| With the continuous development of society,the structure of buildings in cities is becoming more and more complex,and the types of fire are becoming more and more diverse,which has made higher and higher requirements for firefighting soldiers’ ability in accident rescue.At present,the most widely used GPS positioning system cannot achieve indoor positioning of individual firefighters,so an efficient and reliable indoor positioning system for individual firefighters must be developed.Based on the actual application of firefighting soldiers,this paper designs a MIMU-based firefighting soldiers’ indoor positioning system based on the current problems of firefighting’s indoor positioning system.Device hardware.The main research contents of this article are as follows:In this paper,MIMU is the main research object.Firstly,the research and development status of indoor positioning technology and individual indoor positioning system are introduced.Aiming at the special situation of fire field and the problem of high price of individual indoor positioning system,a low-cost MIMU sensor is proposed for indoor positioning research.The theoretical knowledge of strapdown inertial navigation system based on MIMU is studied,and the Zero Velocity Update based on traditional inertial navigation algorithm is determined.The gait principle and zero velocity detection principle in the Zero Velocity Update are studied.Aiming at the problem of large error in the traditional zero velocity detection results,the generalized likelihood ratio test method is proposed for zero velocity detection,and the experimental verification is carried out.Then,the basic principle of Kalman filter algorithm is studied.On the basis of inertial navigation algorithm,a Kalman filter based on Zero Velocity Update assistant is designed with Zero Velocity Update.Through a large number of experiments,it is verified that the filter can effectively correct the position,speed and attitude errors,and has a high positioning accuracy.This paper studies the data interface technology among Lab VIEW,MATLAB and MYSQL,and puts forward an innovative real-time data processing method based on Lab VIEW,MATLAB and My SQL mixed programming technology.Then,with Lab VIEW software as the main body,matlab compiles and encapsulates the positioning algorithm.Finally,based on the virtual instrument technology,the upper computer software of the indoor positioning system of fire fighting single soldier based on MIMU is designed and developed.This paper designs a low-cost positioning device for the indoor positioning system of fire fighting single soldier,which is composed of MIMU module,wireless communication module and power supply module,and draws the circuit diagram of the positioning device.Then,the circuit board of the positioning device is welded,the whole shell of the positioning device is designed and processed,and the whole installation and debugging of the positioning device are completed.At the end of this paper,the whole function of the system is tested.The test results show that all the functions of the positioning device meet the requirements.The battery life can reach 2.5 hours,the data transmission distance in the open area is not greater than 2200 meters,and it has good penetrability.The test results of the upper computer software show that its data collection,analysis,storage and processing functions meet the application requirements.Then,it is implemented the simulation test shows that the system is stable and reliable,and realizes the goal of indoor positioning of fire fighting single soldier,which has high practical application value. |
