ABSTRACT
With the development of science and technology, especially the development of intelligent devices, the concept of intelligence is also slowly gaining popularity. Intelligence in the field of firefighting is also valued by various countries including intelligent firefighting in national science and technology development planning and vigorously developing intelligent firefighting systems. In outdoor fire rescue, the GPS (Global Positioning System) outdoor positioning system equipped with firefighters has a slightly lower accuracy and the system module is larger, which is not easy to carry and has a certain impact on the firefighters’ fire rescue, and secondly, in the complex urban environment, it may lead to the interruption of the positioning system signal and the firefighters’ action The trajectory of firefighters is easily lost. To improve the positioning accuracy of the system and to ensure the safety of the firefighters, the positioning system designed in this paper is mainly based on GPS positioning by adding BDS (BeiDou Navigation Satellite System) satellites to constitute dual-mode positioning and adding IMU (Inertial Measurement Unit) modules to the positioning system to further improve the positioning accuracy. Through several experiments, it is shown that after the system data is pre-processed by low-pass filtering for acceleration, the Kalman filter can further eliminate process noise and prevent data scattering while determining the motion trajectory and improving the positioning accuracy to the decimeter level, and the attitude of firefighters can be observed through the attitude angle to meet the requirements of firefighters’ positioning service and guarantee the safety of firefighters’ lives.
