阅读说明：本技术 一种综合定位搜寻方法和装置 (A kind of comprehensive positioning searching method and apparatus ) 是由 廖春生 杨波 苏纯剑 于 2019-08-27 设计创作，主要内容包括：本发明涉及综合搜寻定位方法和装置,包括发射端和接收端,所述发射端包括第一气压计和无线电发射模块,所述接收端包括第二气压计和无线电接收模块,包括校准步骤；发送步骤；接收步骤：所述接收端接收所述无线电波和所述第一气压计的高度数据,并结合所述第二气压计的高度数据计算高度差H；第一搜寻步骤：所述接收端接收所述无线电波和所述第一气压计的高度数据,计算高度差H,确定所述接收端与所述发射端在高度上的距离；第二搜寻步骤：根据所述无线电波计算所述发射端和所述接收端的信号强度D,根据所述信号强度D在水平方向搜寻所述发射端。本发明结合了无线电波定位和气压进行定位两种方式互相补足,符合救援的实际行进路径。(The present invention relates to comprehensive searching and locating method and device, including transmitting terminal and receiving end, the transmitting terminal includes the first barometer and radio transmitting module, and the receiving end includes the second barometer and radio reception module, including calibration steps；Sending step；Receiving step: the receiving end receives the radio wave and the first barometrical altitude information, and in conjunction with the described second barometrical altitude information computed altitude difference H；First search step: the receiving end receives the radio wave and the first barometrical altitude information, computed altitude difference H, determine the receiving end and the transmitting terminal in height at a distance from；Second search step: calculating the signal strength D of the transmitting terminal and the receiving end according to the radio wave, searches the transmitting terminal in the horizontal direction according to the signal strength D.Positioning two ways is carried out present invention incorporates the gentle pressure of radio wave positioning to supply mutually, meets the practical travel path of rescue.)

1. a kind of comprehensive searching and locating method, including transmitting terminal and receiving end, which is characterized in that the transmitting terminal includes the first gas Pressure meter and radio transmitting module, the receiving end include the second barometer and radio reception module, are included the following steps:

Calibration steps: to the first barometer and the second air pressure meter calibrating；

Sending step: the altitude information that radio wave and first barometer provide is sent to described connect by the transmitting terminal Receiving end；

First search step: the receiving end receives the radio wave and the first barometrical altitude information, and combines The second barometrical altitude information computed altitude difference H, determine the receiving end and the transmitting terminal in height at a distance from；

Second search step: the receiving end judges the signal source direction of the transmitting terminal, is calculated according to the radio wave The signal strength D of the transmitting terminal and the receiving end searches the transmitting terminal according to the signal strength D in the horizontal direction.

2. comprehensive searching and locating method according to claim 1, which is characterized in that in second search step, in conjunction with The sound and light signal of the transmitting terminal searches the transmitting terminal.

3. comprehensive searching and locating method according to claim 1, which is characterized in that the calibration steps includes: will be described First barometer and second barometer are moved to sustained height, and first barometer and second barometer are referred to The height H shown is set as initial value H₀。

4. comprehensive searching and locating method according to claim 1, which is characterized in that first search step further include: When determining that the receiving end and the transmitting terminal are on sustained height according to the height difference H, the second search step is executed.

5. comprehensive searching and locating method according to claim 1, which is characterized in that the signal strength D is by linear transformation For the numerical value of 0-100, and shown by display device.

6. comprehensive searching and locating method according to claim 1, which is characterized in that second search step further include: The receiving end is planar rotated, finds the maximum value of the signal strength D to determine searching bearing.

7. comprehensive searching and locating method according to claim 1, which is characterized in that first search step further include: The data that the transmitting terminal is sent further include empty expiration bottle remaining time data, heart rate data, ambient temperature data, identity information One of or it is a variety of, the receiving end receives the data that the transmitting terminal is sent, and exports to the display device and shown Show.

8. a kind of device for realizing the described in any item comprehensive searching and locating methods of claim 1-7, which is characterized in that packet At least two terminals are included, the terminal respectively includes MCU module, barometer, display screen and LORA wireless antenna module, in which:

The input terminal of the barometrical output end and the MCU module, the output end of the MCU module and the display The input terminal of screen connects；

The input/output terminal of the MCU module is connect with the input/output terminal of the LORA wireless antenna module；

The LORA wireless antenna module of the terminal distinguishes communication connection.

9. device according to claim 8, which is characterized in that the comprehensive positioning searching device further includes that empty expiration bottle is surplus Remaining time measurement module, heart rate measurement module, ambient temperature measurement module, identity information memory module, the sky expiration bottle are surplus Remaining time measurement module, heart rate measurement module, ambient temperature measurement module, identity information memory module output end respectively with institute State the input terminal connection of MCU module.

10. device according to claim 8, which is characterized in that it further include buzzer and alarm lamp, the buzzer and report Warning lamp is separately connected with the MCU module.

Technical field

The invention belongs to technical field of fire control, and in particular to a kind of comprehensive positioning searching method and apparatus.

Background technique

China's fire inducement is more, and fire incident happens occasionally.Fire incident scene also becomes diversification and complicates.Fire The generation of calamity not only causes great casualties and economic loss, while also causing to seriously affect to social stability.Especially Since the building in China is more intensive, it is intended to high stratification, densification, obstacle is provided with to the rescue of scene of fire.

Especially in the implementation process of fire rescue, fireman in dense smoke can not by audiovisual accurate discrimination direction, Or determine the position of partner to be rescued, therefore, current, fireman is generally equipped with a kind of calling set, mutually rescues the facilities such as device, To sound and light signals such as audio-visual supports, fireman is helped to be mutually positioned.

In existing fire-fighting equipment, it is generally based on the wireless direction-finding technology of signal strength or weakness progress, You Liangming fireman point Transmitting terminal and receiving end are held, and by a series of distance of the test signal transmitting terminals such as estimations and amendment to receiving end, to refer to Show the distance between two firemans.However, radio wave is being worn since the case where current middle scene of fire may be extremely complex Signal can substantially be weakened when the barriers such as wall, be unfavorable for the propagation of radio wave, when being likely to occur signal in positioning and applying Weak phenomenon when strong, and positioning accuracy is caused to be easy to receive interference, this interference can not be eliminated by modes such as preset algorithms. Especially when two firemans are respectively in different height (such as respectively in different floors), the distance of direction-finding station instruction with Actual range difference is more, be also unfavorable for being explicitly indicated fireman carry out judgement take recently, most efficiently route.

Summary of the invention

It is an object of the present invention to provide a kind of comprehensive positioning searching method and apparatus, to adapt to complicated ring in fire-fighting and rescue Border.

In order to reach above-mentioned technical purpose, technical scheme is as follows；

A kind of comprehensive searching and locating method, including transmitting terminal and receiving end, the transmitting terminal include the first barometer and nothing Line electricity transmitting module, the receiving end include the second barometer and radio reception module, are included the following steps:

Calibration steps: to the first barometer and the second air pressure meter calibrating；

Sending step: the altitude information that radio wave and first barometer provide is sent to institute by the transmitting terminal State receiving end；

Receiving step: the receiving end receives the radio wave and the first barometrical altitude information, and combines The second barometrical altitude information computed altitude difference H；

First search step: the receiving end receives the radio wave and the first barometrical altitude information, and In conjunction with the described second barometrical altitude information computed altitude difference H, determine the receiving end and the transmitting terminal in height Distance；

Second search step: the receiving end judges the signal source direction of the transmitting terminal, according to the radio wave The signal strength D for calculating the transmitting terminal and the receiving end searches the transmitting according to the signal strength D in the horizontal direction End.

It needs to illustrate, the air pressure numerical value computed altitude provided in the present invention according to barometer, due to itself and this The goal of the invention of invention is unrelated, and this will not be repeated here.Comprehensive positioning searching method provided by the invention, which combines, utilizes radio Wave positions and carries out positioning two ways using air pressure, and two ways is supplied mutually, effectively reduces radio wave positioning side Because calculating error caused by the blocking etc. of barrier during formula instruction distance；It is directly indicated to and is rescued by way of barometric Height locating for transmitting terminal described in personnel is helped, first plans transmitting terminal and receiving end instruction to sustained height, however again to transmitting terminal Position carry out apart from upper positioning, be more in line with the practical travel path of rescue；Can be by two kinds of positioning search and rescue modes Rescue worker provides two sets of reference standards, so that rescue personnel selects to judge with experience according to the actual situation, reduces because of air pressure The measuring and calculating fault of error or radio wave influences positioning and searches and rescues.Therefore comprehensive positioning searching method provided by the invention is more It is practical.

Preferably, in second search step, the transmitting terminal is searched in conjunction with the sound and light signal of the transmitting terminal, to Auxiliary radio wave direction finding.

Preferably, the transmitting terminal of the synthesized positioning method and receiving end respectively include radio wave sending module and wirelessly Electric wave reception module, so that the transmitting terminal and the receiving end be allow to be mutually located.

Preferably, the calibration steps includes: that first barometer and second barometer are moved to same height Degree, and the height H that first barometer and second barometer indicate is set as initial value H₀.For example, by initial value H₀ It is set as 0.

Preferably, the receiving step further include: the height difference H is exported to display device and is shown；According to institute The signal strength D1 that radio wave calculates the transmitting terminal and the receiving end is stated, and exports to display device and is shown.It is logical Cross at the same show electric wave signal strength or weakness and air pressure computed altitude to provide multiple reference for rescue personnel.

Preferably, first search step further include: when determining the receiving end and the hair according to the height difference H End is penetrated when on sustained height, executes the second search step.For example, when the numberical range of the height difference H is 0-0.5m, really Receiving end and transmitting terminal are determined in same level or same floor, thus easily facilitate search and rescue.

Preferably, the numerical value that the signal strength D is 0-100 by linear transformation, and shown by display device.

Preferably, second search step further include: the receiving end is planar rotated, it is strong to find the signal The maximum value of D is spent to determine searching bearing.

Preferably, the receiving step further include: the data that the transmitting terminal is sent further include empty expiration bottle remaining time One of data, heart rate data, ambient temperature data, identity information are a variety of, and the receiving end receives the transmitting terminal hair The data sent, and export to the display device and shown.

A kind of device for realizing above-mentioned comprehensive searching and locating method, including at least two terminals, the terminal difference Including MCU module, barometer, display screen and LORA wireless antenna module, in which:

The input terminal of the barometrical output end and the MCU module, the output end of the MCU module with it is described The input terminal of display screen connects；

The input/output terminal of the MCU module is connect with the input/output terminal of the LORA wireless antenna module；

The LORA wireless antenna module of the terminal distinguishes communication connection.

It needs to illustrate, LORA wireless antenna module of the present invention has the transmitting and reception of radio wave Function.Comprehensive positioning searching device provided by the invention, which is combined, to be positioned using radio wave and carries out two kinds of positioning using air pressure Mode, and two ways is supplied mutually, radio wave positioning method instruction distance is effectively reduced in the process because of the screening of barrier Error is calculated caused by gear etc.；Height locating for transmitting terminal described in rescue personnel is directly indicated to by way of barometric, First plan transmitting terminal and receiving end instruction to sustained height, however the position of transmitting terminal is carried out apart from upper positioning, more again Meet the practical travel path of rescue；Two sets of reference standards can be provided for rescue worker by two kinds of positioning search and rescue modes, with It selects to judge with experience according to the actual situation conducive to rescue personnel, reduces the measuring and calculating fault shadow because of barometric error or radio wave It rings positioning and searches and rescues.Therefore comprehensive positioning searching method provided by the invention is more practical.

Preferably, the comprehensive positioning searching device further includes empty expiration bottle remaining time measurement module, heart rate measurement mould Block, ambient temperature measurement module, identity information memory module, the sky expiration bottle remaining time measurement module, heart rate measurement mould Block, ambient temperature measurement module, identity information memory module output end connect respectively with the input terminal of the MCU module.

It is further preferred that further including buzzer and alarm lamp, the buzzer and alarm lamp connect respectively with the MCU module It connects.Under the triggering of the MCU module, the buzzer rings simultaneously light by the alarm lamp, to provide for rescue personnel Sound and light signal.

Preferably, the display screen is LCD display.

Detailed description of the invention

Fig. 1 is the workflow schematic diagram of comprehensive searching and locating method described in embodiment 1；

Fig. 2 is the comprehensive attachment structure schematic diagram for searching positioning device as described in example 2.

Specific embodiment

With reference to the accompanying drawing and the specific embodiment technical solution that the present invention will be described in detail.