基于多传感器的室内三维定位算法研究

针对消防员在日常救援过程中难以准确获知自身位置坐标的问题,采用姿态传感器和气压计,提出一种室内三维定位算法(ITPA)。在ITPA算法中,根据加速度的幅值均方根、加速度的幅值方差和角速度的幅值均方根,实现过零监测,从而获知消防员的行走步数。根据气压计的数据,采用高度获取,卡尔曼滤波和异常数据处理等操作,获知消防员的高度,并判断其移动行为。通过二维移动距离计算和位置获取操作获知二维坐标。根据消防员的行为对其三维坐标观测值进行修正,并采用Kalman融合算法估计消防员的当前三维位置坐标。实验结果表明:在直行行走、楼梯行走和综合行走下,ITPA算法都能获得较接近真实路线的消防员室内三维位置,降低了算法的步数误差、距离误差和漂移误差,比FINS,IPNS和IPA3D算法更优。     

基于UWB的消防员室内协同定位算法

为了在复杂火场环境下获取消防员的精确位置,提出基于超宽带(ultra-wideband,UWB)的消防员室内协同定位算法,充分利用目标到UWB基站以及到其他目标的测距信息进行定位.采用线性拟合方式对测量距离中存在的标准偏差进行预处理;针对目标位置解算及非视距(non-line-of-sight,NLOS)误差缓解问题,...     

基于RFID的消防员定位

近年来消防员安全事故频发,消防员定位技术也受到了更多的关注;传统的非视距定位方法存在可实践性不足、定位成本高、定位精度低的问题,所以我们提出了基于RFID的消防员定位方法,它综合各种定位系统,采用RSSI算法进行测距定位。本文针对外场消防员救火时,发生火场坍塌的情况,根据消防员定位信息,能够快速及时展开指挥救援,最大限度降低伤亡。     

基于矢量传感器的空中脱靶量测量方法研究

针对现有声学空中脱靶量测量方法,无法实现三维定位的现状,提出引入矢量传感器技术的新思路.设计了一种基于矢量声学传感器的布阵方案,采用声压、振速互谱实现了目标的到达方向(DOA)估计,并利用概率法实现了多基阵的目标三维定位.通过仿真实验表明:该方法可以解决声学脱靶量测量空间定位技术难题,定位精度满足要求.     

UWB 技术在消防员位置定位系统研究与应用

设计一种基于无载波通信超宽带技术(UWB),对消防员的位置定位进行设计的系统,克服了传统位置定位系统缺点,并一步提高对消防员的位置定位的精确度,而且能够在室内发挥良好作用。超宽带定位技术具有功耗低、高速、抗多径效果好、安全性高,特别是能够在定位方面能够提供非常高的精度等优点,在无线电技术定位方面具有很大发展潜力。     

基于超宽带通信的高精度定位系统设计

针对目前流行的室内定位技术定位精度差的问题,提出了基于STM32F103RBT6和DecaWave的单片收发一体射频芯片DW1000的超宽带(UWB)通信定位方案,设计了系统的软硬件,讨论了相关定位算法.系统中被测节点(Tag)与锚节点(Anchor)通过双向TDOA算法得到两者之间的距离,Tag与多个Anchor的距离通过UWB通信被汇总至定位服务器,由定位服务器三角质心定位算法测算出Tag的三维空间坐标.实验结果表明,系统在LOS环境下具有较高的精度,在NLOS环境下也具有良好表现.     

适应山头地形的无线传感器网络三维定位机制

使用三维DV-Hop算法对无线传感器进行定位时,存在定位误差较大且不稳定的问题,使三维DV-Hop算法的实际应用能力较差.提出了适应山头地形的无线传感器网络(WSNs)非测距三维定位算法.应用山头地形的特点,将最小二乘法所求得的结果进行投影处理,大幅度提高了定位的精确度.在模拟山头地形的环境中进行仿真实验,相对定位误差为35％左右,比三维DV-Hop算法的相对定位误差有较大幅度的降低,有较高的实用价值.     

基于麦克风阵列的室内三维声源定位优化算法

针对基于相位变换加权的可控响应功率(Steered Response Power-PHAse Transform,SRP-PHAT)定位算法精度高但实时性差的问题,本文引入基于到达时间差(Time Difference Of Arrival,TDOA)的定位算法以提高实时性,提出一种基于TDOA和搜索空间聚类(Search Space Clustering,SSC)优化的SRP-PHAT的组合算法?搜索空间收缩聚类算法.该算法先利用TDOA定位算法经过离群值校正后得到声源在方向角和径向距离上的估计范围,之后根据估计声源范围进行搜索区域收缩,最后利用SRP-PHAT-SSC算法在收缩区域内进行细粒度(5 cm)的空间搜索计算,得到估计声源的三维坐标.本文采用五元麦克风阵列,利用虚源法模拟室内声场,通过Matlab对声源进行了三维定位仿真.实验结果表明,改进后的算法与基于SRP-PHAT的全网格搜索(Full Grid Search,FGS)算法和SSC算法相比,在三维定位上的实时性和鲁棒性都得到了提高.     

三维传感网空间RSS与AOA混合测量的精确定位方法

由于位置坐标参数的增加,三维传感网空间的定位难度较二维平面有所增大.单一的依靠接收信号强度(RSS)确定节点位置坐标的方法将使定位的不确定性增加,定位误差也较大.新型的阵列与智能天线的出现为节点间的到达角度(AOA)测量提供了方便,为此本文提出了一种三维传感网空间RSS与AOA混合测量的精确定位方法.将采用混合测量建立的非线性优化模型转化为线性方程,分别提出了节点位置坐标估计的非约束线性最小二乘(ULLS)及约束线性最小二乘(CLLS)方法.仿真测试了所设计算法的有效性,分析了不同测量噪声对位置坐标估计误差的影响.仿真表明所设计的ULLS和CLLS方法的计算速度快,相比于ULLS方法,采用约束后的CLLS方法的定位误差更小.在较小测量噪声范围内,ULLS和CLLS估计方法具有较高的稳定性和定位精度.     

一种基于TOA测距的室内三维质心定位算法研究

针对现有的室内三维定位技术定位精度较低的问题,提出了一种基于到达时间(TOA,time of arrival)测距的室内三维质心定位方法.在COMSOL软件中,建立真实的物理场仿真环境,将筛选出的4个基站坐标分别作为球心,基站与终端间的距离分别作为半径,构建出三维球体定位模型,对质心定位算法进行仿真.通过在相同实验条件下仿真实验表明,相比于传统质心定位的算法和基于RSSI的质心定位算法,改进的定位算法在精度上得到了提高,对环境也具有良好的适应性.     

消防员组合定位的现场应用

随着社会发展,居民生活水平日益提高,生活用品日益丰富,生活空间日益个性化、复杂化。一旦有火情发生,现场条件也是越来越复杂,对消防人员的要求和危险也越来越高。为了应对这种趋势,本文研究出一套消防员组合定位系统,可以对身处现场的消防人员提供可靠帮助。该系统主要通过由锚节点和移动节点组成的情报网络,对现场消防人员提供保护和支持,并减少现场人员的危险。主要功能是为指挥人员提供现场实时环境情况,人员分布位置情况及人员状况;为消防人员提供行进路线支持,附近情况报告及危险预警。     

林火巡护与扑救车载定位系统设计

针对林火发生的特点,结合我国林区现状,研究并设计了用于林火地面巡护与早期扑救的车载卫星定位系统和远程管理软件系统,结合卫星定位系统和移动互联网技术,实时精确地采集和回传灾害现场的关键信息,生成地图地形标记,为防火指挥部门提供详细准确的火灾现场数据。实验表明,该系统可以实时可靠地回传现场坐标、海拔、温度等信息,地图位置标注准确。     

A BIM-based visualization and warning system for fire rescue

Structural fires are common disasters. In Taiwan, about 100 firefighters die during fire rescues each year, primarily because they are unaware of the causes of the fire and unfamiliar with the location’s environment. Meanwhile, evacuees often die in the panic of evacuation. To solve these problems, this research proposes a Building Information Modeling (BIM)-based visualization and warning system for fire rescue. A fire dynamics simulator (FDS) simulates various conditions of structural fires in conjunction with the visualization and integration properties of BIM, and the simulation results for temperature, carbon monoxide, and visibility can be integrated and presented in the BIM model for briefing purposes before rescue operations begin. In addition, this research integrates Internet of Things (IoT) technology, which allows real-time situation monitoring. In the event of a fire, the BIM model will immediately display the situation of the fire scene and control LED escape route pointers according to the actual situation. The primary objective of this system is to provide useful information to firefighters such that they can be aware of the fire’s environment and create an effective rescue plan. Moreover, the automated LED escape route pointer may assist the building’s occupants to escape, provide the firefighters with valuable information, and allow them quickly to discover hazards so that the number of casualties can be minimized.     

基于双向测距的协同定位系统误差分析

针对协同定位系统中影响节点定位精度受测距误差影响的问题,主要研究和分析了测距误差传播以及移动场景误差对协同定位系统的影响.采用基于GPS(Global Positioning System)和超带宽双程测距的低成本协同定位系统,分析了协同定位系统中的误差传播过程,推导了测距协方差阵和定位协方差阵.在不同场景下进行了仿真,经分析得出节点间几何关系是影响系统定位误差的最重要因素.该结论对于协同定位系统中移动节点的定位精度提升具有一定的指导价值.     

Experimental analysis of IEEE 802.15.4a CSS ranging and its implications

The IEEE 802.15.4a Chirp Spread Spectrum (CSS), known to be resistant to electromagnetic disturbances, performs precise ranging. This work aims to analyze the performance and characteristics of CSS ranging in indoor environments under actual real-life conditions. The results indicate that unpredictable multi-path effects due to surrounding deployment environments may cause unreliable ranging distances in indoor environments. This phenomenon may critically influence the positioning algorithm. To address this issue, this research proposes a simple scheme to estimate the reliability of measured distance.     

基于DI-Guy的校园消防训练仿真

针对高校人口密度大、难以高效组织消防训练、缺乏处理应急事件经验等问题,提出一种基于DI-Guy软件的虚拟仿真训练方法。首先利用MultiGen Creator软件建立校园三维模型并加载到DI-Guy的可视化窗口中进行构建,然后模拟火灾发生场景和消防疏散过程,最后对人群疏散方案效果进行数据分析,同时对仿真模拟过程中的一些关键技术,包括利用自定义模型建立、特效实现、人物的行为控制和碰撞检测等进行研究和应用。仿真结果表明,所提出的仿真模型能够合理地反映人群疏散情况,起到良好的展示作用,为校园应急事件在DI-Guy平台的仿真提供可行性方案。     

An ontology to represent firefighters data requirements during building fire emergencies

Firefighters require accurate and timely information regarding a building and its environment to perform their duty safely and successfully during a fire emergency. However, due to the chaotic nature of building fires, firefighters often receive erroneous, conflicting, or delayed information that can affect the outcome of an emergency. In this paper, we propose a solution in the form of an ontology that defines building and environmental data that is needed by firefighters during a building fire emergency. The ontology development followed the METHONTOLOGY method and was implemented using the web ontology language (OWL) in Protégé 5.5.0. Built-in reasoners in Protégé and an ontology pitfall scanning tool were employed to verify the structure and consistency of the new ontology. To validate the ontology efficacy, we developed a prototype web application to represent and visualise relevant information based on the ontology and used that as a basis for conducting interviews with firefighters. Finally, a specification document that describes the ontology was created and published online. The proposed ontology can be a basis for developing intelligent tools and systems that support firefighters.     

Measuring the effects of structural turnout suits on firefighter range of motion and comfort

Abstract

Range of motion (ROM) can be restricted by wearing stiff and bulky clothing. This is particularly true of firefighter suits that are constructed using fabric layers to provide thermal protection from fire. This study developed an evaluation technique to quantify the loss of mobility associated with wearing firefighters’ protective suits that were deliberately selected to represent similar ergonomic design features. The ROM of 10 firefighters was measured using electro-goniometers attached to their bodies while they wore uniforms and a reference outfit, and performed specific movements. The most restrictive uniform is the Bulky suit that contained additional layers of materials in sleeves and on the knees. The Traditional Suit was more ROM restrictive than Ergonomic. The subjective evaluation of suits supported the objective assessments provided by the electro-goniometers. A 3-D body scanning technique was employed to establish a correlation between the bulkiness of firefighter outfits and subject ROM.

Practitioner Summary: This study presents a methodology for measurements of range of motion (ROM) in firefighters wearing personal protective equipment (PPE). Even small differences in designs of PPE may impact firefighters’ ROM, which can be detected by electro-goniometers providing measurements if they are attached along the joint to measure limb angular movement.     

The influence of firefighter boot type on balance

A firefighter's boots play a critical role in working effectiveness and personal safety. OSHA 1910.156 contains standards for personal protective equipment of fire brigades. Firefighters use either rubber or leather boots that meet these requirements. The purpose of the study was to examine the differences in balance in professional firefighters wearing rubber and leather boots when participating in a fire simulation activity. Twelve professional firefighters performed 2 sets of a three-minute simulated firefighter stair climb wearing a 50 lb weighted vest to simulate their typical personal protective equipment and two 5.68 kg weights on the shoulders to simulate the weight of a high-rise pack (hose bundle). On each condition day (leather, rubber) the firefighter conducted a balance assessment. Following the initial balance protocol, the firefighter conducted a Simulated Firefighter Stair Climb for 3 min at a rate of 60 steps per/min. At the completion of the stair climb, the firefighter repeated the balance procedure. Following a 3-minute rest period, the complete procedure (balance, stair climb) was repeated. A total of 3 balance procedures and 2 stair climbs were completed. Significant differences were found in sway velocity between the pre and post test measures and among the two different boots. These results suggest that the rubber boots elicit greater postural instability. These findings provide practical information on work practices and PPE usage decisions.Relevance to industryIndustry standards dictate the protective variables of boots used by fire brigades, but do not consider the influence on gait and balance. This study provides evidence that the rubber boots used by firefighters may impair specific balance parameters which are critical for firefighter safety.