Personnel location system and method in complex unknown indoor environment

Abstract

The invention discloses a personnel location method and a personnel location system in a complex unknown indoor environment. The method comprises the steps of generating an indoor structure chart of a building and a position sketch map of each of three base stations close to the building in advance by modeling according to estimation information of the building, position information of the three base stations close to the building and position information between the base stations; computing a moving path of the personnel according to walking orientation, walking displacement and walking time of the personnel during a moving process; and extracting collected data variation feature values, clustering and analyzing data variation features, judging whether a motion state of the current personnel meets a geographic label attribute, and if yes and an known geographic label matched with the current personnel exist, matching the position of the current personnel to the corresponding geographic label of the indoor structure chart. The method and the system provided by the embodiment of the invention have the advantages of complex application environment, high location accuracy and good system stability, and are applicable to occasions such as fire fighting, task execution of swat team or anti-terrorist drill.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning, in particular to a system and method for locating personnel in complex and unknown indoor environments. Background technique [0002] At present, my country is in a period of economic transition and social transformation, the pace of urbanization is accelerating, and various disaster-causing factors have increased significantly. Major fires and other disasters and accidents have occurred from time to time, and the scale of disasters has continued to expand. Facing the complicated situation of fire fighting and rescue, a problem that cannot be ignored is that the proportion of casualties among firefighters in our country is gradually increasing. According to statistics, in the 10 years from 1997 to 2006, 131 firefighters across the country died and 1,610 were disabled; and in just three years from 2007 to 2009, 153 firefighters died nationwide, and more than 500 people were disa...

AI Technical Summary

Problems solved by technology

However, these three positioning technologies all need to arrange nodes at known positions in the building in advance, the system is complicated and the cost is high

UWB positioning accuracy is higher, but the positioning distance is shorter; RFID system positioning accuracy is determined by the position of the reference tag, which will affect the positioning

In order to improve the positioning accuracy, the system needs to increase the density of reference tags. However, a higher density will cause greater interference and affect the signal strength.

Because the distance between the reference tag and the pending tag needs to be calculated by the Euclidean formula, the amount of calculation is large; the workload of WIFI positioning and data collection is heavy, and in order to achieve higher accuracy, the location measurement and calculation settings of fixed point APs are relatively cumbersome.

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