The Research Of Personnel Location And Search Technology Based On UWB And Inertial Measurement Unit

In emergency rescue operations,the location information of rescuers and the people who need to be rescued are very important to command center.The Inertial Measurement Unit(IMU)carried by rescuer can use its own sensor information to estimate the location information of the rescuer in various complex environments,but to a large extent,it can't get the location information of the people who need to be rescued.Therefore,developing personnel location technology with search function becomes the key to the modern efficient emergency rescue.With the rapid development of Ultra Wide Band(UWB)radar technology,radar sensors tend to be miniaturized and portable.Through the combination with the inertial technology,it is able to achieve the complementation of location information of the search process,complete the search of the people who need to be rescued,which has very good application prospects.In this thesis,locations of rescuers and people who need to be rescued can be estimated by the way that rescuers carring IMU and UWB terminals with them.The IMU and UWB terminals can provide the location information for rescuers,the UWB search radars carried by rescuers can obtain the location information of the people who need to be rescued.After that,the positioning and searching function of the system can be realized.The main research contents are as follows:Aiming at the problem of positioning the rescuers,a joint location algorithm based on UWB and IMU is proposed in this thesis.In this algorithm,the extended kalman filter is used as the information fusion framework,the ranging information of UWB equipment is used as the observation measurement,and the Non-Line of Sight(NLOS)error recognition and compensation mechanism is established.Experiments prove that the joint location algorithm reduces the requirement of the number of UWB base stations,and can still locate the rescuers accurately in the case of sparse base stations.Meanwhile,the joint location algorithm can identify and compensate the NLOS error in the measurement results.Compared with the traditional fusion algorithm,the location error of the joint location algorithm reduced by 48% in the complex environment.Aiming at the problem of searching the people who need to be rescued,this thesis adopts the combination of the target search algorithm based on mobile radar network and the Synthetic Aperture Radar(SAR)imaging technology of UWB search radar to find and locate the people who need to be rescued.The target search algorithm based on mobile radar network can alleviate the impact of ranging error with the help of redundant measurement information,and it can preliminarily locate the people who need to be rescued,which can effectively reduce the search scope of rescuers.The synthetic aperture imaging technology of UWB search radar can detect the search area,it can find and locate the people who need to be rescued by comparing the detection results at different times.Experiments prove that the success rate of the search and rescue technology up to 70%.