一种消防救援人员室内作业定位系统的设计

An indoor rescue positioning system design for firefighters

针对目前室内火灾的消防救援工作中,消防救援人员获取位置信息以提高救援工作效率的实际需求,设计了一种适用于消防救援人员室内作业的定位系统。该系统主要基于惯性定位技术,设计了足部绑式惯性导航模块,该模块通过与激光雷达辅助模块功能上的融合,可获取消防救援人员在火灾现场作业时的准确位置,且能够减少消防救援人员误入非目标房间的可能性。同时,本文给出了上述模块中保障系统实现高精度定位的两个关键技术,即基于改进支持向量机方法的姿态分类与识别和基于卡尔曼滤波的信息融合。应用场景的测试结果表明,基于相关技术,在宽敞的室内环境下单独采用足部绑式惯性导航模块即可获得较为精确的位置信息,在多房间复杂室内结构环境下,采用激光雷达模块进行辅助后,仍可获得满足实际定位需求的位置信息。

A design of an indoor fire rescue positioning system for firefighers is poposed to obtain the location information during fire rescues,which can boost the rescuing eficiency.Foot-binding inertial navigation module that mainly based on the inertial positioning technology is designed.Combined with LiDAR assistance,the accurate position of firefighters in the fire scene can be obtained and the possibility of firefighters straying into unnecessary rooms is lowered.Moreover,two key technologies that ensure the high-precision positioning of the system are given,namely posture recognition based on improved SVM method and information fusion based on Kalman filtering.Test results of the design in application scenarios are given,which show that a relatively accurate position information can be obtained by using only IMU in a spacious indoor environment.While a in complex indoor structure environments with muliple roms,location information that meets practical positioning requirements can still be acquired by the designed system when using LiDAR astance.