Research Of Location Without Blind Area And State Monitoring For Dangerous Workers

Although a variety of hazardous operation robot research develops rapidly,thefire,earthquake and other sudden accidents still mainly rely on workers to disposal andrescue, so in order to facilitate command and rescue,we need a realtime monitoring ofdangerous work position and the state of the system. This article put forward the navigationcondition monitoring system based on GPS and blind estimation based on the study of theadvantages and disadvantages of various positioning system.This thesis studies on thedeveloping platform of the hardware of the system.This article design and introduce thecircuit of sensor and the peripheral of the system through the hardware of thesystem demand analysis and finally completed the hardware development platform. In thesoftware algorithm of the system, through the study of PDR algorithm, This article putforward the relation between distance and step,and through the characteristics of humanbody physiology, put the frequency, the walking state,a distance of three together, lead toclassification method of human movement state and rely mainly on the methods of featureextraction, in two aspects of the acceleration signal in time domain and frequency domainfeature extraction, and then the motion state of human body is divided into seven stateinclude walking, running up and down the stairs and so on. In order to improve the blindestimation accuracy, calibrate the compass course, this article divided into two kinds ofcompensation method include the obliquity compensation and compensation of magnetic.In order to overcome the shortcoming of blind estimation algorithm, this paper adoptsintegrated navigation algorithm combined with GPS,because of simple fusion algorithm istoo dependent on the accuracy of GPS, this paper finally adopted the integrated navigationtechnology based on Calman filter, improve the application and positioned accuracy greatlyon the positioning system. The position and state monitoring system designed in this paperachieved without blind positioning operations personnel, and can display the motion stateof human body, conducive to the operation command, and can improve the safety ofdangerous work.