CN104394589A - Individual combat location base station - Google Patents
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- CN104394589A CN104394589A CN201410664164.4A CN201410664164A CN104394589A CN 104394589 A CN104394589 A CN 104394589A CN 201410664164 A CN201410664164 A CN 201410664164A CN 104394589 A CN104394589 A CN 104394589A
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- 238000004891 communication Methods 0.000 claims abstract description 25
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- 230000008859 change Effects 0.000 claims description 5
- 230000009191 jumping Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000007726 management method Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 2
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- 238000004364 calculation method Methods 0.000 description 2
- 230000034994 death Effects 0.000 description 2
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- 239000003546 flue gas Substances 0.000 description 2
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- 241001269238 Data Species 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
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- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses an individual combat location base station. The individual combat location base station comprises a locator carried by a fire fighter and a communication base station which are in signal connection. A signal emitter is arranged in the locator carried by a fire fighter, and a signal receiver, a power module, a control unit and a display module are arranged in the communication base station. The signal emitter is in signal connection with the signal receiver, the output end of the signal receiver is connected with the input end of the control unit, the power module is connected with the input end of the control unit, and the output end of the control unit is connected with the input end of the display unit. The individual combat location base station is simple in structure, convenient to use and mount, simple to operate, accurate and reliable in location, low in cost, wide in application range, long in service life and safe and reliable.
Description
Technical field
The present invention relates to a kind of individual combat locating base station.
Background technology
Utilize wireless communication technique to realize positioning function at present to have based on ranging technology and non-ranging technology, the location algorithm based on non-ranging technology mainly contains: centroid method, convex programming location algorithm; The algorithm of distance vector jumping figure; Location algorithm based on ranging technology mainly contains TOA, AOA, TDOA and RSSI; Often kind of adaptable environment of location algorithm institute is different, should select according to actual conditions; Such as in the scene of a fire, trapped personnel affects owing to being subject to high temperature, flue gas, power-off etc., very difficult perception is controlled oneself present position, commanding outside the venue, also the whereabouts state of personnel in the scene of a fire cannot be found out, make effective commander, thus reduction fire-fighting efficiency, or fire fighter cannot effectively accept evacuate and cause injures and deaths.Fireman how can be made effectively to remedy the scene of a fire, evacuating to safety area rapidly when perceiving danger, and this becomes the main purpose of people's research.
Summary of the invention
It is simple that the technical problem to be solved in the present invention is to provide a kind of structure, uses, easy for installation, simple to operate, registration, reliable, and cost is low, applied widely, long service life, has the individual combat locating base station of safe and reliable effect.
For solving the problem, the present invention adopts following technical scheme:
A kind of individual combat locating base station, comprise locator and communication base station that fire fighters carries, the locator that described fire fighters carries is connected with communication base station signal, signal projector is provided with in the locator that described fire fighters carries, signal receiver is provided with in described communication base station, power module, control unit and display module, described signal projector is connected with signal receiver signal, the output of described signal receiver is connected with the input of control unit, described power module is connected with control unit, the output of described control unit is connected with the input of display module, individual combat locating base station refers to the positional information (latitude and longitude coordinates) being obtained fire fighters by specific location technology, electronic chart mark by the technology of the position of anchored object or service, it utilizes wireless communication technique to realize positioning function has based on ranging technology and non-ranging technology, location algorithm based on non-ranging technology mainly contains: centroid method, convex programming location algorithm, the algorithm of distance vector jumping figure, location algorithm based on ranging technology mainly contains TOA, AOA, TDOA and RSSI, often kind of adaptable environment of location algorithm institute is different, should select according to actual conditions,
RSSI (reeeive signalstrength indieator) represents that signal strength signal intensity indicates, and is the difference of the inter-stage such as real received signal strength and optimum received power; LQI (1ink quality indieator) is link-quality instruction, characterizes energy and the quality of receiving data frames; The larger explanation link-quality of LQI value is better; RSSI value and LQI value can obtain when RCnet transceiver module often receives a Frame; The dynamic range of timely reflected signal Strength Changes and the change LQI that is interfered is larger than RSSI, has higher resolution;
Theoretical model-Shadowing the model generally adopted in transmission of wireless signals, such as formula (1): [Pr (d)] dBm=[Pr (d0)] dBm-10nlg (d/d0)+XdBm;
In the application of native system reality, use the Shadowing model simplified, such as formula (2): RSSI=-(10nlog10d+A);
N: signal propagation constant, also referred to as signal propagation coefficient, unit: dBm/m;
D: to the distance of signal source, unit: m;
A: 1m place, distance signal source received signal strength, unit: dBm;
On CC2530 sheet, engine of positioning adopts the Distance positioning method based on received signal strength indicator (RSSI), the coordinate of node to be positioned is calculated according to the coordinate position of received signal strength and reference node, then the positional information calculated is sent to the network terminal, complete location; Engine of positioning need reference node coordinate x0, y0, x1, y1 ..., x7, y7 ］ and as input parameter; Reference node coordinate represents that the position of reference node is in the scope of ［ 0,63.75 ］; The expansion of actual location distance can be realized by software programming; Reference node x after expansion, y coordinate range is ［ 0,16384.75 ］, achieves and communicates more at a distance.
As preferred technical scheme, architecture is then utilize base station to the measuring and calculating distance of the locator distance entrained by fire fighters to determine the position of fire fighters, it does not need fire fighters to have GPS stationkeeping ability, but precision largely depends on the distribution of base station and the size of coverage, there is time error can more than one kilometer.
In the scene of a fire, trapped personnel is owing to affecting by high temperature, flue gas, power-off etc., and very difficult perception is controlled oneself present position, outside the venue commanding, also the whereabouts state of personnel in the scene of a fire cannot be found out, make effective commander, thus reduce fire-fighting efficiency, or fire fighter effectively cannot accept evacuate and cause injures and deaths.Fireman how can be made effectively to remedy the scene of a fire, evacuating to safety area rapidly when perceiving danger.The appearance effective guarantee of the individual combat navigation system personal safety of individual combat personnel.
Set up a ZigBee-network at building at every turn, ZigBee network coordinator is placed in distribution box, the router of ZigBee-network is placed in each direction board inside, the ZigBee-network of the network ID that each composition one is fixing, locator is a ZigBee equipment, when it is with people's ZigBee-network overlay area by fire-fighting officers and men, the beacon signal of transmission will be received by ZigBee router, and be sent to telegon, then controller is sent to, controller is analyzed by transmitting the bootstrap information of coming up, show that fire-fighting officers and men (carrying locator) are evacuating position corresponding on figure.
Further, along with new and high technology make rapid progress development and in military field extensive use, the battlefield pattern of modern war has a very large change, on battlefield, the factor of killing and wounding is on the increase, precision strike and night fighting ability are constantly strengthened, the promotion of information technology to mobile operations improves constantly, individual-soldier system is as the key link of Information Battlefield, it is using the weapon platform of individual soldier as whole operational chain of command, consider from people-machine-environment comprehensively, overall planning and the man-machine system designed, research individual-soldier system object is that the subjective advantage that should play individual soldier plays information again, the objective advantage of digital technology when individual combat, thus improve the creativeness of fighting comprehensively, foresight, flexibility, the present invention has first looked back origin and the development of individual soldier's navigation system, analyzes formation and the fighting capacity of various individual combat navigation system, discusses the characteristics and evolution direction of my army's individual combat navigation system, on this basis, primary study of the present invention individual-soldier system based on wireless self-networking Adhoc design, propose a kind of network generting machanism with stronger capability to resist destruction, by fully combining the flexible feature of I army soldier, highlight operational superiority and the detent edge of individual soldier or group, improve the connectedness of network, in the scheme of the present invention's research, we attempt have employed up-to-date mobile calculation technique, by the integrated panel computer based on Android operation system, 4G mobile communication module, WIFI Proximity Wireless Transfer Technology, attempt the overall calculation, the communication capacity that improve individual-soldier system.Under the framework of global design, have extensively studied the catching of video image, transmission technology and the location technology based on the identification of GPS individual soldier's spacing herein, finally discuss design and the key technology of backstage operational chain of command.
Further, individual combat locating base station: fireman individual positioner be a kind of follow the trail of indoor and outdoor emergency management and rescue personnel real-time three-dimensional movement locus, azran, highly, the device of the information such as attitude, for auxiliary field commander be wrong path team member navigation, the position of determining team member in danger rapid tissue search and rescue.This device can set up threedimensional model to outdoor and various complicated structures indoor environment (even airtight environment), for activity is in this environment and the fireman wearing micropositioning device provides direction and location and estimate navigation accurately, simultaneously for cammander provides fire fighter's azimuth information at full visual angle, contribute to the efficient interlock realized between commander and fireman.
One, device theory of constitution
Device is made up of three parts: radio micro positioner, radio receiving terminal, personnel positioning three-dimensional display platform.
1). radio micro positioner: this wireless device is mainly worn on it user, small volume, storage battery energy supply.Inner main device is identification card, and identification card adopts inertial navigation module and wireless data sending sending module.The various important parameters such as the current identification card moving displacement distance of inertial navigation module energy Real-Time Monitoring, deflection, place height and inclination angle.Meanwhile, various relevant parameter is sent to server end by " wireless data sending sending module ".
2). radio receiving terminal: radio receiving terminal capital equipment is " wireless data sending accepts module ", " wireless data sending sending module " in this module and positioner on identification card is corresponding, be mainly used in accepting the various significant datas that sending module sends, and carry out storing and analyzing.
3). personnel positioning 3 D monitoring platform: the personnel positions relevant parameter that 3 D monitoring platform sends according to radio receiving terminal, utilize Related Mathematical Models and 3-D graphic to combine, calculate personnel place position and in 3 D monitoring service platform the attitude of show staff position, run trace and personnel.
Two, device major function
1). personnel's three-dimensional localization and trace simulation
The three-dimensional parameter that the radio micro positioner transmission of wearing according to personnel is returned, realizes the accurate location to fire fighter and highlighted mark in building threedimensional model, and being convenient to commanding in the rear system, to grasp rescue First Line in real time dynamic.Simultaneously, in building three-dimensional, personnel's run trace real time dynamic simulation is realized according to the three-dimensional parameter that personnel positioning device transmission is returned, the track of each fireman's walking adopts a kind of color to show, be convenient to the position monitoring fire fighter in real time, for many regions that is in extreme danger, fireman can be pointed out to carry out strick precaution, accomplish the efficient risk prevention system of rescue site.
2). be linked between fireman, Safe withdrawing guide
By commanding in the rear person's United Dispatching, and the terminal equipment that fireman self wears, at the rescue site of poor visibility, situation complexity, mutual work compound can be realized, and realize teammate's search and rescue, trapped personnel relief, Safe withdrawing guiding etc. in emergency circumstances.
3). visual command scheduling directly perceived
The personnel that can check the very first time are in the distribution of building inside, and each personnel have its distinctive numbering simultaneously, and the essential information etc. of all corresponding relevant fire fighter of each numbering, is convenient to commander in chief's spot dispatch and regulation and control.
Also accurately can check the fire-fighting equipment distribution of building inside, the essential information of each equipment and state information etc., be convenient to commander fireman and enable in time in rescue operations simultaneously.
4). building three-dimensional display
Device itself builds and display module with three-dimensional, can realize three-dimensional modeling within a short period of time to particular structure.Simultaneously can realize convergent-divergent, translation, rotation positioning function to building threedimensional model at display terminal, thus reach building different piece (exterior wall, internal structure, passage, equipment etc.) visual roaming is browsed.
5). radio micro termination function is expanded
Radio micro positioner and wireless terminal can also carry out modular arrangements according to actual needs, as oxygen countdown module, GA gas alarm module, life calling instrument module, Voice Navigation module etc. can configure as required.
Three, device the key technical indexes
1), horizontal accuracy≤3m;
2), vertical precision≤0.5 m;
3), stream time >=3 h;
4), multichannel disposal ability >=4 tunnel;
5), delay time <4s;
6), open field communication distance >3000 m;
7), operating temperature range-10 DEG C ~ 75 DEG C;
8), locating module volume 6.5 × 15 × 2.6 cm;
9), locating module weight 155 g;
Four, device using method
1). front end soldier please carries out in accordance with the following steps:
(1) open radio micro positioner shift knob and start positioner;
(2) wearing clamp by radio micro positioner is stuck in positive back waist band;
2). rear end commander please carry out in accordance with the following steps:
(1) radio receiving terminal and three-dimensional display platform notebook are positioned on the position of smooth desktop or on-the-spot convenient operation person observation and operation;
(2) three-dimensional display platform notebook and radio receiving terminal is connected with serial ports extended line;
(3) radio receiving terminal shift knob is opened;
(4) open three-dimensional display platform notebook computer, enable three-dimensional display platform software and carry out real-time location tracking.
Five, application of installation field is expanded
Device is not only applicable to fireman's rescue system, be both also speedily carry out rescue work in mine, criminal investigation, building location and the industry such as underground traffic use.Especially in the airtight structures environment of complexity, as mine, tunnel, exhibition room, warehouse, supermarket, library, underground parking, etc. in environment, usually need to determine mobile terminal or its holder, facility and the article positional information etc. in indoor, device efficient and convenient, makes it have ample scope for one's abilities.
Fireman is the talent with special skills that country turns out, and is the treasure of country, so no matter be in fire-fighting fire extinguishing, or in the rescue activities such as emergency relief, first to protect fire-fighting office worker inherently safe for important prerequisite.Just based on so a kind of theory, high-tech fire-fighting equipment just shows its important value.By the Systematic Design of science, strength by science and technology ensures the safety of fireman, improve its fighting capacity, promote the technical development of safety of China engineering, embody that people-oriented, life first, science rescue people, the action theory of self-protection and guiding theory, effectively carrying out fire attack, is also the final ideal of all scientific and technological development persons.
Current commercial technology adopts WIFI substantially, the wireless communication base station schemes such as RFID, mainly the technical schemes such as inertial navigation are adopted for emergency management and rescue, because the place faced by emergency management and rescue should be all disastrous, base station radio communication all belongs to state of paralysis, be exactly that social cost is too high in addition, so can only inertial navigation technology be adopted, it is without the need to any extra infrastructure or network, wirelessly export travel distance and the directional information of personnel in real time, can be implemented in the accurate location of personnel in various complex environment, for ensureing that the life security of personnel provides effective guarantee.
The beneficial effect of a kind of individual combat locating base station of the present invention is: the communication and the real-time Transmission problem that solve individual combat locator, fire fighters carries and forms wireless self-networking with communication base station after locator enters the scene of a fire and carry out communication, determines the particular location of individual soldier as beacon.Its structure is simple, uses, easy for installation, simple to operate, registration, reliable, and cost is low, applied widely, long service life, has safe and reliable effect.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of individual combat locating base station of the present invention.
Embodiment
Consult a kind of individual combat locating base station shown in Fig. 1, comprise locator and communication base station that fire fighters carries, the locator that described fire fighters carries is connected with communication base station signal, signal projector is provided with in the locator that described fire fighters carries, signal receiver is provided with in described communication base station, power module, control unit and display module, described signal projector is connected with signal receiver signal, the output of described signal receiver is connected with the input of control unit, described power module is connected with control unit, the output of described control unit is connected with the input of display module, individual combat locating base station refers to the positional information (latitude and longitude coordinates) being obtained fire fighters by specific location technology, electronic chart mark by the technology of the position of anchored object or service, it utilizes wireless communication technique to realize positioning function has based on ranging technology and non-ranging technology, location algorithm based on non-ranging technology mainly contains: centroid method, convex programming location algorithm, the algorithm of distance vector jumping figure, location algorithm based on ranging technology mainly contains TOA, AOA, TDOA and RSSI, often kind of adaptable environment of location algorithm institute is different, should select according to actual conditions,
RSSI (reeeive signalstrength indieator) represents that signal strength signal intensity indicates, and is the difference of the inter-stage such as real received signal strength and optimum received power; LQI (1ink quality indieator) is link-quality instruction, characterizes energy and the quality of receiving data frames; The larger explanation link-quality of LQI value is better; RSSI value and LQI value can obtain when RCnet transceiver module often receives a Frame; The dynamic range of timely reflected signal Strength Changes and the change LQI that is interfered is larger than RSSI, has higher resolution;
Theoretical model-Shadowing the model generally adopted in transmission of wireless signals, such as formula (1): [Pr (d)] dBm=[Pr (d0)] dBm-10nlg (d/d0)+XdBm;
In the application of native system reality, use the Shadowing model simplified, such as formula (2): RSSI=-(10nlog10d+A);
N: signal propagation constant, also referred to as signal propagation coefficient, unit: dBm/m;
D: to the distance of signal source, unit: m;
A: 1m place, distance signal source received signal strength, unit: dBm;
On CC2530 sheet, engine of positioning adopts the Distance positioning method based on received signal strength indicator (RSSI), the coordinate of node to be positioned is calculated according to the coordinate position of received signal strength and reference node, then the positional information calculated is sent to the network terminal, complete location; Engine of positioning need reference node coordinate x0, y0, x1, y1 ..., x7, y7 ］ and as input parameter; Reference node coordinate represents that the position of reference node is in the scope of ［ 0,63.75 ］; The expansion of actual location distance can be realized by software programming; Reference node x after expansion, y coordinate range is ［ 0,16384.75 ］, achieves and communicates more at a distance.
Architecture is then utilize base station to the measuring and calculating distance of the locator distance entrained by fire fighters to determine the position of fire fighters, it does not need fire fighters to have GPS stationkeeping ability, but precision largely depends on the distribution of base station and the size of coverage, there is time error can more than one kilometer.
The beneficial effect of a kind of individual combat locating base station of the present invention is: the communication and the real-time Transmission problem that solve individual combat locator, fire fighters carries and forms wireless self-networking with communication base station after locator enters the scene of a fire and carry out communication, determines the particular location of individual soldier as beacon.Its structure is simple, uses, easy for installation, simple to operate, registration, reliable, and cost is low, applied widely, long service life, has safe and reliable effect.
The above, be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any change of expecting without creative work or replacement, all should be encompassed within protection scope of the present invention.Therefore, the protection range that protection scope of the present invention should limit with claims is as the criterion.
Claims (2)
1. an individual combat locating base station, it is characterized in that: comprise locator and communication base station that fire fighters carries, the locator that described fire fighters carries is connected with communication base station signal, signal projector is provided with in the locator that described fire fighters carries, signal receiver is provided with in described communication base station, power module, control unit and display module, described signal projector is connected with signal receiver signal, the output of described signal receiver is connected with the input of control unit, described power module is connected with control unit, the output of described control unit is connected with the input of display module, individual combat locating base station utilizes wireless communication technique to realize positioning function to be had based on ranging technology and non-ranging technology, and the location algorithm based on non-ranging technology mainly contains: centroid method, convex programming location algorithm, the algorithm of distance vector jumping figure, location algorithm based on ranging technology mainly contains TOA, AOA, TDOA and RSSI,
RSSI (reeeive signalstrength indieator) represents that signal strength signal intensity indicates, and is the difference of the inter-stage such as real received signal strength and optimum received power; LQI (1ink quality indieator) is link-quality instruction, characterizes energy and the quality of receiving data frames; The larger explanation link-quality of LQI value is better; RSSI value and LQI value can obtain when RCnet transceiver module often receives a Frame; The dynamic range of timely reflected signal Strength Changes and the change LQI that is interfered is larger than RSSI, has higher resolution;
Theoretical model-Shadowing the model generally adopted in transmission of wireless signals, such as formula (1): [Pr (d)] dBm=[Pr (d0)] dBm-10nlg (d/d0)+XdBm;
In the application of native system reality, use the Shadowing model simplified, such as formula (2): RSSI=-(10nlog10d+A);
N: signal propagation constant, also referred to as signal propagation coefficient, unit: dBm/m;
D: to the distance of signal source, unit: m;
A: 1m place, distance signal source received signal strength, unit: dBm;
On CC2530 sheet, engine of positioning adopts the Distance positioning method based on received signal strength indicator (RSSI), the coordinate of node to be positioned is calculated according to the coordinate position of received signal strength and reference node, then the positional information calculated is sent to the network terminal, complete location; Engine of positioning need reference node coordinate x0, y0, x1, y1 ..., x7, y7 ］ and as input parameter; Reference node coordinate represents that the position of reference node is in the scope of ［ 0,63.75 ］; The expansion of actual location distance can be realized by software programming; Reference node x after expansion, y coordinate range is ［ 0,16384.75 ］, achieves and communicates more at a distance.
2. individual combat locating base station according to claim 1, is characterized in that: architecture utilizes base station to the measuring and calculating distance of the locator distance entrained by fire fighters to determine the position of fire fighters.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105321296A (en) * | 2015-10-27 | 2016-02-10 | 刘志海 | Fireman safety monitoring system based on multiple network communication modes |
| CN105841692A (en) * | 2016-03-24 | 2016-08-10 | 上海良相智能化工程有限公司 | Fireman passive self-positioning system |
| CN105976563A (en) * | 2016-07-01 | 2016-09-28 | 青岛市光电工程技术研究院 | Fire rescue system |
| CN107049524A (en) * | 2016-01-12 | 2017-08-18 | 西门子保健有限责任公司 | Position the part associated with image recording structure and/or the method and system of personnel |
| CN107655481A (en) * | 2017-09-21 | 2018-02-02 | 广东工业大学 | A kind of air navigation aid based on Qcell, device and computer-readable recording medium |
| CN108921934A (en) * | 2018-05-28 | 2018-11-30 | 中国电子科技集团公司第二十八研究所 | A kind of system that buildings model is generated based on inertial navigation positioning device |
| CN109115208A (en) * | 2018-07-02 | 2019-01-01 | 河南天易德智能科技有限公司 | Fireman's localization method |
| CN112255654A (en) * | 2020-08-24 | 2021-01-22 | 江苏中智腾飞信息科技有限公司 | A Field Positioning System Based on Beidou Navigation |
| CN112862439A (en) * | 2021-02-09 | 2021-05-28 | 中建八局第一建设有限公司 | Construction site safety inspection system and method |
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| CN108921934A (en) * | 2018-05-28 | 2018-11-30 | 中国电子科技集团公司第二十八研究所 | A kind of system that buildings model is generated based on inertial navigation positioning device |
| CN108921934B (en) * | 2018-05-28 | 2022-11-08 | 中国电子科技集团公司第二十八研究所 | System for generating building model based on inertial navigation positioning equipment |
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| CN112255654A (en) * | 2020-08-24 | 2021-01-22 | 江苏中智腾飞信息科技有限公司 | A Field Positioning System Based on Beidou Navigation |
| CN112862439A (en) * | 2021-02-09 | 2021-05-28 | 中建八局第一建设有限公司 | Construction site safety inspection system and method |
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