

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