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An indoor positioning electromagnetic calibration method for fire rescue

An indoor positioning and calibration method technology, applied in navigation, instrumentation, surveying and navigation, etc., can solve the problem that the inertial navigation system cannot be accurately positioned for a long time, and achieve real-time and accurate monitoring, ensure life safety, and improve efficiency.

Active Publication Date: 2022-05-10
应急管理部四川消防研究所 +1
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Problems solved by technology

[0002] In the event of emergency events such as fire danger, it is necessary for firefighters to deal with emergencies such as fire danger, and when handling emergency events, in order to ensure the safety of firefighters, it is necessary to monitor the action position of firefighters , and the existing positioning technology in the indoor environment, the inertial navigation system cannot accurately locate for a long time, so there is an urgent need for a stable real-time navigation and positioning system to make up for the shortcomings of the inertial navigation system

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  • An indoor positioning electromagnetic calibration method for fire rescue
  • An indoor positioning electromagnetic calibration method for fire rescue
  • An indoor positioning electromagnetic calibration method for fire rescue

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Embodiment Construction

[0033] The present invention will be further described through the following examples, and the mode of the present invention includes but not limited to the following examples.

[0034] The invention makes up for the deficiencies of the inertial navigation system through a stable real-time navigation and positioning system, realizes accurate correction of the indoor positioning system, and ensures the accuracy of positioning. The realization method is: adopt the loose combination mode, use the indirect method to design the state of the polar combination system, and correct it by feedback correction, that is, the error ΔX of the navigation parameter X output by the small positioning unit is used as the main state variable of the filter, and the filter estimates The main part of the value is the navigation parameter error estimate ΔX, and then ΔX is used to correct X.

[0035] Its specific calibration method includes the following steps:

[0036] S1: An integrated navigation sy...

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Abstract

The invention discloses an indoor positioning electromagnetic calibration method for fire rescue, which mainly includes the following steps: first, a combined navigation system composed of an electromagnetic calibration system and an inertial navigation system is used to respectively establish an inertial navigation error system equation and an electromagnetic calibration error system equation, and combine the two equations to obtain the system equation through discretization operations, and dynamically correct each parameter, and substitute the corrected data into the final system equation. The present invention adopts the loose combination mode and uses the indirect method polar combination The system state is designed and corrected by feedback correction. The error ΔX of the navigation parameter X output by the small positioning unit is used as the main state variable of the filter. The main part of the filter estimated value is the estimated value of the navigation parameter error ΔX, and then ΔX is used to Correct X to realize the accurate positioning of firefighters indoors, so as to realize real-time and accurate monitoring of firefighters, so as to improve the efficiency of fire rescue and ensure the safety of firefighters' lives.

Description

technical field [0001] The invention relates to the field of positioning technology, in particular to an indoor positioning electromagnetic calibration method for fire rescue. Background technique [0002] In the event of emergency events such as fire danger, it is necessary for firefighters to deal with emergencies such as fire danger, and when handling emergency events, in order to ensure the safety of firefighters, it is necessary to monitor the action position of firefighters , and the existing positioning technology in the indoor environment, the inertial navigation system cannot accurately locate for a long time, so there is an urgent need for a stable real-time navigation and positioning system to make up for the shortcomings of the inertial navigation system. The integrated navigation system formed by combining the electromagnetic calibration system and the inertial navigation system can just solve this problem. The inertial navigation system and the electromagnetic ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/165G01C25/005
Inventor 谢乐涛荣建忠张泽江赵汉高李明轩
Owner 应急管理部四川消防研究所
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