基于惯性传感器的便携式消防员搜救系统  

Portable fireman search and rescue system based on inertial sensors

作　　者：苏菲[1] 金志刚[1] 王柄鉴 

机构地区：[1]天津大学电子信息工程学院,天津300072

出　　处：《计算机应用研究》2015年第12期3677-3681,共5页Application Research of Computers

基　　金：国家自然科学基金资助项目(61162003)

摘　　要：为解决在复杂室内环境中消防员定位困难的问题,设计了基于微惯性传感器的消防员搜救系统。该系统选用微陀螺仪、微加速度计集成传感器ADIS16350和单轴/双轴磁阻传感器HMC1021/1022进行消防员数据采集,由ARM STM32F103RBT6处理器进行数据处理。在数据处理过程中,通过卡尔曼滤波完成角速度数据融合,解决陀螺仪偏移误差问题;使用四元数法进行消防员姿态检测,行人航迹推算算法推算消防员行走轨迹。实验结果表明,系统可以实时探测消防员的姿态信息以及连续的二维位置信息,定位准确性高。硬件系统稳定可靠,方便消防员穿戴。In order to solve the difficult problem in firemen localizing in the complex indoor environments, this paper proposed a fireman search and rescue system based on micro inertial sensors. The system used the sensor ADIS16350 integrated with microgyroscope and micro-aceelerometer, and the single/dual-axis magnetic resistance sensors HMC1021/1022 to collect data on fireman＇ s motion. The data was processed by ARM STM32F103RBT6 processor. During the period of data processing, the Kalman filter completed the angular velocity data fusion which solved the gyro offset error problem. It detected the fireman＇ s gesture with the aid of quaternion algorithm and calculated the fireman＇ s treading tracks by pedestrian dead reckoning algorithms. The results of the experiments show that the system can detect the information of both the fireman＇ s gesture and the continuous real-time two-dimensional locations and achieves a high accuracy of localization. Meanwhile, the hardware system is stable, reliable and easy for firemen to wear.

关 键 词：惯性传感器 姿态检测 行人航迹推算 ADIS16350 HMC1021/1022 

分 类 号：TN964.3[电子电信—信号与信息处理]