CN103954284A - Inertial measurement unit for fire fighting scene - Google Patents
Inertial measurement unit for fire fighting scene Download PDFInfo
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- CN103954284A CN103954284A CN201410198797.0A CN201410198797A CN103954284A CN 103954284 A CN103954284 A CN 103954284A CN 201410198797 A CN201410198797 A CN 201410198797A CN 103954284 A CN103954284 A CN 103954284A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention relates to an inertial measurement unit for a fire fighting scene. The inertial measurement unit comprises an inertia information sensing assembly, a magnetic field intensity sensing assembly, a temperature sensing assembly, an environment sensing assembly, a man-machine interaction assembly, an alarming assembly, a data processing assembly, a data transmission assembly and a battery; the inertial measurement unit is mainly applied to occasions that indoor environments such as fire rescue scenes and disaster search and rescue scenes are severely damaged, is installed on a fireman body, can overcome the defects that a traditional saving alarm cannot locate in real time and causes false alarm, and also can overcome the defects that a traditional inertial measurement unit cannot perform environment sensing and sound-light alarming; the inertial measurement unit has the advantages of simple structure, high starting speed, low false alarm rate, strong stability, high locating precision and prognosis of dangerous cases, is particularly suitable for beig used in the fire rescue scenes for locating a firemen in real time, sensing the scene environment and effectively guaranteeing the safety.
Description
Technical field
The present invention relates to inertia measurement field, particularly relate to a kind of Inertial Measurement Unit for fire-fighting and rescue scene.
Background technology
According to statistics, the direct economic loss that the annual fire in the whole world causes is at present about five times of earthquake disaster, and the frequency occurring occupies first of various disasters.The harm that fire causes is extremely serious, and it not only can cause casualties, infrastructure infringement, can also cause whole city to produce and economic disorder, and negative effect is very big.
In recent years, China is obtaining great achievement aspect economic construction and social development, and City's Construction And Development is advanced by leaps and bounds especially.The buildings such as city size expansion, urban population sharp increase and large amount of complex skyscraper, megastore, large-scale logistics warehouse emerge in multitude, and make the new outstanding problems such as fireman faces disaster relief site environment complexity, personnel's danger coefficient is high, the secondary disaster takes place frequently.All kinds of fire attacks and rescue mission that fire brigade bears are more and more heavier, to fire inspection, work brings very big inconvenience to the various complicated such as on-the-spot Hong the combustion often occurring of disaster relief, flame, heat radiation, dense smoke, toxic gas, dark, fabric structure complexity, the complicacy of the condition of a disaster increases day by day, fire fighting and rescue action danger is more and more higher, firefighters occurs that in fire fighting and rescue and job training the situation of injures and deaths happens occasionally, and personal safety is difficult to be guaranteed.Trace it to its cause, mainly due under the fire-fighting equipment condition traditional, firefighters enters behind scene of fire, be difficult to real-time accurate tracking location, can only pass through self-contained rescue beacon and directional light distress alerting, rear cannot judge whether firefighters faces a danger and officers and men in danger present position, causes and can not arrange in time to succour team member in danger, and fire fighter's life security is difficult to ensure.Meanwhile, rear fire-fighting and rescue commander expert, does not know the actual conditions of scene of fire, is difficult to fire-fighting rescue work to give comprehensive and accurate commander yet.Therefore, fire-fighting and rescue work active demand one can precisely be determined fire fighter's motion state and field position, perception fireman surrounding environment, and can carry out the device of sound and light alarm.
Rescue beacon in existing fire-fighting equipment, possesses warning function, its principle of work is mainly to utilize accelerometer, the tongue tube etc. can the whether static means of human body, detect firefighters and the stationary condition such as whether fall in a swoon, suffer a shock, injured by a crashing object, thereby judge that fireman runs into dangerous situation, this device false alarm rate is high.And traditional Inertial Measurement Unit can calculate carrier run location, but do not there is environment sensing and warning function.The present invention proposes a kind of Inertial Measurement Unit for fire-fighting and rescue scene, be mainly used in the indoor environment such as fire-fighting and rescue and disaster rescue spot and be subject to the occasion of havoc, be arranged on it fireman, can make up traditional rescue beacon and can not locate in real time, exist the shortcomings such as false alarm; Simultaneously can make up again conventional inertia measuring unit and can not carry out the shortcoming of environment sensing, sound and light alarm, have simple in structure, toggle speed is fast, false alarm rate is low, stability is strong, positioning precision is high, and can dangerous situation anticipation etc. advantage, be specially adapted to the fire-fighting and rescue scene to fireman locates in real time, site environment perception and effective and safe ensure.
Summary of the invention
The object of the invention is can not locate in real time, exist the shortcomings such as false alarm in order to make up traditional rescue beacon; Simultaneously can make up again conventional inertia measuring unit and can not carry out the shortcoming of environment sensing, sound and light alarm, design a kind of Inertial Measurement Unit for fire-fighting and rescue scene, its have advantages of simple in structure, toggle speed is fast, false alarm rate is low, stability is strong, positioning precision is high, carry out dangerous situation anticipation, is specially adapted to the fire-fighting and rescue scene to fireman locates in real time, site environment perception and effective and safe ensure.This device can carry out the perception of fireman's motion feature and locate in real time, can also analyze fireman's environment of living in, and effectively report to the police in the time that fireman causes danger simultaneously.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is:
For the Inertial Measurement Unit at fire-fighting and rescue scene, comprise inertia information Perception assembly, magnetic field intensity perception component, temperature sensing assembly, environment sensing assembly, man-machine interaction assembly, alarm assemblies, data handling component, data transfer components and battery.
Further, described inertia information Perception assembly comprises: x axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4), x axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8); Wherein, x axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4) have formed the gyroscope subsystem (1-3) of Inertial Measurement Unit; X axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8) have formed the accelerometer subsystem (1-7) of Inertial Measurement Unit.
Described magnetic field intensity perception component comprises: x axle magnetometer (1-9), y axle magnetometer (1-10), z axle magnetometer (1-12), these three sensors have also formed the magnetometer subsystem (1-11) of Inertial Measurement Unit simultaneously.
Described temperature sensing assembly comprises: temperature sensor 1 (1-13) and temperature sensor 2 (1-15), these two sensors have formed the temperature sense subsystem (1-14) of Inertial Measurement Unit.
Described environment sensing assembly comprises: smoke transducer (1-60), pressure transducer (1-63), harmful gas sensor (1-64) and speech transducer (1-65).
Described man-machine interaction assembly comprises: relay indicating light (1-23), display terminal (1-32), button 1 (1-33) and button 2 (1-35).
Described alarm assemblies comprises: alarming horn (1-36) and alarm lamp (1-27).
Described data handling component comprises: use processing device (1-45), mobile memory (1-40), power supervisor (1-46) and watchdog circuit (1-48).
Further, x axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4) are responsible for self angular motion of perception fireman; X axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8) are responsible for self line motion of perception fireman; X axle magnetometer (1-9), y axle magnetometer (1-10), z axle magnetometer (1-12) are responsible for perception fireman's magnetic field environment; Temperature sensor 1 (1-13) is responsible for perception fireman ambient temperature; Temperature sensor 2 (1-15) is responsible for perception Inertial Measurement Unit working sensor environment temperature; Smoke transducer (1-60) is responsible for perception fireman surrounding environment smog information; Pressure transducer (1-63) is responsible for perception fireman surrounding environment pressure information; Harmful gas sensor (1-64) is responsible for perception fireman surrounding environment harmful gas information; Speech transducer (1-65) is responsible for perception fireman ambient sound information; Data transmission module (1-50) can, by fireman's ambient condition information, inertial position information, status information etc. by wireless transmission method, send to rear and accuse platform; Watchdog circuit module (1-48) is responsible for the stable operation of system; Power supervisor (1-46) is responsible for the power management of system, is used for improving System production time; Mobile memory (1-40) is responsible for carrying out information storage on line, can record the Inertial Measurement Unit metrical information of 1 hour, for carrying out ex-post analysis; Alarm lamp (1-27), alarming horn (1-36) are responsible for fireman's danger warning; Display terminal (1-32), relay indicating light (1-23), button 1 (1-33), button 2 (1-35) are responsible for the man-machine interaction of Inertial Measurement Unit.
Compared with prior art, the invention has the beneficial effects as follows:
1) a kind of Inertial Measurement Unit for fire-fighting and rescue scene provided by the invention, utilizes modular design thinking, has simplified conventional inertia measuring unit structure, and that the Inertial Measurement Unit of designing has is simple in structure, toggle speed is fast.
2) the present invention utilizes inertia information Perception assembly, magnetic field intensity perception component, temperature sensing assembly, environment sensing assembly, comprehensively judges fireman's environment of living in and situation, and false alarm rate is low, stability is strong.
3) the present invention utilizes inertia information Perception assembly, magnetic field intensity perception component, and fireman is carried out to effective location, and comprehensive fireman's self motion feature, has the advantages that positioning precision is high.
4) the comprehensive each module information of the present invention, can effectively analyze fireman's environment, run location, can effectively carry out the anticipation of fireman's dangerous situation.
Brief description of the drawings
Fig. 1 is a kind of Inertial Measurement Unit system chart for fire-fighting and rescue scene.
Embodiment
According to Fig. 1, a kind of embodiment of the present invention is described.For the Inertial Measurement Unit at fire-fighting and rescue scene, comprise inertia information Perception assembly, magnetic field intensity perception component, temperature sensing assembly, environment sensing assembly, man-machine interaction assembly, alarm assemblies, data handling component, data transfer components and battery.
Wherein, inertia information Perception assembly comprises: x axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4), x axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8).Wherein, x axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4) have formed the gyroscope subsystem (1-3) of Inertial Measurement Unit; X axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8) have formed the accelerometer subsystem (1-7) of Inertial Measurement Unit.Magnetic field intensity perception component comprises: x axle magnetometer (1-9), y axle magnetometer (1-10), z axle magnetometer (1-12), these three sensors have also formed the magnetometer subsystem (1-11) of Inertial Measurement Unit simultaneously.Temperature sensing assembly comprises: temperature sensor 1 (1-13) and temperature sensor 2 (1-15), these two sensors have formed the temperature sense subsystem (1-14) of Inertial Measurement Unit.Environment sensing assembly comprises: smoke transducer (1-60), pressure transducer (1-63), harmful gas sensor (1-64) and speech transducer (1-65).Man-machine interaction assembly comprises: relay indicating light (1-23), display terminal (1-32), button 1 (1-33) and button 2 (1-35).Alarm assemblies comprises: alarming horn (1-36) and alarm lamp (1-27).Data handling component comprises: use processing device (1-45), mobile memory (1-40), power supervisor (1-46) and watchdog circuit (1-48).
The gyroscope subsystem signal (1-16) of x axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4) output is analog signals, by gyroscope signal process module (1-17), be adjusted into the directly corresponding gyro simulating signal (1-43) of input analog-to-digital converter (1-66).The accelerometer subsystem signal (1-18) of x axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8) output is analog signals, by accelerometer signal processing module (1-19), be adjusted into the directly corresponding accelerometer simulating signal (1-44) of input analog-to-digital converter (1-66).The magnetometer subsystem signal (1-20) of x axle magnetometer (1-9), y axle magnetometer (1-10), z axle magnetometer (1-12) output is analog signals, by magnetometer signal processing module (1-21), be adjusted into the directly corresponding magnetometer simulating signal (1-57) of input analog-to-digital converter (1-66).The temperature sense subsystem signal (1-22) of temperature sensor 1 (1-13) and temperature sensor 2 (1-15) output is analog signals, by processes temperature signal module (1-56), be adjusted into the directly corresponding temperature sensor die analog signal (1-58) of input analog-to-digital converter (1-66).
The comprehensive gyro simulating signal (1-43) of analog to digital converter (1-66), accelerometer simulating signal (1-44), magnetometer simulating signal (1-57) and temperature sensor simulating signal (1-58), transfer to use processing device (1-45) by digital interface 1 (1-47).Smoke transducer (1-60) carries out data interaction by digital interface 2 (1-52) and use processing device (1-45); Pressure transducer (1-63) carries out data interaction by digital interface 3 (1-59) and use processing device (1-45); Harmful gas sensor (1-64) carries out data interaction by digital interface 4 (1-53) and use processing device (1-45); Speech transducer (1-65) is carried out data interaction by digital interface 5 (1-54) and use processing device (1-45); Information transmission modular (1-50) carries out data interaction by digital interface 7 (1-51) and use processing device (1-45); Watchdog circuit module (1-48) is carried out data interaction by digital interface 8 (1-49) and use processing device (1-45); Power supervisor (1-46) carries out data interaction by digital interface 9 (1-55) and use processing device (1-45); Mobile memory (1-40) carries out data interaction by digital interface 10 (1-42) and use processing device (1-40).
Use processing device (1-45) is connected with relay indicating light power amplifier (1-25) by digital interface 11 (1-26), relay indicating light power amplifier (1-25) receives after order, drives relay indicating light signal (1-24) to control relay indicating light (1-23) work; Use processing device (1-45) is connected with display terminal (1-32) by digital interface 12 (1-31); Button 1 (1-33) is connected with the digital interface 13 (1-34) of use processing device (1-45); The digital interface 14 (1-37) of button 2 (1-35) use processing device (1-45) is connected.
Use processing device (1-45) is connected with alarm lamp power amplifier (1-28) by digital interface 15 (1-30), alarm lamp power amplifier (1-28) receives after order, drives alarm lamp signal (1-29) to control alarm lamp (1-27) work; Use processing device (1-45) is connected with alarming horn power amplifier (1-39) by digital interface 16 (1-41), alarming horn power amplifier (1-39) receives after order, drives alarming horn signal (1-38) to control alarming horn (1-36) work.
Battery (1-62) regulates (1-61) by plurality of level, is connected, for the each assembly of system provides power supply with the each assembly of system.
X axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4) are responsible for self angular motion of perception fireman; X axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8) are responsible for self line motion of perception fireman; X axle magnetometer (1-9), y axle magnetometer (1-10), z axle magnetometer (1-12) are responsible for perception fireman's magnetic field environment; Temperature sensor 1 (1-13) is responsible for perception fireman ambient temperature; Temperature sensor 2 (1-15) is responsible for perception Inertial Measurement Unit working sensor environment temperature; Smoke transducer (1-60) is responsible for perception fireman surrounding environment smog information; Pressure transducer (1-63) is responsible for perception fireman surrounding environment pressure information; Harmful gas sensor (1-64) is responsible for perception fireman surrounding environment harmful gas information; Speech transducer (1-65) is responsible for perception fireman ambient sound information; Data transmission module (1-50) can, by fireman's ambient condition information, inertial position information, status information etc. by wireless transmission method, send to rear and accuse platform; Watchdog circuit module (1-48) is responsible for the stable operation of system; Power supervisor (1-46) is responsible for the power management of system, is used for improving System production time; Mobile memory (1-40) is responsible for carrying out information storage on line, can record the Inertial Measurement Unit metrical information of 1 hour, for carrying out ex-post analysis; Alarm lamp (1-27), alarming horn (1-36) are responsible for fireman's danger warning; Display terminal (1-32), relay indicating light (1-23), button 1 (1-33), button 2 (1-35) are responsible for the man-machine interaction of Inertial Measurement Unit.
The present invention is mainly used in the indoor environment such as fire-fighting and rescue and disaster rescue spot and is subject to the occasion of havoc, is arranged on it fireman, can make up the shortcomings such as traditional rescue beacon can not be located in real time, false alarm; Simultaneously can make up again conventional inertia measuring unit and can not carry out the shortcoming of environment sensing, sound and light alarm, have advantages of simple in structure, toggle speed is fast, false alarm rate is low, stability is strong, positioning precision is high, carry out dangerous situation anticipation, is specially adapted to the fire-fighting and rescue scene to fireman locates in real time, site environment perception and effective and safe ensure.
Finally it should be noted that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (6)
1. for the Inertial Measurement Unit at fire-fighting and rescue scene, it is characterized in that: this Inertial Measurement Unit comprises inertia information Perception assembly, magnetic field intensity perception component, temperature sensing assembly, environment sensing assembly, man-machine interaction assembly, alarm assemblies, data handling component, data transfer components and battery.
2. a kind of Inertial Measurement Unit for fire-fighting and rescue scene according to claim 1, is characterized in that: described inertia information Perception assembly comprises: x axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4), x axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8); Wherein, x axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4) have formed the gyroscope subsystem (1-3) of Inertial Measurement Unit; X axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8) have formed the accelerometer subsystem (1-7) of Inertial Measurement Unit; Described magnetic field intensity perception component comprises: x axle magnetometer (1-9), y axle magnetometer (1-10), z axle magnetometer (1-12), and these three sensors have also formed the magnetometer subsystem (1-11) of Inertial Measurement Unit simultaneously; Described temperature sensing assembly comprises: temperature sensor 1 (1-13) and temperature sensor 2 (1-15), and these two sensors have formed the temperature sense subsystem (1-14) of Inertial Measurement Unit; Described environment sensing assembly comprises: smoke transducer (1-60), pressure transducer (1-63), harmful gas sensor (1-64) and speech transducer (1-65); Described man-machine interaction assembly comprises: relay indicating light (1-23), display terminal (1-32), button 1 (1-33) and button 2 (1-35); Described alarm assemblies comprises: alarming horn (1-36) and alarm lamp (1-27); Described data handling component comprises: use processing device (1-45), mobile memory (1-40), power supervisor (1-46) and watchdog circuit (1-48).
3. a kind of Inertial Measurement Unit for fire-fighting and rescue scene according to claim 2, it is characterized in that: the gyroscope subsystem signal (1-16) of x axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4) output is analog signals, by gyroscope signal process module (1-17), be adjusted into the directly corresponding gyro simulating signal (1-43) of input analog-to-digital converter (1-66); The accelerometer subsystem signal (1-18) of x axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8) output is analog signals, by accelerometer signal processing module (1-19), be adjusted into the directly corresponding accelerometer simulating signal (1-44) of input analog-to-digital converter (1-66); The magnetometer subsystem signal (1-20) of x axle magnetometer (1-9), y axle magnetometer (1-10), z axle magnetometer (1-12) output is analog signals, by magnetometer signal processing module (1-21), be adjusted into the directly corresponding magnetometer simulating signal (1-57) of input analog-to-digital converter (1-66); The temperature sense subsystem signal (1-22) of temperature sensor 1 (1-13) and temperature sensor 2 (1-15) output is analog signals, by processes temperature signal module (1-56), be adjusted into the directly corresponding temperature sensor die analog signal (1-58) of input analog-to-digital converter (1-66).
4. a kind of Inertial Measurement Unit for fire-fighting and rescue scene according to claim 2, it is characterized in that: the comprehensive gyro simulating signal (1-43) of analog to digital converter (1-66), accelerometer simulating signal (1-44), magnetometer simulating signal (1-57) and temperature sensor simulating signal (1-58), transfer to use processing device (1-45) by digital interface 1 (1-47); Smoke transducer (1-60) carries out data interaction by digital interface 2 (1-52) and use processing device (1-45); Pressure transducer (1-63) carries out data interaction by digital interface 3 (1-59) and use processing device (1-45); Harmful gas sensor (1-64) carries out data interaction by digital interface 4 (1-53) and use processing device (1-45); Speech transducer (1-65) is carried out data interaction by digital interface 5 (1-54) and use processing device (1-45); Information transmission modular (1-50) carries out data interaction by digital interface 7 (1-51) and use processing device (1-45); Watchdog circuit module (1-48) is carried out data interaction by digital interface 8 (1-49) and use processing device (1-45); Power supervisor (1-46) carries out data interaction by digital interface 9 (1-55) and use processing device (1-45); Mobile memory (1-40) carries out data interaction by digital interface 10 (1-42) and use processing device (1-40).
5. a kind of Inertial Measurement Unit for fire-fighting and rescue scene according to claim 2, is characterized in that: battery (1-62) regulates (1-61) by plurality of level, is connected, for the each assembly of system provides power supply with the each assembly of system.
6. a kind of Inertial Measurement Unit for fire-fighting and rescue scene according to claim 1, is characterized in that: x axle gyroscope (1-1), y axle gyroscope (1-2), z axle gyroscope (1-4) are responsible for self angular motion of perception fireman; X axis accelerometer (1-5), y axis accelerometer (1-6) and z axis accelerometer (1-8) are responsible for self line motion of perception fireman; X axle magnetometer (1-9), y axle magnetometer (1-10), z axle magnetometer (1-12) are responsible for perception fireman's magnetic field environment; Temperature sensor 1 (1-13) is responsible for perception fireman ambient temperature; Temperature sensor 2 (1-15) is responsible for perception Inertial Measurement Unit working sensor environment temperature; Smoke transducer (1-60) is responsible for perception fireman surrounding environment smog information; Pressure transducer (1-63) is responsible for perception fireman surrounding environment pressure information; Harmful gas sensor (1-64) is responsible for perception fireman surrounding environment harmful gas information; Speech transducer (1-65) is responsible for perception fireman ambient sound information; Data transmission module (1-50) can, by fireman's ambient condition information, inertial position information, status information etc. by wireless transmission method, send to rear and accuse platform; Watchdog circuit module (1-48) is responsible for the stable operation of system; Power supervisor (1-46) is responsible for the power management of system, is used for improving System production time; Mobile memory (1-40) is responsible for carrying out information storage on line, can record the Inertial Measurement Unit metrical information of 1 hour, for carrying out ex-post analysis; Alarm lamp (1-27), alarming horn (1-36) are responsible for fireman's danger warning; Display terminal (1-32), relay indicating light (1-23), button 1 (1-33), button 2 (1-35) are responsible for the man-machine interaction of Inertial Measurement Unit.
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| CN104181498A (en) * | 2014-09-13 | 2014-12-03 | 邓全龙 | Firefighter positioning searching system and method |
| CN104864872A (en) * | 2015-06-05 | 2015-08-26 | 吉林大学 | Indoor positioning system capable of realizing judgment through actions |
| CN105021194A (en) * | 2015-07-06 | 2015-11-04 | 北京信息科技大学 | Human body irregular movement cognitive navigation waistband |
| CN106768549A (en) * | 2016-12-12 | 2017-05-31 | 北京信息科技大学 | A kind of high dynamic carrier environment force measuring device |
| CN107356247A (en) * | 2017-07-17 | 2017-11-17 | 哈尔滨理工大学 | A kind of fire-fighting and rescue positioner |
| CN107449422A (en) * | 2017-08-24 | 2017-12-08 | 北京信息科技大学 | A kind of high dynamic carrier pose real-time measurement apparatus |
| CN109186603A (en) * | 2018-08-16 | 2019-01-11 | 浙江树人学院 | 3-D positioning method in a kind of fireman room based on multisensor |
| CN111366188A (en) * | 2018-12-26 | 2020-07-03 | 北京信息科技大学 | Data acquisition and storage device for dynamic environment force measurement field |
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