Indoor firefighter positioning method based on single reference node/inertia combination

Abstract

The invention discloses an indoor firefighter positioning method based on single reference node / inertia combination, thereby providing self position information for firefighters executing emergency rescue tasks in a fire scene. According to the positioning method, only one reference node is needed and a firefighter entering a fire scene temporarily places the reference node in an environment for executing a rescue task; a virtual reference node array is established by combining the movement speed and posture data of the firefighter; a relative distance between the firefighter and the virtual reference node is obtained by utilizing a wireless distance measurement principle; a distance measurement equation set is established and the position of the firefighter is calculated. When a firefighter begins to execute a task, autonomous positioning is firstly realized through the inertial navigation system; after the condition of constructing the virtual reference node array is met, the virtualreference node array is constructed by utilizing the speed and posture information calculated by the inertial sensor carried by the firefighter; and finally, the satisfied distance measurement equation set between the firefighter and the virtual reference node is calculated to realize indoor positioning of the firefighter.

Description

technical field [0001] The invention relates to an indoor positioning method for firefighters based on a single reference node / inertial combination, using a single reference node temporarily placed by firefighters after entering the fire scene, a mobile node carried by the firefighters themselves, a three-axis accelerometer and a three-axis gyroscope, Determine where firefighters are located. It is suitable for providing the firefighters who perform emergency rescue tasks at the fire scene to provide their own location information. Background technique [0002] Building fire accidents are major accidents that cause people's property losses and threaten people's lives and safety. They have occurred from time to time in our country for many years. When a building fire accident occurs, firefighters are required to undertake the important task of entering the fire scene for emergency rescue. During this period, ensuring the personal safety of firefighters is also an important ...

AI Technical Summary

Problems solved by technology

[0005] The technical solution of the present invention is to comprehensively consider the positioning accuracy of inertial navigation and the complexity of the deployment of system reference nodes, and propose an indoor positioning method for firefighters based on a single reference node / inertia combination, which only requires one reference node , and the firefighters who enter the fire scene can be temporarily placed in the environment for performing rescue tasks, and then combined with the firefighters' movement speed and attitude data, a "virtual reference node array" is established, and the distance measurement principle is used to obtain the mobile nodes carried by the firefighters and the virtual reference node array. With reference to the relative distance between nodes, establish a ranging equation group to solve the position of the firefighter at the current sampling time

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