CN106679664A - LTE and PDR-based fire-fighting indoor positioning and track navigating method and system - Google Patents

Abstract

The invention relates to an LTE and PDR-based fire-fighting indoor positioning and track navigating method and system. The system comprises an intelligent terminal, an LTE small base station and a positioning server, wherein the intelligent terminal is terminal equipment supporting LTE, a camera, a nine-axis sensor and an air-pressure sensor; fire-fighting positioning service APP is installed on the intelligent terminal equipment, is an operator of a positioning algorithm, and is used for collecting information of the LTE RSS, camera, nine-axis sensor and air-pressure sensor, calculating the position of a firefighter according to the information, and returning the positioning result to the server; the LTE small base station is a small cell of a mobile communication system for covering indoor signals, and is used for providing data service link and assistant positioning to a smart mobile phone in the positioning system. The method and system have the beneficial effects that a communication and positioning environment can be quickly constructed by utilizing the LTE small base station and the intelligent terminal, the field arrangement system is convenient, and the implementation of the system can be greatly increased.

Description

A kind of fire-fighting indoor positioning based on LTE and PDR and track air navigation aid and system

Technical field

The present invention relates to the positioning field of information technology, and in particular to a kind of fire-fighting indoor positioning based on LTE and PDR with Track air navigation aid and system.

Background technology

Fire-fighting location technology is to ensure that fireman enters scene of a fire safety, determines position of the fireman in the scene of a fire, and it is right to ensure Fireman's in danger effectively sues and labours in the scene of a fire, it is ensured that commander in the scene of a fire fireman effective exercise monitoring etc. fire-fighting fire extinguishing Problem demanding prompt solution in rescue works, has a good application prospect.

Compared with common location technology, fire-fighting location technology has its particularity, shows：First, fire-fighting positioning scene Interior is commonly taken place in, is occurred in the less of outdoor.Outdoor positioning can be with global positioning system (GPS) or China north Bucket location technology etc. is solved.But, because interior can not receive satellite-signal, so outdoor be based on GPS, the positioning skill of the Big Dipper Art can not be applied indoors.Secondly, fire-fighting indoor positioning belongs to disaster emergency system, it is impossible to arrange in advance for indoor positioning Infrastructure (even if spending cost to be arranged in advance, fire is likely to be failed because of having a power failure when occurring), such as various applications In the wireless beacon of indoor positioning, it is necessary to can rapidly build indoor locating system at the scene.Finally, due to existing in fire , command system is except it is to be understood that in addition to the position of fireman, in addition it is also necessary to can understand scene of a fire situation with its communication, make optimal Fire extinguishing disaster relief deployment, while fireman must race against time carries out the fire extinguishing disaster relief, thus positioning terminal can not be complicated, simply to have Effect.

Both at home and abroad currently for fire-fighting position main resolving ideas be exploitation special-purpose terminal equipment, even more than equipment. Although the positioning precision of these special equipments is general all very high, in addition the nominal position coordinate having can be up to the standard, vertical direction 1 The absolute positioning error of rice.However, in indoor positioning environmental applications, in fact more meaningful is positional information rather than position Coordinate.Indoors in localizing environment, people are generally indifferent to the position coordinateses of positioning object, and such as positioning object is in two-dimensional coordinate point (5,36) place, because being non for this coordinate pair user；And be desirable to know the position letter that some can be perceived Breath, such as " fireman's first is at 5 layers of corridor stairway ", " fireman's second finds trapped personnel in 9 layer of 307 room " etc..

Long Term Evolution (LTE) technology is the evolution of 3G, and it improves and enhances the aerial access technology of 3G, using orthogonal frequency Divide multiplexing (OFDM) technology and Multiinputoutput (MIMO) technology as the sole criterion of its wireless network evolution.In 20MHz frequencies The peak rate of descending 100Mbit/s and up 50Mbit/s can be provided under bands of a spectrum width.Improve the property of Cell Edge User Can, improve cell capacity and reduce system delay.Fire-fighting in-car can carry small-sized LTE base station, so as to provide for disaster relief scene Data communication is supported, while using LTE signal intensitys (RSS) fireman can be aided in position.

Pedestrian's dead reckoning (PDR) technology ultimate principle is to obtain unit by direction sensor and acceleration transducer The corner of object and displacement in time, so as to be extrapolated the position of current time object by the position and course of previous moment object And course.Indoor positioning can be carried out to fireman on intelligent terminal using PDR technologies.

The present invention is using the little base stations of LTE and the communication of intelligent terminal's fast construction and localizing environment, and site layout project system is convenient, Considerably increase the exploitativeness of the system；Using LTE RSS and PDR fusion and positioning methods, LTE RSS have been respectively overcome unstable Fixed and PDR positioning has the shortcomings that cumulative error, and for fireman a kind of indoor orientation method of stable, high precision is provided；Utilize Photographic head shoots surrounding enviroment and passes server back, and for fire-fighting command personnel clear and intuitive information is provided, and more effectively helps Fire fighter carries out rescue and relief work；Using the historical track and photo of fireman in danger, provide effectively for rescue operation Support.

The content of the invention

The purpose of the present invention is to overcome deficiency of the prior art, and provides fixed in a kind of fire-fighting room based on LTE and PDR Position and track air navigation aid and system, the system can determine position of the fireman in the scene of a fire, when fireman it is in danger in the scene of a fire When, other firemans can be quickly found out the position of fireman in danger by the system, be that fireman's rescue and relief work in the scene of a fire is carried For strong help.

The purpose of the present invention is achieved through the following technical solutions.This fire-fighting indoor positioning based on LTE and PDR with Track navigation system, is made up of intelligent terminal, the little base stations of LTE, location-server, and described intelligent terminal refers to support LTE, shooting Head, nine axle sensors, the terminal unit of baroceptor, and need that fire-fighting positioning service is installed on this intelligent terminal APP；Fire-fighting positioning service APP is the operator of location algorithm, by gathering LTE RSS, photographic head, nine axle sensors, air pressure The information of sensor, then calculates the position of fireman according to these information, and positioning result is returned into server；Described The little base stations of LTE refer to mobile communication system for the small cell of indoor coverage of signal, carry to smart mobile phone in alignment system For data traffic link and auxiliary positioning effect, the little base stations of one LTE of configuration on each fire fighting truck, it is desirable to each intelligent terminal's energy Enough receive the signal of 3 little base stations.

Described location-server is made up of positioning service software and data base, and positioning service software is responsible for generating simple three Dimension positioning scene figure, and communicated with intelligent terminal, show that each fireman exists on the three-dimensional scene that server is generated Indoor position, data base is responsible for recording the historical track of each fireman, the scene photograph that fireman passes back and the scene of a fire Characteristic parameter.

This fire-fighting indoor positioning adopted based on LTE and PDR of the present invention and track air navigation aid, the method includes Following steps：

(1), fireman opens intelligent terminal positioning service APP, and intelligent terminal is worn on into front, existing into the disaster relief ；

(2), any one little LTE base station in intelligent terminal's connection, the communication link provided using the little base stations of LTE and service Device connects, and initializes positional parameter；

(3), fireman is at the outdoor scene of a fire, using intelligent terminal for reception to gps signal positioned；

(4) when, fireman is prepared to enter into one layer of the indoor scene of a fire, intelligent terminal APP is using the outdoor GPS location knot of last time Fruit initializes the height in one layer of the scene of a fire as the initial position of indoor positioning using baroceptor；

(5), fireman is entered behind the scene of a fire, and intelligent terminal is every Fixed Time Interval using LTE RSS and PDR fusion positioning Method carries out the positioning of two dimensional surface to fireman, and using baroceptor floor location is carried out, every Fixed Time Interval profit A scene photograph is automatically snapped with photographic head or in particular cases utilize one section of brief video of photographic head automatic recording, finally will Positioning result, photo and video are uploaded in location-server by LTE data link；

(6) after, fireman is in danger, location data and photograph of the fire-fighting command personnel according to fireman intelligent terminal's real-time Transmission Piece judges the actual position of the fireman, and the position of fireman in danger and environment photo are sent to into periphery fireman, notifies Periphery fireman starts rescue action.

Positional parameter includes the coordinate and identifier ID of the little base station on all fire fighting trucks in disaster relief scene in the step 2, There is the contour of building of fire, i.e. length and width and number of floor levels, LTE RSS path loss parameters.

LTE RSS and PDR fusion and positioning methods specifically include following steps in the step 5：

5.1 are positioned using PDR algorithms to fireman, specifically include following step：

5.1.1 step number of walking detection, by nine built-in axle sensors of intelligent terminal, collects mobile phone when pedestrian walks Acceleration pulse, go a step further before each wave period representative, filter out the waveform after high fdrequency components and amplitude limit, according to Waveform recycles cross zero detecting method to calculate the walking step number of people；

5.1.2 step size computation, is calculated per step by step long using formula below：

Wherein, K is constant, is changed with sex, the height and weight change of people, and usual span is 0.20~0.5, a_max、a_minRepresent the maximum and minima accelerated on the vertical direction obtained by sensor in a step；

5.1.3 angle detecting, by nine built-in axle sensors of intelligent terminal, collects course angle θ of pedestrian's walking；

5.1.4 after obtaining direction, step number, step-length, using formula below the position location (x of PDR algorithms is obtained_pdr, y_pdr)；

In above formula, θ_kFor the course in this period, L_kFor advance step-length, (x_k,y_k) for previous moment position, (x_k+1, y_k+1) for later moment in time position, the position is the position location (x of PDR algorithms_pdr,y_pdr)；

5.2 carry out polygon positioning using LTE RSS to fireman, specifically include following step：

5.2.1 according to the RSS of the little base stations of LTE, using formula below estimate between intelligent terminal and the little base stations of LTE away from From d；

Above in formula, d₀For reference distance, d is the distance between intelligent terminal and LTE base station, P_r,dB(d₀) be away from From LTE base station d₀The path loss at place, n_pFor path loss constant, P_TAnd P_RFor transmit power and receiving power, d₀、P_r,dB (d₀)、n_pAnd P_TAll it is default parameter, P_RMeasured with RSS；

5.2.2 if the little base station numbers of mobile phone detection LTE are more than or equal to three, and during fireman's geo-stationary, repeatedly measurement The RSS of LTE, and be averaged, finally using the two-dimensional coordinate (x of polygon location Calculation intelligent terminal_lte,y_lte)；

Polygon location Calculation formula is as follows：

X=(A^TA)^-1A^TB

Wherein

Above in formula, the LTE base station number that n is scanned for intelligent terminal, (x_j,y_j) for LTE base station two-dimensional coordinate, (x, Y) it is the elements of a fix of intelligent terminal, d_iFor the estimated distance of intelligent terminal to LTE base station；

5.3 are merged the positioning result of LTE RSS and PDR, obtain final two-dimensional localization coordinate (x_final, y_final), concrete fusion formula is as follows：

Above in formula, α is used for controlling integration percentage.

Beneficial effect of the present invention：Using the little base stations of LTE and the communication of intelligent terminal's fast construction and localizing environment, live cloth Put system convenient, considerably increase the exploitativeness of the system；Using LTE RSS and PDR fusion and positioning methods, respectively overcome LTE RSS are unstable and PDR positioning has the shortcomings that cumulative error, provide a kind of interior of stable, high precision for fireman and determine Position method；Surrounding enviroment are shot using photographic head and pass server back, provide clear and intuitive information for fire-fighting command personnel, more Fire fighter is effectively helped to carry out rescue and relief work；It is rescue operation using the historical track and photo of fireman in danger There is provided strong support.

Description of the drawings

Fig. 1 is system block diagram；

Fig. 2 is PDR algorithm schematic diagrams；

Acceleration pulse when Fig. 3 normally walks；

Fig. 4 is to filter the Acceleration pulse after amplitude limit；

Fig. 5 is preferred embodiment schematic diagram.

Specific embodiment

The present invention is described further with reference to the accompanying drawings and examples.

The positioning based on the little base stations of LTE and PDR and track air navigation aid that the present invention is provided and system by intelligent terminal, The little base stations of LTE, location-server composition, as shown in Figure 1.

Described intelligent terminal refers to support LTE, photographic head, nine axle sensors, the terminal unit of baroceptor, and needs Fire-fighting positioning service APP is installed on this intelligent terminal.Fire-fighting positioning service APP is the operator of location algorithm, is passed through Collection LTE RSS, photographic head, nine axle sensors, the information of baroceptor, then calculate fireman's according to these information Position, and positioning result is returned into server.Intelligent terminal need to be worn on the front of fireman, and typical intelligent terminal has intelligence Mobile phone, such as Fructus Mali pumilae iphone 6s smart mobile phones, or the intelligent embedded device of special exploitation.

The little base stations of described LTE refer to mobile communication system for the small cell of indoor coverage of signal, in alignment system In provide data traffic link and auxiliary positioning effect to smart mobile phone, a little base station is configured on each fire fighting truck, it is desirable to every Individual intelligent terminal can receive the signal of 3 little base stations.

Described location-server is made up of positioning service software and data base.Positioning service software is responsible for generating simple three Dimension positioning scene figure, and communicated with intelligent terminal, show that each fireman exists on the three-dimensional scene that server is generated Indoor position.Data base is responsible for recording the historical track of each fireman, the scene photograph that fireman passes back and the scene of a fire Characteristic parameter.

The described positioning based on the little base stations of LTE and PDR is " to disappear with the elements of a fix system of track air navigation aid and system Anti- member's numbering：Floor+two-dimensional coordinate ".

The described positioning based on the little base stations of LTE and PDR is as follows with the workflow of track air navigation aid and system：

1. fireman opens intelligent terminal positioning service APP, and intelligent terminal is worn on into front, into disaster relief scene.

2. any one little base station in intelligent terminal's connection, is connected using the communication link of little base station offer with server, And initialize positional parameter.

3. fireman is at the outdoor scene of a fire, using intelligent terminal for reception to gps signal positioned.

4. when fireman is prepared to enter into one layer of the indoor scene of a fire, intelligent terminal APP is using the outdoor GPS location result of last time As the initial position of indoor positioning, using baroceptor the height in one layer of the scene of a fire is initialized.

5. fireman is entered behind the scene of a fire, and intelligent terminal merges positioning side every Fixed Time Interval using LTE RSS and PDR Method carries out the positioning of two dimensional surface to fireman, and using baroceptor floor location is carried out, and utilizes every Fixed Time Interval Photographic head automatically snaps a scene photograph or in particular cases utilizes one section of brief video of photographic head automatic recording, finally will be fixed Position result, photo and video are uploaded in location-server by LTE data link.

6. after fireman is in danger, location data and photo of the fire-fighting command personnel according to fireman intelligent terminal's real-time Transmission Judge the actual position of the fireman, and the position of fireman in danger and environment photo are sent to into periphery fireman, notify week Side fireman starts rescue action.

Positional parameter includes coordinate and the ID (identifications of the little base station on all fire fighting trucks in disaster relief scene in the step 2 Number), there is the contour of building (length and width and number of floor levels) of fire, LTE RSS path loss parameters.

LTE RSS and PDR fusion and positioning methods specifically include following steps in the step 5：

5.1 are positioned using PDR algorithms to fireman.The ultimate principle of PDR algorithms is by direction sensor and adds Velocity sensor obtains the corner of object and displacement in the unit interval, so as to be extrapolated by the position and course of previous moment object The position and course of current time object, as shown in Figure 2.

Specifically include following step：

5.1.1 walking step number detection.By nine built-in axle sensors of intelligent terminal, when can collect pedestrian's walking The Acceleration pulse of mobile phone, as shown in Figure 2.Go a step further before each wave period representative in figure, filter out high fdrequency components And the waveform after amplitude limit according to the waveform of Fig. 3 as shown in figure 3, recycle cross zero detecting method just to calculate the walking step of people Number.

5.1.2 step size computation.Calculated per step by step long using formula below：

Wherein, K is constant, is changed with sex, the height and weight change of people, and usual span is 0.20~0.5, a_max、a_minRepresent the maximum and minima accelerated on the vertical direction obtained by sensor in a step.

5.1.3 angle detecting.By nine built-in axle sensors of intelligent terminal, the course of pedestrian's walking can be collected Angle θ.

5.1.4 after obtaining direction, step number, step-length, using formula below the position location (x of PDR algorithms is obtained_pdr, y_pdr)。

In above formula, θ_kFor the course in this period, L_kFor advance step-length, (x_k,y_k) for previous moment position, (x_k+1, y_k+1) for later moment in time position, the position is the position location (x of PDR algorithms_pdr,y_pdr)。

5.2 carry out polygon positioning using LTE RSS to fireman.Specifically include following step：

5.2.1 according to the RSS of the little base stations of LTE, using formula below estimate between intelligent terminal and the little base stations of LTE away from From d；

Above in formula, d₀For reference distance, d is the distance between intelligent terminal and LTE base station, P_r,dB(d₀) be away from From LTE base station d₀The path loss at place, n_pFor path loss constant, P_TAnd P_RFor transmit power and receiving power, d₀、P_r,dB (d₀)、n_pAnd P_TAll it is default parameter, P_RMeasured with RSS.

5.2.2 if the little base station numbers of mobile phone detection LTE are more than or equal to three, and during fireman's geo-stationary, repeatedly measurement The RSS of LTE, and be averaged, finally using the two-dimensional coordinate (x of polygon location Calculation intelligent terminal_lte,y_lte)。

Polygon location Calculation formula is as follows：

X=(A^TA)^-1A^TB

Wherein

Above in formula, the LTE base station number that n is scanned for intelligent terminal, (x_j,y_j) for LTE base station two-dimensional coordinate, (x, Y) it is the elements of a fix of intelligent terminal, d_iFor the estimated distance of intelligent terminal to LTE base station.

5.3 are merged the positioning result of LTE RSS and PDR, obtain final two-dimensional localization coordinate (x_final, y_final).Concrete fusion formula is as follows：

Above in formula, α is used for controlling integration percentage.

In the step 5, photographic head records the special circumstances of short-sighted frequency to be included：Fireman turns, fireman accelerates suddenly, Fireman falls down to the ground, detects floor change.Situations such as fireman turns, accelerates, falling down to the ground may determine that the axle of intelligent terminal nine is sensed Determining, floor can determine the attitude of device according to barometer change.

In the step 6, fire-fighting command personnel are included by the message that service end is sent to fireman：Fireman's in danger Coordinate, fireman track in danger, the historical photograph or brief video of intelligent terminal's automatic shooting that fireman in danger is worn.

Fig. 5 is the composition frame chart of an optimal enforcement example of system of the present invention.In this example, there are three fire-fightings Car, the little base stations of each fire fighting truck one LTE of carrying, below by taking fireman M1 and fireman M2 in danger as an example, describes this in detail Bright specific embodiment.

Any one little base station in 1.M1 connections, the communication link provided using little base station is connected with server, and it is fixed to carry out Position parameter initialization.

Initialization data form is：{ type, [length and width of building, number of floor levels], [little base station number, each little base station ID and coordinate], each item of packet is all regular length, and by server M1 is sent to.In this example, the packet for 1, [L, W, H], [3, C1, (x₁, y₁), C2, (x₂, y₂), C3, (x₃, y₃)], herein we specify that initialization data is asked in 1 representative.

2.M1 under outdoor situations, using intelligent terminal for reception to gps signal positioned.

When 3.M1 is prepared to enter into occurring the building of fire, intelligent terminal APP is using the outdoor GPS location result of last time Used as the initial position of indoor positioning, in this example, initial position is (x_init,y_init)；Fireman is entered after building, profit Determine fireman place floor H with baroceptor, positioned using LTE RSS and PDR.If the little base stations of mobile phone detection LTE Quantity is more than or equal to three, and during fireman's geo-stationary, multi collect LTE RSS go average, using multilateration meter Calculate the two-dimensional coordinate (x of intelligent terminal_lte,y_lte), and merged with PDR positioning results, obtain fireman's final coordinate.It is no Then, fireman's coordinate and movement locus are determined using PDR.

Specifically localization method is：

The coordinate of the step of 3.1 fireman's kth -1 is (x_k,y_k), obtain the direction θ of M1 kth step using nine axle sensors_k, step Long L_k, then run PDR algorithms and obtain PDR positioning result (x_pdr,y_pdr)。

x_pdr=x_k-1+L_kcosθ_k

y_pdr=y_k-1+L_k sinθ_k

If the little base station numbers of 3.2 mobile phones detection LTE are more than or equal to three, and during fireman's geo-stationary, using polygon fixed Position algorithm calculate M1 two-dimensional coordinate, intelligent terminal detection LTE RSS values, according to formula below estimation M1 away from each LTE away from From d；

The M1 that the two-dimensional coordinate and 3.2 steps of 3.3 LTE base stations obtained according to step 1 is obtained away from each LTE base station away from From d_i, the two-dimensional coordinate of M1 is calculated using multilateration, now it is known that M1 sits in building H layers and specific two dimension Mark；

In this example, now A, X, B are respectively

Therefore, X=(A^TA)^-1A^TB。

Finally, the position (x of fireman's kth step_k,y_k) obtained by LTE RSS and PDR fusion:

x_k=(x_pdr+x_lte)/2

y_k=(y_pdr+y_lte)/2

If 3.4 fireman's kth step little base station numbers of detection LTE less than three or and during fireman's nonstatic, kth step is sat Mark (x_k,y_k)=(x_pdr,y_pdr)。

4. after fireman M1 is in danger, the information of M1 is sent to and is disappeared including other including M2 by commanding by server Anti- personnel,

Data form is：{ type, [fireman's numbering in danger, fireman's floor in danger and coordinate, fireman's history in danger Track, fireman's historical photograph in danger], this fireman floor and coordinate }, wherein, fireman's historical track is a two-dimemsional number Group, deposits fireman run trace (x in array_k,y_k)；Fireman's historical photograph is a picture array, array binary code Stream storage picture.In this example, the packet for 2, [M1,3 buildings (x_M1,y_M1), M1 historical track arrays, M1 historical photograph numbers Group], 2 buildings (x_M2,y_M2), herein we specify that 2 represent rescue request.

Finally illustrate, preferred embodiment above is only unrestricted to illustrate technical scheme, although logical Cross above preferred embodiment to be described in detail the present invention, it is to be understood by those skilled in the art that can be In form and in details various changes are made to it, without departing from claims of the present invention limited range.

Claims (5)

1. a kind of fire-fighting indoor positioning based on LTE and PDR and track navigation system, it is characterised in that：By intelligent terminal, LTE Little base station, location-server composition, described intelligent terminal refers to and supports LTE, photographic head, nine axle sensors, baroceptor Terminal unit, and need that fire-fighting positioning service APP is installed on this intelligent terminal；Fire-fighting positioning service APP is that positioning is calculated The operator of method, by the information for gathering LTE RSS, photographic head, nine axle sensors, baroceptor, then believes according to these Breath calculates the position of fireman, and positioning result is returned into server；The little base stations of described LTE refer to that mobile communication system is used for The small cell of indoor coverage of signal, data traffic link and auxiliary positioning work are provided in alignment system to smart mobile phone With the little base stations of one LTE of configuration on each fire fighting truck, it is desirable to which each intelligent terminal can receive the signal of 3 little base stations.

2. the fire-fighting indoor positioning based on LTE and PDR according to claim 1 and track navigation system, it is characterised in that： Described location-server is made up of positioning service software and data base, and positioning service software is responsible for generating simple three-dimensional localization field Jing Tu, and communicated with intelligent terminal, show each fireman position indoors on the three-dimensional scene that server is generated Put, data base is responsible for recording the characteristic parameter of the historical track of each fireman, the scene photograph that fireman passes back and the scene of a fire.

3. a kind of employing is based on as claimed in claim 1 the side of the fire-fighting indoor positioning with track navigation system of LTE and PDR Method, it is characterised in that：The method comprises the steps：

(1), fireman opens intelligent terminal positioning service APP, and intelligent terminal is worn on into front, into disaster relief scene；

(2), any one little LTE base station in intelligent terminal's connection, the communication link provided using the little base stations of LTE is connected with server Connect, and initialize positional parameter；

(3), fireman is at the outdoor scene of a fire, using intelligent terminal for reception to gps signal positioned；

(4) when, fireman is prepared to enter into one layer of the indoor scene of a fire, intelligent terminal APP is made using the outdoor GPS location result of last time For the initial position of indoor positioning, using baroceptor the height in one layer of the scene of a fire is initialized；

(5), fireman is entered behind the scene of a fire, and intelligent terminal utilizes LTE RSS and PDR fusion and positioning methods every Fixed Time Interval The positioning of two dimensional surface is carried out to fireman, using baroceptor floor location is carried out, utilized every Fixed Time Interval and take the photograph As head automatically snaps a scene photograph or in particular cases utilizes one section of brief video of photographic head automatic recording, finally will positioning As a result, photo and video are uploaded in location-server by LTE data link；

(6) after, fireman is in danger, fire-fighting command personnel sentence according to the location data and photo of fireman intelligent terminal's real-time Transmission The actual position of the disconnected fireman, and the position of fireman in danger and environment photo are sent to into periphery fireman, notify periphery Fireman starts rescue action.

4. the fire-fighting indoor positioning based on LTE and PDR according to claim 3 and track air navigation aid, it is characterised in that： Positional parameter includes the coordinate and identifier ID of the little base station on all fire fighting trucks in disaster relief scene in the step 2, and fire occurs Contour of building, i.e. length and width and number of floor levels, LTE RSS path loss parameters.

5. the fire-fighting indoor positioning based on LTE and PDR according to claim 3 and track air navigation aid, it is characterised in that： LTE RSS and PDR fusion and positioning methods specifically include following steps in the step 5：

5.1 are positioned using PDR algorithms to fireman, specifically include following step：

5.1.1 step number of walking detection, by nine built-in axle sensors of intelligent terminal, collects the acceleration of mobile phone when pedestrian walks Degree waveform, goes a step further before each wave period representative, filters out high fdrequency components and the waveform after amplitude limit, according to waveform again The walking step number of people is calculated using cross zero detecting method；

5.1.2 step size computation, is calculated per step by step long using formula below：

$L=K*\sqrt[4]{(a_{max}-a_{\min })+2}---\left(2\right)$

Wherein, K is constant, is changed with sex, the height and weight change of people, and usual span is 0.20~0.5, a_max、 a_minRepresent the maximum and minima accelerated on the vertical direction obtained by sensor in a step；

5.1.3 angle detecting, by nine built-in axle sensors of intelligent terminal, collects course angle θ of pedestrian's walking；

5.1.4 after obtaining direction, step number, step-length, using formula below the position location (x of PDR algorithms is obtained_pdr,y_pdr)；

$\left\{\begin{array}{c}{x}_{k+1}=x_k+L_k*sin\left({\mathrm{\θ}}_k\right)\\ y_{k+1}=y_k+L_k*\cos \left({\mathrm{\θ}}_k\right)\end{array}\right.---\left(1\right)$

In above formula, θ_kFor the course in this period, L_kFor advance step-length, (x_k,y_k) for previous moment position, (x_k+1,y_k+1) For the position of later moment in time, the position is the position location (x of PDR algorithms_pdr,y_pdr)；

5.2 carry out polygon positioning using LTE RSS to fireman, specifically include following step：

5.2.1 according to the RSS of the little base stations of LTE, using formula below the distance between intelligent terminal and the little base stations of LTE d is estimated；

$d=d_0*{10}^{\left(P_{r,dB}\right(d_0)+P_T-P_R)/10*n_p}$

Above in formula, d₀For reference distance, d is the distance between intelligent terminal and LTE base station, P_r,dB(d₀) it is apart from LTE Base station d₀The path loss at place, n_pFor path loss constant, P_TAnd P_RFor transmit power and receiving power, d₀、P_r,dB(d₀)、n_pWith P_TAll it is default parameter, P_RMeasured with RSS；

If 5.2.2 the little base station numbers of mobile phone detection LTE are more than or equal to three, and during fireman's geo-stationary, repeatedly measure LTE's RSS, and be averaged, finally using the two-dimensional coordinate (x of polygon location Calculation intelligent terminal_lte,y_lte)；

Polygon location Calculation formula is as follows：

X=(A^TA)^-1A^TB

Wherein $A=-2\left[\begin{array}{cc}{x}_1-x_n& y_1-y_n\\ x_2-x_n& y_2-y_n\\ \begin{array}{c}.\\ .\\ .\end{array}& \begin{array}{c}.\\ .\\ .\end{array}\\ x_{n-1}-x_n& y_{n-1}-y_n\end{array}\right],X=\left[\begin{array}{c}x\\ y\end{array}\right],B=\left[\begin{array}{c}{d}_1^2-d_n^2+x_n^2-x_1^2+y_n^2-y_1^2\\ d_2^2-d_n^2+x_n^2-x_2^2+y_n^2-y_2^2\\ \begin{array}{c}.\\ .\\ .\end{array}\\ d_{n-1}^2-d_n^2+x_n^2-x_{n-1}^2+y_n^2-y_{n-1}^2\end{array}\right]$

Above in formula, the LTE base station number that n is scanned for intelligent terminal, (x_j,y_j) for LTE base station two-dimensional coordinate, (x, y) is The elements of a fix of intelligent terminal, d_iFor the estimated distance of intelligent terminal to LTE base station；

5.3 are merged the positioning result of LTE RSS and PDR, obtain final two-dimensional localization coordinate (x_final,y_final), specifically Fusion formula is as follows：

$\left\{\begin{array}{c}{x}_{final}=\mathrm{\α}*x_{lte}+(1-\mathrm{\α})*x_{pdr}\\ y_{final}=\mathrm{\α}*y_{lte}+(1-\mathrm{\α})*y_{pdr}\end{array}\right.$

Above in formula, α is used for controlling integration percentage.