Research On Location Detection Of Firefighters Based On Strapdown Inertial Navigation

In the event of a major fire accident,how to effectively confirm the precise location information of firefighters is extremely important for rescue and guidance work.In a special indoor environment,GPS signals can be severely disturbed and cannot meet positioning requirements.Moreover,fire is an emergency event,so positioning methods like RFID that rely on the external environment cannot be applied to firefighters' movement position detection.Inertial sensors rely on their own characteristics to achieve autonomous positioning.Therefore,SINS is used in this paper.Methods,the firefighters in the indoor exercise position information research.In this paper,SINS(Strapdown Inertial Navigation)positioning technology is used to design a firefighter's movement position detection system.It analyzes and solves the information output by the inertial sensor,so that the information of the movement position of the firefighter carrying the system in the room can be obtained.Then,on the one hand,the master chip sends the resolved position information to the conductor using the GPRS network.The center facilitates directing the rescue work;on the other hand,it saves the location information to the SD card and draws the trajectory of the firefighter's motion detection system through simulation.Among them,the hardware of the system adopts a high-performance master chip,and is equipped with a MPU6050 gyroscope module,an SD card module,a GPRS module,and the like as a hardware platform for a firefighter motion detection system.Software: Based on the principle of strapdown inertial navigation,the acceleration and angular velocity information output by the MPU6050 module is calculated to determine the posture information and position information of the firefighter carrying the system indoors.In the process of calculation,four algorithms are involved: conversion between different coordinate systems,firefighter system attitude calculation,velocity solution and position solution,and their derivation and solution are completed.The positioning system can effectively detect the position information of the firefightersin the room and send the position information to the commander's center to conveniently direct the rescue work.At the same time,it saves to the SD card and draws a path trace through the computer.Experimental tests have found that the firefighter's position information can be transmitted to the commander's center in real time.The system's yaw angle error is approximately 0.14°,the roll angle error is approximately 0.06°,and the position trajectory relative error is 2.27%.