CN112630809A - Individual soldier navigation and positioning system based on open source satellite image map - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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Abstract
The invention discloses an individual navigation positioning system based on an open source satellite image map, which comprises: the system comprises a plurality of wearable wireless terminals, a navigation server and a display server; the wearable wireless terminals are in wireless communication connection with the navigation server; the navigation server is connected with the display server through a serial port. The wearable wireless terminal can effectively acquire corresponding physiological parameters of a human body by arranging the body temperature sensor, the blood oxygen saturation and pulse parameter acquisition module; the navigation server matches the acquired information with a plurality of open source satellite image maps for graphical processing, and finally, the processing result can be displayed through the display server; the method can realize self-adaptive positioning based on various open source satellite image maps without being limited by GPS positioning; the method has the advantages of reliability, real-time performance, remote wireless control and the like, and can be applied to industrial and military environments with higher requirements on real-time performance.
Description
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to an individual navigation and positioning system based on an open source satellite image map.
Background
The individual positioning system is an integrated product for protecting the safety of the staff on duty. The system comprises a back-office command device and an individual soldier corollary device, and has the functions of monitoring and commanding field on-site staff in real time, assisting the field commander to navigate for a lost team member, determining the real-time position of the team member in danger, quickly organizing search and rescue and the like. The information of positioning, direction, height, temperature and the like can be displayed, but the corresponding physiological parameters of the human body are not displayed.
In addition, the current individual navigation positioning system is based on GPS positioning, and the positioning is limited by the GPS; such a positioning system has two significant military limitations. Firstly, the method comprises the following steps: the system is limited in line of sight, i.e., the satellite must be within "sight" of the receiver's antenna in order to acquire the signal. This limitation is particularly acute for indoor (including underground) and urban environments, and poses serious challenges for ground forces, teleoperated aircraft, and navigation of precision ammunition. Tall buildings in a city may block the view of the satellites, causing reflections or "multipath" signals that can confuse the receiver. In an indoor environment, GPS signals are received but are severely attenuated, meaning that it is not easy for a building-protected ground combat unit to obtain reliable GPS position signals. Secondly, the method comprises the following steps: the enemy can easily destroy the GPS signal using simple technology and existing equipment. The GPS power is relatively low and an enemy can cause "interference" by simply transmitting a jamming signal.
Therefore, how to provide a single-soldier navigation and positioning system with comprehensive information and without GPS limitation becomes an urgent problem to be solved by practitioners of the same industry.
Disclosure of Invention
The main purpose of the present invention is to provide an individual navigation positioning system based on open source satellite image maps, which at least partially solves the above technical problems, can effectively collect corresponding physiological parameters of human body, is not limited by GPS positioning, and can realize adaptive positioning based on various open source satellite image maps.
In order to achieve the purpose, the invention adopts the technical scheme that:
an individual soldier navigation and positioning system based on an open source satellite image map comprises: the system comprises a plurality of wearable wireless terminals, a navigation server and a display server; the wearable wireless terminals are in wireless communication connection with the navigation server; the navigation server is connected with the display server through a serial port;
the wearable wireless terminal includes: the device comprises an MCU, and a wireless communication module, a self-adaptive positioning module, an electronic compass, an inclination sensor, a video acquisition camera, a temperature sensor, a digital altimeter, a body temperature sensor, an oxyhemoglobin saturation and pulse parameter acquisition module which are respectively connected with the MCU; the acquisition information acquisition includes: positioning information, orientation information, inclination information, video information, environmental temperature information, altitude information, human body temperature, blood oxygen and pulse information;
the MCU sends the acquired information to the navigation server through the wireless communication module, the navigation server matches the acquired information with a preset map for graphical processing, and a processing result is displayed through the display server; the preset map is an open source satellite image map, and includes but is not limited to: grand, Baidu, arcgis, Google, bin, Chart, Tencent, Opestrree, heaven and her maps.
Further, the adaptive positioning module comprises: the positioning system comprises a Beidou positioning unit, a UWB ad hoc network positioning unit, a GPS positioning unit, a base station positioning unit and an inertial navigation positioning unit.
Furthermore, the wearable wireless terminal also comprises a frequency modulation module; and the wearable wireless terminals are in wireless communication through a frequency modulation module.
Further, the MCU is an STM32 series 32-bit flash memory microcontroller of an ARM kernel Cortex-M3.
Furthermore, the wearable wireless terminal also comprises a display module for displaying the collected information and the communication information; the communication information comes from other wearable wireless terminals and/or navigation servers.
Further, dress wireless terminal still includes light and signal lamp.
Further, the wearable wireless terminal further comprises an alarm module, and the alarm module is a loudspeaker or a flashing lamp.
Further, the navigation server includes:
the 3D model building module is used for building a 3D model for the target range based on the preset map;
the processing module is used for setting virtual characters to be registered in the 3D model according to the corresponding acquisition information returned by the wearable wireless terminal;
and the monitoring module is used for monitoring the motion posture and the physiological parameters of the virtual character matched with the wearable wireless terminal in real time.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an individual soldier navigation and positioning system based on an open source satellite image map, which comprises: the system comprises a plurality of wearable wireless terminals, a navigation server and a display server; the wearable wireless terminals are in wireless communication connection with the navigation server; the navigation server is connected with the display server through a serial port. The wearable wireless terminal can effectively acquire corresponding physiological parameters of a human body by arranging the body temperature sensor, the blood oxygen saturation and pulse parameter acquisition module; the navigation server matches the acquired information with a plurality of open source satellite image maps for graphical processing, and finally, the processing result can be displayed through the display server; the method can realize self-adaptive positioning based on various open source satellite image maps without being limited by GPS positioning; the method has the advantages of reliability, real-time performance, remote wireless control and the like, and can be applied to industrial and military environments with higher requirements on real-time performance.
Drawings
Fig. 1 is a structural diagram of an individual navigation positioning system based on an open source satellite image map according to an embodiment of the present invention;
fig. 2 is a block diagram of a wearable wireless terminal according to an embodiment of the present invention;
fig. 3 is a block diagram of a navigation server according to an embodiment of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, the present invention provides an individual navigation positioning system based on an open source satellite image map, which includes: a plurality of wearable wireless terminals 1, a navigation server 2, and a display server 3; the wearable wireless terminals 1 are in wireless communication connection with the navigation server 2; the navigation server 2 is connected with the display server 3 through a serial port;
referring to fig. 2, each wearable wireless terminal 1 includes an MCU, and a wireless communication module 11, an adaptive positioning module 12, an electronic compass 13, an inclination sensor 14, a video capture camera 15, a temperature sensor 16, a digital altimeter 17, a body temperature sensor 18, a blood oxygen saturation and pulse parameter collection module 19 respectively connected to the MCU; the acquisition information acquisition includes: positioning information, orientation information, inclination information, video information, environmental temperature information, altitude information, human body temperature, blood oxygen and pulse information; for individual combat, the living environment is complex and changeable. Temperature and humidity etc. all can take place the violent change, consequently, the human body temperature, blood oxygen and the pulse information of gathering in this embodiment, can be convenient for the user in time master the humiture of environment where to make appropriate countermeasure.
The MCU is, for example, an STM 32-bit flash microcontroller of ARM kernel Cortex-M3, so that the space occupied by codes can be reduced, and the MCU has the advantage of low power consumption. The wireless communication module 11 is a 4G/5G communication module; ZigBee, WIFI and the like can also be adopted. Through the communication module of integrated zigBee, WIFI etc. be convenient for transmit the information of gathering to navigation server in. For example, the system can also communicate with external equipment by adopting an internal confidential non-standard wireless protocol, which is beneficial to ensuring the security of data.
The electronic compass 13 is a KMZ51 two-axis electronic compass; the body temperature sensor 18 is a TSIC506 digital high-precision body temperature sensor; the blood oxygen saturation and pulse parameter acquisition module 19 takes a CY8C5966LTI processor as an acquisition module,
the MCU sends the acquired information to the navigation server 2 through the wireless communication module 11, the navigation server matches the acquired information of the navigation server 2 with a preset map for graphical processing, and a processing result is displayed through the display server 3; the preset map is an open source satellite image map, and includes but is not limited to: grand, Baidu, arcgis, Google, bin, Chart, Tencent, Opestrree, heaven and her maps. The adaptive positioning module 12 comprises: the positioning system comprises a Beidou positioning unit, a UWB ad hoc network positioning unit, a GPS positioning unit, a base station positioning unit and an inertial navigation positioning unit. The method can be not limited to GPS positioning, various positioning modes, and the optimal positioning mode can be selected according to the specific use environment, so that accurate positioning is realized.
The UWB ad hoc network positioning unit adopts an indoor inertial navigation positioning technology, and can achieve the level positioning accuracy error smaller than 2 meters and the altitude positioning accuracy to the floor under the condition that extra equipment and beacon nodes are not required to be arranged. The device supports forward, lateral, backward, jogging and other advancing modes, and can work normally in high-temperature and low-temperature environments.
But this dress wireless terminal continuous operation time: not less than 8H; can support two communication modes of mobile communication and private network; when a private network communication distance (without relay) is adopted, the distance can be more than or equal to 5000M.
Furthermore, each wearable wireless terminal 1 further comprises a frequency modulation module 20, wireless communication can be carried out between the wearable wireless terminals 1 through the frequency modulation module 20, each individual soldier can be connected with each other to form a small-size internet, recent army position, enemy information and position maps can be obtained, accurate altitude can be obtained through a digital altimeter, and therefore the three-dimensional positioning and map drawing functions are achieved.
Further, the wearable wireless terminal 1 further includes a display module 21, such as a liquid crystal LCD touch screen, supporting 2D/3D display. Positioning information, azimuth information, inclination angle information, video information, environment temperature information, height information, human body temperature, blood oxygen and pulse information can be displayed; and displaying communication information from other wearable wireless terminals and/or navigation servers.
Further, the wearable wireless terminal further comprises an alarm module 22, and the alarm module 22 is a speaker or a flashing light. For example, when the application scene is in a high altitude area, the environment is poor, the sound is noisy, and if a buzzer is adopted, the buzzer cannot be heard by others, so that a loudspeaker with larger sound or a flashing lamp which is easier to see is selected. The wearable wireless terminal 1 further comprises an illuminating lamp and a signal lamp; the LED lamp can be used for night illumination, and the signal lamp can show different states by displaying light with different colors. For example, when a red light is emitted, indicating a dangerous condition, other team members or command departments can receive the information to take corresponding measures.
Referring to fig. 3, the navigation server 2 includes:
the 3D model building module 31 is configured to build a 3D model for the target range based on the preset map;
and the processing module 322 is configured to set a virtual character to be registered in the 3D model according to the corresponding acquisition information returned by the wearable wireless terminal.
And the monitoring module 33 is configured to monitor the motion posture and the physiological parameters of the virtual character matched with the wearable wireless terminal in real time.
For example, when a firefighter uses the wearable wireless terminal to be located in a fire extinguishing site, the navigation server can construct a 3D model of a target range based on a preset map, set a virtual character to be registered in the 3D model according to the collected information returned by the corresponding wearable wireless terminal, and monitor the motion posture and the physiological parameters of the virtual character matched with the wearable wireless terminal in real time. Therefore, the functions of building a 3D model of the fire building, three-dimensional positioning of firemen, displaying the motion trail playback through the display server and the like are realized. The 3D model can be viewed from multiple visual angles such as pitching and rotating; the rescue monitoring system can monitor the motion posture (such as gradient, angular velocity, linear acceleration and direction) of a firefighter in the rescue process in real time, track and display information such as real-time three-dimensional motion track, direction, distance, height and state (stagnation, walking, running, elevator getting on and off and falling down) of the rescuers, can be used for monitoring and commanding the rescuers in real time, assists a field commander in navigating for a lost team member, determines the position of the person in distress and quickly organizes search and rescue. The device is provided with an alarm module, and has a falling alarm function when the monitored movement posture falls; and commanders at the display server end can give alarm and command evacuation in a group call or a single call; can provide indoor navigation for emergency rescue, greatly improves the safety of fire fighting actions, and effectively ensures the life safety of firemen.
The embodiment of the invention provides an individual navigation positioning system based on an open source satellite image map, which comprises: the system comprises a plurality of wearable wireless terminals, a navigation server and a display server; the wearable wireless terminals are in wireless communication connection with the navigation server; the navigation server is connected with the display server through a serial port. The wearable wireless terminal can effectively acquire corresponding physiological parameters of a human body by arranging the body temperature sensor, the blood oxygen saturation and pulse parameter acquisition module; the navigation server matches the acquired information with a plurality of open source satellite image maps for graphical processing, and finally, the processing result can be displayed through the display server; the method can realize self-adaptive positioning based on various open source satellite image maps without being limited by GPS positioning; the method has the advantages of reliability, real-time performance, remote wireless control and the like, and can be applied to industrial and military environments with higher requirements on real-time performance.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an individual soldier navigation positioning system based on open source satellite image map which characterized in that: the method comprises the following steps:
the system comprises a plurality of wearable wireless terminals, a navigation server and a display server; the wearable wireless terminals are in wireless communication connection with the navigation server; the navigation server is connected with the display server through a serial port;
the wearable wireless terminal includes: the device comprises an MCU, and a wireless communication module, a self-adaptive positioning module, an electronic compass, an inclination sensor, a video acquisition camera, a temperature sensor, a digital altimeter, a body temperature sensor, an oxyhemoglobin saturation and pulse parameter acquisition module which are respectively connected with the MCU; the acquisition information acquisition includes: positioning information, orientation information, inclination information, video information, environmental temperature information, altitude information, human body temperature, blood oxygen and pulse information;
the MCU sends the acquired information to the navigation server through the wireless communication module, the navigation server matches the acquired information with a preset map for graphical processing, and a processing result is displayed through the display server; the preset map is an open source satellite image map, and includes but is not limited to: grand, Baidu, arcgis, Google, bin, Chart, Tencent, Opestrree, heaven and her maps.
2. The individual navigation and positioning system based on the open source satellite image map as claimed in claim 1, characterized in that: the adaptive positioning module comprises: the positioning system comprises a Beidou positioning unit, a UWB ad hoc network positioning unit, a GPS positioning unit, a base station positioning unit and an inertial navigation positioning unit.
3. The individual navigation and positioning system based on the open source satellite image map as claimed in claim 1, characterized in that: the wearable wireless terminal also comprises a frequency modulation module; and the wearable wireless terminals are in wireless communication through a frequency modulation module.
4. The individual navigation and positioning system based on the open source satellite image map as claimed in claim 1, characterized in that: the MCU is an STM32 series 32-bit flash memory microcontroller of an ARM kernel Cortex-M3.
5. The individual navigation and positioning system based on the open source satellite image map as claimed in claim 1, characterized in that: the wearable wireless terminal also comprises a display module used for displaying the collected information and the communication information; the communication information comes from other wearable wireless terminals and/or navigation servers.
6. The individual navigation and positioning system based on the open source satellite image map as claimed in claim 1, characterized in that: the wearable wireless terminal further comprises an illuminating lamp and a signal lamp.
7. The individual navigation and positioning system based on the open source satellite image map as claimed in claim 1, characterized in that: the wearable wireless terminal further comprises an alarm module which is a loudspeaker or a flashing lamp.
8. The individual navigation and positioning system based on the open source satellite image map as claimed in claim 1, characterized in that: the navigation server includes:
the 3D model building module is used for building a 3D model for the target range based on the preset map;
the processing module is used for setting virtual characters to be registered in the 3D model according to the corresponding acquisition information returned by the wearable wireless terminal;
and the monitoring module is used for monitoring the motion posture and the physiological parameters of the virtual character matched with the wearable wireless terminal in real time.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114390176A (en) * | 2022-01-18 | 2022-04-22 | 南宁市景英旭安防科技有限公司 | Civil recognition command system for military police |
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| CN210168234U (en) * | 2019-06-14 | 2020-03-20 | 国智恒北斗科技集团股份有限公司 | Comprehensive emergency command system based on 4G and Beidou |
| CN110376627A (en) * | 2019-07-24 | 2019-10-25 | 东南大学 | Adaptive absolute fix method and positioning system in a kind of complex environment |
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