CN204495357U - A kind of many Quito module net merges indoor occupant navigation positioning system - Google Patents
A kind of many Quito module net merges indoor occupant navigation positioning system Download PDFInfo
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- CN204495357U CN204495357U CN201520220597.0U CN201520220597U CN204495357U CN 204495357 U CN204495357 U CN 204495357U CN 201520220597 U CN201520220597 U CN 201520220597U CN 204495357 U CN204495357 U CN 204495357U
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Abstract
The utility model discloses a kind of many Quito module net and merge indoor occupant navigation positioning system, described navigation positioning system comprises navigator fix server end, command and monitor end and multiple terminal device; Described terminal device comprises sensing module, message processing module, information transmission modular and local display module; Described navigator fix server end comprises information transmission modular, high performance information processing platform and indoor map database; Described command and monitor end is remote command monitoring client or floor manager monitoring client.The utility model leads to the Multi-sensor fusion of multiple terminal, can generate indoor map in real time, and realize hi-Fix and the navigation of indoor occupant in the unknown indoor environment of complexity.
Description
Technical field
The utility model relates generally to indoor real-time map and generates and navigator fix field, particularly relates to a kind of many Quito module net and merges indoor occupant navigation positioning system, be mainly applicable to personnel positioning and navigation in fire-fighting and rescue and emergency repair.
Background technology
Current outdoor navigator fix is owing to having priori map and satellite auxiliary signal, and navigation and positioning accuracy is higher, and existing numerous matured product, if Google Maps, Baidu's map etc. are by the location navigation product of GPS, big-dipper satellite positioning signal.But due to satellite-signal cannot in covering chamber, and indoor map is difficult to obtain, and therefore indoor navigation becomes difficult point and the focus in current navigator fix field.Although comprise the major company such as Google and Baidu at present to have started to set foot in indoor navigation field, but existing indoor navigation Locating System Accuracy is lower, and needing some prior imformations as Wifi focus or radio frequency label position etc., this is difficult to accept in fire-fighting and emergency management and rescue field.
In fire-fighting and rescue and some emergency disaster relief fields, understand in advance owing to lacking the scene of the accident, after blindly entering scene, often unnecessary injury is caused to rescue personnel, even threat to life.Therefore need a kind of effective high precision indoor navigation positioning system, ensure floor manager and the rescue personnel understanding to site environment, rescue personnel position and state in rescue operations, guide rescue personnel along secure path operation, reduce and eliminate the life security threat of rescue personnel.
Utility model content
The technical matters that the utility model solves is, provides a kind of many Quito module net to merge indoor occupant navigation positioning system, to reach the object of real-time map generation and personnel's navigator fix in complicated circumstances not known.
The technical solution of the utility model is: a kind of many Quito module net merges indoor occupant navigation positioning system, comprises navigator fix server end, command and monitor end and multiple terminal device, described terminal device comprises sensing module, message processing module, information transmission modular and local display module, wherein: described sensing module comprises IMU Inertial Measurement Unit, IR infrared image sensor, LA laser scanning and ranging instrument and UWB ULTRA-WIDEBAND RADAR, described IMU Inertial Measurement Unit is for obtaining angular velocity when personnel move, acceleration information and work as geomagnetic field information, described IR infrared image sensor is for obtaining indoor infrared image information, described LA laser scanning and ranging instrument is for obtaining two dimensional surface range information, described UWB ULTRA-WIDEBAND RADAR is for obtaining indoor radar imagery information, described message processing module comprises low profile edge processing terminal, for pre-service and personnel's reckoning of sensing module information, described navigator fix server end comprises information transmission modular, high performance information processing platform and indoor map database, and wherein, described information transmission modular is for keeping the communication between multiple terminal device, described high performance information processing platform is a high-performance computer, for creating map in real time according to terminal device information, and provides navigation Service, simultaneously for command and monitor end provides access interface for each terminal device, described indoor map database is used for preserving in real time and upgrading indoor map data, described command and monitor end is remote command monitoring client or floor manager monitoring client, described remote command monitoring client is the remote computer be connected with navigator fix server end by Internet, described floor manager monitoring client is the handheld device be connected with navigator fix server end by WLAN (wireless local area network), as panel computer, the intelligent terminals such as smart mobile phone, for obtaining Indoor Environmental Condition and personnel location information, for command and management decision-making submits necessary information from navigator fix server end.
Further, described information transmission modular is long-wave communication, also can be 3G or 4G mobile network, for the information transmission with navigator fix server end;
Further, described local display module is one piece of small LCD display screen, is used to indicate environmental map and personnel location information;
The beneficial effects of the utility model are: the utility model leads to the Multi-sensor fusion of multiple terminal, can generate indoor map in real time, and realize hi-Fix and the navigation of indoor occupant in the unknown indoor environment of complexity.
Accompanying drawing explanation
Fig. 1 is that the utility model many Quito module net merges indoor occupant navigation positioning system block diagram;
Wherein, 100-terminal device, 110-sensing module, 111-IMU Inertial Measurement Unit, 112-IR infrared image sensor, 113-LA laser scanning and ranging instrument, 114-UWB ULTRA-WIDEBAND RADAR, 120-message processing module, 130-information transmission modular, 140-local display module, 200-navigator fix server end, 210-information transmission modular, 220-high performance information processing platform, 230-indoor map database, 300-command and monitor end, 310-remote command monitoring client, 320-floor manager monitoring client.
Embodiment
Below in conjunction with drawings and Examples, the present invention is elaborated:
Embodiment 1:
As described in Figure 1, a kind of many Quito module net fusion indoor occupant navigation positioning system comprises: navigator fix server end 200, command and monitor end 300 and multiple terminal device 100;
Described terminal device 100 is mainly used in personnel's motion state detection and real-time infrared image, the catching and processing of UWB imaging and laser scanning two dimensional image, and carry out resolving of real time position, attitude and orientation by the computing power that message processing module has, and on local display module, show indoor map and flight path information.Terminal device 100 specifically comprises sensing module 110, message processing module 120, information transmission modular 130 and local display module 140, wherein: described sensing module 110 comprises IMU Inertial Measurement Unit 111, IR infrared image sensor 112, LA laser scanning and ranging instrument 113 and UWB ULTRA-WIDEBAND RADAR 114, described IMU Inertial Measurement Unit 111 is for obtaining angular velocity when personnel move, acceleration information and work as geomagnetic field information, described IR infrared image sensor 112 is for obtaining indoor infrared image information, described LA laser scanning and ranging instrument 113 is for obtaining two dimensional surface range information, described UWB ULTRA-WIDEBAND RADAR 114 is for obtaining indoor radar imagery information, described message processing module 120 comprises low profile edge processing terminal, for pre-service and personnel's reckoning of sensing module 110 information, described information transmission modular 130 is the long-wave communication of 433MHz, for the information transmission with navigator fix server end 200, described local display module 140 is one piece of small LCD display screen, is used to indicate environmental map and personnel location information,
The high level that described navigator fix server end 200 is mainly used in many Quito mould sensor information merges and real-time map generation, further, extracts personnel positions and moving direction information, and according to the geometric properties that structuring is built, extracts terrestrial reference characteristic information.Described navigator fix server end and each terminal device carry out information interaction, and the position generate each terminal device and course information exercise supervision check, realize many Quito module net navigator fix, improve indoor occupant navigation and positioning accuracy.Navigator fix server end 200 specifically comprises information transmission modular 210, high performance information processing platform 220 and indoor map database 230, and wherein, described information transmission modular 210 is for keeping the communication between multiple terminal device; Described high performance information processing platform 220 is high-performance computers, for creating map in real time according to terminal device information, and provides navigation Service, simultaneously for command and monitor end 300 provides access interface for each terminal device; Described indoor map database 230 is for preserving in real time and upgrading indoor map data;
Described command and monitor end 300 is the remote computer be connected with navigator fix server end by Internet, for obtaining Indoor Environmental Condition and personnel location information from navigator fix server end, for command and management decision-making submits necessary information, also can issue order command to each terminal device according to real time status simultaneously.
Embodiment 2:
As described in Figure 1, a kind of many Quito module net fusion indoor occupant navigation positioning system comprises: navigator fix server end 200, command and monitor end 300 and multiple terminal device 100;
Described terminal device 100 is mainly used in personnel's motion state detection and real-time infrared image, the catching and processing of UWB imaging and laser scanning two dimensional image, and carry out resolving of real time position, attitude and orientation by the computing power that message processing module has, and on local display module, show indoor map and flight path information.Terminal device 100 specifically comprises sensing module 110, message processing module 120, information transmission modular 130 and local display module 140, wherein: described sensing module 110 comprises IMU Inertial Measurement Unit 111, IR infrared image sensor 112, LA laser scanning and ranging instrument 113 and UWB ULTRA-WIDEBAND RADAR 114, described IMU Inertial Measurement Unit 111 is for obtaining angular velocity when personnel move, acceleration information and work as geomagnetic field information, described IR infrared image sensor 112 is for obtaining indoor infrared image information, described LA laser scanning and ranging instrument 113 is for obtaining two dimensional surface range information, described UWB ULTRA-WIDEBAND RADAR 114 is for obtaining indoor radar imagery information, described message processing module 120 comprises low profile edge processing terminal, for pre-service and personnel's reckoning of sensing module 110 information, described information transmission modular 130 is 3G mobile network, for the information transmission with navigator fix server end 200, described local display module 140 is one piece of small LCD display screen, is used to indicate environmental map and personnel location information,
The high level that described navigator fix server end 200 is mainly used in many Quito mould sensor information merges and real-time map generation, further, extracts personnel positions and moving direction information, and according to the geometric properties that structuring is built, extracts terrestrial reference characteristic information.Described navigator fix server end and each terminal device carry out information interaction, and the position generate each terminal device and course information exercise supervision check, realize many Quito module net navigator fix, improve indoor occupant navigation and positioning accuracy.Navigator fix server end 200 specifically comprises information transmission modular 210, high performance information processing platform 220 and indoor map database 230, and wherein, described information transmission modular 210 is for keeping the communication between multiple terminal device; Described high performance information processing platform 220 is high-performance computers, for creating map in real time according to terminal device information, and provides navigation Service, simultaneously for command and monitor end 300 provides access interface for each terminal device; Described indoor map database 230 is for preserving in real time and upgrading indoor map data;
Described command and monitor end 300 is the panel computer be connected with navigator fix server end by WLAN (wireless local area network), for obtaining Indoor Environmental Condition and personnel location information from navigator fix server end, for command and management decision-making submits necessary information, also can issue order command to each terminal device according to real time status simultaneously.
Embodiment 3:
As described in Figure 1, a kind of many Quito module net fusion indoor occupant navigation positioning system comprises: navigator fix server end 200, command and monitor end 300 and multiple terminal device 100;
Described terminal device 100 is mainly used in personnel's motion state detection and real-time infrared image, the catching and processing of UWB imaging and laser scanning two dimensional image, and carry out resolving of real time position, attitude and orientation by the computing power that message processing module has, and on local display module, show indoor map and flight path information.Terminal device 100 specifically comprises sensing module 110, message processing module 120, information transmission modular 130 and local display module 140, wherein: described sensing module 110 comprises IMU Inertial Measurement Unit 111, IR infrared image sensor 112, LA laser scanning and ranging instrument 113 and UWB ULTRA-WIDEBAND RADAR 114, described IMU Inertial Measurement Unit 111 is for obtaining angular velocity when personnel move, acceleration information and work as geomagnetic field information, described IR infrared image sensor 112 is for obtaining indoor infrared image information, described LA laser scanning and ranging instrument 113 is for obtaining two dimensional surface range information, described UWB ULTRA-WIDEBAND RADAR 114 is for obtaining indoor radar imagery information, described message processing module 120 comprises low profile edge processing terminal, for pre-service and personnel's reckoning of sensing module 110 information, described information transmission modular 130 is 4G mobile network, for the information transmission with navigator fix server end 200, described local display module 140 is one piece of small LCD display screen, is used to indicate environmental map and personnel location information,
The high level that described navigator fix server end 200 is mainly used in many Quito mould sensor information merges and real-time map generation, further, extracts personnel positions and moving direction information, and according to the geometric properties that structuring is built, extracts terrestrial reference characteristic information.Described navigator fix server end and each terminal device carry out information interaction, and the position generate each terminal device and course information exercise supervision check, realize many Quito module net navigator fix, improve indoor occupant navigation and positioning accuracy.Navigator fix server end 200 specifically comprises information transmission modular 210, high performance information processing platform 220 and indoor map database 230, and wherein, described information transmission modular 210 is for keeping the communication between multiple terminal device; Described high performance information processing platform 220 is high-performance computers, for creating map in real time according to terminal device information, and provides navigation Service, simultaneously for command and monitor end 300 provides access interface for each terminal device; Described indoor map database 230 is for preserving in real time and upgrading indoor map data;
Described command and monitor end 300 is the smart mobile phone be connected with navigator fix server end by WLAN (wireless local area network), for obtaining Indoor Environmental Condition and personnel location information from navigator fix server end, for command and management decision-making submits necessary information, also can issue order command to each terminal device according to real time status simultaneously.
Last it is noted that above embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to previous embodiment, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in previous embodiment, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of the utility model embodiment technical scheme.
Claims (3)
1. the module net of Quito more than merges an indoor occupant navigation positioning system, it is characterized in that: comprise navigator fix server end (200), command and monitor end (300) and multiple terminal device (100); Described terminal device (100) comprises sensing module (110), message processing module (120), information transmission modular (130) and local display module (140), wherein: described sensing module (110) comprises IMU Inertial Measurement Unit (111), IR infrared image sensor (112), LA laser scanning and ranging instrument (113) and UWB ULTRA-WIDEBAND RADAR (114); Described navigator fix server end (200) comprises information transmission modular (210), high performance information processing platform (220) and indoor map database (230); Described command and monitor end (300) is remote command monitoring client (310) or floor manager monitoring client (320).
2. a kind of many Quito as claimed in claim 1 module net merges indoor occupant navigation positioning system, it is characterized in that described information transmission modular (130) is long-wave communication, any one in 3G mobile network or 4G mobile network.
3. a kind of many Quito as claimed in claim 1 module net merges indoor occupant navigation positioning system, it is characterized in that described local display module (140) is one piece of small LCD display screen.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104833354A (en) * | 2015-05-25 | 2015-08-12 | 梁步阁 | Multibasic multi-module network integration indoor personnel navigation positioning system and implementation method thereof |
| CN109186595A (en) * | 2018-10-10 | 2019-01-11 | 格物感知（深圳）科技有限公司 | A kind of indoor and outdoor combined navigation device based on STM32 |
| CN110166571A (en) * | 2018-06-08 | 2019-08-23 | 深圳勇艺达机器人有限公司 | A kind of automatic follower method and device based on mobile robot |
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2015
- 2015-04-13 CN CN201520220597.0U patent/CN204495357U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104833354A (en) * | 2015-05-25 | 2015-08-12 | 梁步阁 | Multibasic multi-module network integration indoor personnel navigation positioning system and implementation method thereof |
| CN110166571A (en) * | 2018-06-08 | 2019-08-23 | 深圳勇艺达机器人有限公司 | A kind of automatic follower method and device based on mobile robot |
| CN109186595A (en) * | 2018-10-10 | 2019-01-11 | 格物感知（深圳）科技有限公司 | A kind of indoor and outdoor combined navigation device based on STM32 |
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