Ultrasonic Footstep Mapping for Indoor Navigation in Smoke and Darkness
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Solution Overview
Problem
Existing indoor mapping technologies, such as visual sensors and laser sensors, fail to capture environment information accurately in harsh conditions like smoke and darkness, and precision scanning methods require high-performance computing, making them unsuitable for emergency situations.
Innovation Solution
An ultrasonic wave-based indoor inertial navigation mapping system using modules on both feet to acquire inertial navigation, ultrasonic, and altitude data, determining landing points, constructing a reference trajectory, and fusing map points with similar features using a particle filter algorithm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If visual sensors or laser sensors are used for indoor mapping, then mapping functionality is achieved, but mapping accuracy deteriorates in harsh environments full of smoke, dust, ignition points, and darkness
Solution Approach 1:
The patent replaces optical sensing mechanisms (visual sensors, laser sensors) with acoustic sensing mechanisms (ultrasonic sensors). This substitution enables the system to function reliably in harsh environments where optical sensors fail due to smoke, dust, darkness, or ignition points, as ultrasonic waves can penetrate these conditions and provide accurate distance measurements for mapping.
2Measurement precision
If precision scanning calculation method is used for indoor mapping, then mapping accuracy is improved, but computing platform requirements increase
Solution Approach 1:
The patent employs a simplified ultrasonic-based mapping approach that uses readily available, low-cost ultrasonic sensors and basic processing units instead of requiring high-performance computing platforms. The method processes ultrasonic distance measurements through straightforward algorithms that can be implemented on ordinary mobile devices or single-board computers, eliminating the need for expensive specialized computing hardware while maintaining adequate mapping accuracy.
3Measurement precision
If surveying and mapping modeling based on CAD and total station is used, then mapping precision is improved, but post-processing time increases
Solution Approach 1:
The patent performs mapping operations in real-time during the navigation process itself, rather than requiring subsequent post-processing. The ultrasonic sensors continuously measure distances to obstacles and walls, and the system immediately processes this data to construct and update the indoor map during movement. This preliminary action eliminates the need for time-consuming post-processing steps required by traditional surveying methods, providing both speed and accuracy simultaneously.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Provides a clear indoor traveling map in harsh environments, ensuring personnel safety and smooth rescue operations by constructing a reliable indoor map in conditions like fires and mine collapses.
Implementation Method 1
a first ultrasonic ranging module, a second ultrasonic ranging module... acquiring ultrasonic data... determining a landing point position... constructing a reference trajectory... fusing map points with similar features
Implementation Method 2
Ultrasonic wave-based indoor inertial navigation mapping method and system
Implementation Method 3
a first inertial navigation module, a second inertial navigation module... acquiring inertial navigation data... determining a landing point position of a corresponding footstep according to the inertial navigation data
Implementation Method 4
a first air pressure detection module, a second air pressure detection module... acquiring altitude data... determining a landing point position according to the inertial navigation data and the altitude data
Data Source
AI summary
An ultrasonic wave-based indoor inertial navigation mapping method and system are disclosed. The method includes: acquiring inertial navigation data, ultrasonic data, and altitude data of a person for each step; determining a landing point position of a corresponding footstep according to the inertial navigation data and the altitude data, and connecting all landing point positions to obtain a reference trajectory; determining various initial ultrasonic map points according to the reference trajectory and the ultrasonic data for each step, where feature data of each initial ultrasonic map point is recorded and stored; acquiring current initial ultrasonic map points and current feature data corresponding to a current footstep; and comparing the current feature data with all recorded and stored feature data, and fusing the current initial ultrasonic map points with various initial ultrasonic map points with similar features by a particle filter algorithm if a preset condition is satisfied.