基于LoRa的火灾救援现场人员定位算法研究  

PERSONNEL LOCATION ALGORITHM IN FIRE RESCUE SCENE BASED ON LORA

作　　者：吴雅琴[1] 师兰兰 Wu Yaqin;Shi Lanlan(School of Mechanical Electronic and Information Engineering,China University of Mining and Technology-Beijing,Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《计算机应用与软件》2020年第6期70-75,共6页Computer Applications and Software

基　　金：国家重点研发计划项目(2016YFC0801402);中央高校基本科研业务费专项资金项目(2011YJ15)。

摘　　要：针对火灾救援现场中消防人员定位难的问题,采用LoRa通信技术和改进的行人航迹推算(Pedestrian Dead Reckoning,PDR)算法来实现消防人员的精确定位。选择SX1280 LoRa芯片和STM32F103微处理器设计LoRa通信模块,保证通信的可靠性。利用参考点气压值结合运动趋势(Combine Reference Point Pressure with Motion Trend,CRPPMT)进行楼层判定。将改进自适应算法和零点穿越算法结合用于步频检测,选用消防人员的经验公式估计步长,对四元数表示的坐标系卡尔曼滤波估计航向,实现水平定位。利用扩展卡尔曼滤波(Extended Kalman Filter,EKF)对上述数据进行融合,较大地提高了定位精度,实现消防人员的室内定位。Aiming at the problem of difficult location of firefighters in fire rescue scene,this paper adopts LoRa communication technology and improved pedestrian dead reckoning(PDR)algorithm to realize the accurate location of firefighters.SX1280 LoRa chip and microprocessor STM32F103 were selected to design LoRa communication module,so as to ensure the reliability of communication.The combine reference point pressure with motion trend(CRPPMT)was used to make floor determination.The improved adaptive algorithm and zero crossing algorithm were combined for step frequency detection.The empirical formula of firefighters was used to estimate the step length,and the Kalman filter in the quaternion coordinate system was used to estimate the course,so as to realize the horizontal positioning.Finally,Extended Kalman Filter(EKF)was used to fuse the above data,which greatly improved the positioning accuracy and realized the indoor positioning of firefighters.

关 键 词：室内定位 LoRa CRPPMT 改进自适应 零点穿越 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]