Design of low cost pedestrian location system based on inertial navigation

摘要

When carrying out special services of rescue and firefighting in buildings, underground works, tunnels and mine, where has no GPS signal, it's important to get location information of special staff, which used by guiding rescue, evacuation and force dispatch. In order to meet the above requirements, this system uses the inertial measurement unit constructed by 3-axis acceleration, 3-axis gyroscope and 3-axis geomagnetic sensor to complete the measurement of pedestrian motion information, calculate the personnel attitude through the cosine matrix, and use the extended Kalman filter the calculation of the speed and position of the personnel is carried out, and the zero speed detection is realized by the gyroscope to reduce the accumulated error of the calculation, thus realizing the key technology of inertial navigation. Using ZigBee and WIFI modules, the development of portable wireless network nodes, to build a wireless self-organizing network. Using embedded microcontrollers and MEMS inertial sensors to build a wearable wireless navigation and positioning system. Using wireless ad hoc network, implement real-time online monitoring of the staff positions and movement trajectory. The wearable wireless navigation and positioning system can accurately obtain the position and movement trajectory of the rescue personnel. Using the wireless ad hoc network, the position and the trajectory information of the rescue personnel can be transmitted to the control center in real time to provide information for the disaster relief command and decision support service.