关于应急救援场景室内人员定位导航研究

发布时间：2018-06-11 20:05

  本文选题：激光扫描测距仪 + 微惯性测量单元　； 参考：《计算机仿真》2017年04期

【摘要】：在应急救援场景中,室内定位导航系统可以使人员极大提升对环境的感知能力,增强人身的安全性,同时能够加快任务部署与完成。目前存在的室内定位技术通常需要预先安装传感器网络,无法实时生成未知环境平面地图,并不适用于应急救援。提出一种采用激光扫描测距仪与微惯性测量单元的室内定位与建图方法,用于应急救援场景下的室内人员定位导航。上述方法自主性强,无需预先安装传感器网络,设计使用卡尔曼滤波器对激光扫描测距仪与微惯性测量单元分别获得的位置信息进行融合,并得到室内环境的实时建图。实验表明,改进方法提高了人员在未知的室内环境中的定位精度,同时可建造增量式室内环境地图。
[Abstract]:In the emergency rescue scene, the indoor positioning and navigation system can greatly enhance the personnel perception of the environment, enhance personal security, and speed up the deployment and completion of the task. The existing indoor positioning technology usually needs to install sensor network in advance, which can not generate the plane map of unknown environment in real time, so it is not suitable for emergency rescue. A method of indoor positioning and mapping based on laser scanning rangefinder and micro inertial measurement unit is proposed, which can be used for indoor personnel positioning and navigation in emergency rescue scene. The above method has strong autonomy and does not need to install sensor network. Kalman filter is used to fuse the position information obtained by laser scanning rangefinder and micro inertial measurement unit and to get the real time map of indoor environment. The experimental results show that the improved method can improve the positioning accuracy of people in unknown indoor environment and can also build incremental indoor environment map.
【作者单位】： 中国电子科技集团公司第二十九研究所;中国人民武装警察部队学院研究生部;
【基金】：河北省科技计划项目(15275427)
【分类号】：TN249
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本文编号：2006527