Research On Fire Fighting Individual Positioning System And Algorithm Based An IMU

Accurately determine the location of firefighters indoors is an urgent problem to be solved in fire rescue work.The paper comprehensively considers the fireman s gait movement,range of activities and the on-site environment.The Inertial Measurement Unit(IMU)is used to design and implement the individual indoor positioning system,and a gait information based on indoor positioning algorithmis proposed.The main work of the thesis is as follows:Firstly,according to the gait change law during the individual soldier's movement,the paper compares the advantages and disadvantages of various positioning devices,and designs an IMU individual positioning system that can be embedded in the insole.The testing results show that the insole positioning system has clear dynamic characteristics,which helps to quickly and accurately identify the pace in individual sports.Secondly,aiming at the problem that the sin.gle inertial measurement component has poor compatibility of the step frequency detection under multi-step motion,a step frequency detection method of accumulating acceleration,tibia pressure and heel pressure multi-data are proposed,and the zero-speed interval and static are introduced.The processing mechanism under the free area and the moving gait area is experimentally verified that the mechanism overcomes the measurement error of a single component and improves the frequency detection capability.Thirdly,a random forest classification algorithm based on artificial firefly parameter optimization is proposed to realize the multi-gait classification of individual fireman.At the same time,considering the influence of asynchronous state,pace,height and other factors on the actual motion step,a based on the gait information-assisted self-adjusting nonlinear step size estimation model.The test shows that the model has good dynamic adaptability to the step size estimation in individual motion,and solves the error accumulation effect in indoor complex environment.Finally,aiming at the heading error caused by the swing of the foot during the movement of the fire individual,a directional correction method based on gait information is proposed.The method is used to verify the heading of the individual in the individual movement.The accuracy.In summary,this paper realizes a set of high-precision individual indoor positioning algorithm by using the pedestrian trajectory estimation principle for the accurate calculation of the step frequency,step size and heading information during individual sports.The test results show that the horizontal accuracy of indoor positioning is ±3%,the vertical accuracy is±0.5%,and the closing accuracy of the motion track is±3‰,which can meet the indoor positioning requirements of firefighters.