A method and system for rapid self-organizing network positioning for emergency rescue

Abstract

The present invention discloses a method and system for rapid self-organizing network positioning for emergency rescue. The method comprises: arranging initial positioning nodes in an emergency scene to perform initial positioning networking; setting a dynamic node distribution model, calculating the number of nodes in real time, and updating the positioning nodes in the initial positioning networking; calculating the signal strength attenuation index of the positioning node at each position in the updated initial positioning networking; calculating the total signal strength index received by the positioning node at each position in the updated initial positioning networking; calculating the positioning error index of the positioning node at each position in the updated initial positioning networking; comparing the signal strength attenuation index and / or the positioning error index with a corresponding threshold value, and when the corresponding threshold value is exceeded, adjusting the position and the number of the positioning nodes in the updated initial positioning networking until they are less than the corresponding threshold value.

Description

Technical Field

[0001] The present invention belongs to the technical field of emergency scene positioning node networking, and more specifically, relates to an emergency rescue rapid self-organizing network positioning method and system. Background Art

[0002] Currently, the positioning node ad hoc network mainly relies on a variety of positioning technologies, such as GPS, Wi-Fi, Bluetooth and UWB. The network can automatically configure and optimize the connection between nodes to support positioning needs in dynamic environments. In recent years, the progress of algorithms and hardware has significantly improved the accuracy and response speed, especially in the fields of intelligent transportation, indoor navigation and the Internet of Things. However, challenges still include environmental interference, node density limitations and energy management.

[0003] Currently, there is no technical solution that can dynamically and efficiently complete rapid self-organizing networking in emergency scenarios. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a method for rapid self-organizing network positioning for emergency rescue, comprising:

[0005] Deploy initial positioning nodes in emergency scenarios and conduct initial positioning networking;

[0006] Setting a dynamic node distribution model, calculating the number of nodes in real time, and updating the positioning nodes in the initial positioning network;

[0007] Setting a signal strength attenuation model to calculate the updated signal strength attenuation index of the positioning node at each position in the initial positioning network;

[0008] Setting a multipath propagation model to calculate the total signal strength index received by the positioning node at each position in the updated initial positioning network;

[0009] Setting an adaptive positioning error model to calculate an updated positioning error index of a positioning node at each position in the initial positioning network;

[0010] The signal strength attenuation index and / or the positioning error index are compared with the corresponding threshold value. When the corresponding threshold value is exceeded, the position and number of positioning nodes in the updated initial positioning network are adjusted until they are less than the corresponding threshold value; or the total signal strength index is compared with the corresponding threshold value. When the index is less than the corresponding threshold value, the position and number of positioning nodes in the updated initial positioning network are adjusted until they exceed the corresponding threshold value.

[0011] Furthermore, the signal strength attenuation model includes:

[0012] ,

[0013] in, For location The signal strength attenuation index of the positioning node, is the number of positioning nodes, For the The signal strength of the positioning node, is the first adjustment factor of signal strength attenuation, For the Locations Position the node to the location The distance to the positioning node, is the second adjustment factor for signal strength attenuation, is the third adjustment factor of signal strength attenuation, For the Locations The signal strength of the positioning node at is the fourth adjustment factor of signal strength attenuation, is the fifth adjustment factor for signal strength attenuation.

[0014] Furthermore, the multipath propagation model includes:

[0015] ,

[0016] in, For location The total signal strength index received by the positioning node, is the number of paths, For the The first adjustment factor for each path, For the The second adjustment factor for each path, For the Path to location The distance to the positioning node, For the The third adjustment factor for each path, For time, For the The fourth adjustment factor for each path is For the The distance adjustment factor for each path, For the The fifth adjustment factor for each path, For the The sixth adjustment factor for each path.

[0017] Furthermore, the dynamic node distribution model includes:

[0018] ,

[0019] in, For time The number of nodes, is the initial number of nodes, is the node growth rate, is the rate at which the node reaches a steady state, For the The first adjustment factor for nodes, For time No. The distance between a node and other nodes, is the initial correction value, indicating that =0 when the signal is corrected. is the time adjustment factor, is the amplitude, which indicates the intensity of the periodic change, is the frequency, which controls the frequency of periodic fluctuations, is the phase, adjusting the starting position of the fluctuation, is the adjustment factor for node distribution.

[0020] Furthermore, the adaptive positioning error model includes:

[0021] ,

[0022] in, For location The positioning error index of the positioning node at For the The first error adjustment factor of the path, For the The direction angle of the path, For the The second error adjustment factor for each path, is the third error adjustment factor, is the fourth error adjustment factor, For the The environmental noise value of each path.

[0023] The present invention also proposes an emergency rescue rapid self-organizing network positioning system, comprising:

[0024] Initialization module, used to deploy initial positioning nodes in emergency scenarios and perform initial positioning networking;

[0025] A node distribution module is used to set a dynamic node distribution model, calculate the number of nodes in real time, and update the positioning nodes in the initial positioning network;

[0026] A signal strength analysis module, used to set a signal strength attenuation model and calculate the updated signal strength attenuation index of the positioning node at each position in the initial positioning network;

[0027] A multipath analysis module, used to set a multipath propagation model and calculate the total signal strength index received by the positioning node at each position in the updated initial positioning network;

[0028] An error analysis module is used to set an adaptive positioning error model and calculate the updated positioning error index of the positioning node at each position in the initial positioning network;

[0029] The first adjustment module is used to compare the signal strength attenuation index and / or the positioning error index with the corresponding threshold value, and when the corresponding threshold value is exceeded, the position and number of positioning nodes in the updated initial positioning network are adjusted until they are less than the corresponding threshold value; or the second adjustment module is used to compare the total signal strength index with the corresponding threshold value, and when the total signal strength index is less than the corresponding threshold value, the position and number of positioning nodes in the updated initial positioning network are adjusted until they exceed the corresponding threshold value.

[0030] Furthermore, the signal strength attenuation model includes:

[0031] ,

[0032] in, For location The signal strength attenuation index of the positioning node, is the number of positioning nodes, For the The signal strength of the positioning node, is the first adjustment factor of signal strength attenuation, For the Locations Position the node to the location The distance to the positioning node, is the second adjustment factor for signal strength attenuation, is the third adjustment factor of signal strength attenuation, For the Locations The signal strength of the positioning node at is the fourth adjustment factor of signal strength attenuation, is the fifth adjustment factor for signal strength attenuation.

[0033] Furthermore, the multipath propagation model includes:

[0034] ,

[0035] in, For location The total signal strength index received by the positioning node, is the number of paths, For the The first adjustment factor for each path, For the The second adjustment factor for each path, For the Path to location The distance to the positioning node, For the The third adjustment factor for each path, For time, For the The fourth adjustment factor for each path is For the The distance adjustment factor for each path, For the The fifth adjustment factor for each path, For the The sixth adjustment factor for each path.

[0036] Furthermore, the dynamic node distribution model includes:

[0037] ,

[0038] in, For time The number of nodes, is the initial number of nodes, is the node growth rate, is the rate at which the node reaches a steady state, For the The first adjustment factor for nodes, For time No. The distance between a node and other nodes, is the initial correction value, indicating that =0 when the signal is corrected. is the time adjustment factor, is the amplitude, which indicates the intensity of the periodic change, is the frequency, which controls the frequency of periodic fluctuations, is the phase, adjusting the starting position of the fluctuation, is the adjustment factor for node distribution.

[0039] Furthermore, the adaptive positioning error model includes:

[0040] ,

[0041] in, For location The positioning error index of the positioning node at For the The first error adjustment factor of the path, For the The direction angle of the path, For the The second error adjustment factor for each path, is the third error adjustment factor, is the fourth error adjustment factor, For the The environmental noise value of each path.

[0042] In general, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art:

[0043] Through the above technical solution, the present invention can dynamically and efficiently complete the self-organizing network of positioning nodes in emergency scenarios (such as fire and earthquake), thereby providing positioning information for rescue personnel to improve rescue efficiency and reduce casualties. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0045] Figure 2 It is a structural diagram of the system of embodiment 2 of the present invention. DETAILED DESCRIPTION

[0046] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0047] The method provided by the present invention can be implemented in the following terminal environment, and the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, and the instruction is loaded and executed by the processor to implement the method described in the following embodiment.

[0048] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts of the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0049] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets or instructions.

[0050] The display screen is used to display the user interface of each application.

[0051] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal, and the terminal may include more or fewer components, or combine certain components, or arrange the components differently. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be described in detail here.

[0052] Example 1

[0053] like Figure 1 As shown, an embodiment of the present invention provides an emergency rescue rapid self-organizing network positioning method, including:

[0054] Step 101, deploying initial positioning nodes in emergency scenarios and performing initial positioning networking;

[0055] Step 102, setting a dynamic node distribution model, calculating the number of nodes in real time, and updating the positioning nodes in the initial positioning network;

[0056] Specifically, the dynamic node distribution model includes:

[0057] ,

[0058] in, For time The number of nodes, is the initial number of nodes, is the node growth rate, is the rate at which the node reaches a steady state, For the The first adjustment factor for nodes, For time No. The distance between a node and other nodes, is the initial correction value, indicating that =0 when the signal is corrected. is the time adjustment factor, is the amplitude, which indicates the intensity of the periodic change, is the frequency, which controls the frequency of periodic fluctuations, is the phase, adjusting the starting position of the fluctuation, is the adjustment factor for node distribution.

[0059] Step 103, setting a signal strength attenuation model, and calculating the updated signal strength attenuation index of the positioning node at each position in the initial positioning network;

[0060] Specifically, the signal strength attenuation model includes:

[0061] ,

[0062] in, For location The signal strength attenuation index of the positioning node, is the number of positioning nodes, For the The signal strength of the positioning node, is the first adjustment factor of signal strength attenuation, For the Locations Position the node to the location The distance to the positioning node, is the second adjustment factor for signal strength attenuation, is the third adjustment factor of signal strength attenuation, For the Locations The signal strength of the positioning node at is the fourth adjustment factor of signal strength attenuation, is the fifth adjustment factor for signal strength attenuation.

[0063] Step 104, setting a multipath propagation model, and calculating the updated total signal strength index received by the positioning node at each position in the initial positioning network;

[0064] Specifically, the multipath propagation model includes:

[0065] ,

[0066] in, For location The total signal strength index received by the positioning node, is the number of paths, For the The first adjustment factor for each path, For the The second adjustment factor for each path, For the Path to location The distance to the positioning node, For the The third adjustment factor for each path, For time, For the The fourth adjustment factor for each path is For the The distance adjustment factor for each path, For the The fifth adjustment factor for each path, For the The sixth adjustment factor for each path.

[0067] Step 105, setting an adaptive positioning error model, and calculating an updated positioning error index of a positioning node at each position in the initial positioning network;

[0068] Specifically, the adaptive positioning error model includes:

[0069] ,

[0070] in, For location The positioning error index of the positioning node at For the The first error adjustment factor of the path, For the The direction angle of the path, For the The second error adjustment factor for each path, is the third error adjustment factor, is the fourth error adjustment factor, For the The environmental noise value of each path.

[0071] Step 106: compare the signal strength attenuation index and / or the positioning error index with a corresponding threshold value, and when the corresponding threshold value is exceeded, adjust the position and number of positioning nodes in the updated initial positioning network until the value is less than the corresponding threshold value; or

[0072] Step 107: compare the total signal strength index with a corresponding threshold value. When the total signal strength index is less than the corresponding threshold value, adjust the positions and the number of positioning nodes in the updated initial positioning network until the total signal strength index exceeds the corresponding threshold value.

[0073] Specifically, all adjustment factors are fitted by gradient descent method or ant colony algorithm.

[0074] Specifically, the positioning networking information is displayed, and the user adjusts the number and position of the positioning nodes through the operation interface.

[0075] Example 2

[0076] like Figure 2As shown, the embodiment of the present invention also provides an emergency rescue rapid self-organizing network positioning system, including:

[0077] Initialization module, used to deploy initial positioning nodes in emergency scenarios and perform initial positioning networking;

[0078] A node distribution module is used to set a dynamic node distribution model, calculate the number of nodes in real time, and update the positioning nodes in the initial positioning network;

[0079] Specifically, the dynamic node distribution model includes:

[0080] ,

[0081] in, For time The number of nodes, is the initial number of nodes, is the node growth rate, is the rate at which the node reaches a steady state, For the The first adjustment factor for nodes, For time No. The distance between a node and other nodes, is the initial correction value, indicating that =0 when the signal is corrected. is the time adjustment factor, is the amplitude, which indicates the intensity of the periodic change, is the frequency, which controls the frequency of periodic fluctuations, is the phase, adjusting the starting position of the fluctuation, is the adjustment factor for node distribution.

[0082] A signal strength analysis module, used to set a signal strength attenuation model and calculate the updated signal strength attenuation index of the positioning node at each position in the initial positioning network;

[0083] Specifically, the signal strength attenuation model includes:

[0084] ,

[0085] in, For location The signal strength attenuation index of the positioning node, is the number of positioning nodes, For the The signal strength of the positioning node, is the first adjustment factor of signal strength attenuation, For the Locations Position the node to the location The distance to the positioning node, is the second adjustment factor for signal strength attenuation, is the third adjustment factor of signal strength attenuation, For the Locations The signal strength of the positioning node at is the fourth adjustment factor of signal strength attenuation, is the fifth adjustment factor for signal strength attenuation.

[0086] A multipath analysis module, used to set a multipath propagation model and calculate the total signal strength index received by the positioning node at each position in the updated initial positioning network;

[0087] Specifically, the multipath propagation model includes:

[0088] ,

[0089] in, For location The total signal strength index received by the positioning node, is the number of paths, For the The first adjustment factor for each path, For the The second adjustment factor for each path, For the Path to location The distance to the positioning node, For the The third adjustment factor for each path, For time, For the The fourth adjustment factor for each path is For the The distance adjustment factor for each path, For the The fifth adjustment factor for each path, For the The sixth adjustment factor for each path.

[0090] An error analysis module is used to set an adaptive positioning error model and calculate the updated positioning error index of the positioning node at each position in the initial positioning network;

[0091] Specifically, the adaptive positioning error model includes:

[0092] ,

[0093] in, For location The positioning error index of the positioning node at For the The first error adjustment factor of the path, For the The direction angle of the path, For the The second error adjustment factor for each path, is the third error adjustment factor, is the fourth error adjustment factor, For the The environmental noise value of each path.

[0094] A first adjustment module is configured to compare the signal strength attenuation index and / or the positioning error index with a corresponding threshold value, and when the corresponding threshold value is exceeded, adjust the position and number of positioning nodes in the updated initial positioning network until the value is less than the corresponding threshold value; or

[0095] The second adjustment module is used to compare the total signal strength index with a corresponding threshold, and when it is less than the corresponding threshold, adjust the position and number of positioning nodes in the updated initial positioning network until it exceeds the corresponding threshold.

[0096] Example 3

[0097] The embodiment of the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are used to implement the emergency rescue rapid self-organizing network positioning method.

[0098] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0099] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps: Step 101, deploying initial positioning nodes in an emergency scenario to perform initial positioning networking;

[0100] Step 102, setting a dynamic node distribution model, calculating the number of nodes in real time, and updating the positioning nodes in the initial positioning network;

[0101] Specifically, the dynamic node distribution model includes:

[0102] ,

[0103] in, For time The number of nodes, is the initial number of nodes, is the node growth rate, is the rate at which the node reaches a steady state, For the The first adjustment factor for nodes, For time No. The distance between a node and other nodes, is the initial correction value, indicating that =0 when the signal is corrected. is the time adjustment factor, is the amplitude, which indicates the intensity of the periodic change, is the frequency, which controls the frequency of periodic fluctuations, is the phase, adjusting the starting position of the fluctuation, is the adjustment factor for node distribution.

[0104] Step 103, setting a signal strength attenuation model, and calculating the updated signal strength attenuation index of the positioning node at each position in the initial positioning network;

[0105] Specifically, the signal strength attenuation model includes:

[0106] ,

[0107] in, For location The signal strength attenuation index of the positioning node, is the number of positioning nodes, For the The signal strength of the positioning node, is the first adjustment factor of signal strength attenuation, For the Locations Position the node to the location The distance to the positioning node, is the second adjustment factor for signal strength attenuation, is the third adjustment factor of signal strength attenuation, For the Locations The signal strength of the positioning node at is the fourth adjustment factor of signal strength attenuation, is the fifth adjustment factor for signal strength attenuation.

[0108] Step 104, setting a multipath propagation model, and calculating the updated total signal strength index received by the positioning node at each position in the initial positioning network;

[0109] Specifically, the multipath propagation model includes:

[0110] ,

[0111] in, For location The total signal strength index received by the positioning node, is the number of paths, For the The first adjustment factor for each path, For the The second adjustment factor for each path, For the Path to location The distance to the positioning node, For the The third adjustment factor for each path, For time, For the The fourth adjustment factor for each path is For the The distance adjustment factor for each path, For the The fifth adjustment factor for each path, For the The sixth adjustment factor for each path.

[0112] Step 105, setting an adaptive positioning error model, and calculating an updated positioning error index of a positioning node at each position in the initial positioning network;

[0113] Specifically, the adaptive positioning error model includes:

[0114] ,

[0115] in, For location The positioning error index of the positioning node at For the The first error adjustment factor of the path, For the The direction angle of the path, For the The second error adjustment factor for each path, is the third error adjustment factor, is the fourth error adjustment factor, For the The environmental noise value of each path.

[0116] Step 106: compare the signal strength attenuation index and / or the positioning error index with a corresponding threshold value, and when the corresponding threshold value is exceeded, adjust the position and number of positioning nodes in the updated initial positioning network until the value is less than the corresponding threshold value; or

[0117] Step 107: compare the total signal strength index with a corresponding threshold value. When the total signal strength index is less than the corresponding threshold value, adjust the positions and the number of positioning nodes in the updated initial positioning network until the total signal strength index exceeds the corresponding threshold value.

[0118] Example 4

[0119] An embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor, wherein the storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor so that the processor can execute the emergency rescue rapid self-organizing network positioning method.

[0120] Specifically, the electronic device of this embodiment may be a computer terminal, and the computer terminal may include: one or more processors, and a storage medium.

[0121] Among them, the storage medium can be used to store software programs and modules, such as an emergency rescue rapid self-organizing network positioning method in an embodiment of the present invention, and the corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned emergency rescue rapid self-organizing network positioning method. The storage medium may include a high-speed random storage medium, and may also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include a storage medium remotely arranged relative to the processor, and these remote storage media can be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0122] The processor may call the information and application stored in the storage medium through the transmission system to perform the following steps: Step 101, deploying initial positioning nodes in the emergency scene to perform initial positioning networking;

[0123] Step 102, setting a dynamic node distribution model, calculating the number of nodes in real time, and updating the positioning nodes in the initial positioning network;

[0124] Specifically, the dynamic node distribution model includes:

[0125] ,

[0126] in, For time The number of nodes, is the initial number of nodes, is the node growth rate, is the rate at which the node reaches a steady state, For the The first adjustment factor for nodes, For time No. The distance between a node and other nodes, is the initial correction value, indicating that =0 when the signal is corrected. is the time adjustment factor, is the amplitude, which indicates the intensity of the periodic change, is the frequency, which controls the frequency of periodic fluctuations, is the phase, adjusting the starting position of the fluctuation, is the adjustment factor for node distribution.

[0127] Step 103, setting a signal strength attenuation model, and calculating the updated signal strength attenuation index of the positioning node at each position in the initial positioning network;

[0128] Specifically, the signal strength attenuation model includes:

[0129] ,

[0130] in, For location The signal strength attenuation index of the positioning node, is the number of positioning nodes, For the The signal strength of the positioning node, is the first adjustment factor of signal strength attenuation, For the Locations Position the node to the location The distance to the positioning node, is the second adjustment factor for signal strength attenuation, is the third adjustment factor of signal strength attenuation, For the Locations The signal strength of the positioning node at is the fourth adjustment factor of signal strength attenuation, is the fifth adjustment factor for signal strength attenuation.

[0131] Step 104, setting a multipath propagation model, and calculating the updated total signal strength index received by the positioning node at each position in the initial positioning network;

[0132] Specifically, the multipath propagation model includes:

[0133] ,

[0134] in, For location The total signal strength index received by the positioning node, is the number of paths, For the The first adjustment factor for each path, For the The second adjustment factor for each path, For the Path to location The distance to the positioning node, For the The third adjustment factor for each path, For time, For the The fourth adjustment factor for each path is For the The distance adjustment factor for each path, For the The fifth adjustment factor for each path, For the The sixth adjustment factor for each path.

[0135] Step 105, setting an adaptive positioning error model, and calculating an updated positioning error index of a positioning node at each position in the initial positioning network;

[0136] Specifically, the adaptive positioning error model includes:

[0137] ,

[0138] in, For location The positioning error index of the positioning node at For the The first error adjustment factor of the path, For the The direction angle of the path, For the The second error adjustment factor for each path, is the third error adjustment factor, is the fourth error adjustment factor, For the The environmental noise value of each path.

[0139] Step 106, comparing the signal strength attenuation index and / or the positioning error index with a corresponding threshold value, and when exceeding the corresponding threshold value, adjusting the position and number of positioning nodes in the updated initial positioning network until it is less than the corresponding threshold value; or,

[0140] Step 107: compare the total signal strength index with a corresponding threshold value. When the total signal strength index is less than the corresponding threshold value, adjust the positions and the number of positioning nodes in the updated initial positioning network until the total signal strength index exceeds the corresponding threshold value.

[0141] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0142] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0143] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0144] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0145] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0146] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0147] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A method for rapid self-organizing network positioning for emergency rescue, characterized in that: include: Deploy initial positioning nodes in emergency scenarios and conduct initial positioning networking; Setting a dynamic node distribution model, calculating the number of nodes in real time, and updating the positioning nodes in the initial positioning network; Setting a signal strength attenuation model to calculate the updated signal strength attenuation index of the positioning node at each position in the initial positioning network; Setting a multipath propagation model to calculate the total signal strength index received by the positioning node at each position in the updated initial positioning network; Setting an adaptive positioning error model to calculate an updated positioning error index of a positioning node at each position in the initial positioning network; Compare the signal strength attenuation index and / or the positioning error index with a corresponding threshold value, and when the corresponding threshold value is exceeded, adjust the position and number of positioning nodes in the updated initial positioning network until the value is less than the corresponding threshold value; or Comparing the total signal strength index with a corresponding threshold, and when it is less than the corresponding threshold, adjusting the position and number of positioning nodes in the updated initial positioning network until it exceeds the corresponding threshold; The signal strength attenuation model includes: ， in, For location The signal strength attenuation index of the positioning node, is the number of positioning nodes, For the The signal strength of the positioning node, is the first adjustment factor of signal strength attenuation, For the Locations Position the node to the location The distance to the positioning node, is the second adjustment factor for signal strength attenuation, is the third adjustment factor of signal strength attenuation, For the Locations The signal strength of the positioning node at is the fourth adjustment factor of signal strength attenuation, is the fifth adjustment factor of signal strength attenuation; The multipath propagation model includes: ， in, For location The total signal strength index received by the positioning node, is the number of paths, For the The first adjustment factor for each path, For the The second adjustment factor for each path, For the Path to location The distance to the positioning node, For the The third adjustment factor for each path, For time, For the The fourth adjustment factor for each path is For the The distance adjustment factor for each path, For the The fifth adjustment factor for each path, For the The sixth adjustment factor for each path; The dynamic node distribution model includes: ， in, For time The number of nodes, is the initial number of nodes, is the node growth rate, is the rate at which the node reaches a steady state, For the The first adjustment factor for nodes, For time No. The distance between a node and other nodes, is the initial correction value, indicating that =0 when the signal is corrected. is the time adjustment factor, is the amplitude, which indicates the intensity of periodic changes, is the frequency, which controls the frequency of periodic fluctuations, is the phase, adjusting the starting position of the fluctuation, is the adjustment factor for node distribution; The adaptive positioning error model includes: ， in, For location The positioning error index of the positioning node at For the The first error adjustment factor of the path, For the The direction angle of the path, For the The second error adjustment factor for each path, is the third error adjustment factor, is the fourth error adjustment factor, For the The environmental noise value of each path.

2. The method for rapid emergency rescue self-organizing network positioning according to claim 1, characterized in that: All adjustment factors are fitted by gradient descent method or ant colony algorithm.

3. A method for rapid emergency rescue self-organizing network positioning as claimed in claim 2, characterized in that: The positioning network information is displayed, and the user can adjust the number and position of positioning nodes through the operation interface.

4. An emergency rescue rapid self-organizing network positioning system, characterized in that: include: Initialization module, used to deploy initial positioning nodes in emergency scenarios and perform initial positioning networking; A node distribution module is used to set a dynamic node distribution model, calculate the number of nodes in real time, and update the positioning nodes in the initial positioning network; A signal strength analysis module, used to set a signal strength attenuation model and calculate the updated signal strength attenuation index of the positioning node at each position in the initial positioning network; A multipath analysis module, used to set a multipath propagation model and calculate the total signal strength index received by the positioning node at each position in the updated initial positioning network; An error analysis module is used to set an adaptive positioning error model and calculate the updated positioning error index of the positioning node at each position in the initial positioning network; A first adjustment module is configured to compare the signal strength attenuation index and / or the positioning error index with a corresponding threshold value, and when the corresponding threshold value is exceeded, adjust the position and number of positioning nodes in the updated initial positioning network until the value is less than the corresponding threshold value; or A second adjustment module is used to compare the total signal strength index with a corresponding threshold, and when it is less than the corresponding threshold, adjust the position and number of positioning nodes in the updated initial positioning network until it exceeds the corresponding threshold; The signal strength attenuation model includes: ， in, For location The signal strength attenuation index of the positioning node, is the number of positioning nodes, For the The signal strength of the positioning node, is the first adjustment factor of signal strength attenuation, For the Locations Position the node to the location The distance to the positioning node, is the second adjustment factor for signal strength attenuation, is the third adjustment factor of signal strength attenuation, For the Locations The signal strength of the positioning node at is the fourth adjustment factor of signal strength attenuation, is the fifth adjustment factor of signal strength attenuation; The multipath propagation model includes: ， in, For location The total signal strength index received by the positioning node, is the number of paths, For the The first adjustment factor for each path, For the The second adjustment factor for each path, For the Path to location The distance to the positioning node, For the The third adjustment factor for each path, For time, For the The fourth adjustment factor for each path is For the The distance adjustment factor for each path, For the The fifth adjustment factor for each path, For the The sixth adjustment factor for each path; The dynamic node distribution model includes: ， in, For time The number of nodes, is the initial number of nodes, is the node growth rate, is the rate at which the node reaches a steady state, For the The first adjustment factor for nodes, For time No. The distance between a node and other nodes, is the initial correction value, indicating that =0 when the signal is corrected. is the time adjustment factor, is the amplitude, which indicates the intensity of periodic changes, is the frequency, which controls the frequency of periodic fluctuations, is the phase, adjusting the starting position of the fluctuation, is the adjustment factor for node distribution; The adaptive positioning error model includes: ， in, For location The positioning error index of the positioning node at For the The first error adjustment factor of the path, For the The direction angle of the path, For the The second error adjustment factor for each path, is the third error adjustment factor, is the fourth error adjustment factor, For the The environmental noise value of each path.

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