技术领域technical field
本发明涉及室内定位、无线传感器网络和灾难救援领域，具体涉及一种救援人员室内协同定位装置及方法。The invention relates to the fields of indoor positioning, wireless sensor networks and disaster rescue, and in particular to an indoor collaborative positioning device and method for rescuers.
背景技术Background technique
在灾难救援活动中，冲锋在第一线的救援人员经常处于危险境地，其生命安全难以得到有效保障。救援人员无法了解自己和队员在室内的位置等信息，在出现危急情况的时候不能及时有效地相互支援，很容易导致伤亡。同时，指挥员和现场人员不能掌握救援人员的实施状况，无法立即对救援人员面对的情况做出正确判断和合理的指挥，严重影响了指挥效率。因此，对救援人员进行室内定位并使救援人员了解附近队员的情况是十分必要的。传统的GPS定位有效覆盖范围大，且定位导航信号免费。然而在实际环境中，GPS无法穿透建筑物的屋顶，室内往往无法收到GPS信号，从而无法使用GPS准确定位救援人员在室内的具体位置。惯导定位利用陀螺仪和加速度计，能够准确输出移动目标的位置和姿态信息。利用惯性导航设备进行室内定位精度较高，但是惯导设备成本较高，在使用数量上受限制。传感器网络具有自组织特点，可以构成实时定位网络，目前广泛应用于室内网络通信部署。In disaster rescue activities, the rescuers who charge on the front line are often in danger, and their life safety is difficult to be effectively guaranteed. Rescuers cannot understand information such as the location of themselves and their team members indoors, and cannot provide mutual support in a timely and effective manner when a critical situation occurs, which can easily lead to casualties. At the same time, the commanders and on-site personnel cannot grasp the implementation status of the rescuers, and cannot immediately make correct judgments and reasonable commands on the situation faced by the rescuers, which seriously affects the command efficiency. Therefore, it is very necessary to locate the rescuers indoors and let the rescuers know the situation of nearby team members. The effective coverage of traditional GPS positioning is large, and the positioning and navigation signals are free. However, in an actual environment, GPS cannot penetrate the roof of a building, and GPS signals are often not received indoors, so that it is impossible to use GPS to accurately locate the specific location of rescuers indoors. Inertial navigation positioning uses gyroscopes and accelerometers to accurately output the position and attitude information of moving targets. The indoor positioning accuracy of inertial navigation equipment is high, but the cost of inertial navigation equipment is relatively high, and the number of use is limited. The sensor network has the characteristics of self-organization and can constitute a real-time positioning network. It is currently widely used in indoor network communication deployment.
发明内容Contents of the invention
针对现有技术存在的不足，本发明提供一种救援人员室内协同定位装置及方法。Aiming at the deficiencies in the prior art, the present invention provides an indoor collaborative positioning device and method for rescuers.
本发明的技术方案是：Technical scheme of the present invention is:
一种救援人员室内协同定位装置，包括至少3个惯导定位装置、多个单片机、多个ZigBee无线传感器网络节点、多个GPRS模块和远程服务器；An indoor collaborative positioning device for rescuers, comprising at least three inertial navigation positioning devices, multiple single-chip microcomputers, multiple ZigBee wireless sensor network nodes, multiple GPRS modules and a remote server;
各惯导定位装置分别安置在至少3个救援人员身上，所有救援人员身上均安置有单片机、ZigBee无线传感器网络节点和GPRS模块，惯导定位装置的输出端连接单片机的输入端；Each inertial navigation positioning device is placed on at least 3 rescuers, and all rescuers are equipped with a single-chip microcomputer, ZigBee wireless sensor network node and GPRS module, and the output end of the inertial navigation positioning device is connected to the input end of the single-chip microcomputer;
各ZigBee无线传感器网络节点形成ZigBee无线传感器网络，单片机通过GPRS模块与远程服务器建立无线通讯。Each ZigBee wireless sensor network node forms a ZigBee wireless sensor network, and the single-chip microcomputer establishes wireless communication with a remote server through a GPRS module.
所述ZigBee无线传感器网络节点用于通过ZigBee无线传感器网络实时发送其对应的救援人员所在的位置信息至其他救援人员的ZigBee无线传感器网络节点和实时接收其他救援人员的位置信息。The ZigBee wireless sensor network node is used to send the location information of its corresponding rescuers to the ZigBee wireless sensor network nodes of other rescuers and receive the location information of other rescuers in real time through the ZigBee wireless sensor network.
所述惯导定位装置用于实时获取其对应救援人员运动的三轴加速度和三轴角速度并发送至单片机。The inertial navigation positioning device is used to obtain the three-axis acceleration and three-axis angular velocity corresponding to the motion of the rescuer in real time and send them to the single-chip microcomputer.
所述单片机用于根据惯导定位装置获取的对应救援人员运动的三轴加速度和三轴角速度进行定位计算得到救援人员位置信息，或者根据ZigBee无线传感器网络节点传来的携带惯导定位装置的各救援人员的位置信息进行自身定位。The single-chip microcomputer is used to perform positioning calculation according to the three-axis acceleration and three-axis angular velocity corresponding to the motion of the rescuer obtained by the inertial navigation positioning device to obtain the position information of the rescuer, or according to the information carried by the inertial navigation positioning device from the ZigBee wireless sensor network node. The location information of the rescuers is used to locate themselves.
所述GPRS模块用于将单片机传来的救援人员位置信息发送至远程服务器。The GPRS module is used to send the position information of the rescuer from the single chip microcomputer to the remote server.
所述远程服务器用于接收GPRS模块传来的救援人员位置信息并存至数据库。The remote server is used for receiving the position information of the rescuer sent by the GPRS module and storing it in the database.
所述单片机连接有液晶显示模块，用于将救援现场的室内环境以室内建筑物平面图形式进行显示，并将各救援人员所在位置以坐标的形式显示在该室内建筑物平面图上并实时更新。The single-chip microcomputer is connected with a liquid crystal display module, which is used to display the indoor environment of the rescue site in the form of an indoor building plan, and display the location of each rescuer on the indoor building plan in the form of coordinates and update it in real time.
所述单片机连接有操作按键模块，用于在现场救援过程中救援人员将其确定的位置信息手动输入单片机，对计算的位置信息进行修正。The single-chip microcomputer is connected with an operation button module, which is used for rescuers to manually input the determined position information into the single-chip microcomputer during the on-site rescue process, and correct the calculated position information.
采用所述的一种救援人员室内协同定位装置进行救援人员室内协同定位的方法，包括如下步骤:The method for indoor collaborative positioning of rescuers using the described indoor collaborative positioning device for rescuers comprises the following steps:
步骤1：所有救援人员携带单片机、ZigBee无线传感器网络节点和GPRS模块，其中三名以上救援人员还携带有惯导定位装置；Step 1: All rescuers carry single-chip microcomputers, ZigBee wireless sensor network nodes and GPRS modules, and more than three rescuers also carry inertial positioning devices;
步骤2：对携带有惯导定位装置的救援人员进行初始定位，并通过测量该救援人员在当前位置的救援人员的三轴加速度得到重力加速度方向和大小；Step 2: Initially locate the rescuer carrying the inertial navigation positioning device, and obtain the direction and magnitude of the gravitational acceleration by measuring the triaxial acceleration of the rescuer at the current position;
步骤3：将救援现场的室内环境以室内建筑物平面图形式通过液晶显示模块进行显示；Step 3: display the indoor environment of the rescue site in the form of an indoor building plan through the liquid crystal display module;
步骤4：所有救援人员进入救援现场室内，惯导定位装置实时获取其对应救援人员运动的三轴加速度和三轴角速度并发送至单片机；Step 4: All rescuers enter the rescue scene room, and the inertial navigation positioning device obtains the three-axis acceleration and three-axis angular velocity corresponding to the movement of the rescuers in real time and sends them to the single-chip microcomputer;
步骤5：单片机根据惯导定位装置发送的三轴加速度和三轴角速度计算携带惯导定位装置的救援人员相对于初始定位位置坐标的位移，进而得到携带有惯导定位装置的救援人员当前位置；Step 5: According to the three-axis acceleration and three-axis angular velocity sent by the inertial navigation positioning device, the single-chip computer calculates the displacement of the rescuer carrying the inertial navigation positioning device relative to the coordinates of the initial positioning position, and then obtains the current position of the rescuer carrying the inertial navigation positioning device;
步骤6：通过GPRS模块将携带有惯导定位装置的救援人员当前位置信息发送至远程服务器，同时通过ZigBee无线传感器网络节点将携带有惯导定位装置的救援人员当前位置信息发送至其他救援人员；Step 6: Send the current position information of the rescuer carrying the inertial navigation positioning device to the remote server through the GPRS module, and send the current position information of the rescuer carrying the inertial positioning device to other rescuers through the ZigBee wireless sensor network node;
步骤7：未携带惯导定位装置的救援人员的ZigBee无线传感器网络节点实时获取三名携带有惯导定位装置的救援人员的RSSI数据，ZigBee无线传感器网络节点将该RSSI数据发送至其对应的单片机；Step 7: The ZigBee wireless sensor network node of the rescuer who does not carry the inertial navigation positioning device obtains the RSSI data of the three rescuers carrying the inertial navigation positioning device in real time, and the ZigBee wireless sensor network node sends the RSSI data to its corresponding microcontroller ;
步骤8：单片机根据获取的RSSI数据分别计算该未携带惯导定位装置的救援人员与该三名携带有惯导定位装置的救援人员的距离，并根据计算出的该未携带惯导定位装置的救援人员与该三名携带有惯导定位装置的救援人员的距离和该三名携带有惯导定位装置的救援人员的当前位置信息，采用三边定位方法计算自身的当前位置；Step 8: According to the obtained RSSI data, the single-chip microcomputer respectively calculates the distance between the rescuer who does not carry the inertial navigation positioning device and the three rescuers who carry the inertial navigation positioning device, and according to the calculated distance of the rescuer who does not carry the inertial navigation positioning device The distance between the rescuer and the three rescuers carrying the inertial navigation positioning device and the current position information of the three rescuers carrying the inertial navigation positioning device, using the trilateral positioning method to calculate their own current position;
步骤9：救援人员在现场救援过程中如确定其自身位置时，通过操作按键模块将其位置信息手动输入单片机，对计算的位置信息进行修正，将各救援人员所在位置以坐标的形式通过液晶显示模块显示在室内建筑物平面图上并实时更新。Step 9: If rescuers determine their own positions during on-site rescue, manually input their position information into the microcontroller by operating the button module, correct the calculated position information, and display the positions of each rescuer in the form of coordinates on the LCD Modules are displayed on interior building plans and updated in real time.
有益效果：Beneficial effect:
本发明的救援人员室内协同定位装置及方法是由部分救援人员携带惯导定位装置实现室内定位，通过ZigBee无线传感器网络构成实时定位网，在救援现场中为其他未携带惯导定位装置的救援人员提供位置数据。当救援人员能够确认自身位置时，可以通过操作按键修正位置信息，使自己成为新的定位源，修正动态定位网络的精度。在此基础上，指挥部可以实时掌握现场救援人员的位置和分布，并且救援人员也能够互相了解和掌握自己及队友的位置信息，从而提高灾难救援效率以保证人身安全。通过少量的ZigBee无线传感器网络锚节点和信号强度测距，降低了昂贵的惯导定位装置的使用数量以节省成本。而且，由于ZigBee无线传感器网络能够动态自组织构成信息网络，不需要事先在建筑内安装设备，使本发明对于突发灾难救援具有很强的实际使用价值。In the indoor cooperative positioning device and method for rescuers of the present invention, some rescuers carry inertial navigation positioning devices to realize indoor positioning, and a real-time positioning network is formed through a ZigBee wireless sensor network. Provide location data. When rescuers can confirm their own location, they can correct the location information by operating the buttons, making themselves a new location source and correcting the accuracy of the dynamic location network. On this basis, the headquarters can grasp the location and distribution of on-site rescuers in real time, and rescuers can also understand each other and master the location information of themselves and their teammates, thereby improving disaster rescue efficiency and ensuring personal safety. Through a small number of ZigBee wireless sensor network anchor nodes and signal strength ranging, the number of expensive inertial navigation positioning devices is reduced to save costs. Moreover, since the ZigBee wireless sensor network can dynamically self-organize to form an information network, it does not need to install equipment in the building in advance, so that the present invention has strong practical use value for sudden disaster rescue.
附图说明Description of drawings
图1为本发明具体实施方式的救援人员室内协同定位装置结构示意图；Fig. 1 is a schematic structural diagram of an indoor collaborative positioning device for rescuers according to a specific embodiment of the present invention;
图2为本发明具体实施方式的单片机及其外围电路结构框图；Fig. 2 is a single-chip microcomputer and its peripheral circuit structural block diagram of the embodiment of the present invention;
图3为本发明具体实施方式的单片机电路原理图；Fig. 3 is the circuit principle diagram of the single-chip microcomputer of the embodiment of the present invention;
图4为本发明具体实施方式的电压转换电路原理图；4 is a schematic diagram of a voltage conversion circuit according to a specific embodiment of the present invention;
图5为本发明具体实施方式的液晶显示模块电路原理图；Fig. 5 is a circuit schematic diagram of a liquid crystal display module according to a specific embodiment of the present invention;
图6为本发明具体实施方式的操作按键模块电路原理图；Fig. 6 is a circuit schematic diagram of an operation button module according to a specific embodiment of the present invention;
图7为本发明具体实施方式的通讯电路原理图；7 is a schematic diagram of a communication circuit in a specific embodiment of the present invention;
图8为本发明具体实施方式的携带惯导定位装置的救援人员工作流程图；Fig. 8 is a working flow chart of a rescuer carrying an inertial navigation positioning device according to a specific embodiment of the present invention;
图9为本发明具体实施方式的未携带惯导定位装置的救援人员工作流程图；Fig. 9 is a working flow chart of a rescuer who does not carry an inertial navigation positioning device according to a specific embodiment of the present invention;
图10为本发明具体实施方式的救援人员室内协同定位方法流程图。Fig. 10 is a flowchart of an indoor collaborative positioning method for rescuers according to a specific embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明的具体实施方式做详细说明。The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.
救援人员室内协同定位装置，包括至少3个惯导定位装置、多个单片机、多个ZigBee无线传感器网络节点、多个GPRS模块和远程服务器；Indoor collaborative positioning device for rescuers, including at least 3 inertial navigation positioning devices, multiple single-chip microcomputers, multiple ZigBee wireless sensor network nodes, multiple GPRS modules and remote servers;
各惯导定位装置分别安置在至少3个救援人员身上，所有救援人员身上均安置有单片机、ZigBee无线传感器网络节点和GPRS模块，惯导定位装置的输出端连接单片机的输入端。Each inertial positioning device is placed on at least 3 rescuers, and all rescuers are equipped with single-chip microcomputers, ZigBee wireless sensor network nodes and GPRS modules, and the output terminals of the inertial navigation positioning devices are connected to the input terminals of the single-chip microcomputers.
如图1所示，本实施方式中，有3个救援人员身上安置有惯导定位装置，将这三个救援人员设为救援人员A，其余救援人员为救援人员B。As shown in FIG. 1 , in this embodiment, three rescuers are equipped with inertial navigation positioning devices, and these three rescuers are designated as rescuer A, and the remaining rescuers are referred to as rescuer B.
各ZigBee无线传感器网络节点形成ZigBee无线传感器网络，单片机通过GPRS模块与远程服务器建立无线通讯。Each ZigBee wireless sensor network node forms a ZigBee wireless sensor network, and the single-chip microcomputer establishes wireless communication with a remote server through a GPRS module.
ZigBee无线传感器网络节点用于通过ZigBee无线传感器网络实时发送其对应的救援人员所在的位置信息至其他救援人员的ZigBee无线传感器网络节点和实时接收其他救援人员的位置信息。The ZigBee wireless sensor network node is used to send the location information of its corresponding rescuers to the ZigBee wireless sensor network nodes of other rescuers in real time through the ZigBee wireless sensor network and receive the location information of other rescuers in real time.
本实施方式中，ZigBee无线传感器网络节点采用STM32W108CBU64，基于32位的ARMCortex-M3处理器内核，内部集成通信模块，信号更加稳定，同时满足低能耗特性。STM32W108CBU64支持IEEE802.15.4Zigbee协议，集成SimpleMac协议栈。STM32W108CBU64接收单片机的位置数据，并作为移动锚节点通过位置洪泛传播，为ZigBee无线传感器网络的其它节点提供位置数据。同时接收其他节点发送的位置信息，送到单片机进行数据处理。ZigBee无线传感器网络节点通过串口与单片机连接。In this embodiment, the ZigBee wireless sensor network node adopts STM32W108CBU64, based on the 32-bit ARM Cortex-M3 processor core, with an internal integrated communication module, the signal is more stable, and at the same time, it meets the characteristics of low energy consumption. STM32W108CBU64 supports IEEE802.15.4Zigbee protocol and integrates SimpleMac protocol stack. STM32W108CBU64 receives the location data of the single-chip microcomputer, and acts as a mobile anchor node through location flooding to provide location data for other nodes of the ZigBee wireless sensor network. At the same time, it receives the position information sent by other nodes and sends it to the single chip microcomputer for data processing. The ZigBee wireless sensor network nodes are connected with the single-chip microcomputer through the serial port.
单片机用于根据惯导定位装置获取的对应救援人员运动的三轴加速度和三轴角速度进行定位计算得到救援人员位置信息，或者根据ZigBee无线传感器网络节点传来的携带惯导定位装置的各救援人员的位置信息进行自身定位。The single-chip microcomputer is used to perform positioning calculations based on the three-axis acceleration and three-axis angular velocity corresponding to the motion of the rescuer obtained by the inertial navigation positioning device to obtain the position information of the rescuer, or according to the rescue personnel carrying the inertial navigation positioning device transmitted from the ZigBee wireless sensor network node location information for self-positioning.
如图3所示，单片机选用的型号为STM32F103，是ARM32位Cortex-M3CPU，最高工作频率72MHz，1.25DMIPS/MHz。单周期乘法和硬件除法，具有较快的处理运算速度。支持3种低功耗模式，从而在低功耗、短启动时间和可用唤醒源之间达到一个最好的平衡点。As shown in Figure 3, the model selected by the microcontroller is STM32F103, which is an ARM32-bit Cortex-M3CPU with a maximum operating frequency of 72MHz and 1.25DMIPS/MHz. Single-cycle multiplication and hardware division, with faster processing speed. Supports 3 low-power modes to achieve the best balance between low power consumption, short startup time and available wake-up sources.
如图8所示，对于携带惯导定位装置的救援人员A，单片机通过初始定位，获得当前环境下的重力加速度，并实时接收惯导定位装置测量的三轴加速度和三轴角速度，进行坐标转换将获得的数据从载体坐标系变换到地理坐标系上，然后通过对离散数据进行二次积分变换后得出物体的位置信息，将当前位置在室内建筑结构平面图上进行更新，并通过GPRS模块和ZigBee无线传感器网络节点分别发送给远程服务器和其他的ZigBee无线传感器网络节点，最终显示在其所携带的液晶显示模块上。ZigBee无线传感器网络节点发送自己的位置信息的同时接收其他ZigBee无线传感器网络节点的位置信息并通过液晶显示模块显示。As shown in Figure 8, for a rescuer A carrying an inertial navigation positioning device, the single-chip microcomputer obtains the acceleration of gravity in the current environment through initial positioning, and receives the three-axis acceleration and three-axis angular velocity measured by the inertial navigation positioning device in real time, and performs coordinate conversion Transform the obtained data from the carrier coordinate system to the geographic coordinate system, and then obtain the position information of the object by performing quadratic integral transformation on the discrete data, update the current position on the indoor building structure plan, and pass the GPRS module and The ZigBee wireless sensor network nodes send to the remote server and other ZigBee wireless sensor network nodes respectively, and finally display on the liquid crystal display module it carries. The ZigBee wireless sensor network node receives the position information of other ZigBee wireless sensor network nodes while sending its own position information and displays it through the liquid crystal display module.
如图9所示，对于未携带惯导定位装置的救援人员B，单片机将获取的无线数据进行分析与处理，其中位置数据通过液晶显示模块进行显示输出，通过信号的RSSI值，根据RSSI定位方法计算与锚节点的距离。在得到三个锚节点的位置和距离信息后，根据三边定位法计算出自身的位置。最终通过液晶显示模块显示输出，同时将自身的位置信息通过数据广播传送给其他节点，并通过GPRS将位置信息发送至远程服务器。As shown in Figure 9, for the rescuer B who does not carry the inertial navigation positioning device, the single-chip microcomputer will analyze and process the wireless data obtained, in which the position data is displayed and output through the liquid crystal display module, and the RSSI value of the signal is used according to the RSSI positioning method Calculate the distance from the anchor node. After obtaining the position and distance information of the three anchor nodes, it calculates its own position according to the trilateration method. Finally, the output is displayed through the liquid crystal display module, and at the same time, its own position information is transmitted to other nodes through data broadcasting, and the position information is sent to the remote server through GPRS.
单片机连接有通讯电路，如图7所示，该电路包括两个MAX3232CSE芯片和3个RS232串口，单片机通过RS232串口与惯导定位装置、GPRS模块和ZigBee无线传感器网络节点进行串口通讯，可以实现短距离全双工数据传输。The microcontroller is connected with a communication circuit, as shown in Figure 7, the circuit includes two MAX3232CSE chips and three RS232 serial ports, the microcontroller communicates with the inertial navigation positioning device, GPRS module and ZigBee wireless sensor network nodes through the RS232 serial port, which can realize short Full-duplex data transmission at a distance.
惯导定位装置通过RS232串口与单片机的PA2、PA3、GND相连，将数据发送给单片机。ZigBee无线传感器网络节点通过串口与单片机的PA9、PA10、GND相连。GPRS模块经串口与单片机的PB10、PB11、GND相连。液晶显示模块通过PB口与单片机交换数据。电源模块的输出经过电压转换后与单片机、ZigBee无线传感器网络节点、GPRS模块以及液晶显示模块的3v3、GND相连。操作按键模块通过PA口与单片机相连。The inertial navigation positioning device is connected with the PA2, PA3, and GND of the single-chip microcomputer through the RS232 serial port, and sends the data to the single-chip microcomputer. ZigBee wireless sensor network nodes are connected to PA9, PA10, and GND of the single-chip microcomputer through the serial port. The GPRS module is connected with the PB10, PB11 and GND of the microcontroller through the serial port. The liquid crystal display module exchanges data with the single-chip microcomputer through the PB port. The output of the power module is connected to 3v3 and GND of the single chip microcomputer, ZigBee wireless sensor network node, GPRS module and liquid crystal display module after voltage conversion. The operation button module is connected with the single-chip microcomputer through the PA port.
单片机及其外围电路如图2所示。The microcontroller and its peripheral circuits are shown in Figure 2.
单片机还连接有如图5所示的液晶显示模块，用于将救援现场的室内环境以室内建筑物平面图形式进行显示，并将各救援人员所在位置以坐标的形式显示在该室内建筑物平面图上并实时更新。The single-chip microcomputer is also connected with a liquid crystal display module as shown in Figure 5, which is used to display the indoor environment of the rescue site in the form of an indoor building plan, and display the positions of the rescuers on the indoor building plan in the form of coordinates and Live Update.
单片机还连接有如图6所示的操作按键模块，用于在现场救援过程中救援人员将其确定的位置信息手动输入单片机，对计算的位置信息进行修正。The single-chip microcomputer is also connected with an operation button module as shown in Figure 6, which is used for the rescue personnel to manually input the determined position information into the single-chip microcomputer during the on-site rescue process, and correct the calculated position information.
惯导定位装置用于实时获取其对应救援人员运动的三轴加速度和三轴角速度并发送至单片机。惯导定位装置采用XSENS公司MTi-G惯性导航模块，它具有陀螺仪、加速度计等传感器，可以连续输出惯性导航模块的运动三轴加速度和角速度。惯性导航模块通过串口线与STM32F103相连，将数据连续发送给STM32F103。The inertial navigation positioning device is used to obtain the three-axis acceleration and three-axis angular velocity corresponding to the movement of rescuers in real time and send them to the single-chip microcomputer. The inertial navigation positioning device adopts the MTi-G inertial navigation module of XSENS company, which has sensors such as gyroscope and accelerometer, and can continuously output the three-axis acceleration and angular velocity of the inertial navigation module. The inertial navigation module is connected to the STM32F103 through a serial port line, and continuously sends data to the STM32F103.
GPRS模块用于将单片机传来的救援人员位置信息发送至远程服务器。GPRS模块采用SIM300芯片，与单片机采用串行通信。The GPRS module is used to send the position information of the rescuers from the microcontroller to the remote server. GPRS module adopts SIM300 chip, and adopts serial communication with the one-chip computer.
远程服务器用于接收GPRS模块传来的救援人员位置信息并存至数据库。The remote server is used to receive the position information of the rescuer sent by the GPRS module and store it in the database.
本实施方式的救援人员室内定位与信息协同系统的电源模块为单片机、ZigBee无线传感器网络节点、GPRS无线模块、液晶显示模块供电。锂电池输出口通过电源模块分别与单片机3v3、GND连接。电源模块包括锂电池和电压转换电路，其中，电压转换电路的主要芯片型号为LM1117-3v3，如图4所示。The power supply module of the indoor positioning and information coordination system for rescuers in this embodiment supplies power for the single-chip microcomputer, ZigBee wireless sensor network node, GPRS wireless module, and liquid crystal display module. The output port of the lithium battery is respectively connected to the MCU 3v3 and GND through the power module. The power module includes a lithium battery and a voltage conversion circuit. The main chip model of the voltage conversion circuit is LM1117-3v3, as shown in Figure 4.
采用所述的救援人员室内协同定位装置进行救援人员室内协同定位的方法，如图10所示，包括如下步骤：The method for indoor coordinated positioning of rescuers by using the indoor coordinated positioning device for rescuers, as shown in FIG. 10 , includes the following steps:
步骤1：所有救援人员携带单片机、ZigBee无线传感器网络节点和GPRS模块，其中三名救援人员A携带有惯导定位装置；Step 1: All rescuers carry single-chip microcomputers, ZigBee wireless sensor network nodes and GPRS modules, and three rescuers A carry inertial positioning devices;
步骤2：对携带有惯导定位装置的救援人员进行初始定位，并通过测量该救援人员在当前位置的救援人员的三轴加速度得到重力加速度方向和大小；Step 2: Initially locate the rescuer carrying the inertial navigation positioning device, and obtain the direction and magnitude of the gravitational acceleration by measuring the triaxial acceleration of the rescuer at the current position;
在进入救援现场前，救援人员A启动惯导定位装置并静止站立数秒，在此时间内设置救援人员在室内建筑物平面图中的位置，并测量当前位置的重力加速度方向及大小，为后续的定位提供依据。Before entering the rescue site, rescuer A activates the inertial navigation positioning device and stands still for a few seconds. During this time, set the position of the rescuer in the floor plan of the indoor building, and measure the direction and magnitude of the acceleration of gravity at the current position for subsequent positioning. Provide evidence.
步骤3：将救援现场的室内环境以室内建筑物平面图形式通过液晶显示模块进行显示；Step 3: display the indoor environment of the rescue site in the form of an indoor building plan through the liquid crystal display module;
室内建筑物平面图指准确刻画的救援现场二维平面图，通常由消防局备案，在实施救援活动时可以合法取得。将该平面图设置为背景，在该背景上绘制运动曲线，即可得出救援人员A或B在室内的位置及运动轨迹。设置救援人员位置，是在启动惯导时自动调取建筑物的室内建筑物平面图，并将当前的经纬度与映射在地图上，从而实现室外地图与室内平面图的切换。The floor plan of an indoor building refers to the two-dimensional floor plan of the rescue site that is accurately depicted, which is usually filed by the fire department and can be obtained legally when carrying out rescue activities. Set the plan as the background, and draw a motion curve on the background to obtain the indoor position and motion track of the rescuer A or B. Setting the position of the rescuer is to automatically call the indoor floor plan of the building when the inertial navigation is started, and map the current latitude and longitude on the map, so as to realize the switching between the outdoor map and the indoor floor plan.
步骤4：所有救援人员进入救援现场室内，惯导定位装置实时获取其对应救援人员A运动的三轴加速度和三轴角速度并发送至单片机；Step 4: All the rescuers enter the room at the rescue site, and the inertial navigation positioning device obtains the three-axis acceleration and three-axis angular velocity corresponding to the movement of the rescuer A in real time and sends them to the single-chip microcomputer;
步骤5：单片机根据惯导定位装置发送的三轴加速度和三轴角速度计算携带惯导定位装置的救援人员相对于初始定位位置坐标的位移，进而得到携带有惯导定位装置的救援人员当前位置；Step 5: According to the three-axis acceleration and three-axis angular velocity sent by the inertial navigation positioning device, the single-chip computer calculates the displacement of the rescuer carrying the inertial navigation positioning device relative to the coordinates of the initial positioning position, and then obtains the current position of the rescuer carrying the inertial navigation positioning device;
进入室内后，单片机连续从惯导定位装置中获得当前救援人员运动状态的三轴加速度和三轴角速度，通过坐标变换和积分变换计算当前救援人员相对起始坐标的位移。将该位置在室内建筑结构平面图上进行更新，并绘制运动轨迹。After entering the room, the single-chip microcomputer continuously obtains the three-axis acceleration and three-axis angular velocity of the current rescuer's motion state from the inertial navigation positioning device, and calculates the displacement of the current rescuer relative to the initial coordinates through coordinate transformation and integral transformation. The position is updated on the floor plan of the indoor building structure, and the movement track is drawn.
步骤6：通过GPRS模块将携带有惯导定位装置的救援人员A当前位置信息发送至远程服务器与其他救援人员进行位置信息共享，同时通过ZigBee无线传感器网络节点将携带有惯导定位装置的救援人员当前位置信息发送至其他救援人员；Step 6: Send the current location information of the rescuer A carrying the inertial navigation positioning device to the remote server to share the location information with other rescuers through the GPRS module, and at the same time send the rescuer A carrying the inertial navigation positioning device through the ZigBee wireless sensor network node Send current location information to other rescuers;
携带有惯导定位装置的救援人员A作为移动锚节点通过位置洪泛传播，为ZigBee无线传感器网络的其它节点提供位置数据，位置洪泛传播指源节点通过无线网络将数据传送给它的每个邻居节点，每个邻居节点再将数据传送给各自的除发送数据来的节点之外的其他节点，以此实现所有节点都能获得该数据。未携带惯导定位装置的救援人员B携带ZigBee无线传感器网络节点，与救援人员A组成现场动态信息协同网络，接收救援人员A发出的位置数据广播。Rescuer A carrying an inertial navigation positioning device acts as a mobile anchor node through location flooding to provide location data for other nodes in the ZigBee wireless sensor network. Location flooding means that the source node transmits data to each of its nodes through the wireless network. Neighboring nodes, each neighboring node then transmits the data to other nodes except the node from which the data is sent, so that all nodes can obtain the data. The rescuer B who does not carry the inertial navigation positioning device carries the ZigBee wireless sensor network node, and the rescuer A forms an on-site dynamic information coordination network to receive the location data broadcast from the rescuer A.
步骤7：未携带惯导定位装置的救援人员B的ZigBee无线传感器网络节点实时获取三名携带有惯导定位装置的救援人员A的RSSI数据，ZigBee无线传感器网络节点将该RSSI数据发送至其对应的单片机；Step 7: The ZigBee wireless sensor network node of the rescuer B who does not carry the inertial navigation positioning device obtains the RSSI data of the three rescuers A who carry the inertial navigation positioning device in real time, and the ZigBee wireless sensor network node sends the RSSI data to its corresponding single-chip microcomputer;
步骤8：单片机根据获取的RSSI数据分别计算该未携带惯导定位装置的救援人员B与该三名携带有惯导定位装置的救援人员A的距离，并根据计算出的该未携带惯导定位装置的救援人员B与该三名携带有惯导定位装置的救援人员A的距离和该三名携带有惯导定位装置的救援人员A的当前位置信息，采用三边定位方法计算自身的当前位置；Step 8: According to the obtained RSSI data, the single-chip computer calculates the distance between the rescuer B who does not carry the inertial navigation positioning device and the three rescuers A who carry the inertial navigation positioning device, and according to the calculated distance of the rescuer B who does not carry the inertial navigation positioning device The distance between the rescuer B of the device and the three rescuers A carrying the inertial navigation positioning device and the current position information of the three rescuers A carrying the inertial navigation positioning device are calculated by using the trilateration method to calculate their own current position ;
未知位置节点(待定位的救援人员)与锚节点之间的距离可以通过WSN节点的RSSI值计算得出，即通过信号强度判断自身与锚节点之间的距离。测量测距离d(单位：米)与获取的RSSI值、A、n之间的关系如下所示：The distance between the unknown location node (the rescuer to be located) and the anchor node can be calculated by the RSSI value of the WSN node, that is, the distance between itself and the anchor node can be judged by the signal strength. The relationship between the measured distance d (unit: meter) and the obtained RSSI value, A, n is as follows:
d=10^（（ABS（RSSI）-A）/（10*n))d=10^((ABS(RSSI)-A)/(10*n))
其中A为在距离一米时的信号强度，n为环境对信号的衰减系数，最佳范围为3.25-4.5。对于低速运动的物体，通过平均值滤波能够提高测量精度。Among them, A is the signal strength at a distance of one meter, n is the attenuation coefficient of the environment on the signal, and the optimal range is 3.25-4.5. For low-speed moving objects, the measurement accuracy can be improved by averaging filtering.
三边定位方法，是无线传感器网络自定位方法中开销小、易于实现的定位方法。所谓三边定位方法，是通过三个锚节点坐标信息和待定位节点到锚节点距离信息来计算待定位的坐标。当未知位置节点与3个或3个以上锚节点之间的距离确定时，结合无线传感器网络的基于测距的定位方法，就可获得待定位的救援人员的位置信息。在使用基于距离的定位技术时，需要多个锚节点的协作才能确定位置节点位置。用测量的一组数值建立数学方程，那么数学方程的个数会大于变量的个数，此时可使用极大似然法来获取最小均方差意义上的估计值。The trilateration positioning method is a positioning method with low cost and easy implementation in the wireless sensor network self-positioning method. The so-called three-sided positioning method is to calculate the coordinates to be located by using the coordinate information of three anchor nodes and the distance information from the node to be located to the anchor node. When the distance between the unknown location node and three or more anchor nodes is determined, combined with the ranging-based positioning method of the wireless sensor network, the location information of the rescuer to be positioned can be obtained. When using distance-based positioning technology, the cooperation of multiple anchor nodes is required to determine the location node position. If a set of measured values is used to establish a mathematical equation, then the number of mathematical equations will be greater than the number of variables. At this time, the maximum likelihood method can be used to obtain an estimated value in the sense of the minimum mean square error.
在二维的无线传感网络中，只要知道未知节点与3个锚节点的距离就可以计算出未知节点的位置。假设3个锚节点坐标分别为(X1,Y1)、(X2,Y2)、(X3,Y3)，未知节点的坐标(Xu,Yu)，未知节点距离3个锚节点的距离分别是R1，R2和R3，则根据二维坐标系距离公式可以得到如下方程组In a two-dimensional wireless sensor network, as long as the distance between the unknown node and the three anchor nodes is known, the position of the unknown node can be calculated. Suppose the coordinates of the three anchor nodes are (X1 ,Y1 ), (X2 ,Y2 ), (X3 ,Y3 ), the coordinates of the unknown node (Xu ,Yu ), and the unknown node is 3 anchors away from The distances of the nodes are R1, R2 and R3 respectively, then according to the distance formula of the two-dimensional coordinate system, the following equations can be obtained
根据多边定位估计，可计算节点位置(Xu,Yu)为According to the multilateration estimation, the node position (Xu , Yu ) can be calculated as
如此便可得到未知节点的坐标，即得到未携带惯导定位装置的救援人员B的位置。In this way, the coordinates of the unknown nodes can be obtained, that is, the position of the rescuer B who does not carry the inertial navigation positioning device can be obtained.
步骤9：救援人员A或B在现场救援过程中如确定其自身位置时，通过操作按键模块的方向键或数字键将其位置信息手动输入单片机，对计算的位置信息进行修正，将各救援人员所在位置以坐标的形式通过液晶显示模块显示在室内建筑物平面图上并实时更新。Step 9: If the rescuer A or B determines its own position during the on-site rescue process, manually input its position information into the single-chip microcomputer by operating the direction keys or number keys of the button module, correct the calculated position information, and send each rescuer The location is displayed on the floor plan of the indoor building through the liquid crystal display module in the form of coordinates and updated in real time.
救援人员A或救援人员B的实时位置数据，转化为室内建筑物平面图的物理位置，并显示在其所携带的液晶显示模块上。The real-time position data of rescuer A or rescuer B is transformed into the physical position of the floor plan of the indoor building, and displayed on the liquid crystal display module carried by it.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410198780.5ACN103994767A (en) | 2014-05-12 | 2014-05-12 | Rescuer indoor cooperated positioning device and method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410198780.5ACN103994767A (en) | 2014-05-12 | 2014-05-12 | Rescuer indoor cooperated positioning device and method |
| Publication Number | Publication Date |
|---|---|
| CN103994767Atrue CN103994767A (en) | 2014-08-20 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410198780.5APendingCN103994767A (en) | 2014-05-12 | 2014-05-12 | Rescuer indoor cooperated positioning device and method |
| Country | Link |
|---|---|
| CN (1) | CN103994767A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104457750A (en)* | 2014-11-17 | 2015-03-25 | 南京沃旭通讯科技有限公司 | Emergency rescue personnel location system and emergency rescue personnel location method |
| CN104567862A (en)* | 2015-01-19 | 2015-04-29 | 华侨大学 | Two-feet-positioning-based motion trail acquisition method |
| CN105204054A (en)* | 2015-10-16 | 2015-12-30 | 北京机械设备研究所 | Cluster positioning and commanding system |
| CN105528778A (en)* | 2014-10-21 | 2016-04-27 | 阿自倍尔株式会社 | Person detection system and method |
| CN106525044A (en)* | 2016-10-18 | 2017-03-22 | 天津大学 | Person positioning navigation system and method of large naval ship based on ship structure chart |
| CN106793088A (en)* | 2017-03-31 | 2017-05-31 | 武汉大学 | A kind of wireless sense network indoor emergency alignment system and method |
| CN106912022A (en)* | 2017-03-20 | 2017-06-30 | 华平智慧信息技术（深圳）有限公司 | Fire-fighting and rescue method and system |
| CN106950536A (en)* | 2017-03-17 | 2017-07-14 | 河南航飞光电科技有限公司 | Localization method based on removable localizer beacon |
| WO2017161689A1 (en)* | 2016-03-25 | 2017-09-28 | 深圳大学 | Method and system for multi-person collaborative locating per building storey |
| CN107343258A (en)* | 2017-06-12 | 2017-11-10 | 北京中科天合科技有限公司 | A kind of in-car localization method and system based on multi-channel signal intensity detection |
| CN109270487A (en)* | 2018-07-27 | 2019-01-25 | 昆明理工大学 | A kind of indoor orientation method based on ZigBee and inertial navigation |
| CN110662166A (en)* | 2019-10-21 | 2020-01-07 | 江苏中利电子信息科技有限公司 | Rapid response intelligent fire dispatching system and method |
| CN111148016A (en)* | 2019-03-15 | 2020-05-12 | 广东小天才科技有限公司 | Mobile equipment positioning method and system in indoor environment and mobile equipment |
| CN111474561A (en)* | 2020-04-24 | 2020-07-31 | 深圳国信泰富科技有限公司 | Positioning system suitable for intelligent robot |
| CN112153554A (en)* | 2019-06-27 | 2020-12-29 | 京东方科技集团股份有限公司 | Positioning device and system |
| TWI715823B (en)* | 2018-02-07 | 2021-01-11 | 淡江大學 | Disaster emergency rescue system and control method thereof |
| CN112665587A (en)* | 2020-11-25 | 2021-04-16 | 南京森林警察学院 | Tactical positioning device and working method thereof |
| CN118055392A (en)* | 2024-03-16 | 2024-05-17 | 上海数果科技有限公司 | Talkback voice calling method and device, storage medium and electronic equipment |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2532626Y (en)* | 2001-12-28 | 2003-01-22 | 徐建荣 | Electronic travel guiding machine |
| US20080261623A1 (en)* | 2007-04-18 | 2008-10-23 | Kamran Etemad | Techniques to enhance location estimation in an ofdma based system |
| TW200916730A (en)* | 2007-10-12 | 2009-04-16 | Di Chiu | Augmented navigation system and method of a moving object |
| CN201393304Y (en)* | 2009-04-10 | 2010-01-27 | 华南理工大学 | Mobile Target Tracking System Based on Wireless Sensor Network |
| CN101907467A (en)* | 2010-08-06 | 2010-12-08 | 浙江大学 | Personal positioning method and device based on motion measurement information |
| CN103024898A (en)* | 2012-12-03 | 2013-04-03 | 浙江工商大学 | ZigBee technology positioning method based on received signal strength indicator (RSSI) and received signal strength (RSS) |
| CN103217154A (en)* | 2013-03-19 | 2013-07-24 | 华中科技大学 | Method and device for locating underground personnel in coal mine |
| CN103529465A (en)* | 2013-09-28 | 2014-01-22 | 曹元� | Indoor and outdoor person seamless positioning device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2532626Y (en)* | 2001-12-28 | 2003-01-22 | 徐建荣 | Electronic travel guiding machine |
| US20080261623A1 (en)* | 2007-04-18 | 2008-10-23 | Kamran Etemad | Techniques to enhance location estimation in an ofdma based system |
| TW200916730A (en)* | 2007-10-12 | 2009-04-16 | Di Chiu | Augmented navigation system and method of a moving object |
| CN201393304Y (en)* | 2009-04-10 | 2010-01-27 | 华南理工大学 | Mobile Target Tracking System Based on Wireless Sensor Network |
| CN101907467A (en)* | 2010-08-06 | 2010-12-08 | 浙江大学 | Personal positioning method and device based on motion measurement information |
| CN103024898A (en)* | 2012-12-03 | 2013-04-03 | 浙江工商大学 | ZigBee technology positioning method based on received signal strength indicator (RSSI) and received signal strength (RSS) |
| CN103217154A (en)* | 2013-03-19 | 2013-07-24 | 华中科技大学 | Method and device for locating underground personnel in coal mine |
| CN103529465A (en)* | 2013-09-28 | 2014-01-22 | 曹元� | Indoor and outdoor person seamless positioning device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105528778A (en)* | 2014-10-21 | 2016-04-27 | 阿自倍尔株式会社 | Person detection system and method |
| CN104457750B (en)* | 2014-11-17 | 2017-10-20 | 南京沃旭通讯科技有限公司 | The personnel location system and method for a kind of emergency management and rescue |
| CN104457750A (en)* | 2014-11-17 | 2015-03-25 | 南京沃旭通讯科技有限公司 | Emergency rescue personnel location system and emergency rescue personnel location method |
| CN104567862A (en)* | 2015-01-19 | 2015-04-29 | 华侨大学 | Two-feet-positioning-based motion trail acquisition method |
| CN105204054A (en)* | 2015-10-16 | 2015-12-30 | 北京机械设备研究所 | Cluster positioning and commanding system |
| WO2017161689A1 (en)* | 2016-03-25 | 2017-09-28 | 深圳大学 | Method and system for multi-person collaborative locating per building storey |
| CN106525044B (en)* | 2016-10-18 | 2019-09-10 | 天津大学 | The personnel positioning navigation system and its method of large-scale naval vessels based on Ship Structure Graphing |
| CN106525044A (en)* | 2016-10-18 | 2017-03-22 | 天津大学 | Person positioning navigation system and method of large naval ship based on ship structure chart |
| CN106950536A (en)* | 2017-03-17 | 2017-07-14 | 河南航飞光电科技有限公司 | Localization method based on removable localizer beacon |
| CN106912022A (en)* | 2017-03-20 | 2017-06-30 | 华平智慧信息技术（深圳）有限公司 | Fire-fighting and rescue method and system |
| CN106793088A (en)* | 2017-03-31 | 2017-05-31 | 武汉大学 | A kind of wireless sense network indoor emergency alignment system and method |
| CN107343258A (en)* | 2017-06-12 | 2017-11-10 | 北京中科天合科技有限公司 | A kind of in-car localization method and system based on multi-channel signal intensity detection |
| TWI715823B (en)* | 2018-02-07 | 2021-01-11 | 淡江大學 | Disaster emergency rescue system and control method thereof |
| CN109270487A (en)* | 2018-07-27 | 2019-01-25 | 昆明理工大学 | A kind of indoor orientation method based on ZigBee and inertial navigation |
| CN111148016A (en)* | 2019-03-15 | 2020-05-12 | 广东小天才科技有限公司 | Mobile equipment positioning method and system in indoor environment and mobile equipment |
| CN111148016B (en)* | 2019-03-15 | 2022-05-27 | 广东小天才科技有限公司 | Mobile equipment positioning method and system in indoor environment and mobile equipment |
| CN112153554A (en)* | 2019-06-27 | 2020-12-29 | 京东方科技集团股份有限公司 | Positioning device and system |
| CN112153554B (en)* | 2019-06-27 | 2024-04-05 | 京东方科技集团股份有限公司 | Positioning device and system |
| CN110662166A (en)* | 2019-10-21 | 2020-01-07 | 江苏中利电子信息科技有限公司 | Rapid response intelligent fire dispatching system and method |
| CN111474561A (en)* | 2020-04-24 | 2020-07-31 | 深圳国信泰富科技有限公司 | Positioning system suitable for intelligent robot |
| CN111474561B (en)* | 2020-04-24 | 2022-08-12 | 深圳国信泰富科技有限公司 | Positioning system suitable for intelligent robot |
| CN112665587A (en)* | 2020-11-25 | 2021-04-16 | 南京森林警察学院 | Tactical positioning device and working method thereof |
| CN118055392A (en)* | 2024-03-16 | 2024-05-17 | 上海数果科技有限公司 | Talkback voice calling method and device, storage medium and electronic equipment |
| Publication | Publication Date | Title |
|---|---|---|
| CN103994767A (en) | Rescuer indoor cooperated positioning device and method | |
| CN109282811B (en) | Indoor and outdoor positioning system and method for interconnection between UWB and smart phone | |
| CN109195099B (en) | An indoor positioning method based on the fusion of iBeacon and PDR | |
| CN106500690B (en) | A kind of indoor autonomic positioning method and device based on multi-modal fusion | |
| CN107036597A (en) | A kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone | |
| CN107548152A (en) | Localization method and system based on removable base station | |
| CN107734479A (en) | A kind of fire fighter's localization method, system and device based on wireless sensor technology | |
| CN205909831U (en) | Old man take action locus tracking monitoring devices and system | |
| CN101635880A (en) | Three-dimensional accurate positioning method based on wireless sensor network | |
| CN104507161B (en) | A kind of indoor corridor localization method based on zigbee network | |
| CN102209386A (en) | Indoor wireless positioning method and device | |
| WO2013159691A1 (en) | Ranging alarm method and device | |
| CN109696167A (en) | A kind of UWB indoor three-dimensional positioning system and method | |
| Simon et al. | Indoor localization system for emergency responders with ultra low-power radio landmarks | |
| WO2023212983A1 (en) | Audio positioning system and method for smart phone and wearable device, and terminal | |
| CN103327606A (en) | Wireless sensor network node location method based on acceleration sensor | |
| CN105783920A (en) | Indoor and outdoor positioning method, positioning system, and positioning foot rings | |
| CN102740454A (en) | Wireless sensor network node positioning method based on small number of anchor nodes | |
| CN104597216B (en) | For the removable objectionable impurities detection and location system and method for indoor and outdoors | |
| CN104237846B (en) | Three-dimensional localization tracking system and method in autonomous type mobile object room | |
| CN112890781A (en) | Dynamic positioning real-time supervision system for personnel in underground closed construction site of urban rail | |
| CN102547973B (en) | RSSI (received signal strength indicator)-based multi-sensor fusion mobile node tracking method | |
| CN111479233A (en) | Mine unmanned vehicle detection and position feedback system based on UWB technology | |
| CN114040327A (en) | Construction method of space visual benchmarking system based on UWB | |
| CN205003276U (en) | Locator and indoor positioning system thereof |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20140820 | |
| WD01 | Invention patent application deemed withdrawn after publication |