火灾现场遇险消防员定位技术的研究

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摘要

近年来，世界各国不安全因素大肆存在，除了人为的各种原因引起的社会动

荡外，自然灾害也频繁发生，大型火灾、地震、涝灾等时有发生。而在这些灾害

中起着重要救援任务的消防员的生命安全也随时受到威胁，为了保障救援工作的

顺利进行和消防官兵的人身安全，对参与救援的消防员的及时跟踪定位并在必要

时候采取救助措施是救援工作中必不可少的重要组成部分。

虽然目前的定位技术已获得了较大发展，但对于在复杂陌生环境中实施救援

工作的消防员来说，还没有一种较为成熟的系统能满足其定位需求。GPS 信号难

以穿透建筑物，在高楼耸立的城市和建筑物内难以通过 GPS 实现定位。基站定位

（手机定位）虽然能覆盖到建筑物内，但其定位精度无法满足以上要求。现有的

室内定位技术，如超声波定位、光跟踪定位都需要额外增加一些固定参考点来实

现，而 Wi—Fi 定位、蓝牙定位和 ZigBee 定位则因通信距离较短，也被排除在外。

本文主要针对消防员定位的特点，提出了利用航位推算和 GPSOne 两种定位

方式进行混合的定位。首先介绍了目前常用的一些定位方式，比较了各自的异同

并由此提出了本文的定位方法。重点研究了航位推算的原理和实现方法，将三轴

加速度计、电子罗盘和三轴陀螺仪三个传感器组成了一个惯性测量单元，利用竖

直方向的加速度判断步伐，通过电子罗盘测量消防员在运动过程中的方向角，并

利用三轴陀螺仪对其进行校准，以提高角度测量的精度，这是提高整个航位推算

精度的关键。详细阐述了 GPSOne 和UWB 定位的原理和方法，GPSOne 是GPS

定位和 CDMA 网络定位的融合，二者在定位的范围上形成了互补。UWB 信号由

于现实应用问题并没有直接运用到定位中，而是利用了其测距的优势来对

GPSOne 定位距离进行了校验。最后论文介绍了数据融合和卡尔曼滤波的基本原

理和方法，并将航位推算和 GPSOne 的定位信息通过自适应联合卡尔曼滤波进行

了融合，通过实验比较，融合后的系统的确在一定程度上提高了定位精度。

论文提出的将航位推算和 GPSOne 定位进行融合的定位方法适应现在定位技

术发展的潮流，并且通过实验可以看出数据融合后的定位效果明显比单独的航位

推算或是 GPSOne 定位效果好，它一方面在一定程度上减小了航位推算的累积误

差，另一方面提高了室内定位的精度。从整体上来说，该定位算法有很强的现实

意义和实用价值。

关键词：航位推算 GPSOne UWB 卡尔曼滤波数据融合

ABSTRACT

In recent years, the countries all over the world are filled with all kinds of unsafe

factors, such as the social instability caused by human being with various reasons,

natural disasters including large fire, earthquake and flood. The firemen’s lives were

threatened when they work in the horrible disasters, so it’s very necessary to ensure the

safety of the firemen to complete the fire fight successful. We should know the exact

location of the firefighters before taking measures to rescue them if they were in

danger. So location of the firemen is a very important part of the fire rescue system.

Nowadays, there is no one location system appropriate for the firefighters in the

complicated and unfamiliar environment, though location technology has developed

quickly this years. GPS can not locate a person who is indoor or between the buildings

in the crowd city because of the obstructed signals by the buildings. Mobil location

signals can cover the buildings, but the accuracy of the location can not satisfy the

location needs. There are many indoor location methods nowadays, such as infrared

ray location and ultrasonic wave location, but they need to add some fixed reference

tags. Bluetooth, Wi-Fi and ZigBee technology are also suitable for indoor location, but

the communication distance is too short for the need, so we need another method to

locate the firemen at the fires.

According to the characteristic of the firemen location, I propose a method to

locate the firefighters with a location method mixed with dead reckoning and GPSOne

in this paper. Firstly, I introduced some location method that usually used, compared

the characteristic and the differences between them, and then proposed the method I

will utilize in the paper. I focused on the filed to research the principle of dead

reckoning and the achieve method. I composite a inertial measurement unit(IMU) with

3-axis accelerometer, 3-axis digital compass and 3-axis digital gyroscope.3-axis

accelerometer is used to measure acceleration and the vertical acceleration is used to

detected steps, digital compass measure the heading of the firefighters, digital

gyroscope measure the variation of the heading and calibrate the heading obtained by

compass. The key of improving the accuracy of dead reckoning is to improve the

measure accuracy of heading of the firemen. After that, I described the principle and

method of GPSOne and UWB in detail. GPSOne is the fusion of GPS and CDMA

network positioning, they complete each other in the positioning scope. I didn’t use

UWB to locate the firemen directly because of its disadvantage in the practical

application, but to complete the GPSOne positioning. At last, I introduced the theory

and method of data fusion and Kalman filter, and then I fused the dead reckoning and

GPSOne positioning with adaptive federal kalman filter. From the real test, I can see

that the location effect has improved much comparing to the location method without

fusion before.

The hybrid positioning method with dead reckoning and GPSOne proposed in the

paper adapts to the development trend and achieved good location performance from

the real test. On the one hand, the hybrid positioning method has reduced the

accumulated error of dead reckoning, on the other hand, it has improved the indoor

location effect, as a whole, the hybrid positioning method has very strong realistic

meaning and practical value.

Key words: Dead reckoning, GPSOne, UWB, Kalman filter, Data

Fusion

中文摘要

ABSTRACT

第一章绪论 .....................................................................................................................1

§1.1 课题研究背景及意义 .......................................................................................1

§1.2 人员定位的现状 ................................................................................................2

§1.3 人员定位的发展趋势 ........................................................................................2

§1.4 论文主要研究内容和结构安排 .......................................................................3

第二章航位推算定位算法的研究和实现 .....................................................................5

§2.1 人员定位技术的分类 ........................................................................................5

§2.1.1 红外线、超声波定位 .............................................................................5

§2.1.2 蓝牙定位 .................................................................................................6

§2.1.3 Wi-Fi 定位 ............................................................................................... 6

§2.1.4 ZigBee 定位 .............................................................................................6

§2.1.5 RFID 定位 ............................................................................................... 7

§2.1.6 UWB 定位 ............................................................................................... 7

§2.2 室内定位算法 ...................................................................................................7

§2.2.1 接收信号强度 ..........................................................................................7

§2.2.2 到达角度 ..................................................................................................7

§2.2.3 到达时间 ..................................................................................................8

§2.2.4 到达时间差 ..............................................................................................8

§2.3 航位推算和步态识别 .......................................................................................8

§2.3.1 航位推算 .................................................................................................8

§2.3.2 数据采集和滤波 ...................................................................................10

§2.3.3 走路和跑步的步伐判断 .......................................................................12

§2.4 计算步长 .........................................................................................................15

§2.4.1 步长计算模型 .......................................................................................15

§2.4.2 步长计算 ...............................................................................................17

§2.5 方位角的校正 .................................................................................................18

§2.5.1 电子罗盘 ...............................................................................................18

§2.5.2 电子罗盘校准 .......................................................................................19

§2.5.3 陀螺仪 ...................................................................................................21

§2.6 计步并实现航位推算 .....................................................................................22

§2.7 本章小结 .........................................................................................................22

第三章 GPSOne 和UWB 定位 .................................................................................... 24

§3.1 GPSOne 定位 ...................................................................................................24

§3.1.1 CDMA 定位 ...........................................................................................24

§3.1.2 GPS 定位 ............................................................................................... 24

§3.1.3 GPSOne 定位 .........................................................................................25

§3.2 UWB 定位 ....................................................................................................... 27

§3.2.1 UWB 概述及其特点 ............................................................................. 27

§3.2.2 UWB 定位原理和方式 ......................................................................... 28

§3.2.3 直接时差计数的 TDOA 定位 ............................................................. 30

§3.3 GPSOne 和UWB 定位 ................................................................................... 32

§3.4 本章小结 .........................................................................................................34

第四章混合定位的实现 ...............................................................................................35

§4.1 混合定位和数据融合 .....................................................................................35

§4.1.1 数据融合的概念和结构模型 ...............................................................35

§4.1.2 数据融合技术分类 ...............................................................................37

§4.2 卡尔曼滤波 .....................................................................................................38

§4.2.1 卡尔曼滤波的概念 ...............................................................................38

§4.2.2 卡尔曼滤波算法 ...................................................................................40

§4.2.3 扩展卡尔曼滤波 ...................................................................................41

§4.3 联合卡尔曼滤波 .............................................................................................42

§4.3.1 联合卡尔曼滤波的原理 .......................................................................42

§4.3.2 联合卡尔曼滤波的实现 .......................................................................43

§4.3.3 自适应联合卡尔曼滤波 .......................................................................44

§4.4 数据融合前后定位效果对比 .........................................................................45

§4.5 本章小结 .........................................................................................................46

第五章算法应用平台与实测效果分析 .......................................................................47

§5.1 算法实现的硬件平台 .....................................................................................47

§5.1.1 硬件总体结构 .......................................................................................47

§5.1.2 传感器的选择 .......................................................................................49

§5.2 算法实现的软件平台 .....................................................................................50

§5.3 实验步骤 .........................................................................................................51

§5.4 实测验证与分析 .............................................................................................53

§5.4.1 室外定位结果与分析 ...........................................................................53

§5.4.2 室内定位结果与分析 ...........................................................................54

§5.5 本章小结 .........................................................................................................55

第六章总结与展望 .......................................................................................................56

§6.1 工作总结 .........................................................................................................56

§6.2 工作展望 .........................................................................................................57

参考文献 .........................................................................................................................58

在读期间公开发表的论文和承担科研项目及取得成果 .............................................61

致谢 ...............................................................................................................................62

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摘要：

摘要近年来，世界各国不安全因素大肆存在，除了人为的各种原因引起的社会动荡外，自然灾害也频繁发生，大型火灾、地震、涝灾等时有发生。而在这些灾害中起着重要救援任务的消防员的生命安全也随时受到威胁，为了保障救援工作的顺利进行和消防官兵的人身安全，对参与救援的消防员的及时跟踪定位并在必要时候采取救助措施是救援工作中必不可少的重要组成部分。虽然目前的定位技术已获得了较大发展，但对于在复杂陌生环境中实施救援工作的消防员来说，还没有一种较为成熟的系统能满足其定位需求。GPS信号难以穿透建筑物，在高楼耸立的城市和建筑物内难以通过GPS实现定位。基站定位（手机定位）虽然能覆盖到建筑物内，但其定位精度无法满足以上...

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