Individual soldier field searching equipment based on IMU guidance

Abstract

The invention discloses individual soldier field searching equipment based on IMU guidance in the technical field of communication equipment. The individual soldier field searching equipment comprises a microcontroller, a positioning function module, a communication function module, a power supply system, an interaction function module, a searching function module and a help calling function module. According to the invention, GPS and Beidou BDS dual positioning is provided; 4G, LORA and Beidou short message multi-communication modes are carried; an MPU9250 nine-axis sensor is used, and attitude and geomagnetic errors are calibrated through Kalman filtering and other algorithms, so that an IMU is matched with an LCD to serve as an electronic compass to execute search and rescue guidance; a plurality of working modes are designed in the aspects of low-power-consumption hardware, equipment software and algorithms to realize dynamic power consumption management, and the endurance time is not less than 24 hours under the condition of full-task output and is not less than 48 hours under the normal condition in a test.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication equipment, in particular to a single soldier field search equipment based on IMU guidance. BACKGROUND

[0002] With the popularity of outdoor activities and exploration activities, field disappearance and accident events occur frequently, and the demand for efficient search and rescue equipment is increasing. Especially in emergency situations such as natural disasters and accident scenes, the demand for rapid positioning and rescue is particularly urgent. Governments and non-governmental organizations in many countries and regions have begun to pay attention to the research and application of field search and rescue technology, and promote the marketization and popularization of related equipment. There are some professional search and rescue equipment on the market, such as handheld GPS positioning instrument, satellite phone, intercom, etc., and some mobile phone applications also provide positioning and help-seeking functions. At the same time, some enterprises have begun to explore the use of big data, artificial intelligence and cloud computing technology to improve the intelligent level of search and rescue equipment.

[0003] Most of the existing search equipment currently mainly relies on the global positioning system (GPS) for positioning. However, GPS signals are easily lost in some complex terrain and bad weather conditions, resulting in inaccurate positioning or inability to position. In remote areas, existing cellular network and satellite communication technology cannot provide stable signal coverage, limiting the real-time positioning of the equipment, and preventing rescue personnel from obtaining the accurate location of the trapped person in time. Many existing devices only have a single positioning method, lack products that effectively integrate multiple positioning technologies, and result in insufficient positioning accuracy and reliability in specific environments. Many existing products do not fully consider extreme conditions in the field environment, such as waterproof, dustproof, shockproof, etc., which limits the service life, reliability and use time of the equipment. SUMMARY

[0004] In view of the deficiencies of the prior art, the purpose of the present application is to provide a single soldier field search equipment based on IMU guidance to solve the problems raised in the background art.

[0005] The purpose of the present application can be achieved by the following technical solutions: A single soldier field search equipment based on IMU guidance, comprising a microcontroller, a positioning function module, a communication function module, a power system, an interactive function module, a search function module and a help-seeking function module; The communication function module comprises a short message module, a digital intercom module, a 4G module and a Bluetooth module. The interactive function module comprises operation keys, indicator lights, a display screen, a power acquisition sensor, a temperature acquisition sensor and a data storage. The search function module comprises a geomagnetic sensor and a six-axis sensor. The help-seeking function module comprises a buzzer and a bearing light.

[0006] Preferably, the microcontroller is a single-chip microcomputer STM32L071RBT6.

[0007] Preferably, the positioning function module uses an ATGM336H-5N module and AIR780EG auxiliary positioning to realize the positioning function.

[0008] Preferably, the communication function module uses a DMR818S digital intercom module to realize the digital intercom communication function.

[0009] Preferably, the search function module selects MPU9250 as a three-axis and six-axis sensor to collect geomagnetic parameters and acceleration and angular velocity information, calculates a geomagnetic angle, and generates a quaternion through an algorithm combined with acceleration and angular velocity.

[0010] Preferably, the rescue function module selects a piezoelectric buzzer as a sound alarm device in distress, and the orientation light of the device has both alarm and lighting functions.

[0011] Preferably, the Bluetooth module selects a BLE103 Bluetooth module.

[0012] The beneficial effects of the present application are: 1. The present application is equipped with GPS and Beidou BDS double positioning, 4G base station positioning to cope with different rescue tasks, GPS and Beidou BDS are applied to outdoor 4G signal interference positioning tasks, 4G base station positioning is used for rapid response in the city, and the auxiliary positioning technology of 4G is carried to realize positioning in only a few seconds.

[0013] 2. The present application carries 4G, LORA and Beidou short message multiple communication modes, 4G is applied to high signal strength occasions in the city, LORA and Beidou short message are applied to communication tasks lacking and losing signal strength, and the reliability of rescue communication is ensured.

[0014] 3. The present application uses MPU9250 nine-axis sensor and calibrates attitude and geomagnetic error through Kalman filtering algorithm for IMU to execute search and rescue guidance with LCD as an electronic compass, omits communication delay and power consumption processing in signal loss area, saves rescue time and improves near distance positioning accuracy.

[0015] 4. The shell structure of the present application adopts waterproof sealing design and passes IPX6 waterproof test, a dustproof filter screen is configured near the microphone, the shell material also adopts dustproof coating treatment, shock-absorbing materials are used inside the device, and the circuit board and sensor have good fixation and support. The shell uses high-strength materials to pass the drop test, and the overall device weight and size refer to the adult hand holding standard.

[0016] 5、The equipment is equipped with a 3200mAh lithium battery, uses low-power hardware, and is designed with multiple working modes in the aspects of equipment software and algorithms to realize dynamic power consumption management, and the endurance time is not less than 24h under full task output and not less than 48h under normal conditions. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 is a structural schematic diagram of a single-soldier field search equipment based on IMU guidance in an embodiment of the present application; Figure 2 is a structural schematic diagram of a power supply system in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0020] Please refer to Figures 1 to 2 The embodiment provides a single-soldier field search equipment based on IMU guidance, as shown in the figure, which comprises a microcontroller, a positioning function module, a communication function module, a power supply system, an interactive function module, a search function module and a distress function module. The communication function module comprises a short message module, a digital intercom module, a 4G module and a Bluetooth module. The interactive function module comprises operation keys, indicator lights, a display screen, a power acquisition sensor, a temperature acquisition sensor and a data storage. The search function module comprises a geomagnetic sensor and a six-axis sensor. The distress function module comprises a buzzer and a bearing light.

[0021] The control core of the equipment is a single-chip microcomputer, which is used for realizing the function control of various modules, receiving and processing of sensor data, and judgment and realization of system logic. The overall hardware system block diagram is as shown in Figure 1The key part of the alarm is composed of four self-resetting keys, including a power key and three function keys.The on-off control of the alarm is realized by the power key, and the key is short-pressed to turn on and long-pressed to turn off.The alarm also includes four function indicator lights for indicating the functions of satellite positioning, Beidou short message communication, digital intercom communication and 4G communication.The sensors and acquisition modules on the alarm realize the acquisition of data such as environmental temperature, battery capacity, personnel posture and magnetic azimuth angle, the storage module and the Bluetooth module realize the functions of data storage and data transmission, the positioning module obtains positioning information, the communication module realizes wireless communication with the command post, the azimuth lamp is used for illumination and light alarm, and the buzzer is used for sound alarm.

[0022] The microcontroller is the logic processing unit of the system, and the single-chip microcomputer produced by the STMicroelectronics Company is selected as the microcontroller of the device, and the model of the single-chip microcomputer is STM32L071RBT6.

[0023] The STM32L071RBT6 has low power consumption, rich peripherals and interfaces, sufficient memory size, perfect ecological development system and high cost performance advantage; The L0 series single-chip microcomputer produced by the STMicroelectronics Company has very low running power consumption, supports multiple low-power consumption modes including standby mode, sleep mode and stop mode, and is very suitable for portable devices with requirements for power consumption and endurance time; the number of I / O ports of the chip is as high as 51, has 4 USARTs, 1 LPUSART, 2 SPIs, 2 I2C bus interfaces, and simultaneously has multiple general-purpose timers, basic timers and a multi-channel 12-bit ADC. It can meet the peripheral and interface requirements in design; it has 128KB of Flash memory and 20KB of RAM, which provides sufficient space for complex application programs and data storage; the STMicroelectronics Company has comprehensive development tools, software libraries and community resources, which can realize more efficient development of the single-chip microcomputer; the STM32L071RBT6 type single-chip microcomputer can meet the design requirements, and avoids the performance waste caused by selecting a higher performance processor.

[0024] The power supply system is powered by a 7.4V lithium battery, and outputs 3.3V, 3.9V and 5V power supply voltages through a power conversion circuit to meet the power supply requirements of each module.

[0025] The polymer lithium battery with a battery capacity of 3200mAh is selected to supply power, the power supply voltage range of the lithium battery is 6.5V to 8.4V, and a maximum power supply current of 3.2A can be provided. The Beidou short message module in the device adopts double power supply, the transmitting power supply voltage of the module is 5V, the receiving power supply voltage of the module is 3.9V, and the 4G module and the digital intercom module are selected to be powered by a 3.9V power supply voltage. The power tree selects the switching power supply chip TPS56428DDA and TPS563249DDC as the power conversion chip with 5V and 3.9V output, to meet the transient requirements of the instantaneous large current generated when the wireless module transmits, and at the same time, the switching power supply chip conversion efficiency is high, which can improve the power efficiency. The power tree selects the linear voltage regulator power supply chip XC6228 as the power conversion chip with 3.3V output, to meet the requirements of the positioning module and various sensor chips for power ripple. The power tree also includes a constant current driving circuit and a buzzer driving circuit directly powered by the lithium battery, which are used to drive the azimuth lamp and the buzzer of the device to work.

[0026] The switching on and off of the device is realized by a self-resetting button and a power supply switching circuit. The device is turned on by short pressing the self-resetting button, and the device is turned off by long pressing the self-resetting button. The charging function of the lithium battery is realized by selecting an intelligent charger matched with the lithium battery. Since the chip inside the intelligent charger has the ability to manage and monitor the charging current, an additional charging management chip is no longer needed when designing the charging circuit.

[0027] The positioning function module uses the ATGM336H-5N module and the AIR780EG auxiliary positioning to realize the positioning function. The module supports multiple positioning modes, including single system positioning mode using Beidou, GPS and GLONASS satellite navigation systems and multi-system joint positioning mode of any satellite navigation system combination. The present application selects the GPS-Beidou dual system joint positioning mode to improve the positioning accuracy and positioning time of the device, and selects an active antenna as the receiving antenna of the positioning module. Compared with a passive antenna, the active antenna has higher gain and stronger anti-interference ability.

[0028] The communication function module uses the DMR818S digital intercom module to realize the digital intercom communication function. The module is built-in with a microcontroller, a digital intercom chip and a radio frequency power amplifier circuit, which can realize the functions of voice transmission and data transmission.

[0029] The search function module selects MPU9250 as a three-axis and six-axis sensor to collect geomagnetic parameters and acceleration and angular velocity information, calculates the geomagnetic angle, and generates quaternions by combining acceleration and angular velocity through an algorithm to further realize the acquisition of the pitch angle and roll angle of the device and correct errors.

[0030] The distress function module selects a piezoelectric buzzer as a sound alarm device in distress, the piezoelectric buzzer is made of piezoelectric ceramic material, and the piezoelectric buzzer has a simple structure; the azimuth lamp of the device has alarm and lighting functions. When the device alarms, the azimuth lamp flashes to prompt the position of the person in distress; when the azimuth lamp is used for lighting, the azimuth lamp is always on, and the brightness can be adjusted in three gears according to the lighting requirement. Two high-brightness lamp beads are selected to drive the LED in a current source mode.

[0031] A BLE103 Bluetooth module is selected to realize Bluetooth transparent transmission function; a W25Q64 storage chip is used to realize data storage function; the W25Q64 is a FLASH type storage chip with large storage capacity, compared with an EEPROM type storage chip, the FLASH type storage chip has larger storage density and faster storage speed; a TFT (thin film transistor) type liquid crystal display screen is selected to realize display function; the TFT display screen has the advantages of rich colors, low price and being capable of independently controlling each pixel point on the screen; IAP remote upgrading is completed through 4G, and use problems of the application are optimized.

[0032] After the device receives the positioning task, it first judges the 4G base station and GPS Beidou dual-mode positioning according to the signal strength, and stores the current location address information. To support the parallel work of multiple positioning technologies, the stability and accuracy of positioning are improved. In complex environments, different antennas receive signals and information fusion is performed. IMU combines algorithm to correct attitude and geomagnetic interference in LCD display as a digital compass, while cooperating with the heading angle and latitude and longitude of the Beidou module to further determine the search and rescue direction, ensuring the stability of outdoor operations. When implementing close-range personnel positioning scenarios, the back field sends latitude and longitude and azimuth information to the device, which automatically corrects the attitude and magnetometer interference and displays the pointer direction on the LCD in real time, guiding the rescuer to the person being searched, and also further accurately pointing the arrow through the heading angle information of GPS. According to the signal strength, the communication mode is switched, covering 4G communication, LORA communication, and Beidou short message communication. Under normal circumstances, it is confirmed that the signal is good in the area and the 4G communication scheme is implemented. Different communication schemes are switched by buttons, applied to different scenes to ensure the communication stability in extreme scenarios and the timeliness of communication response in normal scenarios. Low-power hardware design is used in combination with power consumption on the software to make the device last as long as possible on the premise of perfect function to solve the problem of charging in the wild. Two DCDCs and one LDO are used for power supply, with sleep and wake-up modes. The low-power CPU STM32L series is used in hardware, with low-power 4G chip AIR780EG, low-power LORA chip, and sensors to preliminarily reduce power consumption. In software design, the use of intelligent power reduction through time-sharing wake-up and sleep of various sensors and batch processing of multiple data is realized. The device uses the 4G auxiliary positioning function to realize rapid positioning response under the condition of ensuring the use of Beidou satellite only.

[0033] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example", and the like means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0034] Those skilled in the art will appreciate that embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0035] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0036] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0037] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0038] Finally, it should be noted that the above-mentioned embodiments are merely intended for describing the technical solutions of the present application, but not for limiting thereof. Although the present application is described in detail with reference to the above embodiments, it should be understood that for the ordinary skilled in the art, the specific embodiments of the present application can be modified or equivalent replacements without departing from the spirit and scope of the present application, and any modification or equivalent replacement without departing from the spirit and scope of the present application shall be included in the protection scope of the present application.

Claims

1. A single-soldier field search device based on IMU guidance, characterized in that, It includes a microcontroller, a positioning module, a communication module, a power system, an interaction module, a search module, and a distress call module; The communication function module includes a short message module, a digital intercom module, a 4G module, and a Bluetooth module; The interactive function module includes operation buttons, indicator lights, a display screen, a power sensor, a temperature sensor, and a data storage device. The search function module includes a geomagnetic sensor and a six-axis sensor; The emergency call module includes a buzzer and a directional light.

2. The IMU-guided individual field search device according to claim 1, characterized in that, The microcontroller is an STM32L071RBT6 microcontroller.

3. The IMU-guided individual field search device according to claim 1, characterized in that, The positioning function module uses the ATGM336H-5N module and AIR780EG assisted positioning to achieve the positioning function.

4. The IMU-guided individual field search device according to claim 1, characterized in that, The communication module uses the DMR818S digital intercom module to implement digital intercom communication function.

5. The IMU-guided individual field search device according to claim 1, characterized in that, The search function module selects the MPU9250 as a three-axis plus six-axis sensor to collect geomagnetic parameters and acceleration and angular velocity information, calculates the geomagnetic angle, and generates a quaternion by combining acceleration and angular velocity through an algorithm.

6. The IMU-guided individual field search device according to claim 1, characterized in that, The rescue function module uses a piezoelectric buzzer as the sound alarm device in case of danger, and the directional light of the device has both alarm and lighting functions.

7. The IMU-guided individual field search device according to claim 1, characterized in that, The Bluetooth module used is the BLE103 Bluetooth module.

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