Positioning Technology for Firefighters' Emergency Rescue Based on CSS

摘要

This paper researches a 3D positioning scheme for emergency rescue of trapped firefighters at the fire scene. This scheme adopts Chirp Spread Spectrum (CSS) and its particular Symmetric Double-Sided Two-Way Ranging (SDS-TWR). Combining BMP085 pressure sensor to measure altitude, it can implement 3D positioning of firefighters. Due to the complex environment of the fire scene would cause multipath effect when Chirp signal being transmitted, this scheme uses Kalman filtering method to filter out mutative coordinate value, thus the positioning error can be controlled within 1 m.