CN115523917A - Indoor emergency environment personnel positioning system based on emergency lamp - Google Patents
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Abstract
The invention relates to an indoor emergency environment personnel positioning system based on an emergency lamp, which relates to the technical field of positioning and comprises a data acquisition module, an inertia positioning module, an emergency lamp module, a visible light positioning module and a filtering fusion module; the data acquisition module is used for acquiring sensor data of a current position point of a target person; the sensor data includes illumination intensity data; the inertial positioning module is used for determining a target person positioning result according to the sensor data; the emergency lamp module is used for emitting visible light and storing the geographical positions and the emission frequencies of all emergency lamps in a preset environment; the visible light positioning module is used for collecting visible light, positioning the target personnel according to the illumination intensity data and the collected emission frequency of the visible light, and outputting a visible light positioning result; and the filtering fusion module is used for fusing the target personnel positioning result and the visible light positioning result by adopting Kalman filtering to determine the fusion positioning result of the target personnel. The invention improves the indoor positioning precision.
Description
Technical Field
The invention relates to the technical field of emergency indoor positioning, in particular to an indoor emergency environment personnel positioning system based on an emergency lamp.
Background
Along with the rapid development of the urbanization process, the number of factories in high-rise buildings and markets is increased rapidly, the behaviors such as fire and electricity consumption are not specified, the risk of fire in a room is increased, and the serious fire hazard harms the life safety of common people and rescue workers.
The indoor position is important information for search and rescue, and the accurate indoor position can greatly save rescue time and track the state of search and rescue personnel in real time so as to ensure the life safety of the search and rescue personnel. Due to the influence of fire, positioning technologies based on radio frequency identification, wiFi, bluetooth and the like are easily interfered by multipath effect, and ultra-wideband positioning is easily influenced by non-line-of-sight, so that positioning accuracy is reduced, and troubles are caused for search and rescue of search and rescue personnel and emergency escape of victims. Autonomous positioning based on inertial devices, such as gyroscopes and accelerometers, has a continuous position result, and can achieve continuous position tracking, but due to various noises from the sensors, positioning errors gradually accumulate, thereby causing positioning offset.
Disclosure of Invention
The invention aims to provide an indoor emergency environment personnel positioning system based on an emergency lamp, and the indoor positioning precision is improved.
In order to achieve the purpose, the invention provides the following scheme:
an indoor emergency environment personnel positioning system based on an emergency lamp comprises a data acquisition module, an inertia positioning module, an emergency lamp module, a visible light positioning module and a filtering fusion module; the data acquisition module is respectively connected with the inertial positioning module and the visible light positioning module, and the inertial positioning module and the visible light positioning module are both connected with the filtering fusion module;
the data acquisition module is used for acquiring sensor data of the current position point of the target person; the sensor data comprises illumination intensity data;
the inertial positioning module is used for determining a target person positioning result according to the sensor data;
the emergency lamp module is used for emitting visible light and storing the geographical positions and the emission frequencies of all emergency lamps in a preset environment;
the visible light positioning module is used for collecting visible light, positioning the target personnel according to the illumination intensity data and the collected emission frequency of the visible light, and outputting a visible light positioning result;
the filtering fusion module is used for fusing the target person positioning result and the visible light positioning result by adopting Kalman filtering to determine a fusion positioning result of the target person.
Optionally, the sensor data comprises geomagnetic field strength data, angular acceleration data, and acceleration data.
Optionally, when the target person is a victim, the inertial positioning module includes a gait detection unit, a step length determination unit, a heading determination unit, and a navigation position determination unit;
the gait detection unit is used for determining one step of walking by adopting wave crest detection and zero crossing detection according to the acceleration data of the target person;
the step length determining unit is used for determining the step length of the current moment according to the acceleration data of the target person within one step;
the course determining unit is used for determining the attitude of the target person at the current moment according to the geomagnetic field intensity data, the angular acceleration data and the acceleration data in the sensor data of the current position point of the target person;
the navigation position determining unit is used for determining the navigation position of the target person at the current moment according to the step length and the posture of the target person at the current moment and the navigation position at the previous moment.
Optionally, when the target person is a search and rescue person, the inertial positioning module includes a pose arrangement unit, a zero-speed detection unit and a zero-speed correction unit;
the pose arrangement unit is used for determining the pose of the target person at the current moment according to a recurrence formula, wherein the recurrence formula is expressed as follows:
wherein,
the position of the target person at time k,
is the speed of the target person at time k,
is the attitude matrix of the target person at time k,
the location of the target person at time k-1,
the velocity of the target person at time k-1,
is the attitude matrix of the target person at the time k-1,
represents the acceleration data of the target person at time k,
representing angular acceleration data of the target person at time k, b a Zero offset of the accelerometer representing the acquisition of said acceleration data, b g Zero-offset of the gyroscope representing the acquisition of said angular acceleration data, Δ t being the time interval, g n Is a gravity vector of a navigation coordinate system, omega]Is an anti-symmetric matrix;
the zero-speed detection unit is used for detecting whether the acceleration data is in a zero-speed state or not according to the acceleration data;
and the zero-speed correction unit is used for taking the speed of a target person in a zero-speed state as a speed observation value when the zero-speed detection unit detects that the acceleration data is in the zero-speed state, converting the speed observation value into a navigation coordinate system to obtain a zero-speed observation value, and inputting the zero-speed observation value into the filtering and fusing module.
Optionally, the system further comprises a data processing module, wherein the data processing module is configured to perform filtering, smoothing and denoising processing on the sensor data, and send the sensor data after data processing to the inertial positioning module.
Optionally, the filtering fusion module includes a state updating unit and a measurement updating unit;
the state updating unit is used for acquiring the error of the positioning result of the target person at the current moment;
when the target person is a victim, the measurement updating unit is used for constructing a position difference observation equation according to the error of the target person positioning result, the target person positioning result and the visible light positioning result, and determining a fusion positioning result of the target person according to the position difference observation equation;
when the target person is a search and rescue person, the measurement updating unit is used for constructing a position difference observation equation according to the error of the target person positioning result, the target person positioning result and the visible light positioning result, outputting the constructed speed difference observation equation according to the target person speed and zero speed correction unit, and determining the fusion positioning result of the target person according to the position difference observation equation and the speed difference observation equation.
Optionally, when the target person is a victim:
the position difference observation equation is expressed as x Dead reckoning -x Visible light ＝δx+n p ；
The fusion positioning result of the target person is represented as x Finally, the product is processed ＝x Dead reckoning -δx；
Wherein x is Dead reckoning Represent the stated purposeNavigation result of the target person, x Visible light Representing the visible light positioning result, δ x representing the target person position error, n p To observe noise, x Finally, the product is processed And representing the fusion positioning result of the target person.
Optionally, when the target person is a search and rescue person:
the position difference observation equation is expressed as x Mechanical choreography -x Visible light ＝δx+w p ；
The velocity difference observation equation is expressed as
The fusion positioning result of the target person is expressed as x Finally, the product is processed ＝x Mechanical choreography -δx；
Wherein x is Mechanical layout Representing the target person positioning result, x Visible light Representing the visible light positioning result, deltax representing the target person position error, deltav representing the target person velocity error,
indicating the attitude error of the target person, w p Representing position difference observation noise, w v Representing the observed noise of the velocity difference, x representing the antisymmetric sign, x Finally, the product is processed And representing the fusion positioning result of the target person.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses an emergency lamp-based indoor emergency environment personnel positioning system, which not only inhibits the error accumulation of inertial positioning, improves the indoor positioning precision, but also improves the reliability of indoor positioning on the basis of not additionally increasing the emergency positioning cost by combining the inertial autonomous positioning and the visible light absolute positioning.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an indoor emergency environment personnel positioning system based on an emergency lamp according to the present invention;
FIG. 2 is a schematic diagram of a specific structure of an indoor emergency environment personnel positioning system based on an emergency lamp according to the invention when a target personnel is a victim;
fig. 3 is a schematic structural diagram of an indoor emergency environment personnel positioning system based on an emergency lamp when a target personnel is a search and rescue personnel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an indoor emergency environment personnel positioning system based on an emergency lamp, which improves the indoor positioning precision.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
FIG. 1 is a schematic structural diagram of an indoor emergency environment personnel positioning system based on an emergency lamp according to the present invention; as shown in fig. 1, an indoor emergency environment personnel positioning system based on emergency lamps comprises a data acquisition module 101, an inertial positioning module 102, an emergency lamp module 103, a visible light positioning module 104 and a filtering fusion module 105; the data acquisition module 101 is respectively connected to the inertial positioning module 102 and the visible light positioning module 104, and both the inertial positioning module 102 and the visible light positioning module 104 are connected to the filtering and fusing module 105.
The data acquisition module 101 is used for acquiring sensor data of a current position point of a target person; the sensor data includes geomagnetic field intensity data, angular acceleration data, and illumination intensity data.
The inertial positioning module 102 is configured to determine a target person positioning result according to the sensor data.
The emergency light module 103 is configured to emit visible light and store geographical locations and emission frequencies of all emergency lights in a preset environment.
The emergency light module 103 includes an emergency light hardware unit and an emergency light software unit.
The emergency lamp hardware unit comprises an emergency lamp, and the emergency lamp is used for providing visible light under an indoor emergency environment and used as a positioning source. The emergency lamp hardware unit is also used for adjusting the emission frequency of the visible light of different emergency lamps.
And the emergency lamp software unit is used for storing the geographic positions and the light emitting frequencies of all the emergency lamps.
The emergency lamp module 103 is used for providing visible light (emergency lamp) in an emergency environment and serving as a positioning source, and the light emitting frequencies of different emergency lamps are designed in advance, so that the emergency lamps at different fixed positions can be distinguished through different light emitting frequencies.
The visible light positioning module 104 is configured to collect visible light, position the target person according to the illumination intensity data and the collected emission frequency of the visible light, and output a visible light positioning result.
The visible light positioning module 104 includes an emergency light identification unit and a time difference of arrival positioning unit.
The emergency lamp identification unit is used for determining the emission frequency of the collected visible light and determining the geographic position of the corresponding emergency lamp according to the emission frequency.
The Time Difference of arrival positioning unit is used for determining the visible light positioning result of the user by adopting a Time Difference of arrival positioning method (TDOA) according to the illumination intensity data and the geographic positions of different emergency lamps.
The filtering fusion module 105 is configured to fuse the target person positioning result and the visible light positioning result by using kalman filtering to determine a fusion positioning result of the target person. The filter fusion module 105 specifically estimates the state error using indirect kalman filtering.
An indoor emergency environment personnel positioning system based on emergency lamps further comprises a data processing module 106, wherein the data processing module 106 is used for carrying out filtering, smoothing and denoising processing on the sensor data and sending the sensor data after the data processing to the inertial positioning module 102. The data processing module 106 is specifically configured to smooth the magnetic field strength data, the acceleration data, and the angular acceleration data using low pass filtering.
The data acquisition module 101 includes an accelerometer, a gyroscope, a magnetometer, and a light intensity meter. The accelerometer is used for collecting acceleration data, the gyroscope is used for collecting angular acceleration data, the magnetometer is used for collecting magnetic field intensity data, and the light intensity meter is used for collecting illumination intensity data.
When the target person is a search and rescue person, as shown in fig. 2, the data collection module 101 includes, but is not limited to, a smartphone, a smart watch, and a tablet computer of the user.
The current position point is the indoor position of the intelligent terminal of the target person at the current moment. The intelligent terminal comprises an intelligent mobile phone with a positioning function, an intelligent watch and a tablet computer.
When the target person is a victim, the inertial positioning module 102 is a dead reckoning module, and the dead reckoning module includes a gait detection unit, a step length determination unit, a course determination unit, and a dead reckoning unit.
And the dead reckoning module is used for determining the dead reckoning of the target personnel according to the sensor data. The dead reckoning module estimates the gait, the step length and the course of the target person according to zero-crossing detection, peak detection, a step length regression model at the current moment and sensor data of the current position point, and performs dead reckoning according to a gait estimation result, a step length estimation result and a course estimation result to obtain the current dead reckoning of the target person.
The gait detection unit is used for detecting the gait of the target person by adopting zero-crossing detection and wave crest detection according to acceleration data in sensor data of the current position point of the target person to obtain a gait estimation result of the target person. The gait detection unit is used for determining one step of walking of the target person by adopting wave crest detection and zero crossing detection according to the acceleration data of the target person.
The zero-crossing detection means that if the acceleration data modulus is detected to be equal to the local gravity acceleration twice continuously, the step is recorded as 1, the acceleration modulus is gradually increased when the acceleration data modulus is equal for the first time, and the acceleration modulus is gradually decreased when the acceleration data modulus is equal for the second time. The peak detection is to be recorded as step 1 if a maximum value of the acceleration data is detected, that is, if the acceleration data at the current time is detected to be a maximum value in a preceding step and a subsequent step. If the zero-crossing detection and the wave crest detection detect 1 step at the same time, recording as 1 step, and counting as +1.
The step length determining unit is used for determining the step length at the current moment according to the acceleration data of the target person within one step.
The step length determining unit is specifically used for determining that the user walks one step according to the gait detecting unit and then determining the step length of the user at the current moment according to the acceleration data in one step of the user.
The step length determining unit specifically determines the user step length at the current moment according to a step length regression model, wherein the input of the step length regression model is acceleration data within one step, and the output of the step length regression model is the step length.
The step size regression model adopts a Kim model.
The Kim model is expressed as:
wherein SL represents a step length, N represents an acceleration data amount within one step, | a i I represents the absolute value of the ith acceleration data, K 1 Are model parameters.
And the course determining unit is used for determining the attitude of the target person at the current moment according to the geomagnetic field intensity data, the angular acceleration data and the acceleration data in the sensor data of the current position point of the target person by adopting the Mahony complementary filtering. The attitude of the target person is represented by a pitch angle, a roll angle, and a heading angle.
Mahony complementary filtering: estimating the attitude of the target personnel to avoid the problem of dead lock of the Euler angle on the universal joint, and obtaining the attitude of the target personnel by quaternion (q) 0 ,q 1 ,q 2 ,q 3 ) Represents the directional cosine matrix:
wherein,
is a direction cosine matrix from a b system (carrier coordinate system) to an n system (navigation coordinate system) at the k moment. Quaternion is the hypercomplex number of a four-dimensional space, q 0 The cosine is a real part and represents the cosine of half of the integral rotation angle of the user; q. q.s 1 ,q 2 ,q 3 And imaginary parts representing the sine of half the rotation angle around the x, y, z axes, respectively.
Low-pass filtering the gyroscope data, estimating the quaternion of the current attitude and expressing the quaternion as
The accelerometer and magnetometer are low-pass filtered, and the gyroscope is calibrated:
wherein q is the quaternion representation after correction, P is the mapping of the three-dimensional vector to the quaternion,
the angular velocity vector obtained for the gyroscope.
Delta is the gyro compensation value generated by the PI regulator, delta = K p ·e+K I Integral edt, in a PI regulator, parameter K P For controlling the cross-over frequency between accelerometer, magnetometer and gyroscope, parameter K I Correcting the error of the gyroscope; e represents the measured inertia vectorAnd the predicted vector, t represents time,
representing an actual measurement vector comprising a locally actual measurement of gravitational acceleration and an actual measurement of magnetic field strength,
a predicted vector is represented, the predicted vector comprising a locally predicted gravitational acceleration and a predicted magnetic field strength.
The INS programming is carried out, and,
wherein n represents a navigation coordinate system, i.e. a local horizontal coordinate system, I is an identity matrix,
for time k, the angular increment measured by the lower gyroscope, and "x" is the antisymmetric sign;
is a direction cosine matrix from a b system (carrier coordinate system) to an n system (navigation coordinate system) at the time k-1.
After the direction cosine matrix of the current time is obtained, the Euler angle is reversely calculated,
wherein the ratio of theta, gamma,
pitch angle, roll angle and course angle.
The navigation position determining unit is used for determining the navigation position of the target person at the current moment, namely the positioning result of the target person according to the step length and the posture of the target person at the current moment and the navigation position at the previous moment.
And the navigation position determining unit determines the navigation position of the target person at the current moment through a recurrence formula. The recurrence formula is expressed as:
wherein,
and
the geographic positions of the target person in the east direction and the north direction at the time k (the current time), namely the positioning result of the target person at the time k,
and
the geographic position of the target person in the east and north directions at time k-1 (last time), l represents the target person step length, and α represents the target person heading angle (heading angle).
The filtering fusion module 105 includes a state update unit and a measurement update unit.
The state updating unit is used for acquiring the error of the target person positioning result at the current moment, and determining a state error and a covariance updating equation thereof by considering error disturbance:
wherein,
either the last epoch (time k-1) or a known state error,
is the last epoch (time k-1) or knownOf the state error of (1), δ x k State errors at the moment k predicted by Kalman filtering are east and north position errors; f k Is a state transition matrix at the time k, omega is process noise, and the covariance matrix of omega is Q k . The state errors include position errors, velocity errors, attitude errors, and the like.
The measurement updating unit is used for determining a position error observation equation at the current moment according to the current-moment target person navigation position, the current-moment visible light positioning result and the observation noise; and taking the difference between the current-time target person navigation position and the current-time Kalman filtering estimation state error as the fusion positioning result of the user at the current time.
The measurement update unit formula is:
wherein represents R k Representing an observation weight matrix, K k Denotes the gain matrix, H k Representing a matrix of coefficients, Z k Representing an observed value, I representing a unit weight array,
and
and representing the Kalman filtering to determine the state error and a covariance matrix thereof.
When the target person is a victim:
the position difference observation equation is expressed as x Dead reckoning -x Visible light ＝δx+n p ；
The fusion positioning result of the target person is represented as x Finally, the product is processed ＝x Dead reckoning -δx；
Wherein x is Dead reckoning Representing the result of the target person's position, x Visible light Representing the visible light positioning result, δ x representing the target person position error, n p To observe noise, x Finally, the product is processed And representing the fusion positioning result of the target person.
As shown in fig. 3, when the target person is a search and rescue person, the inertial positioning module 102 is a mechanical arrangement module, and the mechanical arrangement module includes a pose arrangement unit, a zero-speed detection unit, and a zero-speed correction unit.
When the target person is a search and rescue person, the data acquisition module 101 includes a calibrated high-precision gyroscope, an accelerometer, and a light intensity meter. The gyroscope and accelerometer are integrated into the foot (the target person's shoe) for zero velocity correction.
The mechanical arrangement module is used for deducing the pose of the target person at the current moment in a mechanical arrangement mode according to the angular acceleration data and the acceleration data of the current moment and the user pose at the previous moment, detecting whether the target person at the current moment is in a zero-speed state or not according to the acceleration data, and determining a zero-speed observation value when the target person is in the zero-speed state.
The pose arrangement unit is used for determining the pose of the target person at the current moment, namely a target person positioning result, according to a recursion formula, wherein the recursion formula is expressed as follows:
wherein,
the location of the target person at time k,
the velocity of the target person at time k,
is the attitude matrix of the target person at time k,
the location of the target person at time k-1,
the velocity of the target person at time k-1,
is the attitude matrix of the target person at the time k-1,
represents the acceleration data of the target person at time k,
representing angular acceleration data of the target person at time k, b a Zero offset of accelerometer representing the acquisition of said acceleration data, b g Zero-offset of the gyroscope representing the acquisition of said angular acceleration data, Δ t being the time interval, g n Is a gravity vector of a navigation coordinate system, omega]Is an anti-symmetric matrix.
The zero-speed detection unit is used for detecting whether the acceleration data is in a zero-speed state or not according to the acceleration data.
The zero-speed correction unit is configured to, when the zero-speed detection unit detects that the acceleration data is in a zero-speed state, take a speed of the target person in the zero-speed state as a speed observation value, convert the speed observation value into a navigation coordinate system, obtain a zero-speed observation value, and input the zero-speed observation value into the filtering and fusing module 105.
The filtering fusion module 105 includes a state updating unit and a measurement updating unit.
The state updating unit is used for acquiring the error of the positioning result of the target person at the current moment; .
When the target person is a victim, the measurement updating unit is used for constructing a position difference observation equation according to the error of the target person positioning result, the target person positioning result and the visible light positioning result, and determining a fusion positioning result of the target person according to the position difference observation equation.
When the target person is a search and rescue person, the measurement updating unit is used for constructing a position difference observation equation and a speed difference observation equation according to the error of the target person positioning result, the target person positioning result and the visible light positioning result, and determining a fusion positioning result of the target person according to the position difference observation equation and the speed difference observation equation.
When the target person is a search and rescue person:
the position difference observation equation is expressed as x Mechanical choreography -x Visible light ＝δx+w p ；
The velocity difference observation equation is expressed as
The fusion positioning result of the target person is represented as x Finally, the product is processed ＝x Mechanical layout -δx；
Wherein x is Mechanical layout Representing the target person positioning result, x Visible light Representing the visible light positioning result, deltax representing the target person position error, deltav representing the target person velocity error,
indicating the attitude error, w, of the target person p Representing position difference observation noise, w v Representing the velocity difference observation noise, x representing the anti-symmetric sign, x Finally, the product is processed And representing the fusion positioning result of the target person.
When the target person is a search and rescue person and a victim person, the visible light positioning module 104 is the same, except that the victim person uses an intelligent terminal to carry out dead reckoning, the search and rescue person uses high-precision inertial navigation to carry out mechanical arrangement, and the visible light positioning module provides uniform positioning source correction inertial positioning for different users.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. An indoor emergency environment personnel positioning system based on an emergency lamp is characterized by comprising a data acquisition module, an inertial positioning module, an emergency lamp module, a visible light positioning module and a filtering fusion module; the data acquisition module is respectively connected with the inertial positioning module and the visible light positioning module, and the inertial positioning module and the visible light positioning module are both connected with the filtering fusion module;
the data acquisition module is used for acquiring sensor data of the current position point of the target person; the sensor data comprises illumination intensity data;
the inertial positioning module is used for determining a target person positioning result according to the sensor data;
the emergency lamp module is used for emitting visible light and storing the geographical positions and the emission frequencies of all emergency lamps in a preset environment;
the visible light positioning module is used for collecting visible light, positioning the target personnel according to the illumination intensity data and the collected emission frequency of the visible light, and outputting a visible light positioning result;
the filtering fusion module is used for fusing the target person positioning result and the visible light positioning result by adopting Kalman filtering to determine a fusion positioning result of the target person.
2. The emergency light-based indoor emergency environment personnel positioning system of claim 1 wherein the sensor data comprises geomagnetic field strength data, angular acceleration data, and acceleration data.
3. The emergency light-based indoor emergency environment personnel positioning system of claim 1, wherein when the target personnel are victim personnel, the inertial positioning module comprises a gait detection unit, a step length determination unit, a heading determination unit and a dead-reckoning determination unit;
the gait detection unit is used for determining one step of walking by adopting wave crest detection and zero-crossing detection according to the acceleration data of the target person;
the step length determining unit is used for determining the step length of the current moment according to the acceleration data of the target person within one step;
the course determining unit is used for determining the attitude of the target person at the current moment according to the geomagnetic field intensity data, the angular acceleration data and the acceleration data in the sensor data of the current position point of the target person;
the navigation position determining unit is used for determining the navigation position of the target person at the current moment according to the step length and the posture of the target person at the current moment and the navigation position at the previous moment.
4. The emergency light-based indoor emergency environment personnel positioning system of claim 1, wherein when the target personnel are search and rescue personnel, the inertial positioning module comprises a pose orchestration unit, a zero-speed detection unit, and a zero-speed correction unit;
the pose arrangement unit is used for determining the pose of the target person at the current moment according to a recurrence formula, wherein the recurrence formula is expressed as follows:
wherein,
the position of the target person at time k,
is the speed of the target person at time k,
is the attitude matrix of the target person at time k,
the location of the target person at time k-1,
the velocity of the target person at time k-1,
is the attitude matrix of the target person at the time k-1,
represents the acceleration data of the target person at time k,
representing angular acceleration data of the target person at time k, b a Zero offset of accelerometer representing the acquisition of said acceleration data, b g Zero offset of the gyroscope representing the acquisition of said angular acceleration data, Δ t being the time interval, g n Is the gravity vector of the navigation coordinate system, omega]Is an anti-symmetric matrix;
the zero speed detection unit is used for detecting whether the acceleration data is in a zero speed state or not according to the acceleration data;
and the zero-speed correction unit is used for taking the speed of a target person in a zero-speed state as a speed observation value when the zero-speed detection unit detects that the acceleration data is in the zero-speed state, converting the speed observation value into a navigation coordinate system to obtain a zero-speed observation value, and inputting the zero-speed observation value into the filtering and fusing module.
5. The emergency light-based indoor emergency environment personnel positioning system of claim 1, further comprising a data processing module for filtering, smoothing and de-noising the sensor data, sending the data processed sensor data to the inertial positioning module.
6. The emergency light-based indoor emergency environment personnel positioning system of claim 4, wherein the filtering fusion module comprises a status update unit and a metrology update unit;
the state updating unit is used for acquiring the error of the positioning result of the target person at the current moment;
when the target person is a victim, the measurement updating unit is used for constructing a position difference observation equation according to the error of the target person positioning result, the target person positioning result and the visible light positioning result, and determining a fusion positioning result of the target person according to the position difference observation equation;
when the target person is a search and rescue person, the measurement updating unit is used for constructing a position difference observation equation and a speed difference observation equation according to the error of the target person positioning result, the target person positioning result and the visible light positioning result, constructing a speed difference observation equation according to the target person speed and the output of the zero speed correction unit, and determining the fusion positioning result of the target person according to the position difference observation equation and the speed difference observation equation.
7. An emergency light based indoor emergency environment personnel positioning system of claim 6, wherein when the target personnel are victim personnel:
the position difference observation equation is expressed as x Dead reckoning -x Visible light ＝δx+n p ；
The fusion positioning result of the target person is expressed as x Finally, the product is processed ＝x Dead reckoning -δx；
Wherein x is Dead reckoning Representing the result of the target person's position, x Visible light Representing the visible light positioning result, δ x representing the target person position error, n p To observe noise, x Finally, the product is processed And representing the fusion positioning result of the target person.
8. An emergency light based indoor emergency environment personnel positioning system of claim 6 wherein when the target personnel are search and rescue personnel:
the position difference observation equation is expressed as x Mechanical choreography -x Visible light ＝δx+w p ；
The velocity difference observation equation is expressed as
The fusion positioning result of the target person is expressed as x Finally, the product is processed ＝x Mechanical choreography -δx；
Wherein x is Mechanical layout Representing the target person positioning result, x Visible light Representing the visible light positioning result, deltax representing the target person position error, deltav representing the target person velocity error,
indicating the attitude error of the target person, w p Representing position difference observation noise, w v Representing the observed noise of the velocity difference, x representing the antisymmetric sign, x Finally, the product is processed And representing the fusion positioning result of the target person.
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