Development Of Rescue Workers Positioning System

The position of rescue workers is crucial to the commander in a rescue mission. Since most of the rescue missions are in buildings, the GPS won’t work. And for major disasters like earth quake, power failure and building deformation is often accompanied, leading to indoor positioning systems based on preset beacons or base stations, such as LBS, Wi-Fi and BLE, stop working. Because of communication interruption, the positioning system should have an independent communication mechanism. Most of the current rescue worker positioning systems use point to point communication mechanism, leading to a limited communication range, besides, proprietary communication protocol reduces the interoperability between different products.To solve the problems mentioned above, a rescue worker positioning system based on inertial navigation technology are described in this dissertation, and some of the IOT’s technologies are applied to this system to extend the communication range. The main contents of this dissertation includes:1. Introduced the mathematical model and the numerical calculation method of the indoor positioning and tracking system based on inertial navigation technology.2. Introduced a kind of error compensation method for inertial navigation based on gait analysis and put up a method to improve the accuracy of the gait analysis algorithm, making it possible to the use low accuracy MEMS sensors in the indoor positioning system to achieved a relatively accurate result.3. Proposed to use Internet of Things technology as the communication mechanism between the nodes of the indoor position system; proposed to use IP as the communication protocol to improve interoperability between different products; proposed to use some different parametric which doesn’t follow the standard IOT specification to make the IOT technology suitable for emergency applications.4. Expound the implementation of the algorithm mentioned above on the resource limited embedded devices. Described the hardware and software implementation using the STM32F407 microcontroller and related chips.