Multisensor-based indoor three-dimensional positioning method for a fire fighter

Abstract

The invention discloses a multisensor-based indoor three-dimensional positioning method for a fire fighter. The multisensor-based indoor three-dimensional positioning method comprises the following steps: 1) carrying out initialization; 2) acquiring and storing data from an attitude sensor and an air pressure gauge; 3) skipping to a step 4) if the data indicates a stationary period, or else, skipping to the step 2); 4) calculating a relative altitude value; 5) carrying out abnormal point detection and correction on the selected relative altitude data by using a boxplot method and taking an average value of the relative altitude data as an altitude value of the fire fighter at the current moment if the data indicates the stationary period, or else, skipping to the step 2); 6) discriminatingthe behavior of the fire fighter, and correcting a behavior discrimination result; 7) calculating a current two-dimensional movement distance, and calculating two-dimensional position coordinates ofthe fire fighter; 8) calculating and outputting indoor three-dimensional coordinates of the fire fighter; and 9) quitting if the fire fighter manually ends an indoor three-dimensional positioning function, or else, skipping to the step 2). By using the multisensor-based indoor three-dimensional positioning method, the moving behavior condition and position coordinates of the fire fighter can be discriminated in real time, so that position errors are reduced.

Description

technical field [0001] The invention relates to the field of indoor three-dimensional positioning, in particular to a multi-sensor based indoor three-dimensional positioning method for firefighters. Background technique [0002] Fire is one of the most frequent and destructive disasters. The direct economic loss caused by fire is second only to the loss caused by drought and flood. According to relevant statistical results, there are more than 10,000 fires every day in the world, and hundreds of people die directly due to fires. In some developed countries, the annual direct economic losses caused by fires account for 2% of the total national economy. [0003] In China, fire has become one of the main causes of death for our citizens. In 2016 alone, a total of 312,000 fires were reported across the country, with 1,582 deaths, 1,065 injuries, and direct property losses of 3.72 billion yuan. Fire accidents not only cause property loss and casualties of the people, but also s...

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Problems solved by technology

These methods are not suitable for fire rescue sites under fire condition...

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