消防员应急救助三维定位技术

摘要

This paper researches a three-dimensional positioning scheme for emergency rescue of trapped firefighters at the fire scene. This scheme adopts Chirp Spread Spectrum (CSS) and it's particular Symmetric Double-Sided Two-Way Ranging (SDS-TWR). Combining BMP085 pressure sensor to measure altitude, it can implement three-dimensional 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.%研究了一种在火灾现场对被困消防员进行应急救助的三维定位方案.该方案采用线性调频扩频(CSS)技术与其独有的对称双边两路测距(SDS-TWR)机制,并结合BMP085气压传感器测量高度,实现对消防员的三维定位.由于火灾现场复杂的环境加强了Chirp信号传输时的多径效应,因此采用卡尔曼滤波法滤除坐标突变值,能够将定位误差控制在1m以内.