A multi-sensor based three-dimensional positioning method for firefighters indoors

Abstract

A multi-sensor based indoor three-dimensional positioning method for firefighters, including the following steps: 1) initialization: 2) collecting and storing attitude sensor and barometer data; 3) if it is a stable period, skip to step 4), otherwise skip to step 2): 4) Calculate the relative altitude value; 5) If it is in a stable period, use the box plot method to detect and correct the abnormal points of the selected relative altitude data, and use the average value of these relative altitude data as the current moment The height value of the firefighter, otherwise skip to step 2); 6) judge the behavior of the firefighter, and correct the result of the behavior discrimination; 7) calculate the current two-dimensional moving distance, and calculate the two-dimensional position coordinates of itself; 8) calculate and output Indoor three-dimensional coordinates of the firefighter; 9) If the firefighter manually ends the indoor three-dimensional positioning function, exit, otherwise skip to step 2). The invention can judge the fireman's moving behavior and position coordinates in real time, reducing the position error.

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] After the fire broke out, a lot of thick smoke, poisonous gas and fire appeared on the scene. The uncontrolled smoke, poisonous gas and fire, the paralysis of communication facilities, the injury and panic of personnel will affect the rescue efficiency of the fire, and it will also test the command. Staff's command an...

AI Technical Summary

Problems solved by technology

These methods are not suitable for fire rescue sites under fire conditions such as lack of electricity, a large amount of thick smoke, and intense fire.

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