Big data-based accurate navigation positioning analysis method in smoke environment

Abstract

The invention relates to the technical field of accurate navigation and positioning in a smoke environment, and particularly discloses a big data-based accurate navigation and positioning analysis method in a smoke environment, which comprises the steps of safe rescue path screening, dangerous monitoring point judgment, rescue path re-planning and safe rescue path maintenance. According to the method, the smog information and the temperature information in the rescue environment are monitored in real time, and the rescue environment risk degree corresponding to each monitoring point after the current position of the target firefighter on the target rescue path is analyzed; the rescue path of the target firefighter at the current position is re-planned, a dangerous area is accurately avoided, the rescue efficiency is improved, the overall progress of rescue work is accelerated, the overall rescue capacity is improved, and trapped persons can be rescued in time so as to grasp the optimal rescue opportunity.

Description

Technical Field

[0001] The present invention relates to the technical field of precise navigation and positioning in a smoky environment, and in particular to a precise navigation and positioning analysis method in a smoky environment based on big data. Background Art

[0002] In fire emergency rescue scenarios, smoke often spreads rapidly and the ambient temperature often rises rapidly, which brings huge challenges to the navigation and positioning of rescuers. Traditional navigation and positioning methods are difficult to work accurately in smoke environments, and there is an urgent need for a system that can overcome smoke interference and achieve accurate navigation and positioning.

[0003] For example, the patent with announcement number CN114994672A discloses a method and device for positioning and mapping a fire smoke scene using a millimeter-wave radar and inertial combination. The method includes: obtaining inertial data and point cloud data; obtaining human posture information based on inertial data, and estimating human step length based on human kinematic constraints and inertial data, and determining human position information; performing lifting processing on sparse and noisy millimeter-wave radar point cloud data to obtain densified point cloud data; mapping the densified point cloud data to a global coordinate system to construct a map based on human posture information and position information. The present invention is applied to the field of navigation and positioning. Aiming at the complex and changeable characteristics of emergency rescue personnel's movements, based on human kinematic constraints, the gait is detected by an inertial device, and the position and posture are calculated to achieve navigation and positioning; then the point cloud data is mapped to a global coordinate system to construct a map based on the position and posture information, so as to achieve real-time positioning and mapping of personnel in a smoke environment.

[0004] The above existing technologies still have the following problems: 1. Currently, firefighters are unable to monitor the smoke and temperature information in the environment in real time during fire rescue. Therefore, firefighters will face greater uncertainty when formulating rescue strategies and cannot provide effective data support for the formulation of rescue strategies, which increases the difficulty and risk of decision-making and reduces the overall rescue capabilities.

[0005] 2. Currently, the analysis of smoke information in the rescue environment only stays at the size of the smoke concentration, and analyzes the diffusion rate of smoke and the growth rate of smoke concentration, that is, the changes of smoke at the speed level and time level are not analyzed. It is impossible to accurately judge the development trend of the fire, increase the risk of firefighters being harmed by toxic gases and obstructed vision during the rescue process, and increase the threat to the safety of firefighters.

[0006] 3. Currently, when the rescue path encounters obstacles, the command center or the firefighters’ own rescue experience is often used to make judgments, which cannot accurately avoid dangerous areas, reducing the rescue efficiency. At the same time, spending too much time on judging the path and avoiding dangerous areas will delay the overall progress of the rescue work, resulting in the trapped people not being rescued in time, thus missing the best rescue opportunity. Summary of the invention

[0007] In view of this, in order to solve the problems raised in the above background technology, a precise navigation and positioning analysis method in a smoky environment based on big data is proposed.

[0008] The purpose of the present invention can be achieved through the following technical solutions: The present invention provides a method for accurate navigation, positioning and analysis in a smoke environment based on big data, comprising the following steps: S1. Safe rescue path screening: When a trapped alarm of a target trapped person is received, each initial rescue path is automatically set for the target firefighter according to the trapped position of the trapped person, and the smoke concentration and ambient temperature corresponding to each monitoring point in each initial rescue path in the target building at the current monitoring time point are collected to screen out the safe rescue path currently corresponding to the target firefighter.

[0009] S2. Determination of dangerous monitoring points: record the current safe rescue path corresponding to the target firefighter as the target rescue path, collect the rescue environment information corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, and determine whether there is a dangerous monitoring point after the current position of the target firefighter on the target rescue path. If so, execute step S3; if not, execute step S4.

[0010] S3. Re-planning of the rescue path: When the target firefighter moves to the area where the first dangerous monitoring point belongs on the target rescue path, the rescue environment information of each replaceable monitoring point corresponding to the first dangerous monitoring point is extracted, and at the same time, the rescue path image between the first dangerous monitoring point and its corresponding replaceable monitoring points is collected to re-plan the rescue path of the target firefighter at the current location.

[0011] S4. Maintaining the safe rescue path: The target firefighter maintains the current corresponding safe rescue path and continues the rescue search until reaching the trapped location of the trapped person and providing feedback.

[0012] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects: (1) The present invention monitors the smoke information and temperature information in the rescue environment in real time, analyzes the danger level of the rescue environment corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, provides effective data support for the formulation of rescue strategies, and also provides a basis for the subsequent re-planning of rescue paths, thereby reducing the difficulty and risk of decision-making and improving the overall rescue capability.

[0013] (2) The present invention sets the smoke diffusion rate and smoke concentration growth rate corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, thereby calculating the smoke hazard corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, and analyzing the changes in the smoke at the speed level and the time level. It can accurately judge the development trend of the fire, reduce the risks of firefighters being harmed by toxic gases and obstructed vision during the rescue process, and at the same time reduce the threat to the safety of firefighters.

[0014] (3) When there is a dangerous monitoring point behind the current position of the target firefighter on the target rescue path, the present invention replans the rescue path of the target firefighter at the current position, accurately avoids the dangerous area, improves the rescue efficiency, speeds up the overall progress of the rescue work, and enables the trapped people to receive timely rescue, thereby grasping the best rescue opportunity. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0016] Figure 1 The figure is a schematic flow chart of the steps of the method of the present invention.

[0017] Figure 2 This is a schematic diagram of the initial rescue path of the present invention.

[0018] Figure 3 This is a schematic diagram of the rescue route replanning of the present invention.

[0019] Description of the accompanying drawings: 1. Target firefighter, 2. Initial rescue path, 3. Trapped position of the trapped person, 4. First dangerous monitoring point, 5. Best alternative monitoring point for the first dangerous monitoring point, 6. Dangerous monitoring point, 7. Alternative rescue path. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1As shown, the present invention provides a method for accurate navigation and positioning analysis in a smoky environment based on big data, including: Figure 2 As shown, S1, safe rescue path screening: when receiving the trapped alarm of the target trapped person, automatically set each initial rescue path for the target firefighter according to the trapped position of the trapped person, collect the smoke concentration and ambient temperature corresponding to each monitoring point in each initial rescue path in the target building at the current monitoring time point, and screen out the safe rescue path currently corresponding to the target firefighter.

[0022] It should be noted that the automatic setting of each initial rescue path for the target firefighter according to the trapped position of the trapped person can be achieved by a path generator, and the smoke concentration and ambient temperature corresponding to each monitoring point in each initial rescue path in the target building at the current monitoring time point can be collected by smoke sensors and temperature sensors installed at each monitoring point in the target building.

[0023] It should also be noted that in real life, large commercial buildings, industrial buildings and public buildings will install intelligent smoke alarms in order to improve fire prevention awareness, strengthen fire warning and emergency response capabilities. Intelligent smoke alarms are not limited to detecting smoke, but may also have a variety of sensors, including temperature sensors, to achieve more comprehensive environmental monitoring and alarm functions.

[0024] In a specific embodiment of the present invention, the specific process of screening out the safe rescue path currently corresponding to the target firefighter is as follows: A1, based on the smoke concentration and ambient temperature corresponding to each monitoring point in each initial rescue path in the target building at the current monitoring time point, calculate the safety index Safe corresponding to each initial rescue path i , where i represents the number of the initial rescue path, i=1,2,...,n.

[0025] In a specific embodiment of the present invention, the specific process of calculating the safety index corresponding to each initial rescue path is as follows: B1, the smoke concentration and ambient temperature corresponding to each monitoring point in each initial rescue path in the target building at the current monitoring time point are respectively recorded as ε ij and W ij , where j represents the number of the monitoring point, j = 1, 2, ..., m.

[0026] B2. Calculate the smoke safety degree corresponding to each initial rescue path and temperature safety

[0027]

[0028] It should be noted that the specific process of calculating the smoke safety degree corresponding to each initial rescue path is: extracting the limit smoke concentration visible to the human body from the database and recording it as ε′.

[0029] Calculate the smoke safety degree corresponding to each initial rescue path Among them, Δε represents the smoke concentration deviation of the set reference, e represents the natural constant, and m represents the number of monitoring points.

[0030] It should be noted that the specific process of calculating the temperature safety corresponding to each initial rescue path is: extracting the extreme temperature that the human body can withstand from the database and recording it as W′.

[0031] Calculate the temperature safety degree corresponding to each initial rescue path Here, ΔW represents the temperature deviation of the set reference.

[0032] B3. Calculate the safety index Safe corresponding to each initial rescue path i , Among them, a1 and a2 represent the weights of the safety index assessment corresponding to the set smoke safety degree and temperature safety degree, respectively, and a1+a2=1.

[0033] In the specific embodiment of the present invention, the setting value of a1 is 0.5, and the setting value of a2 is 0.5. In the actual rescue process, smoke safety and temperature safety are often interrelated and affect each other. Areas with high smoke concentration are often accompanied by high temperatures, and high temperature environments may also aggravate the spread and harm of smoke. Therefore, when calculating the safety index corresponding to each initial rescue path, it is necessary to comprehensively consider smoke safety and temperature safety.

[0034] A2. Extract the maximum value from the safety indexes corresponding to the initial rescue paths, and use the initial rescue path corresponding to the maximum value as the current safety rescue path corresponding to the target firefighter.

[0035] S2. Determination of dangerous monitoring points: record the current safe rescue path corresponding to the target firefighter as the target rescue path, collect the rescue environment information corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, and determine whether there is a dangerous monitoring point after the current position of the target firefighter on the target rescue path. If so, execute step S3; if not, execute step S4.

[0036] In a specific embodiment of the present invention, the rescue environment information includes the smoke concentration and the ambient temperature corresponding to the current monitoring time point and each historical monitoring time point.

[0037] It should be noted that the smoke concentration and ambient temperature corresponding to the current monitoring time point and each historical monitoring time point are also collected by the smoke sensors and temperature sensors installed at each monitoring point.

[0038] In a specific embodiment of the present invention, the specific process of determining whether there is a dangerous monitoring point after the current position of the target firefighter on the target rescue path is as follows: C1, extracting the smoke concentration and ambient temperature corresponding to the current monitoring time point and each historical monitoring time point from the rescue environment information, and calculating the smoke danger degree β corresponding to each monitoring point after the current position of the target firefighter on the target rescue path j and temperature hazard χ j .

[0039] In a specific embodiment of the present invention, the specific process of calculating the smoke danger degree corresponding to each monitoring point after the current position of the target firefighter on the target rescue path is as follows: D1, extracting the maximum value and the minimum value from the smoke concentration corresponding to each historical monitoring time point corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, and recording them as and At the same time, the monitoring time points corresponding to the maximum and minimum values ​​are extracted, and then the monitoring interval between the maximum and minimum values ​​is obtained, which is recorded as Δt j .

[0040] D2, set the smoke diffusion rate v corresponding to each monitoring point after the current position of the target firefighter on the target rescue path j ,

[0041] D3. Set the smoke concentration growth rate K corresponding to each monitoring point after the target firefighter’s current position on the target rescue path j .

[0042] In a specific embodiment of the present invention, the method of setting the smoke concentration growth rate corresponding to each monitoring point after the current position of the target firefighter on the target rescue path is as follows: using the monitoring time point as the horizontal coordinate and the smoke concentration as the vertical coordinate, constructing a smoke concentration deviation curve corresponding to each monitoring point, and locating the slope value from the curve as the smoke concentration growth rate corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, and marking it as K i .

[0043] D4. Calculate the smoke hazard β corresponding to each monitoring point after the target firefighter’s current position on the target rescue path j , Among them, v′ and K′ represent the set reference smoke diffusion rate and smoke concentration growth rate respectively, a3 and a4 represent the set smoke diffusion rate and smoke concentration growth rate corresponding to the smoke hazard assessment weights respectively, a3+a4=1.

[0044] In a specific embodiment of the present invention, the setting value of a3 is 0.5, and the setting value of a4 is 0.5. The smoke diffusion rate determines the speed of change of the smoke coverage area, thereby affecting the safety and rescue efficiency of firefighters. The smoke concentration growth rate is one of the important indicators for assessing the hazard level of smoke. The smoke concentration growth rate is directly related to the time and degree of exposure of firefighters to harmful smoke. Firefighters can predict future smoke conditions based on the changing trend of the concentration growth rate and adjust rescue strategies and protective measures accordingly.

[0045] The embodiment of the present invention sets the smoke diffusion rate and smoke concentration growth rate corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, thereby calculating the smoke hazard degree corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, and analyzing the changes in the smoke at the speed level and the time level. It is possible to accurately judge the development trend of the fire, reduce the risks of firefighters being harmed by toxic gases and obstructed vision during the rescue process, and at the same time reduce the threat to the safety of firefighters.

[0046] In a specific embodiment of the present invention, the specific process of calculating the temperature hazard level corresponding to each monitoring point after the current position of the target firefighter on the target rescue path is: E1. Compare the ambient temperature corresponding to the current monitoring time point corresponding to each monitoring point after the current position of the target firefighter on the target rescue path with the extreme temperature that the human body can withstand stored in the database.

[0047] E2. If the ambient temperature corresponding to the current monitoring time point of a certain monitoring point is greater than or equal to the limit temperature that the human body can withstand, the temperature hazard level corresponding to the monitoring point is recorded as μ1; if the ambient temperature corresponding to the current monitoring time point of a certain monitoring point is lower than the limit temperature that the human body can withstand, the temperature hazard level corresponding to the monitoring point is recorded as μ2.

[0048] E3. In summary, the temperature hazard degree χ corresponding to each monitoring point after the current position of the target firefighter on the target rescue path is obtained j , χ j The value of is μ1 or μ2, where μ2<μ1.

[0049] In a specific embodiment of the present invention, the value of μ1 is 1, and the value of μ2 is 0.

[0050] C2. Calculate the rescue environment danger level δ corresponding to each monitoring point after the target firefighter’s current position on the target rescue path j , Among them, λ1 and λ2 represent the weights of the rescue environment hazard assessment corresponding to the set smoke hazard level and temperature hazard level, respectively, λ1+λ2=1.

[0051] In the specific embodiment of the present invention, the setting value of λ1 is 0.5, and the setting value of λ2 is 0.5. In actual operation, the smoke danger and temperature danger often need to be considered comprehensively. On the one hand, firefighters need to wear professional protective equipment to reduce the harm of smoke and high temperature to their health. On the other hand, they also need to choose appropriate rescue paths and strategies according to the specific conditions of the fire scene.

[0052] C3. Compare the rescue environment hazard level corresponding to each monitoring point after the target firefighter's current position on the target rescue path with the set reference rescue environment hazard level. If the rescue environment hazard level corresponding to a monitoring point is greater than or equal to the set reference rescue environment hazard level, the monitoring point is recorded as a dangerous monitoring point.

[0053] The embodiment of the present invention monitors the smoke and temperature information in the rescue environment in real time, analyzes the danger level of the rescue environment corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, provides effective data support for the formulation of rescue strategies, and also provides a basis for the subsequent re-planning of rescue paths, thereby reducing the difficulty and risk of decision-making and improving the overall rescue capability.

[0054] See also Figure 3 As shown, S3, rescue path re-planning: before the target firefighter moves to the area to which the first dangerous monitoring point belongs on the target rescue path, the rescue environment information of each replaceable monitoring point corresponding to the first dangerous monitoring point is extracted, and at the same time, the rescue path image between the first dangerous monitoring point and its corresponding replaceable monitoring points is collected, and the rescue path of the target firefighter at the current position is re-planned.

[0055] It should be noted that the rescue environment information of each replaceable monitoring point corresponding to the first dangerous monitoring point includes the smoke concentration and the ambient temperature corresponding to the current monitoring time point and each historical monitoring time point.

[0056] It should also be noted that the image of the rescue path between the first dangerous monitoring point and its corresponding replaceable monitoring points is acquired through the acquisition of an infrared camera installed on the rescue path in the target building.

[0057] In a specific embodiment of the present invention, the specific process of re-planning the rescue path of the target firefighter at the current position is: F1. Identify whether there are obstacles in the rescue path image between the first dangerous monitoring point and its corresponding replaceable monitoring points. If there are obstacles in the rescue path between the first dangerous monitoring point and its corresponding replaceable monitoring point, the replaceable monitoring point is excluded. Otherwise, the replaceable monitoring point is recorded as the target monitoring point, thereby obtaining the target monitoring points corresponding to the first dangerous monitoring point.

[0058] It should be noted that the specific method of identifying whether there are obstacles in the rescue path image between the first dangerous monitoring point and its corresponding replaceable monitoring points is: use an infrared camera to take images of the rescue path to capture objects and scenes on the path. The image taken by the infrared camera is preprocessed, including denoising, contrast enhancement, edge detection and other steps to improve image quality for subsequent processing. Key features such as color, texture, shape, etc. are extracted from the preprocessed image, and these features will be used for subsequent obstacle identification. Call a preset recognition model (such as a deep learning model) to identify objects in the image and identify preset types of obstacles.

[0059] F2. Calculate the rescue risk index ξ of each target monitoring point corresponding to the first dangerous monitoring point r , where r represents the number of the target monitoring point, r = 1, 2, ..., g.

[0060] In a specific embodiment of the present invention, the specific process of calculating the rescue danger index of each target monitoring point corresponding to the first dangerous monitoring point is as follows: G1, extracting the rescue environment information of each target monitoring point corresponding to the first dangerous monitoring point from the rescue environment information of each replaceable monitoring point corresponding to the first dangerous monitoring point, and calculating the smoke danger index and temperature danger index of each target monitoring point corresponding to the first dangerous monitoring point in the same way as the calculation method of the smoke danger degree and temperature danger degree corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, and denoting them as ω respectively. r and ψ r .

[0061] G2. Calculate the rescue risk index ξ of each target monitoring point corresponding to the first dangerous monitoring point r , Among them, a5 and a6 represent the weights of the rescue risk index assessment corresponding to the set smoke risk index and temperature risk index, respectively, and a5+a6=1.

[0062] In a specific embodiment of the present invention, the setting value of a5 is 0.5, and the setting value of a6 is 0.5.

[0063] F3. Extract the minimum value from the rescue risk of each target monitoring point corresponding to the first dangerous monitoring point, and use the target monitoring point corresponding to the minimum value as the best replaceable monitoring point for the first dangerous monitoring point. Based on the current position of the target firefighter and the position of the best replaceable monitoring point, re-plan the rescue path of the target firefighter at the current position, thereby obtaining the replacement rescue path of the target firefighter at the current position.

[0064] The embodiment of the present invention replans the rescue path of the target firefighter at the current position when there is a dangerous monitoring point behind the current position of the target firefighter on the target rescue path, accurately avoids the dangerous area, improves the rescue efficiency, speeds up the overall progress of the rescue work, and enables the trapped people to receive timely rescue, thereby grasping the best rescue opportunity.

[0065] S4. Maintaining the safe rescue path: The target firefighter maintains the current corresponding safe rescue path and continues the rescue search until reaching the trapped location of the trapped person and providing feedback.

[0066] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. A method for accurate navigation and positioning analysis in a smoky environment based on big data, characterized in that: The steps include: S1. Safe rescue path screening: When receiving a trapped target person alarm, the system automatically sets initial rescue paths for the target firefighters based on the trapped person's location. The system collects smoke concentration and ambient temperature data from each monitoring point on each initial rescue path within the target building at the current monitoring time, and screens out the safe rescue path for the target firefighters. S2. Determine dangerous monitoring points: Record the current safe rescue path corresponding to the target firefighter as the target rescue path, collect rescue environment information corresponding to each monitoring point after the target firefighter's current position on the target rescue path, and determine whether there is a dangerous monitoring point after the target firefighter's current position on the target rescue path. If so, execute step S3; if not, execute step S4; S3. Rescue Path Replanning: When the target firefighter moves to the area of ​​the first dangerous monitoring point on the target rescue path, the rescue environment information of each alternative monitoring point corresponding to the first dangerous monitoring point is extracted, and rescue path images between the first dangerous monitoring point and its corresponding alternative monitoring points are collected to replan the rescue path of the target firefighter at the current location; S4. Maintaining the safe rescue path: The target firefighter maintains the current corresponding safe rescue path and continues the rescue search until reaching the trapped location of the trapped person and providing feedback.

2. The method for accurate navigation and positioning analysis in a smoky environment based on big data according to claim 1, characterized in that: The specific process of screening out the safe rescue path currently corresponding to the target firefighter is as follows: A1. Calculate the safety index Safe of each initial rescue path based on the smoke concentration and ambient temperature of each monitoring point in the target building at the current monitoring time. i , where i represents the number of the initial rescue path, i = 1, 2, ..., n; A2. Extract the maximum value from the safety indexes corresponding to the initial rescue paths, and use the initial rescue path corresponding to the maximum value as the current safe rescue path corresponding to the target firefighter.

3. The method for accurate navigation and positioning analysis in a smoky environment based on big data according to claim 2, characterized in that: The specific process of calculating the safety index corresponding to each initial rescue path is as follows: B1. The smoke concentration and ambient temperature corresponding to each monitoring point in each initial rescue path in the target building at the current monitoring time are recorded as ε ij and W ij , where j represents the number of the monitoring point, j = 1, 2, ..., m; B2. Calculate the smoke safety level corresponding to each initial rescue path and temperature safety B3. Calculate the safety index corresponding to each initial rescue path i , Among them, a1 and a2 represent the weights of the safety index assessment corresponding to the set smoke safety level and temperature safety level, respectively, and a1+a2=1.

4. The method for accurate navigation and positioning analysis in a smoky environment based on big data according to claim 3 is characterized by: The rescue environment information includes the smoke concentration and the ambient temperature corresponding to the current monitoring time point and each historical monitoring time point.

5. The method for accurate navigation and positioning analysis in a smoky environment based on big data according to claim 4, characterized in that: The specific process of determining whether there is a dangerous monitoring point after the current position of the target firefighter on the target rescue path is as follows: C1. Extract the smoke concentration and ambient temperature corresponding to the current monitoring time point and each historical monitoring time point from the rescue environment information, and calculate the smoke hazard β corresponding to each monitoring point after the target firefighter's current position on the target rescue path. j and temperature hazard χ j ; C2. Calculate the rescue environment danger level δ corresponding to each monitoring point after the target firefighter's current position on the target rescue path j , Among them, λ1 and λ2 represent the weights of the set smoke hazard level and temperature hazard level corresponding to the rescue environment hazard level assessment, λ1+λ2=1; C3. Compare the rescue environment hazard level corresponding to each monitoring point after the target firefighter's current position on the target rescue path with the set reference rescue environment hazard level. If the rescue environment hazard level corresponding to a monitoring point is greater than or equal to the set reference rescue environment hazard level, then the monitoring point is recorded as a dangerous monitoring point.

6. The method for accurate navigation and positioning analysis in a smoky environment based on big data according to claim 5, characterized in that: The specific process of calculating the smoke hazard level corresponding to each monitoring point after the current position of the target firefighter on the target rescue path is as follows: D1. Extract the maximum and minimum values ​​of the smoke concentration corresponding to each monitoring point after the target firefighter's current position on the target rescue path, and record them as and At the same time, the monitoring time points corresponding to the maximum and minimum values ​​are extracted, and the monitoring interval between the maximum and minimum values ​​is obtained, which is recorded as Δt j ; D2. Set the smoke diffusion rate v corresponding to each monitoring point after the target firefighter's current position on the target rescue path j , D3. Set the smoke concentration growth rate K corresponding to each monitoring point after the target firefighter's current position on the target rescue path j ; D4. Calculate the smoke hazard β corresponding to each monitoring point after the target firefighter's current position on the target rescue path j , Among them, v′ and K′ represent the set reference smoke diffusion rate and smoke concentration growth rate, respectively. a3 and a4 represent the weights of the set smoke diffusion rate and smoke concentration growth rate corresponding to the smoke hazard assessment, respectively. a3+a4=1.

7. The method for accurate navigation and positioning analysis in a smoky environment based on big data according to claim 5, characterized in that: The specific process of calculating the temperature risk level corresponding to each monitoring point after the target firefighter's current position on the target rescue path is as follows: E1. Compare the ambient temperature corresponding to the current monitoring time point of each monitoring point after the target firefighter's current position on the target rescue path with the human body's tolerable limit temperature stored in the database; E2. If the ambient temperature at the current monitoring time point corresponding to a monitoring point is greater than or equal to the limit temperature that the human body can withstand, the temperature hazard level corresponding to the monitoring point is recorded as μ1. If the ambient temperature at the current monitoring time point corresponding to a monitoring point is less than the limit temperature that the human body can withstand, the temperature hazard level corresponding to the monitoring point is recorded as μ2. E3. In summary, the temperature hazard level χ corresponding to each monitoring point after the target firefighter’s current position on the target rescue path is obtained. j , χ j The value of is μ1 or μ2, where μ2<μ1.

8. The method for accurate navigation and positioning analysis in a smoky environment based on big data according to claim 6, characterized in that: The method for setting the smoke concentration growth rate corresponding to each monitoring point after the current position of the target firefighter on the target rescue path is as follows: using the monitoring time point as the horizontal coordinate and the smoke concentration as the vertical coordinate, a smoke concentration deviation curve corresponding to each monitoring point is constructed, and the slope value is located from the curve as the smoke concentration growth rate corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, which is marked as K i .

9. The method for accurate navigation and positioning analysis in a smoky environment based on big data according to claim 1, characterized in that: The specific process of replanning the rescue path of the target firefighter at the current location is as follows: F1. Identify whether there are obstacles in the rescue path image between the first dangerous monitoring point and its corresponding alternative monitoring points. If there is an obstacle in the rescue path between the first dangerous monitoring point and its corresponding alternative monitoring point, exclude the alternative monitoring point. Otherwise, record the alternative monitoring point as the target monitoring point, thereby obtaining the target monitoring points corresponding to the first dangerous monitoring point. F2. Calculate the rescue risk index ξ of each target monitoring point corresponding to the first dangerous monitoring point. r , where r represents the number of the target monitoring point, r = 1, 2, ..., g; F3. Extract the minimum value from the rescue risk of each target monitoring point corresponding to the first dangerous monitoring point, and use the target monitoring point corresponding to the minimum value as the best replaceable monitoring point for the first dangerous monitoring point. Based on the current position of the target firefighter and the position of the best replaceable monitoring point, replan the rescue path of the target firefighter at the current position, thereby obtaining the replacement rescue path of the target firefighter at the current position.

10. The method for accurate navigation and positioning analysis in a smoky environment based on big data according to claim 9, characterized in that: The specific process of calculating the rescue risk index of each target monitoring point corresponding to the first dangerous monitoring point is as follows: G1. Extract the rescue environment information of each target monitoring point corresponding to the first dangerous monitoring point from the rescue environment information of each replaceable monitoring point corresponding to the first dangerous monitoring point, and calculate the smoke hazard index and temperature hazard index of each target monitoring point corresponding to the first dangerous monitoring point in the same way as the calculation method of the smoke hazard degree and temperature hazard degree corresponding to each monitoring point after the current position of the target firefighter on the target rescue path, and record them as ω respectively. r and ψ r ; G2. Calculate the rescue risk index ξ of each target monitoring point corresponding to the first dangerous monitoring point. r , Among them, a5 and a6 represent the weights of the set smoke hazard index and temperature hazard index corresponding to the rescue hazard index assessment, respectively, a5+a6=1.

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