A multi-sensor based three-dimensional positioning method for firefighters indoors
A three-dimensional positioning, multi-sensor technology, applied in the directions of instruments, navigation, mapping and navigation, to eliminate drift errors, reduce position errors, and solve positioning problems
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[0120] The present invention will be further described below in conjunction with the accompanying drawings.
[0121] refer to figure 1 , a multi-sensor based indoor three-dimensional positioning method for firefighters, comprising the following steps:
[0122] 1) Initialization: Initialize various parameters, including the altitude of the starting position, the horizontal axis, the vertical axis and the direction of the vertical axis, the two-dimensional plane coordinates and the attitude angle and other information;
[0123] 2) Collect the three-axis accelerometer data in the attitude sensor at the current moment t and record it as in Indicates the horizontal axis acceleration at time t, Indicates the vertical axis acceleration at time t, Indicates the vertical axis acceleration at time t, collects the three-axis gyroscope data in the attitude sensor at current time t and records it as in Indicates the horizontal axis angular velocity at time t, Indicates th...
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