CN211121252U

CN211121252U - Personnel positioning device based on UWB and inertial navigation fusion technology

Info

Publication number: CN211121252U
Application number: CN201922184320.8U
Authority: CN
Inventors: 于冬; 徐逸源; 孙延杰; 王平伟
Original assignee: Shanghai Jinyi Inspection Technology Co ltd; Suzhou Baohua Carbon Black Co Ltd
Current assignee: Shanghai Jinyi Inspection Technology Co ltd; Suzhou Baohua Carbon Black Co Ltd
Priority date: 2019-12-09
Filing date: 2019-12-09
Publication date: 2020-07-28
Anticipated expiration: 2029-12-09

Abstract

The utility model discloses a personnel positioner based on UWB and inertial navigation fuses technique, the UWB radio frequency positioning module of this device is used for acquireing with UWB location between the basic station range finding data, and transmit to data processing module, built-in gyroscope and the acceleration sensor of inertial navigation module, a real-time attitude angle, speed and positional information data and transmission to data processing module for acquireing personnel, data processing module rectifies the information data that inertial navigation module acquireed according to the range finding data that UWB radio frequency positioning module acquireed, obtain personnel's accurate positioning data, positioning data that data processing module obtained conveys outside relay base station through L ORA transmission module, electrical unit provides the working power supply of each module.

Description

Personnel positioning device based on UWB and inertial navigation fusion technology

Technical Field

The utility model relates to a personnel positioner based on UWB fuses technique with inertial navigation.

Background

At present, in a production plant, especially a chemical production plant, the requirement for positioning workers is a major key point of safety management of the workers at present, and the requirement for positioning the workers in the whole plant and multiple spaces is more and more. With the increasing demands for less human resources and safety requirements of production operations, the demands for real-time positioning of personnel, polling record inquiry and accurate positioning of personnel after accidents occur on site are urgent.

UWB (Ultra-Wide-Band) is a wireless communication mode for transmitting data by utilizing nanosecond-level non-sine wave narrow pulses, the technology adopts a high-bandwidth and fast-pulse mode, positioning is realized based on ranging, and the UWB wireless communication method has the advantages of high precision, low power consumption, easiness in deployment, strong interference resistance and the like, is used for high-precision positioning of personnel in a complex environment, has wider applicability and higher precision compared with other positioning technologies adopting RSSI (signal strength indicator) modes, and is widely applied to the field of factory positioning.

An Inertial Navigation System (Inertial Navigation System) is an autonomous Navigation System which does not depend on external information and radiates energy to the outside, and has the advantages of not depending on any Navigation satellite, external base station, prior database and not being influenced by the external environment. The inertial navigation system is a navigation parameter calculation system with a gyroscope and an accelerometer as sensitive devices, establishes a navigation coordinate system according to the output of the gyroscope, and calculates and outputs information such as speed, position and the like of a carrier in the navigation coordinate system according to the acceleration.

An independent UWB positioning system established in the current chemical plant area environment can effectively meet the personnel positioning requirement, but has some defects, firstly, the UWB technology in the complex environment is difficult to realize three-dimensional space display, only layered positioning can be realized, and interlayer positioning cannot be realized; secondly, UWB positioning depends on the arrangement of multiple base stations, so that high base station arrangement cost is required, and a large amount of subsequent maintenance work is increased. And the single use is used to be used to lead to the navigation location, because the in-process that is being used to lead to the navigation is influenced by factors such as earth magnetism at the in-process of marcing, and the in-process can constantly accumulate the error, leads to the location data deviation bigger and bigger.

Disclosure of Invention

The utility model aims to solve the technical problem that a personnel positioner based on UWB and inertial navigation fuses technique is provided, this device is based on UWB and inertial navigation's integration, has improved inertial navigation's correction ability, has guaranteed personnel's accuracy of location, reduces the positioning cost, has the high price/performance ratio, and it is convenient that the installation deploys, improves positioning accuracy.

In order to solve the technical problem, the utility model discloses personnel positioner based on UWB and inertial navigation fuses technique includes electrical unit, UWB radio frequency positioning module, data processing module, inertial navigation module and L ORA transmission module, UWB radio frequency positioning module be used for acquireing with UWB location between the basic station range finding data, and transmit to data processing module, built-in gyroscope of inertial navigation module and acceleration sensor are used for acquireing personnel's real-time navigation appearance angle, speed and position information data and transmit to data processing module, data processing module corrects the information data that inertial navigation module acquireed according to the range finding data that UWB radio frequency positioning module acquireed, obtains personnel's accurate positioning data, the positioning data that data processing module obtained conveys outside relay base station through L ORA transmission module, electrical unit provides the working power of each module.

Furthermore, the UWB radio frequency positioning module also comprises a UWB communication antenna, and the UWB communication antenna is connected with the signal transmitting and receiving end of the UWB radio frequency positioning module.

Furthermore, the data processing module also comprises a judgment alarm unit, and the signal input end of the judgment alarm unit is connected with the signal output end of an acceleration sensor arranged in the inertial navigation module.

Further, the power supply unit is a high-energy polymer lithium battery.

Furthermore, this positioner still includes personnel's wearing equipment, power supply unit, UWB radio frequency location module, data processing module, inertial navigation module and L ORA transmission module are integrated in personnel's wearing equipment.

Further, the personnel wearing equipment comprises a safety helmet, a protective vest or a work shoe.

Because the utility model discloses personnel positioner based on UWB and inertial navigation fuses technique has adopted above-mentioned technical scheme, the UWB radio frequency positioning module of this device promptly is used for acquireing with UWB location between the basic station range finding data, and transmit to data processing module, built-in gyroscope and acceleration sensor of inertial navigation module, be used for acquireing personnel's real-time navigation appearance angle, speed and positional information data and transmit to data processing module, data processing module rectifies the information data that inertial navigation module acquireed according to the range finding data that UWB radio frequency positioning module acquireed, obtain personnel's accurate positioning data, positioning data that data processing module obtained conveys outside relay base station through L ORA transmission module, power supply unit provides the working power supply of each module.

Drawings

The invention will be described in further detail with reference to the following drawings and embodiments:

fig. 1 is a block diagram of the personnel positioning device based on UWB and inertial navigation fusion technology.

Detailed Description

The embodiment is as shown in fig. 1, the utility model discloses personnel positioner based on UWB and inertial navigation fuses technique includes electrical unit, UWB radio frequency positioning module, data processing module, inertial navigation module and L ORA transmission module, UWB radio frequency positioning module is used for acquireing with UWB between the location basic station range finding data, and transmit to data processing module, built-in gyroscope and acceleration sensor of inertial navigation module are used for acquireing personnel's real-time navigation appearance angle, speed and position information data and transmit to data processing module, data processing module corrects the information data that inertial navigation module acquireed according to the range finding data that UWB radio frequency positioning module acquireed, obtain personnel's accurate positioning data, the positioning data that data processing module acquireed conveys outside relay base station through L ORA transmission module, electrical unit provides the working power supply of each module, outside relay base station carries out data processing, storage and demonstration etc. with personnel's accurate positioning data transmission to backend server through the network.

Preferably, the UWB radio frequency positioning module further comprises a UWB communication antenna, and the UWB communication antenna is connected to the signal transmitting and receiving end of the UWB radio frequency positioning module.

Preferably, the data processing module further comprises a judgment alarm unit, and a signal input end of the judgment alarm unit is connected with a signal output end of an acceleration sensor built in the inertial navigation module. The judgment alarm unit judges whether the personnel have instant falling or long-time standing according to the signals of the acceleration sensor, and when the personnel are considered to have dangerous states and need emergency treatment, the judgment alarm unit generates alarm signals.

Preferably, the power supply unit is a high-energy polymer lithium battery. The high-energy polymer lithium battery has the charge-discharge service life of 500 times, can continuously work for 8 hours at normal temperature, and adopts a charging mode.

Preferably, this positioner still includes personnel's wearing equipment, power supply unit, UWB radio frequency location module, data processing module, inertial navigation module and L ORA transmission module are integrated in personnel's wearing equipment.

Preferably, the personal wear device comprises a safety helmet, a protective vest or a work shoe.

This device fuses inertia navigation system's independence and UWB location's stability and high accuracy, combines UWB high accuracy location data to be used to lead and rectifies to compensate to be used to lead self accumulated error, be used to lead simultaneously and also supply the place that UWB covers inadequately, in order to reach the effect of seamless coverage in the whole region. The installation requirement of personnel's location label under factory environment can effectively be solved to this device. The data processing module comprises a microprocessor and is used for calculating the accumulated error of the inertial navigation module and correcting the positioning information data of the inertial navigation module according to the distance measurement data of the UWB radio frequency positioning module.

When the device is actually applied, all modules can be integrated in wearing equipment of personnel, such as a brim of a safety helmet or a heel of a work shoe, the inertial navigation module is used for obtaining angular velocity and acceleration of movement of the personnel, real-time attitude angle, speed and position information of the personnel are obtained through inertial navigation calculation, the UWB radio frequency positioning module is used for obtaining distance measurement data between the personnel and a UWB positioning base station, a personnel movement model is built according to regular movement of the head or the foot of the personnel in the movement process, the zero-speed correction technology is used for estimating and correcting position errors of the inertial navigation calculation, a quasi-static magnetic field screening strategy is used for obtaining relatively-interference geomagnetic information to estimate and correct course angle errors of the inertial navigation calculation, so that accurate positioning data of the personnel is obtained, and the positioning data is transmitted through the L ORA transmission module, so that the positioning of the personnel in a factory area is realized.

The device has strong correction capability, the maximum correction precision can reach centimeter level by adopting a UWB ranging scheme to correct inertial navigation errors, and the positioning accuracy of the device is ensured; the device mainly adopts inertial navigation positioning as a main part and is assisted by UWB (ultra wide band) deviation correction, so that the required hardware quantity under the unit area on site is greatly reduced, and the overall cost is reduced; the installation and deployment are convenient, the requirement on the installation position of the UWB base station is not high due to the fact that the requirement on the number of hardware is reduced and the positioning is mainly based on inertial navigation, the optional point is in the position convenient to install, and the installation implementation difficulty is reduced; the positioning precision is high, the inertial navigation module can adopt a low-power-consumption high-precision MEMS micro inertial navigation module, the accumulated error is controlled within 1 percent, and the overall positioning precision can be controlled to be about 1 m.

Claims

1. A personnel positioning device based on a UWB and inertial navigation fusion technology is characterized by comprising a power supply unit, a UWB radio frequency positioning module, a data processing module, an inertial navigation module and an L ORA transmission module, wherein the UWB radio frequency positioning module is used for acquiring distance measurement data between the UWB radio frequency positioning module and a UWB positioning base station and transmitting the distance measurement data to the data processing module, a gyroscope and an acceleration sensor are arranged in the inertial navigation module and are used for acquiring real-time attitude angle, speed and position information data of personnel and transmitting the real-time attitude angle, speed and position information data to the data processing module, the data processing module corrects the information data acquired by the inertial navigation module according to the distance measurement data acquired by the UWB radio frequency positioning module to acquire accurate positioning data of the personnel, the positioning data acquired by the data processing module is transmitted to an external relay base station through the L ORA transmission module, and the power supply unit provides working power supplies for the modules.

2. The personnel positioning device based on UWB and inertial navigation fusion technology of claim 1 characterized in that: the UWB radio frequency positioning module further comprises a UWB communication antenna, and the UWB communication antenna is connected with a signal transmitting and receiving end of the UWB radio frequency positioning module.

3. The personnel positioning device based on UWB and inertial navigation fusion technology of claim 1 or 2, characterized in that: the data processing module further comprises a judgment alarm unit, and the signal input end of the judgment alarm unit is connected with the signal output end of an acceleration sensor arranged in the inertial navigation module.

4. The personnel positioning device based on UWB and inertial navigation fusion technology of claim 3 characterized in that: the power supply unit is a high-energy polymer lithium battery.

5. The personnel positioning device based on the fusion technology of UWB and inertial navigation is characterized in that the positioning device also comprises personnel wearing equipment, and the power supply unit, the UWB radio frequency positioning module, the data processing module, the inertial navigation module and the L ORA transmission module are integrated in the personnel wearing equipment.

6. The UWB and inertial navigation fusion technology based person positioning device of claim 5, wherein: the personnel wearing equipment comprises a safety helmet, a protective vest or a work shoe.