CN109820271A - Fire field emergency rescue fire helmet, positioning system and positioning method - Google Patents
Fire field emergency rescue fire helmet, positioning system and positioning method Download PDFInfo
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Abstract
The present invention relates to a kind of scene of a fire emergency management and rescue fire helmet, positioning system and its localization method, fireman's life security cannot timely and effectively be ensured to fire field environment real-time monitoring and fireman's positioning function by solving the problem of that existing fire helmet does not have.A kind of fire helmet of scene of a fire emergency management and rescue, including headpiece case, and the sensing device, the positioning label, communication module, sound transmission device, photographic device, lighting device that are arranged on headpiece case；Headpiece case includes outer housing and the thermal insulation layer that outer case inside is arranged in；Sensing device includes wireless multiple parameter MEMS sensor probe, for measuring gas data information；Photographic device includes infrared camera and thermal infrared imager；Sound transmission device includes bone-conduction speaker and bone-conduction microphone；Smoke sensor device is provided on lighting device.The present invention provides the fire helmet that positioning system includes locating base station and above-mentioned scene of a fire emergency management and rescue.
Description
Technical field
The present invention relates to fire-fighting equipments, and in particular to a kind of scene of a fire emergency management and rescue fire helmet, positioning system and its positioning
Method.
Background technique
In fire-fighting fire extinguishing rescue site, the safety problem of fireman is the main problem in fire-fighting.Therefore, it speedily carries out rescue work in fire-fighting
In the process, the personal safety of fireman protected, the upgrading of fire-fighting equipment had attracted more and more attention from people, institute
Protection level cannot be only resided with fire helmet.
With the development of science and technology, existing fire helmet drawback is gradually mapped into the sight of fire-fighting front worker
In, the protection and adaptability of traditional fire helmet do not adapted to modern fire work requirement, conventional helmet do not have pair
Fire field environment real-time monitoring and fireman's positioning function cannot timely and effectively ensure fireman's life security；In addition, existing
The position that positioning system can not accurately offset anti-member positions, so that the personal safety of fireman not can be carried out more
Efficient protection.
Summary of the invention
Do not have to fire field environment real-time monitoring and disappear present invention aim to address existing fire helmet and positioning system
Anti- member's positioning function, provides a kind of scene of a fire emergency management and rescue fire-fighting at the problem of cannot timely and effectively ensureing fireman's life security
The helmet, positioning system and its localization method.
The technical scheme is that
A kind of scene of a fire emergency management and rescue fire helmet, including headpiece case, and be arranged on headpiece case sensing device,
Position label, communication module, sound transmission device, photographic device, lighting device；The headpiece case includes outer housing and setting
In the thermal insulation layer of outer case inside；The sensing device includes wireless multiple parameter MEMS sensor probe, for measuring gas number
It is believed that breath；The photographic device includes infrared camera and thermal infrared imager；The sound transmission device includes osteoacusis loudspeaking
Device and bone-conduction microphone；Smoke sensor device is provided on the lighting device.
Further, the wireless multiple parameter MEMS sensor probe is arranged on the left back end of headpiece case, headpiece case
It is provided with mounting hole, wireless multiple parameter MEMS sensor probe is arranged in mounting hole, and covers filter screen above.
Further, the thermal insulation layer is the silica aerogel for mixing titanium dioxide.
Further, the outer housing using reinforced polyamide fiber make and it is fire retardant treated, the lighting device is adopted
With with the LED light for distributing orange coloured light.
Further, the communication module uses 4GMESH network communication.
Further, the sensing device further includes memory, is stored thereon with the computer for correcting acquisition data
Program performs the steps of when described program is executed by processor
1) correction amount is obtained；
1.1) wireless multiple parameter MEMS sensor probe acquisition multiple groups gas data information, and place is normalized to data
Reason；
1.2) normalization numerical value is averaged, obtains the set A of average normalized valuen；
1.3) set A is usednDatum mark is made the difference to obtain the set Δ A of Mean Deviation valuen；
2) wireless multiple parameter MEMS sensor probe acquires gas data in real time；
3) data of acquisition are modified；
Acquisition data are modified by following formula；
VT=Vc+ΔAn×Vc
Wherein, VTIndicate revised numerical value, VcIndicate real-time collection value.
Further, the measured value when datum mark is 20 DEG C of temperature.
Meanwhile the present invention also provides a kind of scene of a fire emergency management and rescue positioning systems, including any of the above-described scene of a fire emergency
Fire helmet and locating base station are rescued, the fire helmet will acquire information and be sent to locating base station, and locating base station believes acquisition
Breath is transmitted to ground installation.
In addition, the present invention also provides a kind of localization methods based on above-mentioned positioning system, comprising the following steps:
1) i-th of base station is set as benchmark base station, obtains the distance R of positioning label and i-th of base stationi, i-th base station with
The distance R of nth base stationni, the coordinate for positioning label is (x, y, 0), and the coordinate of nth base station is (xn, yn, zn), n=1,2,
3, i=1,2,3, and i ≠ n；
2) the abscissa x and ordinate y of positioning label are obtained by following formula；
2Rni×Ri+2xni×x+2yni× y=mn-mi-Rni 2
X, y obtained by calculation, to obtain the coordinate (x, y, 0) of positioning label；
Wherein, mn=xn 2+yn 2+zn 2, xniFor the abscissa difference of nth base station and i-th of base station, yniFor nth base station
With the ordinate difference of i-th of base station.
The present invention also provides another localization method based on above-mentioned positioning system, comprising the following steps:
1) i-th of base station is set as benchmark base station, obtains the distance R of positioning label and i-th of base stationi, i-th base station with
The distance R of nth base stationni, the coordinate for positioning label is (x, y, z), and the coordinate of nth base station is (xn, yn, zn), n=1,2,
3,4 ..., i=1,2,3,4 ..., and i ≠ n；
2) the abscissa x and ordinate y of positioning label are obtained by following formula；
X, y obtained by calculation, to obtain the coordinate (x, y, z) of positioning label；
Wherein, mn=xn 2+yn 2+zn 2, xniFor the abscissa difference of nth base station and i-th of base station, yniFor nth base station
With the ordinate difference of i-th of base station, zniFor the ordinate difference of nth base station and i-th of base station.
Compared with prior art, the present invention having following technical effect that
1. there is the fire helmet good appearance, structure to set the present invention provides a kind of scene of a fire emergency management and rescue fire helmet
The advantages that counting reasonable, light-weight, anti-puncture, impact resistance, solar heat protection, waterproof, sand-proof, anticorrosion, and joined wireless more ginsengs
Number MEMS sensors, infrared photography, positioning and its bone conduction technology can carry out real-time monitoring to scene of a fire information, and in time on
It is transmitted to ground command center, it is ensured that ensure the security of the lives and property of fireman and its distress personnel to greatest extent.
2. multi-parameter sensor integrated technology is used for scene of fire environment monitoring sensor by the present invention, prison is not only reduced
Survey sensor carry quantity, also reduce cost, it is easy to carry, and can and alarm, effective guarantee fireman's life peace
Entirely.
3. the present invention provides a kind of scene of a fire emergency management and rescue positioning system and the localization method based on the system, thus preferably
Positioning accurately and quickly is carried out to the position of fireman；The localization method requires to substantially reduce to the synchronous of time, saves high
Accurate synchronization clock cost, positioning accuracy are high.
4. the present invention provides a kind of gas data acquisition method based on scene of a fire emergency management and rescue positioning system, this method is to existing
Field gas data is modified, to obtain more accurate gas data.
Detailed description of the invention
Fig. 1 is emergency management and rescue fire helmet structural schematic diagram in the scene of a fire of the present invention；
Fig. 2 is the schematic diagram after oxygen acquisition data are normalized.
Marked in the figure: 1- headpiece case, 2- sensing device, 3- positioning label, 4- communication module, 5- sound transmission device,
6- photographic device, 7- lighting device.
Specific embodiment
The contents of the present invention are described in further detail below in conjunction with the drawings and specific embodiments:
Fire helmet of the present invention integrates a variety of function using Internet technology and the communication technology as core on traditional fire helmet
Can, keep fire helmet intelligent, the information of real-time Transmission ambient enviroment, firefighters judge itself according to helmet alert messages
Security situation.
Emergency management and rescue fire helmet in the scene of a fire as shown in Figure 1, for fireman, which to include headpiece case
1, and the sensing device 2, the positioning label 3, communication module 4, sound transmission device 5, photographic device that are arranged on headpiece case 1
6, lighting device 7.
Headpiece case 1 includes outer housing and the thermal insulation layer that outer case inside is arranged in；Outer housing is fine using reinforced polyamide
Dimension production is simultaneously fire retardant treated, and thermal insulation layer is silica aerogel, thickness 10mm or so, can be 400 DEG C of fire resisting or so, can effectively every
Heat, heat preservation, and anticollision；The very thin Specific surface area of silica aerogel effectively limits the propagation of local thermal excitation, resists
High-temperature behavior is excellent, and mixing titanium dioxide can make silica aerogel become new type high temperature heat-barrier material.
In fireman's fire fighting and rescue, the own activity in order to ensure fireman is unaffected, therefore sensing device 2 uses
Be integrate temperature, carbon monoxide, methane wireless multiple parameter MEMS sensor probe, which is placed in headpiece case 1
Left back end inner wall, and go out to bore an aperture in 1 inner wall of headpiece case, so that it is placed wireless multiple parameter MEMS sensor probe just,
And filter screen is covered above.Multi-parameter sensor integrated technology is used for scene of fire environment monitoring sensor, is not only reduced
Monitor sensor carry quantity, also reduce cost, it is easy to carry, and and alarm, effective guarantee fireman's life security.
When gas diffusion to wireless multiple parameter MEMS sensor is popped one's head in, output end generates electric signal output, is supplied to
Sample circuit in alarm plays a part of converting electric energy for chemical energy, when gas concentration changes, gas sensing
Direct ratio variation also occurs therewith for the output electric signal of device, the intermediate circuit conversion amplification output through alarm, different to drive
Device completes the monitoring of gas concentration.This wireless multiple parameter MEMS sensor relative to other sensor advantages be using
It is convenient, it is small in size, it integrates, it is only necessary to which an air inlet is just capable of measuring all kinds of hazardous gas contents, and by data
It is transferred to ground command system.This device is placed in helmet inner wall, and makes a call to 2 centimetres of diameter in helmet inner wall, and 3 centimetres of length
Via hole, wireless multiple parameter MEMS sensor probe is placed in the inside, filter screen is covered at air inlet.
Photographic device 6 selects infrared camera to combine with thermal infrared imager, and this camera shooting is applied in fire-fighting and rescue, night
Visual effect fruit is ideal.Transmission of video camera is that infrared camera is combined with thermal infrared imager, in conventional camera, once
Fire occurs for the places such as market, cuts off the power at the first time, relatively dark inside market, switches camera in time, at this moment
Infrared camera can overcome the shortcomings of this block well, clearer can detect personnel's situation, and performance is stablized.By two
Kind camera is fixed on helmet front end, can carry out 360 degree rotation.
Communication module 4 communication use 4GMESH network communication, video transmission, sensor information feedback, sound reception and
Transmission is all made of 4GMESH network and is communicated.When fireman enters the scene of a fire, detected by wireless multiple parameter MEMS sensor
Temperature, carbon monoxide, methane concentration, and external equipment, the transmission of signal and the biography of audio-video are sent to by 4GMESH
It send and is all made of 4GMESH network, such mode efficiency of transmission is high, and performance is stablized.
In fire scene rescue, the osteoacusis ear that is combined using bone-conduction speaker technology with bone-conduction microphone technology
Machine, in fire-fighting and rescue environment, scene is very noisy, using this earphone, also other side can be allowed clear in sound of speaking very little
The instruction of Chu Zhidao expression, avoids the interference at scene.
Lighting device 7 is added smoke sensor device on this lamp, passes through monitoring using with the LED light for distributing orange coloured light
The concentration of smog feeds back information to master when detecting that smokescope is larger to reach the grading automatical adjusting of power of light
Unit is controlled, to control the electric current input of LED light, its intensity of light is made to become strong.It, can be in the environment that Dark smoke billows in the scene of a fire
There is down stronger penetration capacity, small in size, easy to use, environmental protection and energy saving moderate cost, headlamp, can also on helmet top
Rotation.
Emergency management and rescue positioning system in the scene of a fire of the present invention includes above-mentioned scene of a fire emergency management and rescue fire helmet and locating base station, is disappeared
The anti-helmet will acquire information and be sent to locating base station, and locating base station is transmitted to ground installation for information is acquired.Position label
It is the device location localization method based on UWB-TDOA, is placed in inside helmet top, determines fireman in the benchmark in rescue place
Position estimates that the difference of the distance of different terminals carries out by the time difference of measurement mobile terminal to different transmitting terminals
Positioning is reduced in the requirement compared to more traditional positioning method to synchronised clock, to improve positioning accuracy height, transmission rate
The advantages that height, real-time is good, and penetration capacity is strong.
Early-stage preparations locating base station (in order to guarantee positioning accuracy, base station 3 or more), 1 positioning (each fire-fighting of label 3
One is worn with member) and mobile power source, with the mode of TDOA, power supply is used to power to locating base station, looks for one to need to position
Region install locating base station, locating base station mounting height requires to be not less than 3 meters, then gives locating base station to supply with mobile power source
Electricity.Battery powered positioning label 3 can emit UWB signal to determine position, and locating base station is by measurement mobile terminal to not
With the time difference of transmitting terminal to calculate the difference to the distance of different terminals and then be positioned.Locating base station supports POE power supply
It powers, can also be powered directly to base station by POE interchanger with DC12.Position vibrating sensor, button cell built in label 3
For 1 year power, with the device location localization method based on UWB-TDOA, in fire-fighting environment, compare other positioning and
Speech, positioning accuracy is high, and secure safety is high.
The present invention positions label and locating base station and following localization method can be used and position, when base station number is 3,
If the coordinate with anchor point is (x, y, 0), that is, it is located at ground two-dimensional positioning scenarios.The position of transmitting terminal is (xn, yn, zn), n=
1,2,3 ..., n are transmitting terminal base station number, if using the 1st signal as reference signal, n-th of signal and the 1st signal when
Between difference be tn1, then the transmission distance deviation of n-th of locating base station and the 1st locating base station to anchor point is Rn1=Rn-R1, n=1,
2,3 ..., the coordinate (x, y) of anchor point, R can be acquired using transmission distance deviation1For first base station with it is to be positioned at a distance from, lead to
Cross measure the transmitting of different transmitting terminal pulse signal generators radio signal reach positioning Tag receiver burst length it is poor,
By the way that range difference is calculated, the distance of nth base station to anchor point is
Rn 2=(Rn1+R1)2=Rn1 2+2Rn1R1+R1 2
(x-xn)2+(y-yn)2+zn 2=Rn1 2+2Rn1R1+R1 2
It will
Above formula is substituted into,
If mn=xn 2+yn 2+zn 2 mi=xi 2+yi 2+zi 2
xni=xn-xi(xniFor the difference of two base station abscissas)
yni=yn-yi(yniFor the difference of two base station ordinates)
It can obtain: m1=x1 2+y1 2+z1 2
x2-2x×xn+xn 2+y2-2y×yn+yn 2+zn 2
=Rn1 2+2×Rn1×R1+(x-x1)2+(y-y1)2+z1 2
x2-2x×xn+xn 2+y2-2y×yn+yn 2+zn 2
=Rn1 2+2×Rn1×R1+x2-2x×x1+x1 2+y2-2y×y1
+y1 2+z1 2
Transposition, which merges similar terms, to be obtained: 2Rn1×R1+2xn1×x+2yn1× y=mn-
m1-Rn1 2
Transposition, which merges similar terms, to be obtained: 2Rni×Ri+2xni×x+2yni× y=mn-mi-Rni 2
When transmitting terminal base station number is 3, when enabling n=2, n=3 respectively, equation group is obtained:
Wherein, x, y can be found out using above formula, then can obtains position coordinates to be positioned.
In conclusion the wireless location method of emergency management and rescue positioning system in the scene of a fire provided by the invention, comprising the following steps:
1) i-th of base station is set as benchmark base station, obtains the distance R of positioning label and i-th of base stationi, i-th base station and the
The distance R of n base stationni, the coordinate for positioning label is (x, y, 0), and the position of nth base station is (xn, yn, zn), n=1,2,3, i
=1,2,3, and i ≠ n；
2) the abscissa x and ordinate y of positioning label are obtained by following formula；
2Rni×Ri+2xni×x+2yni× y=mn-mi-Rni 2
X, y obtained by calculation, to obtain the coordinate (x, y, 0) of positioning label；
Wherein, mn=xn 2+yn 2+zn 2, xniFor the abscissa difference of nth base station and i-th of base station, yniFor nth base station
With the ordinate difference of i-th of base station.
Following localization method also can be used and position in addition, the present invention positions label and locating base station, work as base station number
When being 4 or more, if the coordinate with anchor point is (x, y, z), i.e. three-dimensional localization situation.The position of transmitting terminal is (xn, yn, zn),
N=1,2,3 ..., n are transmitting terminal base station number, if using the 1st signal as reference signal, n-th of signal and the 1st signal
Time difference is tn1, then the transmission distance deviation of n-th of transmitting terminal and the 1st transmitting terminal to anchor point is Rn1=Rn-R1, n=1,2,
3 ..., the coordinate (x, y) of anchor point, R can be acquired using transmission distance deviation1For first base station with it is to be positioned at a distance from, n-th
The distance of a base station to anchor point is
Rn 2=(Rn1+R1)2=Rn1 2+2Rn1R1+R1 2
(x-xn)2+(y-yn)2+(z-zn)2=Rn1 2+2Rn1R1+R1 2
It will
Above formula is substituted into,
If mn=xn 2+yn 2+zn 2,mi=xi 2+yi 2+zi 2
xni=xn-xi(xniFor the difference of two base station abscissas)
yni=yn-yi(yniFor the difference of two base station ordinates)
zni=zn-zi(yniFor the difference of two base station z coordinates)
M can be obtainedn=xn 2+yn 2+zn 2,
x2-2x×xn+xn 2+y2-2y×yn+yn 2+z2-2z×zn+zn 2
=Rn1 2+2×Rn1×R1+(x-x1)2+(y-y1)2+(z-z1)2
x2-2x×xn+xn 2+y2-2y×yn+yn 2+z2-2z×zn+zn 2
=Rn1 2+2×Rn1×R1+x2-2x×x1+x1 2+y2-2y×y1
+y1 2+z2-2z×z1+z1 2
Transposition, which merges similar terms, to be obtained: 2Rn1×R1+2xn1×x+2yn1×y+2zn1× z=
mn-m1-Rn1 2
I.e. are as follows:
When transmitting terminal base station number is 4, when enabling n=2, n=3, n=4 respectively, equation group is obtained:
X, y, z wherein can be found out using above formula, then can obtain position coordinates to be positioned.
When transmitting terminal base station number is n, using i-th of signal as benchmark signal, available general formula are as follows:
In conclusion when transmitting terminal base station number is to be at least 4, a kind of scene of a fire emergency management and rescue positioning system it is wireless
Localization method, comprising the following steps:
1) i-th of base station is set as benchmark base station, obtains the distance R of positioning label and i-th of base stationi, i-th base station and the
The distance R of n base stationni, the coordinate for positioning label is (x, y, z), and the position of nth base station is (xn, yn, zn), n=1,2,3,
4 ..., i=1,2,3,4 ..., and i ≠ n；
2) the abscissa x and ordinate y of positioning label are obtained by following formula；
X, y obtained by calculation, to obtain the coordinate (x, y, z) of positioning label；
Wherein, mn=xn 2+yn 2+zn 2, xniFor the abscissa difference of nth base station and i-th of base station, yniFor nth base station
With the ordinate difference of i-th of base station, zniFor the ordinate difference of nth base station and i-th of base station.
Localization method provided by the invention requires to substantially reduce to the synchronous of time, save high-precise synchronization clock at
This, positioning accuracy is high.
The sensing device of fire helmet of the present invention further includes correction module, and correction module repairs collected gas
Just.
Electrochemical sensor belongs to small-signal acquisition, and signal is highly susceptible to extraneous interference；Therefore, collected original
Beginning data need to carry out data filtering processing, filter out useless interference data.Common filtering algorithm Finite Amplitude filter method, middle position
Value filtering method, digital averaging filtering method, recurrence average filter method, first-order lag filter method etc..Median filtering is mainly used herein
In conjunction with the integrated filter method of mean filter, that is, acquires n initial data and form set Sm, it sort from large to small
To new set Tn, then remove set T according to the actual situationnM element end to end is finally asked and is left the flat of element in set
Mean value, i.e.,The method can inhibit random disturbances and filter out apparent impulse disturbances, and output data is more
Smoothly.
Carbon monoxide, oxygen sensor are all electrochemical sensor in acquisition node, characteristic can variation with temperature and
Variation；Collected initial data could be used after having to pass through the modified process of temperature curve.20 DEG C of oxygen of fiducial temperature
Obtained value is compared with standard gas concentration value, both has apparent difference, this difference is come to the spy between sensor batch
The result in the either excessive school zero of sex differernce.For example, oxygen reference difference is as shown in table 1.
Experimental data is normalized first, point on the basis of measured value when by 20 DEG C, oxygen normalized curve
Figure is as shown in Figure 2.It is not difficult to find out that, oxygen is in high/low temperature experiment to the measured value of each concentration standard gas from normalized curve figure
Variation with temperature trend is consistent, this variation tendency is the rule of sensor corresponding temperature variation, to be obtained temperature and be repaired
Normalized value is done sums average first, obtains the set A of average normalized value by positive matched curven, gather with this to benchmark
Point makes the difference to obtain the set Δ A of Mean Deviation valuen；Average deviation is exactly the correction amount of sensor values corresponding temperature, with formula table
It is shown as:
VT=Vc+ΔAn×Vc (4)
In formula, VTIndicate true value, VcIndicate real-time measurement values.
1 oxygen data collection value of table
2 oxygen temperature of table amendment experiment reading
The data from table are this it appears that amendment of the temperature correction curve to measured value, the maximum fluctuation of oxygen measurement value
Amount is reduced to 0.5% from 2%.It proves that temperature correction used herein has general applicability, can effectively contain
The influence that temperature generates sensor.
Claims (10)
1. a kind of scene of a fire emergency management and rescue fire helmet, it is characterised in that: including headpiece case (1), and be arranged in headpiece case
(1) sensing device (2), positioning label (3), communication module (4), sound transmission device (5), photographic device (6), illumination dress on
Set (7)；
The headpiece case (1) includes outer housing and the thermal insulation layer that outer case inside is arranged in；
The sensing device (2) includes wireless multiple parameter MEMS sensor probe, for measuring gas data information；
The photographic device (6) includes infrared camera and thermal infrared imager；
The sound transmission device (5) includes bone-conduction speaker and bone-conduction microphone；
Smoke sensor device is provided on the lighting device (7).
2. emergency management and rescue fire helmet in the scene of a fire according to claim 1, it is characterised in that: the thermal insulation layer is incorporation dioxy
Change the silica aerogel of titanium.
3. emergency management and rescue fire helmet in the scene of a fire according to claim 2, it is characterised in that: the wireless multiple parameter MEMS is passed
Sensor probe setting is provided with mounting hole, wireless multiple parameter MEMS on headpiece case (1) left back end, the headpiece case (1)
Sensor probe is arranged in mounting hole, and covers filter screen.
4. emergency management and rescue fire helmet in the scene of a fire according to claim 3, it is characterised in that: the outer housing is poly- using enhancing
Nylon production is simultaneously fire retardant treated, and the lighting device (7) is using with the LED light for distributing orange coloured light.
5. emergency management and rescue fire helmet in the scene of a fire according to claim 1 or 2 or 3, it is characterised in that: the communication module
(4) 4GMESH network communication is used.
6. emergency management and rescue fire helmet in the scene of a fire according to claim 5, it is characterised in that: the sensing device (2) is also wrapped
Include memory, be stored thereon with for correct acquisition data computer program, when described program is executed by processor realize with
Lower step:
1) correction amount is obtained；
1.1) wireless multiple parameter MEMS sensor probe acquisition multiple groups gas data information, and data are normalized；
1.2) normalization numerical value is averaged, obtains the set A of average normalized valuen；
1.3) set A is usednDatum mark is made the difference to obtain the set Δ A of Mean Deviation valuen；
2) wireless multiple parameter MEMS sensor probe acquires gas data in real time；
3) data of acquisition are modified；
Acquisition data are modified by following formula；
VT=Vc+ΔAn×Vc
Wherein, VTIndicate revised numerical value, VcIndicate real-time collection value.
7. emergency management and rescue fire helmet in the scene of a fire according to claim 6, it is characterised in that: the datum mark is 20 DEG C of temperature
When measured value.
8. a kind of scene of a fire emergency management and rescue positioning system, it is characterised in that: any described including locating base station and claim 1 to 7
Scene of a fire emergency management and rescue fire helmet, the fire helmet is sent to locating base station for information is acquired, and locating base station will acquisition letter
Breath is transmitted to ground installation.
9. a kind of localization method based on emergency management and rescue positioning system in the scene of a fire described in claim 8, which is characterized in that including following
Step:
1) i-th of base station is set as benchmark base station, obtains the distance R of positioning label and i-th of base stationi, i-th base station with n-th
The distance R of base stationni, the coordinate for positioning label is (x, y, 0), and the coordinate of nth base station is (xn, yn, zn), n=1,2,3, i=
1,2,3, and i ≠ n；
2) the abscissa x and ordinate y of positioning label are obtained by following formula；
2Rni×Ri+2xni×x+2yni× y=mn-mi-Rni 2
X, y obtained by calculation, to obtain the coordinate (x, y, 0) of positioning label；
Wherein, mn=xn 2+yn 2+zn 2, xniFor the abscissa difference of nth base station and i-th of base station, yniFor nth base station and the
The ordinate difference of i base station.
10. a kind of localization method based on emergency management and rescue positioning system in the scene of a fire described in claim 8, which is characterized in that including with
Lower step:
1) i-th of base station is set as benchmark base station, the distance R of the positioning label and i-th of base station that obtaini, i-th base station with n-th
The distance R of base stationni, the coordinate for positioning label is (x, y, z), and the coordinate of nth base station is (xn, yn, zn), n=1,2,3,
4 ..., i=1,2,3,4 ..., and i ≠ n；
2) the abscissa x and ordinate y of positioning label are obtained by following formula；
X, y obtained by calculation, to obtain the coordinate (x, y, z) of positioning label；
Wherein, mn=xn 2+yn 2+zn 2, xniFor the abscissa difference of nth base station and i-th of base station, yniFor nth base station and the
The ordinate difference of i base station, zniFor the ordinate difference of nth base station and i-th of base station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910083317.9A CN109820271B (en) | 2019-01-28 | 2019-01-28 | Fire scene emergency rescue positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910083317.9A CN109820271B (en) | 2019-01-28 | 2019-01-28 | Fire scene emergency rescue positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109820271A true CN109820271A (en) | 2019-05-31 |
| CN109820271B CN109820271B (en) | 2024-08-20 |
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| CN110956772A (en) * | 2019-11-15 | 2020-04-03 | 西安优信机电工程有限公司 | Fire rescue system based on internet of things |
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| CN109820271B (en) | 2024-08-20 |
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