基于自组网的消防员室内惯性定位系统误差研究

Experimental study on the system error of fireman indoor inertial positioning based on ad hoc network

开展实验测试某型号基于自组网的现场室内消防员定位系统的定位精度。实验分别针对水平方向直线路径、水平方向复杂路径、垂直方向进行测试,计算了误差并分析其原因。结果表明,运动速度较大时系统可能出现零速校正失效的情况;建筑物三维模型及初始位置的设置与实际情况存在出入,可能造成误差;误差修正后,30 min内系统基本满足定位需求,长时间的积累误差可结合室外定位技术校准。

Experiment was carried out to test the positioning accuracy of some type of fireman indoor positioning system. The test was conducted in points of horizontal straight path, horizontal complex path and vertical direction.The error was calculated, and the reason was analyzed. The results showed that, when the movement velocity was big, the failure of ZUPT may happen;the 3 D model of the building and the initial set up diverging from the reality may cause error;after the error correction, the system can satisfy the positioning requirement in 30 min, while accumulation error after a long time can be corrected by outdoor positioning technology.