Fire positioning and communication method and system fusing multi-source perception data

Abstract

This invention discloses a fire-fighting location and communication method and system that integrates multi-source sensing data, relating to the fields of fire-fighting location technology and communication technology. The invention significantly suppresses time drift at each node through a time calibration mechanism within the topological neighborhood. The corrected timestamp set generated by iterative correction ensures high consistency in cross-node timing, thereby improving the synchronization and reliability of multi-source data fusion. A dynamic generation strategy based on local gradients and communication status heartbeat signals enables the broadcast period to adapt to link fluctuations, improving network robustness in scenarios with thermal interference or smoke obstruction. Furthermore, the location and communication status table uniformly quantifies the location information interval, movement trend, and communication availability level, enabling synchronous optimization of location inference and communication routing selection, significantly improving the location accuracy and communication continuity for firefighters in complex environments.

Description

Technical Field

[0001] This invention relates to the fields of fire positioning technology and communication technology, and in particular to a fire positioning and communication method and system that integrates multi-source sensing data. Background Technology

[0002] With the continuous improvement of the digitalization and intelligence of fire rescue equipment, fire situation awareness and personnel positioning technology based on multi-source sensing has gradually become one of the key supporting technologies in the intelligent fire protection system. Traditional fire positioning methods that rely on single sensors are difficult to adapt to complex working conditions such as high temperature, strong obstruction, and high smoke concentration in fire scenes. Therefore, multi-sensor fusion technology has begun to be widely used in the collaborative collection of multi-dimensional information such as temperature, smoke, gas concentration, and wireless signal strength.

[0003] In recent years, the development of networked node deployment and spatial correlation analysis methods has enabled the dynamic modeling of information such as temperature field topology, environmental disturbance trends, and local thermal diffusion gradients through distributed nodes, thereby improving the accuracy of environmental perception. Simultaneously, the positioning and communication needs within fire brigades are showing a trend towards convergence, namely, achieving unified decision-making for personnel positioning and emergency communication path planning in high-risk environments. This has significantly increased the requirements for sensing timing, node synchronization accuracy, and modeling of local dynamic changes.

[0004] However, existing multi-source sensing fusion technologies still mainly focus on single tasks such as temperature field modeling or smoke distribution estimation, and lack support for cross-node time consistency processing, local small environmental changes capture, and continuously available location-communication coupling inference capabilities, making it difficult for them to maintain stable performance in dynamic fire scenes. Summary of the Invention

[0005] In view of the problems existing in current fire positioning and communication technologies, this invention is proposed.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a fire-fighting positioning and communication method that integrates multi-source sensing data, comprising: collecting multi-source sensing data at several sensing nodes, generating a temperature topology map by spatial adjacency mapping of the multi-source sensing data of the sensing nodes; performing time calibration based on the sensing nodes in the topological neighborhood, comparing the time envelope trends of adjacent sensing nodes, and outputting a set of corrected timestamps after iterative correction. Each sensing node generates and broadcasts its breathing and heartbeat signals according to the agreed rules, based on the local gradient values ​​of the temperature topology map and the set of correction timestamps. Using the temperature topology map, the set of correction timestamps, and the breathing and heartbeat signals as input, it generates a positioning and communication status table that includes positioning signal intervals and communication availability levels, and outputs hierarchical positioning results and communication routing instructions.

[0007] As a preferred embodiment of the fire positioning and communication method that integrates multi-source sensing data according to the present invention, the multi-source sensing data includes temperature data, smoke data, and communication link quality indicators.

[0008] As a preferred embodiment of the fire-fighting positioning and communication method integrating multi-source sensing data described in this invention, the following steps are taken: After deployment, multiple sensing nodes collect initial data packets containing initial temperature data, initial smoke data, and initial communication link quality data, and mark the initial data packets as the baseline acquisition period; the sensing nodes generate a list of adjacent node groups based on deployment numbers and spatial adjacency relationships, and share updated real-time temperature data and real-time smoke data using the list of adjacent node groups as constraints; using the list of adjacent node groups as input, the locations where the difference between the real-time temperature data and the initial temperature data in the adjacent sensing nodes exceeds a difference threshold are marked as diffusion indicator nodes, and the real-time temperature readings are divided into temperature level segments according to a set interval; the temperature level segments and diffusion indicator nodes together form an initial temperature topology framework that can be mapped to the spatial structure; the initial temperature topology framework and the initial communication link quality data are jointly marked as a temperature topology map, which includes temperature level segments, diffusion indicator nodes, and the list of adjacent node groups.

[0009] As a preferred embodiment of the fire positioning and communication method integrating multi-source sensing data described in this invention, the time calibration includes: each sensing node, based on the adjacent node group list in the temperature topology map and the initial communication link quality data, filters sensing nodes whose communication link quality is higher than the quality threshold to form a set of calibration candidate node groups; based on the calibration candidate groups, a sensing node with the highest and most stable communication link quality is selected as the calibration master node, and the remaining candidate nodes are selected as calibration slave nodes, constructing a star calibration topology with the calibration master node as the root node.

[0010] As a preferred embodiment of the fire positioning and communication method integrating multi-source sensing data described in this invention, the generation of the correction timestamp set includes: the calibration master node periodically broadcasting the current timestamp as a reference time; after receiving the reference time, the calibration slave node calculates the offset from the local timestamp and updates the local time based on the offset by applying a correction amount; the correction amount is the weighted average of the offset calculated in the current round and the correction amount in the previous round, wherein the offset in the current round has a higher weight; each sensing node marks the local timestamp that has stabilized after multiple iterations as the correction timestamp, and the correction timestamps of all sensing nodes constitute the correction timestamp set.

[0011] As a preferred embodiment of the fire-fighting positioning and communication method integrating multi-source sensing data described in this invention, the generation of the node breathing and heartbeat signal includes: each sensing node sets a synchronization timing start point for its local communication cycle based on the set of correction timestamps; each sensing node dynamically adjusts its broadcast cycle based on real-time communication link quality data within the adjacent node group list to which the temperature topology map belongs: when the communication link quality of a sensing node is lower than a stable threshold, the broadcast cycle is extended; when the communication link quality is higher than a stable threshold, a standard broadcast cycle is adopted to maintain the response speed; when the broadcast cycle arrives, each sensing node outputs a node breathing and heartbeat signal data packet containing a unique node identifier, real-time communication link quality data, and the latest correction timestamp.

[0012] As a preferred embodiment of the fire-fighting positioning and communication method integrating multi-source sensing data described in this invention, the generation of the positioning and communication status table includes: taking the temperature topology map, the set of correction timestamps, and the node's respiratory and heartbeat signals as inputs; receiving the signal strength and communication link quality data of the node's respiratory and heartbeat signals; combining the network topology defined by the adjacent node group list; using the heartbeat signal strength to narrow down the location segment to form a node positioning signal interval; simultaneously, judging the movement trend based on the two positioning signal intervals within a continuous time window; based on the real-time communication link quality data in the node's respiratory and heartbeat signals, and according to a preset link quality level mapping table, marking the communication availability level of each sensing node and each adjacent node; integrating the node positioning signal intervals, movement trends, and communication availability level list to form a positioning and communication status table, wherein the positioning and communication status table includes at least node identifier, positioning signal interval, movement trend, and communication availability level.

[0013] As a preferred embodiment of the fire-fighting positioning and communication method that integrates multi-source sensing data according to the present invention, the method automatically triggers a global update of the temperature topology map, the set of correction timestamps, and the positioning and communication status table at fixed time intervals.

[0014] Secondly, the present invention provides a fire positioning and communication system that integrates multi-source sensing data, comprising: a multi-source topology construction module, used to collect multi-source sensing data at several sensing nodes and generate a temperature topology map by spatial adjacency mapping of the multi-source sensing data of the sensing nodes; The neighborhood time calibration module is used to perform time calibration within the topological neighborhood based on the sensing node, compare the time envelope trends of adjacent sensing nodes, and output a set of calibrated timestamps after iterative correction. The heartbeat generation and broadcasting module is used by each sensing node to generate and broadcast the node's breathing and heartbeat signals according to the agreed rules based on the local gradient values ​​of the temperature topology map and the set of correction timestamps. The status table generation module is used to generate a positioning communication status table containing positioning information intervals and communication availability levels, taking the temperature topology map, the set of correction timestamps and node respiratory and heartbeat signals as inputs, and outputting hierarchical positioning results and communication routing instructions.

[0015] Thirdly, the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein: when the computer program instructions are executed by the processor, they implement the steps of the fire-fighting positioning and communication method that integrates multi-source sensing data as described in the first aspect of the present invention.

[0016] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program instructions are executed by a processor, they implement the steps of the fire-fighting positioning and communication method for fusing multi-source sensing data as described in the first aspect of the present invention.

[0017] The beneficial effects of this invention are as follows: Through a time calibration mechanism within the topological neighborhood, the time drift of each node is significantly suppressed, and the set of corrected timestamps generated by iterative correction ensures high consistency of cross-node timing, thereby improving the synchronization and reliability of multi-source data fusion; Based on the dynamic generation strategy of heartbeat signals based on local gradients and communication status, the broadcast period can adapt to link fluctuations, improving the robustness of the network in scenarios with thermal interference or smoke obstruction; Furthermore, the positioning communication status table quantifies the positioning information interval, movement trend, and communication availability level in a unified manner, enabling synchronous optimization of positioning inference and communication routing selection, and significantly improving the positioning accuracy and communication continuity of firefighters in complex environments.

[0018] This invention significantly enhances node coordination, positioning stability, and link reliability in fire situations, reduces the risk of communication failures, improves command efficiency for rescue missions, and has automatic global update capabilities to ensure the system continuously adapts to dynamically changing scenarios. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart for a fire-fighting positioning and communication method that integrates multi-source sensing data.

[0021] Figure 2 A structural diagram of a fire positioning and communication system that integrates multi-source sensing data. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0025] Figure 1 This is a flowchart illustrating a fire-fighting location and communication method that integrates multi-source sensing data according to an embodiment of the present invention. Figure 1 As shown, the fire-fighting location and communication method that integrates multi-source sensing data includes: S1: Collect multi-source sensing data at several sensing nodes, and generate a temperature topology map by spatial adjacency mapping of the multi-source sensing data of the sensing nodes.

[0026] The multi-source sensing data includes temperature data, smoke data, and communication link quality indicators.

[0027] Among them, the communication link quality indicators include Received Signal Strength Indicator (RSSI), Signal-to-Noise Ratio (SNR / CNR), Packet Loss Rate / Retransmission Count, Round-Trip Delay or One-Way Delay (compared using timestamps), etc., which can be directly output by the node communication module, transceiver chip or protocol stack or obtained through simple statistics.

[0028] In this embodiment of the invention, the generation of the temperature topology map includes the following steps: S1.1: After deployment, multiple sensing nodes collect initial data packets containing initial temperature data, initial smoke data, and initial communication link quality data, and mark the initial data packets as the baseline collection period.

[0029] Each sensing node will report the initialization data packet to the nearest gateway or aggregation node via local short message or broadcast according to the predefined field format. The aggregation node will time-align the initialization data packets from the same deployment event and mark them as the same baseline collection period.

[0030] S1.2: The sensing node generates a list of adjacent node groups based on the deployment number and spatial adjacency relationship, and shares the updated real-time temperature data and real-time smoke data with the adjacent node group list as a constraint.

[0031] Specifically, based on the node location information or preset layout number recorded during the deployment phase, this invention generates a list of adjacent node groups for each node according to the geometric adjacency or predefined topological proximity relationships between nodes. The definition of the adjacency relationship can be selected according to the actual deployment situation, for example: the three to five nodes with the closest physical distance, or the set of logically adjacent nodes under the pipeline / floor layout.

[0032] Based on the list of adjacent node groups, a constrained data sharing process is performed between nodes: each node encapsulates real-time temperature data and smoke data locally and broadcasts them to its adjacent node group. The receiver forms an adjacent comparison dataset based on the received adjacent data and local readings and sends it back to the aggregation unit.

[0033] The process is limited to a single update to avoid frequent, disordered broadcasting; the aggregation unit uses the adjacency comparison dataset as direct input for subsequent diffusion indication determination.

[0034] It can be seen that by using the data sharing constrained by the adjacent node group list, the spatial variation information of temperature and smoke is restricted to a neighborhood with physical or logical coherence, thereby enhancing the physical correspondence of the spatial structure in the temperature topology and reducing the power consumption and interference caused by network communication load and redundant broadcasts.

[0035] S1.3: Using the adjacent node group list as input, the locations where the difference between the real-time temperature data and the initial temperature data in the adjacent sensing nodes exceeds the difference threshold are marked as diffusion indicator nodes, and the real-time temperature readings are divided into temperature level segments according to a set interval; the temperature level segments and the diffusion indicator nodes together form an initial temperature topology framework that can be mapped to the spatial structure. The difference threshold is an empirical threshold set based on the normal fluctuation range of the fire scene ambient temperature and the abnormal diffusion initiation temperature change.

[0036] The interval definition is based on the temperature distribution characteristics of the baseline acquisition cycle and the level step size set by engineering experience. The segmentation results generate temperature level segment labels and attach them to the corresponding node records.

[0037] The direction of the relative difference between the readings of the diffusion indicator node and its adjacent nodes is used to establish a local diffusion vector, which is used as a diffusion direction identifier in subsequent topology integration to participate in the drawing of spatial connectivity.

[0038] S1.4: The initial temperature topology framework and the initial communication link quality data are jointly labeled as a temperature topology map, which includes temperature level segments, diffusion indicator nodes, and a list of adjacent node groups.

[0039] Specifically, the aggregation unit uses the list of adjacent node groups as a skeleton, mapping the information of temperature level segments and diffusion indicator nodes obtained in S1.3 onto the corresponding adjacent skeleton to form an initial temperature topology framework. The mapping process preserves node identifiers, temperature level labels, diffusion vectors, and descriptions of adjacency relationships between nodes; The communication link quality indicators for each node during the baseline acquisition period and real-time update are archived and appended as fields to the corresponding topology node record. It should be noted that parallel annotation enables the temperature topology map to not only reflect the thermal field distribution but also present an overview of the communication capabilities of each spatial segment; using the initial temperature topology framework and the aforementioned parallel communication annotations as input, a searchable data structure for the temperature topology map (e.g., a combination of node table and adjacency table) is generated.

[0040] It should be noted that by juxtaposing thermal field distribution and communication capabilities in the same topology, this invention provides a unified and directional spatial reference for subsequent timing correction, heartbeat coordination, and hierarchical positioning. This enables the determination of positioning accuracy degradation and the selection of communication route degradation to be coordinated based on the same spatial semantics, significantly improving the continuity of information feedback and the reliability of decision-making within the fire scene.

[0041] S2: Based on the sensing node, perform time calibration within the topological neighborhood, compare the time envelope trends of adjacent sensing nodes, and output a set of corrected timestamps after iterative correction.

[0042] In fire monitoring environments, due to the common use of low-power communication links, amorphous calibrated local clock sources, and periodic wake-up modes by sensing nodes, the time references between different nodes exhibit a gradually accumulating drift trend. If this drift is not corrected, it will lead to distortion in the recording of temperature field changes, misalignment of event sequences in smoke diffusion trends, and inconsistency in the statistical references of communication link quality data. To address this, this invention proposes a time calibration mechanism based on topological neighborhood. By comparing the envelope trends between adjacent nodes and aligning with the master-slave time reference, it enables multi-source sensing data to have a unified temporal semantics at a global scale, thereby ensuring the reliability of subsequent positioning algorithms and communication scheduling strategies. Specifically: S2.1: Perform time calibration.

[0043] Each sensing node, based on the list of adjacent node groups in the temperature topology map and initial communication link quality data, filters sensing nodes whose communication link quality is higher than a quality threshold, forming a set of calibration candidate node groups. The quality threshold is the lowest link quality benchmark determined based on the reliable demodulation threshold of the communication module under typical firefield interference and network connectivity requirements.

[0044] Furthermore, based on the calibration candidate group, the sensing node with the highest and most stable communication link quality is selected as the calibration master node, and the remaining candidate nodes are selected as calibration slave nodes, thus constructing a star calibration topology with the calibration master node as the root node.

[0045] The selection of the master node is based not only on the average quality of the communication link, but also on a combination of indicators such as link stability, packet reception continuity, and timestamp response consistency, to ensure that the master node has minimal clock jitter and the highest reference reliability. The remaining candidate nodes automatically become calibration slave nodes, forming a star calibration topology logically centered on the master node.

[0046] It should be noted that the construction of a star topology has the following beneficial effects: avoiding time races or loopback calibration problems caused by multiple nodes acting as reference sources simultaneously; making communication overhead controllable and ensuring that the calibration process will not cause load interference to the real-time fire monitoring service; and improving the overall time consistency of the system by limiting the master node to a single source for subsequent time corrections.

[0047] S2.2: Generate a set of corrected timestamps.

[0048] The calibration master node periodically broadcasts the current timestamp as a reference time.

[0049] After receiving the reference time from the node, the calibration process calculates the offset from the local timestamp and updates the local time based on the offset by applying a correction. It should be noted that, due to the propagation delay fluctuations caused by changes in smoke density in fire scenarios, this invention does not directly use a single offset. Instead, it records the envelope trend of the offset over multiple consecutive periods, enabling the node to identify the main direction and stable range of the offset changes, thereby preventing miscalibration caused by a single measurement error.

[0050] The correction amount is a weighted average of the offset calculated in the current round and the correction amount in the previous round. The offset in the current round has a higher weight to ensure the system promptly incorporates current valid observations, while the correction amount from the previous round is used to mitigate transient disturbances, making the calibration results smoother and more stable. Based on the weighted result, each slave node corrects its local clock, gradually bringing its local time closer to the reference time.

[0051] Furthermore, each sensing node marks its local timestamp, which has stabilized after multiple iterations, as a correction timestamp, and the correction timestamps of all sensing nodes constitute the correction timestamp set.

[0052] S3: Each sensing node generates and broadcasts its respiratory and heartbeat signals according to the agreed rules, based on the local gradient values ​​of the temperature topology map and the set of correction timestamps.

[0053] S3.1: Each sensing node sets a synchronization start point for its local communication cycle based on the set of correction timestamps.

[0054] It should be noted that in this invention, not only is the starting point of the cycle determined by the correction timestamp, but a cycle reset mechanism is also set up. That is, when a node detects that the heartbeat cycle of an adjacent node deviates significantly from the local cycle, it will automatically trigger a "time base reset operation" to realign the local cycle with the correction timestamp, so as to prevent the timing offset of a single node from gradually accumulating into a topological timing misalignment. This mechanism enables the system to have self-recovery capability, so that it can still maintain cycle consistency under extreme interference conditions in a fire scene.

[0055] S3.2: Each sensing node, within the adjacent node group list of the temperature topology map, dynamically adjusts its broadcast period based on real-time communication link quality data: when the communication link quality of a sensing node is lower than a stable threshold, the broadcast period is extended; when the communication link quality is higher than the stable threshold, a standard broadcast period is adopted to maintain response speed. The stable threshold is the lowest allowable link quality point for nodes to maintain normal, periodic network communication, and this threshold is obtained through statistical analysis of historical communication data under simulated firefield channel conditions in a laboratory setting.

[0056] Specifically, nodes continuously observe link stability based on real-time communication link quality data. The evaluation process is based on a set of key indicators within a sliding time window: Packet loss rate trend: Calculate the average packet loss rate between the current window and the previous window. If it shows a continuous upward trend, the link is considered to be deteriorating; Signal strength index (RSSI) stability: Calculate the standard deviation of RSSI values ​​within the window. If the standard deviation is consistently higher than a set threshold, the link is considered to be fluctuating drastically and unstable; Link jitter: Calculate the jitter of the data packet round-trip time delay or reception interval. Increased jitter indicates decreased link reliability.

[0057] The node determines whether the link has entered an unstable state by comprehensively considering the deteriorating trend of the above indicators (such as the continuous deterioration of indicators over multiple consecutive observation periods), and triggers the adjustment of the broadcast period accordingly, rather than relying solely on the instantaneous value of a single measurement.

[0058] When the link status is stable, nodes use a standard broadcast period to ensure that the heartbeat signal propagates at a normal frequency, thereby ensuring that neighboring nodes can obtain its status in a timely manner. However, when the link status shows a continuous decline or unstable trend, nodes will extend the broadcast period to maintain a higher success rate in the event of large link fluctuations, thus avoiding bandwidth consumption and energy waste caused by frequent retransmissions.

[0059] S3.3: When the broadcast cycle arrives, each sensing node outputs a node breathing and heartbeat signal data packet containing the node's unique identifier, real-time communication link quality data, and the latest correction timestamp.

[0060] Specifically, after determining the broadcast period, each sensing node needs to establish a data structure for the heartbeat signal based on the local gradient values ​​in the temperature topology map. The temperature topology gradient characterizes the directionality and spatial differences in temperature changes around the node, including temperature surge behavior, temperature trend differences between adjacent nodes, and changes in diffusion indicator nodes.

[0061] This invention incorporates this gradient information into the heartbeat signal, so that the heartbeat not only serves as a survival signal but also acts as an event carrier for local temperature changes.

[0062] The node obtains the gradient value in the following way: read the real-time temperature level range of each neighboring node from the list of neighboring nodes; calculate the spatial variation trend of the temperature level of the current node and the temperature levels of neighboring nodes; and smooth the variation trend sequence to eliminate the influence of instantaneous temperature noise on the gradient.

[0063] After generating gradient information, the sensing node injects the direction of temperature level change, gradient sign, local temperature segment number, and relative diffusion behavior into the heartbeat data packet, enabling neighboring nodes to infer the direction of local temperature evolution based on the gradient information.

[0064] S4: Using the temperature topology map, the set of correction timestamps, and the node's respiratory and heartbeat signals as input, generate a positioning and communication status table that includes the positioning information interval and the communication availability level, and output the hierarchical positioning results and communication routing instructions.

[0065] S4.1: Using the temperature topology map, the set of correction timestamps, and the node's breathing and heartbeat signals as input, the signal strength and communication link quality data of the received node's breathing and heartbeat signals are combined with the network topology defined by the adjacent node group list. The location segment is narrowed down using the heartbeat signal strength to form a node location signal interval. At the same time, the movement trend is determined based on the two location signal intervals of the continuous time window.

[0066] Specifically, from all the respiratory and heartbeat signals collected within the current time window, fields are extracted one by one, and the temperature zone label of the node in the temperature topology map is consulted. The area covered by that temperature zone is directly marked as the node's "initial location segment". For example: Temperature zone T3 → the geographical region is "southern corridor segment".

[0067] A fixed judgment is made based on the attenuation of the node's signal strength among adjacent nodes: if the signal strength from a nearby adjacent node is high, the current location segment remains unchanged; if the signal strength from a distant adjacent node is significantly higher than that of other nodes, the spatial range of the location segment is moved closer to that adjacent node; if the sources of strong and weak signals are evenly distributed, the original location segment remains unchanged; the adjusted area is marked as a fixed location signal interval.

[0068] Compare the position information interval of the node in the current window with that in the previous window: if the new segment is significantly closer to the high temperature zone, it is marked as moving towards the high temperature zone; if the new segment deviates from the high temperature zone, it is marked as moving towards the low temperature zone; if the segments before and after are the same, it is marked as remaining stationary; the movement trend is directly written into the node's temporary record column.

[0069] At this point, each node yields two clear results: a positional confidence interval and a trend of movement.

[0070] S4.2: Based on the real-time communication link quality data in the node's breathing and heartbeat signals, and according to the preset link quality level mapping table, mark the communication availability level of each sensing node and its neighboring nodes.

[0071] S4.3: Integrate the node positioning information interval, movement trend and communication availability level list to form a positioning communication status table. The positioning communication status table includes at least the node identifier, positioning information interval, movement trend and communication availability level.

[0072] Optionally, based on the positioning and communication status table, a hierarchical positioning result identifier is generated for each node, and a communication routing instruction is generated in combination with the communication availability level and directly sent to the terminal node; the hierarchical positioning result and routing instruction are dynamically updated with the node displacement and communication status to realize closed-loop linkage between positioning and communication.

[0073] Furthermore, the update mechanism of the present invention includes: automatically triggering a global update of the temperature topology map, the set of correction timestamps, and the location communication status table at fixed time intervals.

[0074] Furthermore, such as Figure 2 As shown, this embodiment also provides a fire positioning and communication system that integrates multi-source sensing data, including, A multi-source topology construction module is used to collect multi-source sensing data at several sensing nodes and generate a temperature topology map by spatial adjacency mapping of the multi-source sensing data of the sensing nodes. The neighborhood time calibration module is used to perform time calibration within the topological neighborhood based on the sensing node, compare the time envelope trends of adjacent sensing nodes, and output a set of calibrated timestamps after iterative correction. The heartbeat generation and broadcasting module is used by each sensing node to generate and broadcast the node's breathing and heartbeat signals according to the agreed rules based on the local gradient values ​​of the temperature topology map and the set of correction timestamps. The status table generation module is used to generate a positioning communication status table containing positioning information intervals and communication availability levels, taking the temperature topology map, the set of correction timestamps and node respiratory and heartbeat signals as inputs, and outputting hierarchical positioning results and communication routing instructions.

[0075] This embodiment also provides a computer device applicable to the fire location and communication method that integrates multi-source sensing data, including a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to realize the fire location and communication method that integrates multi-source sensing data as proposed in the above embodiment.

[0076] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0077] This embodiment also provides a storage medium on which a computer program is stored. When the program is executed by a processor, it implements the fire positioning and communication method for fusing multi-source sensing data as proposed in the above embodiments.

[0078] In summary, this invention significantly suppresses time drift of each node through a time calibration mechanism within the topological neighborhood. The corrected timestamp set generated by iterative correction ensures high consistency of cross-node timing, thereby improving the synchronization and reliability of multi-source data fusion. Based on the dynamic generation strategy of heartbeat signals according to local gradients and communication status, the broadcast period can adapt to link fluctuations, improving the robustness of the network in scenarios with thermal interference or smoke obstruction. Furthermore, the positioning and communication status table uniformly quantifies the positioning information interval, movement trend, and communication availability level, enabling synchronous optimization of positioning inference and communication routing selection, greatly improving the positioning accuracy and communication continuity of firefighters in complex environments.

[0079] This invention significantly enhances node coordination, positioning stability, and link reliability in fire situations, reduces the risk of communication failures, improves command efficiency for rescue missions, and has automatic global update capabilities to ensure the system continuously adapts to dynamically changing scenarios.

[0080] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A fire-fighting positioning and communication method integrating multi-source sensing data, characterized in that: include: Multi-source sensing data is collected at several sensing nodes, and the multi-source sensing data of the sensing nodes is used to generate a temperature topology map through spatial adjacency mapping. Based on the sensing node, time calibration is performed within the topological neighborhood, the time envelope trend of adjacent sensing nodes is compared, and a set of corrected timestamps after iterative correction is output. Each sensing node generates and broadcasts its respiratory and heartbeat signals according to the agreed rules, based on the local gradient values ​​of the temperature topology map and the set of correction timestamps. Using the temperature topology map, the set of correction timestamps, and the node's respiratory and heartbeat signals as input, a positioning and communication status table containing the positioning information interval and the communication availability level is generated, and the hierarchical positioning results and communication routing instructions are output to the outside world.

2. The fire-fighting positioning and communication method that integrates multi-source sensing data as described in claim 1, characterized in that: The multi-source sensing data includes temperature data, smoke data, and communication link quality indicators.

3. The fire-fighting positioning and communication method integrating multi-source sensing data as described in claim 2, characterized in that: The generation of the temperature topology map includes: After deployment, multiple sensing nodes collect initial data packets containing initial temperature data, initial smoke data, and initial communication link quality data, and mark the initial data packets as the baseline collection period. The sensing nodes generate a list of adjacent node groups based on their deployment numbers and spatial adjacency relationships, and share updated real-time temperature data and real-time smoke data using the list of adjacent node groups as constraints. Using the adjacent node group list as input, the locations where the difference between the real-time temperature data and the initial temperature data in the adjacent sensing nodes exceeds the difference threshold are marked as diffusion indicator nodes, and the real-time temperature readings are divided into temperature level segments according to the set intervals; the temperature level segments and diffusion indicator nodes together form an initial temperature topology framework that can be mapped to the spatial structure. The initial temperature topology framework and the initial communication link quality data are jointly labeled as a temperature topology map, which includes temperature level segments, diffusion indicator nodes, and a list of adjacent node groups.

4. The fire-fighting positioning and communication method that integrates multi-source sensing data as described in claim 3, characterized in that: The time calibration includes: Each sensing node, based on the list of adjacent node groups in the temperature topology map and the initial communication link quality data, filters sensing nodes whose communication link quality is higher than the quality threshold, forming a set of calibration candidate node groups. Based on the calibration candidate group, the sensing node with the highest and most stable communication link quality is selected as the calibration master node, and the remaining candidate nodes are selected as calibration slave nodes, thus constructing a star calibration topology with the calibration master node as the root node.

5. The fire-fighting positioning and communication method that integrates multi-source sensing data as described in claim 4, characterized in that: The generation of the correction timestamp set includes: The calibration master node periodically broadcasts the current timestamp as a reference time; After receiving the reference time from the node, the calibration calculates the offset from the local timestamp and updates the local time based on the offset by applying a correction. The correction amount is the weighted average of the offset calculated in the current round and the correction amount in the previous round, wherein the offset in the current round has a higher weight; Each sensing node marks its local timestamp, which has stabilized after multiple iterations, as a correction timestamp, and the correction timestamps of all sensing nodes constitute the correction timestamp set.

6. The fire-fighting positioning and communication method that integrates multi-source sensing data as described in claim 5, characterized in that: The generation of the node's respiratory and heartbeat signals includes: Each sensing node sets a synchronization timing start point for its local communication cycle based on the set of correction timestamps. Each sensing node is in the adjacent node group list of the temperature topology map, and dynamically adjusts the broadcast period based on real-time communication link quality data: when the communication link quality of the sensing node is lower than the stable threshold, the broadcast period is extended; when the communication link quality is higher than the stable threshold, the standard broadcast period is used to maintain the response speed. When the broadcast cycle arrives, each sensing node outputs a data packet containing the node's unique identifier, real-time communication link quality data, and the latest correction timestamp, representing the node's respiratory and heartbeat signals.

7. The fire-fighting positioning and communication method that integrates multi-source sensing data as described in claim 6, characterized in that: The generation of the location communication status table includes: Using the temperature topology map, the set of correction timestamps, and the node's respiratory and heartbeat signals as input, the signal strength and communication link quality data of the received node's respiratory and heartbeat signals are combined with the network topology defined by the adjacent node group list. The location segment is narrowed down using the heartbeat signal strength to form a node location signal interval. At the same time, the movement trend is determined based on the two location signal intervals of a continuous time window. Based on real-time communication link quality data from node respiratory and heartbeat signals, and according to a preset link quality level mapping table, the communication capability of each sensing node and its neighboring nodes is labeled with a communication availability level. The node location information interval, movement trend, and communication availability level list are integrated to form a location communication status table, which includes at least the node identifier, location information interval, movement trend, and communication availability level.

8. The fire-fighting positioning and communication method that integrates multi-source sensing data as described in claim 7, characterized in that: Based on fixed time intervals, global updates to the temperature topology map, calibration timestamp set, and location communication status table are automatically triggered.

9. A fire-fighting positioning and communication system integrating multi-source sensing data, based on the fire-fighting positioning and communication method integrating multi-source sensing data as described in any one of claims 1 to 8, characterized in that: Also includes: A multi-source topology construction module is used to collect multi-source sensing data at several sensing nodes and generate a temperature topology map by spatial adjacency mapping of the multi-source sensing data of the sensing nodes. The neighborhood time calibration module is used to perform time calibration within the topological neighborhood based on the sensing node, compare the time envelope trends of adjacent sensing nodes, and output a set of calibrated timestamps after iterative correction. The heartbeat generation and broadcasting module is used by each sensing node to generate and broadcast the node's breathing and heartbeat signals according to the agreed rules based on the local gradient values ​​of the temperature topology map and the set of correction timestamps. The status table generation module is used to generate a positioning communication status table containing positioning information intervals and communication availability levels, taking the temperature topology map, the set of correction timestamps and node respiratory and heartbeat signals as inputs, and outputting hierarchical positioning results and communication routing instructions.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the fire positioning and communication method that integrates multi-source sensing data as described in any one of claims 1 to 8.

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