System and method for performing indoor and outdoor 3D (Three-Dimensional) seamless positioning and gesture measuring on fire man

Abstract

The invention discloses a system and a method for performing indoor and outdoor 3D (Three-Dimensional) seamless positioning and gesture measuring on a fire man. The system comprises a main control circuit board based on an STM32 (Scanning Tunneling Microscope 32) singlechip, a GPRS (General Packet Radio Service) data transmission module based on Sim-900, a GPS (Global Positioning System) module, a remote monitoring client side, an inertial navigation module I and an inertial navigation module II, wherein the main control circuit board is respectively connected with the GPRS data transmission module, the GPS module, the inertial navigation module I and the inertial navigation module II by virtue of serial ports; and the GPRS data transmission module communicates with the bound remote monitoring client side by utilizing a GPRS network. The system and the method can be used for realizing the indoor and outdoor 3D (Three-Dimensional) seamless positioning and gesture measuring for the fire man, accurately recognizing and judging the motion state of the fire man and meanwhile realizing the indoor and outdoor 3D seamless positioning for the fire man; aiming at the application occasion of the fire man, the system can be expanded to be provided with a poisonous gas sensor, a smoke sensor, a temperature sensor and the like, and has great significance in guaranteeing the life safety of the fire man working under a complex fire scene environment.

Description

technical field [0001] The invention relates to a firefighter positioning and posture detection system, in particular to a firefighter indoor and outdoor 3D seamless positioning and posture detection system and method. It belongs to the fields of firefighter navigation and positioning, human posture detection, behavior analysis and recognition. Background technique [0002] At present, with the increase of the population, the per capita land area is getting smaller and smaller, and the buildings are gradually becoming large-scale and high-rise. Once a fire breaks out in such a high-rise building with a complex structure, it is difficult for firefighters to locate themselves due to various reasons such as smoke and floor structure. Unable to accurately judge their own location, it is difficult to report their accurate floor and location to outsiders in a timely manner, thus missing the best rescue opportunity; accurate detection of human motion status is an important basis f...

AI Technical Summary

Problems solved by technology

[0006] Chinese patent applications 201010023030.6 and 201210013467.0 both adopt the firefighter positioning method based on radio frequency RFD. The disadvantage of this method is that it needs special modification of the environment, and a certain number of RFID readers must be arranged in the environment, which is inconvenient to use and has low accuracy. , suitable for simple environments

Methods based on wireless sensor networks, such as Wi-Fi technology, Zibgee technology, etc., use signal strength for positioning. The disadvantage of this method is that it needs to set up a wireless sensor network, which is costly, and the wireless signal is susceptible to interference and poor accuracy.

[0007] Chinese patent application 201010201512.6 adopts a mixed positioning method of GNSS (Global Satellite Navigation System), UWB (Ultra Wideband Technology) and MEMS (Micro Electro Mechanical System), and proposes a positioning system based on satellite signal strength and signal-to-noise ratio. Seamless switching rules, the disadvantage of this method is that complex UWB positioning tags need to be arranged in advance in the environment, and the MEMS positioning technology used in this method is the traditional inertial positioning technology of the integral mechanism. In the process of walking, the requirements for platform alignment are very high, and the positioning error will continue to accumulate over time. This method cannot be applied to the complex fire rescue environment of firefighters.

[0008] The literature "Research on Indoor and Outdoor Seamless Positioning Algorithms for Firefighters Based on GPS and Self-contained Sensors" (2010, University of Science and Technology of China [D], p19-25) proposed a positioning method based on GPS and self-contained sensors, but the The method does not consider the influence of the body swing on the yaw angle during the walking process, so that the body swinging from side to side during the walking process will have a serious impact on the decomposition results of the pedestrian dead reckoning positioning algorithm. Indoor and outdoor positioning within the range, unable to provide floor height and firefighter's motion status information

[0009] Chinese patent application 201010539511.2 discloses a firefighter fire location system based on Mesh mesh network architecture. The system consists of a wireless monitoring host, several wireless positioning sub-machines and several wireless relays. Through communication, the plane positioning and attitude detection functions of firefighters can be realized, but the system only uses the inertial positioning technology of the traditional integral mechanism, and the positioning results of the traditional integral mechanism inertial positioning technology itself will diverge with the accumulation of use time , so this method cannot guarantee the effectiveness of long-term positioning, and this method only relies on inertial positioning technology, which can only provide relative positioning information but cannot provide absolute position information, and cannot eliminate the cumulative error of inertial positioning in time, nor can it provide firefighters Floor height information

The method disclosed in this invention cannot monitor the movement posture of firefighters in real time, and does not integrate multiple positioning information, so it is difficult to ensure long-term positioning accuracy

[0011] Chinese patent application 201210203123.6 discloses a firefighter firefighting and rescue positioning command system. The rescue command system includes a communication base station, an operation display module, an individual terminal, a beacon and a beacon reader. This method can realize the positioning of firefighters, but It is necessary for firefighters to operate the equipment they bring every time they arrive at a predetermined location. In an emergency fire environment, it is easy to miss or misoperate. It is not an active continuous positioning method.

[0013] Chinese patent 200910028156.X uses two accelerometers as attitude sensors, and can identify postures such as stillness, running, and jumping by setting acceleration thresholds, but it is difficult to distinguish actions such as bending over and lying down, and because this method only uses two single Axis accelerometer, so real-time measurement of three-axis acceleration cannot be achieved, and the wearing position and direction of the device are also strictly limited

[0014] Chinese patent application 201210185040.9 proposes a fall detection and positioning device for the elderly based on an inertial navigation module and GPS. GPS positioning, when the GPS signal is blocked, the positioning function fails, and there is no indoor positioning function, and this method uses an inertial navigation module, which can only achieve a single fall detection, and cannot distinguish such as bending over, standing, walking, lying down, etc. Multiple postures, not suitable for firefighters' complex indoor and outdoor fire environment 3D seamless positioning and posture detection requirements

[0015] To sum up, the existing firefighter positioning and posture detection technology is difficult to simultaneously realize the continuous 3D seamless positioning and multiple motion posture detection requirements of firefighters in indoor and outdoor complex fire scene environments

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