CN109387200A - A kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network - Google Patents
A kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network Download PDFInfo
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- CN109387200A CN109387200A CN201811433510.2A CN201811433510A CN109387200A CN 109387200 A CN109387200 A CN 109387200A CN 201811433510 A CN201811433510 A CN 201811433510A CN 109387200 A CN109387200 A CN 109387200A
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- inertial navigation
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 238000001914 filtration Methods 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims 1
- 238000004891 communication Methods 0.000 abstract description 7
- 230000001133 acceleration Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002567 autonomic effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000010295 mobile communication Methods 0.000 description 1
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Classifications
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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
-
- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network, including several inertial navigation positioning devices and locating and monitoring work station；Inertial navigation positioning device includes micro- inertial navigation system, filter and first network transmission module, and micro- inertial navigation system carries out data acquisition, and the data of acquisition are transferred to filter, first network transmission module is transferred to after filter filtering；Locating and monitoring work station includes the second network transmission module, database and display module, and the second network transmission module receives the data of transmission, and received data are stored to database, and display module shows the data information of database purchase；The present invention solved by way of inertial navigation GPS positioning positioning accuracy pole meaning by weather, object block etc. factors influence and Bluetooth transmission apart from it is limited the problems such as；It has used the communication modes of wireless self-networking for solving the problems, such as that 4G can not work under certain special scenes, can accurately summarize the run trace of multiple personnel.
Description
Technical field
The present invention relates to a kind of location monitoring system, specifically a kind of indoor inertial navigation locating personnel position based on ad hoc network
Monitoring system.
Background technique
Enter factory in fire-fighting rescue and relief work, external staff to access, in high alert place, generally requires to understand particular person
Current location information of the member in specified place.Positioning function generally uses GPS and Bluetooth beacon technology to realize at present.GPS
(Global Positioning System) i.e. global positioning system is the satellite navigation and location system established by the U.S.,
Using the system, user can realize round-the-clock, continuous, real-time three-dimensional navigation positioning in the world and test the speed.Bluetooth
Beacon technique is also referred to as beacon positioning, is based on RSSI, broadcasts the position of declaration oneself initiatively by bluetooth module to perceive
Location.Current main communication function generally uses 4G LTE technology to realize, 4G is to integrate 3G and WLAN, and energy
Enough quickly transmission data, high quality, audio, video and image etc..
There are biggish errors for GPS positioning, we will receive the shadow of various factor when positioning using GPS
It rings.The factor for influencing GPS location precision can be divided into following four major class:
1. human factor: by reducing broadcast ephemeris precision (technology), high dither (skill being added in GPS reference signal
The methods of art), the artificial precision reduced when ordinary user carries out navigator fix using GPS.
2. satellite ephemeris error: when carrying out GPS positioning, satellite orbit needed for calculating GPS satellite position at a certain moment
Parameter is provided by various types of ephemeris, however, the calculated satellite position of institute is all using which type of ephemeris
Can be with its actual position difference, here it is so-called ephemeris errors.
3. satellite clock correction: when satellite clock correction is the clock face for the atomic clock installed on GPS satellite with the GPS standard time it
Between error.
4. satellite-signal transmitting antenna phase center variation: satellite-signal transmitting antenna phase center variation is GPS satellite
Difference between the nominal phase center of upper signal transmitting antenna and its true phase center.
Although Bluetooth beacon technology effective solution precision problem, there is also some other problems.Its factor is main
There are following three categories:
1. Bluetooth beacon needs to be deployed in advance in the building for needing to position, it is unable to plug and play.
2. the transmission range of bluetooth is limited, bluetooth to be used is determined as positioning device, then deployment density needs very
Greatly.
3. due to the characteristic of bluetooth power consumption, equipment can not generally use for a long time, after device battery is finished, more exchange device
Maintenance cost be also a kind of biggish expense.
Although 4G LTE mechanics of communication possesses high transmission rate, but in certain usage scenarios, is not also very
Perfection, problem mainly have following three categories:
1. although, due to the limitation on its communication mechanism, movement is logical the coverage rate of mobile network is very high at home at present
News must be forwarded via base station can just transmit data.There are some areas without being laid with base station, signal repeater, is also resulting in making
It can not be with other equipment intercommunication with 4G equipment.
2. 4G equipment monthly needs to pay certain network operation expense, cost overhead is increased.
3. 4G equipment power dissipation is much larger than other communication transfer modes, charge frequency is higher.
At present in the positioning system in city, position based on single personnel, it can be right simultaneously without a kind of system/device
The run trace of multiple personnel, location information are summarized.
Summary of the invention
The object of the present invention is to provide a kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network, the system
It can accurately be positioned.
In order to reach above-mentioned technical purpose, the technical scheme is that
A kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network, including several inertial navigation positioning devices and fixed
Position monitor workstation；The inertial navigation positioning device includes micro- inertial navigation system, filter and first network transmission module, described micro- used
Guiding systems include accelerometer, gyroscope, magnetic field detector and barometer, the accelerometer, gyroscope, magnetic field detector and air pressure
The data of meter acquisition are transferred to filter, and first network transmission module is transferred to after filter filtering；The locating and monitoring work
It stands including the second network transmission module, database and display module, second network transmission module receives first network transmission
The data of module transfer, the received data of the second network transmission module are stored to database, and display module shows database purchase
Data information.
Inertial navigation positioning is a kind of independent of external information, also not to the autonomic navigation system of external radiation energy.Its
Working environment not only includes aerial, ground, can also under water, underground.The basic functional principle of inertial navigation is fixed with Newtonian mechanics
Based on rule, by measurement carrier in the acceleration of inertial reference system, it integrates the time, and it is transformed to navigation
In coordinate system, it will be able to obtain the information such as speed, yaw angle and the position in navigational coordinate system.MEMS be collection microsensor,
The micro- energy of microactrator, micro mechanical structure, micro battery, signal processing and control circuit, high-performance electronic integrated device, interface,
Communication etc. is in the microdevice or system of one.MEMS is an independent intelligence system, be can be mass-produced, system dimension
For several millimeters or even smaller, internal structure is generally in micron even nanometer scale.Common product include mems accelerometer,
MEMS microphone, micro motor, Micropump, micro-oscillator, MEMS optical sensor, MEMS pressure sensor, MEMS gyroscope, MEMS
Humidity sensor, MEMS gas sensor etc. and their integrated products.
To sum up, micro- inertial navigation system be by low cost generic MEMS device based on, according to application, error correction,
Error compensation needs that the sensor is used in combination, and makes full use of the speciality of every kind of sensor, passes through carrier movement mode
Habit, filtering algorithm design, hardware and structure design etc., reach the target of high-precision independent positioning.Independent of navigation satellite, nothing
Any ancillary equipment such as line base station, electronic tag or prior data bank are only passed by the small-sized minitype inertial that carrier itself configures
Sensor, the accurate positionin of personnel, vehicle, robot etc. under achievable any scene.Since inertial navigation positions the above characteristic
Very good solution GPS and bluetooth position a series of defects for being, so that usage scenario (the especially indoors, underground of positioning
Room) it can further extend.
The filter is Kalman filter, carries out filtering error data.
The display module includes display screen, for showing personnel's run trace.
The first network transmission module, the second network transmission module are wireless self-networking module.
Ad hoc network is a kind of mobile communication and the network that computer network combines, and the information exchange of network is using meter
Packet switch mechanism in calculation machine network, user terminal are transportable portable terminal, each user terminal in ad hoc network
All have two kinds of functions of router and host concurrently.As host, terminal needs to run various user oriented application programs, such as edits
Device, browser etc.；As router, terminal needs to run corresponding Routing Protocol, completes number according to routing policy and routing table
It works according to the forwarding of grouping and route maintenance, therefore node is required to realize suitable Routing Protocol.The target of Routing for On-Demand Protocol in MANET
It is quick, accurate and efficient, it is desirable that find accurate available routing iinformation in the shortest possible time, and adapt to network
The quick variation of topology, while reducing the extra latency of introducing and the control information of maintenance routing, the expense of Routing Protocol is reduced,
To meet the limitation of mobile terminal computing capability, storage space and power supply etc., and it is mobile public without being bound by existing 4G
With network, can in autonomous wireless networks without limitation reason, mobile network signals the problems such as.The positioning system of exploitation customization is adopted
The run trace of all staff on board can be scanned with multitask mode.
The present invention solved by way of inertial navigation GPS positioning positioning accuracy pole meaning by weather, object block etc. because
Element influence and Bluetooth transmission apart from it is limited the problems such as；Use the communication modes of wireless self-networking for solving 4G at certain
The problem of can not working under a little special scenes, it can accurately summarize the run trace of multiple personnel.
Detailed description of the invention
Fig. 1 is inertial navigation positioning device operation schematic diagram.
Fig. 2 is locating and monitoring work station operation schematic diagram.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
A kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network, it is characterised in that fixed including several inertial navigations
Position device and locating and monitoring work station；The inertial navigation positioning device includes micro- inertial navigation system, Kalman filter and first network
Transmission module, micro- inertial navigation system include accelerometer, gyroscope, magnetic field detector and barometer, the accelerometer, gyro
The data of instrument, magnetic field detector and barometer acquisition are transferred to Kalman filter, and Kalman filter filters filter false number
First network transmission module is transferred to after (for wireless self-networking module).When work, as shown in Figure 1, accelerometer, gyroscope,
Magnetic field detector and barometer acquire corresponding data, obtain the data informations such as relative coordinate, acceleration, height, the number of acquisition
It is believed that breath is transferred to first network transmission module, first network transmission after filtering filter false data by Kalman filter
Module gives data information transfer to positioning monitor workstation.
The locating and monitoring work station include the second network transmission module (can be wireless self-networking module), database and
Display module (including display screen), the data of the second network transmission module reception first network transmission module transmission, second
The received data of network transmission module are stored to database, and the display screen of display module shows the data information of database purchase.
As shown in Fig. 2, the second network transmission module receives data (relative coordinate, acceleration, the height of first network transmission module transmission
Deng), the received data of the second network transmission module are stored to database, and the display screen of last display module shows database purchase
Data information.Such as it can draw 3D figure by relative coordinate, acceleration, height information and be shown.
Above-described embodiment is not limit the invention in any way, all to be obtained by the way of equivalent substitution or equivalent transformation
Technical solution fall within the scope of protection of the present invention.
Claims (5)
1. a kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network, it is characterised in that positioned including several inertial navigations
Device and locating and monitoring work station；The inertial navigation positioning device includes micro- inertial navigation system, filter and first network transmission module,
Micro- inertial navigation system includes accelerometer, gyroscope, magnetic field detector and barometer, the accelerometer, gyroscope, magnetic field detection
Device and the data of barometer acquisition are transferred to filter, and first network transmission module is transferred to after filter filtering；The positioning
Monitor workstation includes the second network transmission module, database and display module, and second network transmission module receives first
The data of network transmission module transmission, the received data of the second network transmission module are stored to database, and display module shows number
The data information stored according to library.
2. a kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network according to claim 1, feature
Be: the filter is Kalman filter.
3. a kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network according to claim 1, feature
Be: the display module includes display screen.
4. a kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network according to claim 1, feature
Be: the first network transmission module is wireless self-networking module.
5. a kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network according to claim 1, feature
Be: second network transmission module is wireless self-networking module.
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| CN201811433510.2A CN109387200A (en) | 2018-11-28 | 2018-11-28 | A kind of indoor inertial navigation locating personnel location monitoring system based on ad hoc network |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110662166A (en) * | 2019-10-21 | 2020-01-07 | 江苏中利电子信息科技有限公司 | Quick-response intelligent fire-fighting scheduling system and method |
| CN111148058A (en) * | 2019-12-31 | 2020-05-12 | 武汉工程大学 | Method and system for positioning moving target in indoor environment and mobile robot |
| CN113655511A (en) * | 2021-08-17 | 2021-11-16 | 山东新一代信息产业技术研究院有限公司 | Mobile robot positioning system based on GPS and INS |
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