Personnel positioning system for fire fighting

Abstract

The invention relates to the technical field of personnel positioning, in particular to a personnel positioning system for fire fighting, and the system comprises a data collection module which is used for collecting base station data, environment data and target data; the signal quality monitoring module is used for monitoring the signal quality and adjusting the transmitting frequency of the label in the next monitoring period; the environment monitoring module is used for analyzing the abnormity of the rescue environment; the state monitoring module is used for analyzing the abnormity of the target state; the positioning module is used for positioning a target according to the signal propagation time and the signal quality monitoring result between the label and the base station collected in the monitoring period, and giving an alarm to a user according to the analysis result of the rescue environment abnormity and the analysis result of the target state abnormity in the monitoring period; and the abnormity monitoring module is used for optimizing the adjustment process of the emission frequency in the next management period. According to the invention, the positioning accuracy of rescue workers is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of personnel positioning, and in particular to a personnel positioning system for firefighting. Background Art

[0002] Firefighting environments are often filled with smoke and experience dramatic temperature changes, which reduces the reliability of traditional positioning methods. In addition, the life safety of the rescue target is of paramount importance, and real-time monitoring of their physiological state and abnormal conditions in the environment is essential for rapid response and decision-making. Although there are some target positioning systems on the market, most of them cannot effectively integrate multiple functions such as signal quality monitoring, environmental monitoring, and status monitoring, resulting in low positioning accuracy and slow response.

[0003] Chinese Patent Publication No.: CN105160807A discloses a UWB-based personnel safety positioning system, including several sub-anchor nodes and one main anchor node, a positioning bracelet, a router and a command center set in each room of a building. The present invention also discloses a method for positioning using the above positioning system. The present invention enables the fire command center to understand the real-time position coordinates of the target in the building where the fire occurred, and judge whether the firefighters are in danger based on their real-time position coordinates. At the same time, the real-time fire situation of the building where the fire occurred is grasped in real time to prevent the target from entering a more dangerous area and causing danger; it can be seen that when locating the target, the scheme does not analyze the target health status and base station signal quality, and there are problems of low target positioning accuracy and low target safety. Summary of the invention

[0004] An object of the present invention is to provide a personnel positioning system for firefighting to solve at least one of the problems existing in the prior art.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A personnel positioning system for firefighting, comprising:

[0007] Data acquisition module, used to collect base station data, environmental data and target data;

[0008] The signal quality monitoring module is used to monitor the signal quality according to the signal strength of the base station receiving end and the signal-to-noise ratio of the base station receiving end collected during the monitoring period, and adjust the transmission frequency of the tag in the next monitoring period according to the monitoring results of the signal quality of each base station receiving end in the current monitoring period;

[0009] Environmental monitoring module, used to analyze the abnormality of the rescue environment based on the smoke concentration and ambient temperature collected during the monitoring period;

[0010] The state monitoring module is used to analyze the abnormality of the target state based on the target blood oxygen concentration and heart rate collected during the monitoring period;

[0011] The positioning module is used to locate the target according to the monitoring results of the signal propagation time and signal quality between the tag and the base station collected during the monitoring period, and to warn the user according to the analysis results of the abnormality of the rescue environment and the abnormality of the target state during the monitoring period;

[0012] The abnormality monitoring module is used to optimize the adjustment process of the transmission frequency of the next management period according to the monitoring results of the signal quality in the management period and the analysis results of the abnormality of the rescue environment.

[0013] Further, the signal quality monitoring module is provided with a strength analysis unit, a signal-to-noise ratio analysis unit, a signal quality monitoring unit and a power adjustment unit. The strength analysis unit compares the signal strength of the base station receiving end collected during the monitoring period with the preset strength a1 to monitor the abnormality of the signal strength, and constructs a signal strength abnormality index; the signal-to-noise ratio analysis unit compares the signal-to-noise ratio of the base station receiving end collected during the monitoring period with the preset signal-to-noise ratio z1 to monitor the abnormality of the signal-to-noise ratio, and constructs a signal-to-noise ratio abnormality index;

[0014] The signal quality monitoring unit monitors the signal quality of the base station receiving end according to the monitoring results of signal strength abnormality and signal-to-noise ratio abnormality in the monitoring period to determine the signal quality of the base station receiving end in the current monitoring period, and the signal quality includes normal and abnormal.

[0015] Furthermore, the power adjustment unit constructs a base station abnormal state coefficient α according to the monitoring results of the signal quality of each base station receiving end in the current monitoring period, and compares the base station abnormal state coefficient α with the preset base station state threshold YC0 to adjust the transmission frequency of the label in the next monitoring period. When the base station abnormal state coefficient α is greater than the preset base station state threshold YC0, the transmission frequency of the label in the next monitoring period is adjusted to f'.

[0016] Furthermore, the environmental monitoring module is provided with an environmental monitoring unit and an environmental abnormality analysis unit, and the environmental monitoring unit compares the smoke concentration collected during the monitoring period with the preset smoke concentration n1 to analyze the abnormality of the smoke concentration, and compares the ambient temperature collected during the monitoring period with the preset temperature t1 to analyze the abnormality of the ambient temperature.

[0017] Furthermore, the environmental abnormality analysis unit analyzes the abnormality of the rescue environment according to the analysis results of the abnormality of the smoke concentration and the abnormality of the ambient temperature in the monitoring period. If the smoke concentration is normal and the ambient temperature is normal, the environmental abnormality analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal.

[0018] If the smoke concentration is normal and the ambient temperature is abnormal, when v2×(tj0-t1) / t1≤u0, the environmental anomaly analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal; when v2×(tj0-t1) / t1>u0, the environmental anomaly analysis unit determines that the rescue environment of the jth target in the current monitoring period is abnormal;

[0019] If the smoke concentration is abnormal and the ambient temperature is normal, when v1×(nj0-n1) / n1≤u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal; when v1×(nj0-n1) / n1>u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is abnormal;

[0020] If the smoke concentration is abnormal and the ambient temperature is abnormal, when v1×(nj0-n1) / n1+v2×(tj0-t1) / t1≤u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal; when v1×(nj0-n1) / n1+v2×(tj0-t1) / t1>u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is abnormal, v1 is the smoke weight, v2 is the temperature weight, v1≥v2, v1+v2=1, and u0 is the preset environmental abnormality coefficient.

[0021] Further, the state monitoring module compares the target heart rate collected during the monitoring period with each preset heart rate to analyze the abnormality of the target heart rate, and the abnormality of the target heart rate includes a normal heart rate and an abnormal heart rate;

[0022] When the abnormality of the target heart rate is normal, the state monitoring module compares the target blood oxygen concentration collected during the monitoring period with the preset blood oxygen concentration to analyze the abnormality of the target state, and the abnormality of the target state includes normal state and abnormal state.

[0023] Furthermore, the positioning module is provided with a positioning unit and an alarm unit. The positioning unit locates the target according to the monitoring results of the signal propagation time and signal quality between the tag and each base station collected during the monitoring period to obtain the position coordinates (xj, yj, zj) of the jth target. The analysis method of the position coordinates is as follows:

[0024] η×[(xj-x1) 2 +(yj-y1)2 +(zj-z1) 2 ]=(c×Tj1 / 2) 2 ;

[0025] η×[(xj-x2) 2 +(yj-y2) 2 +(zj-z2) 2 ]=(c×Tj2 / 2) 2 ;

[0026] η×[(xj-x3) 2 +(yj-y3) 2 +(zj-z3) 2 ]=(c×Tj3 / 2) 2 ;

[0027]

[0028] η×[(xj-xL) 2 +(yj-yL) 2 +(zj-zL) 2 ]=(c×TjL / 2) 2 ;

[0029] Wherein, x1 is the X coordinate of the first base station, y1 is the Y coordinate of the first base station, z1 is the Z coordinate of the first base station, x2 is the X coordinate of the second base station, y2 is the Y coordinate of the second base station, z2 is the Z coordinate of the second base station, x3 is the X coordinate of the third base station, y3 is the Y coordinate of the third base station, z3 is the Z coordinate of the third base station, xL is the X coordinate of the Lth base station, yL is the Y coordinate of the Lth base station, zL is the Z coordinate of the Lth base station, L is the number of base stations, L≥4, xj is the X coordinate of the jth target, yj is the Y coordinate of the jth target, zj is the Z coordinate of the jth target, Tj1 is the signal propagation time between the tag of the jth target and the first base station, Tj2 is the signal propagation time between the tag of the jth target and the second base station, Tj3 is the signal propagation time between the tag of the jth target and the third base station, TjL is the signal propagation time between the tag of the jth target and the Lth base station, c is the speed of light, and η is the preset weight adjustment coefficient.

[0030] Furthermore, the alarm unit warns the user based on the analysis results of the abnormality of the rescue environment and the abnormality of the target state during the monitoring period, wherein:

[0031] If the status of the j-th target is abnormal or the rescue environment in which the j-th target is located is abnormal during the monitoring period, the alarm unit will send the position coordinates of the j-th target to the user and send a danger warning to the user; if the status of the j-th target is normal and the rescue environment in which the j-th target is located is normal during the monitoring period, the alarm unit will send the position coordinates of the j-th target to the user and will not send a danger warning to the user.

[0032] Furthermore, the abnormal monitoring module is provided with an abnormal monitoring unit and an environment optimization unit, and the abnormal monitoring unit evaluates the signal quality of the base station receiving end within the management period according to the monitoring result of the signal quality of the base station receiving end within the management period, and optimizes the adjustment process of the tag transmission power of the next management period according to the evaluation result, wherein:

[0033] If R0 / R≤k, the abnormality monitoring unit determines that the signal quality of the base station receiving end in the current management period is normal and no adjustment is made. If R0 / R>k, the abnormality monitoring unit determines that the signal quality of the base station receiving end in the current management period is abnormal, and sets the preset adjustment ratio coefficient of the next management period to β', where R0 is the number of base station signal status abnormality monitoring periods, R is the number of monitoring periods in the management period, and k is the preset abnormality ratio.

[0034] Furthermore, the environment optimization unit optimizes the evaluation process of the signal quality of the base station receiving end within the management period based on the analysis result of the abnormality of the smoke concentration within the management period, wherein:

[0035] If R1 / R≤Q, the environmental optimization unit determines that the smoke concentration in the current management cycle is normal and no optimization is performed; if R1 / R>Q, the environmental optimization unit determines that the smoke concentration in the current management cycle is abnormal, and optimizes the preset abnormal ratio to k', where R1 is the number of monitoring cycles with abnormal smoke concentration in the management cycle, Q is the preset smoke concentration abnormal ratio, and γ is the preset optimization ratio coefficient.

[0036] The beneficial effects of the present invention are as follows: the system monitors the signal quality in real time by collecting the signal strength and signal-to-noise ratio received by the base station, and can dynamically adjust the transmission frequency and power. This dynamic adjustment mechanism enables the system to make corrections in time when the signal quality is abnormal, improves the stability and reliability of communication, and is particularly suitable for firefighting scenes in complex environments. Through the multi-base station positioning algorithm, the system can accurately calculate the three-dimensional position of the target and perform multi-dimensional positioning in combination with the signal propagation time of each base station. This method improves the accuracy of personnel positioning, especially in complex buildings or narrow spaces, which can help the command center quickly grasp the location of personnel and achieve accurate rescue. The adjustment process of the tag transmission power is optimized according to the evaluation results of the signal quality received by the base station within the period, and the signal quality evaluation is optimized through the abnormal feedback of the smoke concentration. Such a large-cycle optimization improves the overall operating efficiency and accuracy of the system, ensuring that the system can automatically learn and improve the configuration during long-term use, reducing the burden of human intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 Schematic diagram of the structure of the personnel positioning system for fire fighting according to this embodiment.

[0039] Figure 2 Schematic diagram of the structure of the signal quality monitoring module of this embodiment.

[0040] Figure 3 Schematic diagram of the structure of the environmental monitoring module of this embodiment.

[0041] Figure 4 It is a structural diagram of the positioning module of this embodiment.

[0042] Figure 5 Schematic diagram of the structure of the abnormality monitoring module in this embodiment. DETAILED DESCRIPTION

[0043] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. Similar components in the accompanying drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0044] It should be noted that, although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0045] See also Figure 1 As shown, it is a structural schematic diagram of a personnel positioning system for firefighting in this embodiment, and the system includes:

[0046] The data acquisition module is used to collect base station data, environmental data and target data. The base station data includes the signal strength of the base station receiving end, the signal-to-noise ratio of the base station receiving end, and the signal propagation time between the tag and the base station. The tag is a UWB tag equipped on the target. The signal of the base station receiving end includes but is not limited to the time signal and the tag ID. The time signal includes a timestamp. The base station calculates the distance between the tag and the tag by measuring the propagation time of the signal. The tag ID is a unique identifier, which is convenient for the system to identify and distinguish different tags. The signal propagation time between the tag and the base station is the total round-trip time recorded when the tag sends a signal to the base station, and the base station immediately transmits a response signal after receiving the signal. The environmental data includes the smoke concentration and the ambient temperature, and the target information includes the target blood oxygen concentration and heart rate. In this embodiment, the acquisition method of the base station data, environmental data and target data is not specifically limited. Those skilled in the art can freely set it as long as the acquisition requirements of the base station data, environmental data and target data are met. Among them, the signal strength of the base station receiving end and the signal-to-noise ratio of the base station receiving end can be obtained through the Python library NumPy, Sci Py performs signal processing to obtain the signal. The signal propagation time between the tag and the base station can be obtained by a time sensor, the smoke concentration can be obtained by a gas sensor, the ambient temperature can be obtained by a temperature sensor, and the target blood oxygen concentration and heart rate can be obtained by a smart bracelet;

[0047] A signal quality monitoring module is used to monitor the signal quality according to the signal strength of the base station receiving end and the signal-to-noise ratio of the base station receiving end collected during the monitoring period. The signal quality monitoring module is connected to the data acquisition module. In this embodiment, the setting of the monitoring period is not specifically limited, and those skilled in the art can freely set it as long as the setting requirements of the monitoring period are met. The monitoring period can be set to 0.5 seconds, 1 second, etc.

[0048] See also Figure 2As shown, the signal quality monitoring module includes a strength analysis unit, which is used to compare the signal strength of the base station receiving end collected during the monitoring period with the preset strength a1 to monitor the abnormality of the signal strength, so as to accurately identify whether the signal strength is abnormal, and construct a signal strength abnormality index, wherein:

[0049] If a i0≤a1, the strength analysis unit determines that the signal strength of the i-th base station receiving end in the current monitoring period is abnormal, and sets the i-th base station signal strength abnormality index to A1, setting:

[0050] A1={[(a1-a i0) / a1] 2 +[(a1-ai0) / a1]} / {[(a1-ai0) / a1] 2 +1}; if

[0051] a i0>a1, the strength analysis unit determines that the signal strength of the i-th base station receiving end in the current monitoring period is normal, and sets the i-th base station signal strength abnormality index to A2, sets A2=0, and a i0 is the signal strength of the i-th base station receiving end; the strength analysis unit can accurately identify whether the signal strength is abnormal through the signal strength monitoring of the base station receiving end, and construct an abnormality index, effectively ensuring the stability of communication quality. At the same time, when the signal strength is abnormal, the unit can promptly remind to adjust the signal transmission power, thereby ensuring uninterrupted communication.

[0052] Specifically, in this embodiment, the setting of the preset intensity is not specifically limited, and those skilled in the art can freely set it as long as the setting requirements of the preset intensity are met. Among them, the best value of a1 is -60dBm.

[0053] Please continue reading Figure 2 As shown, the signal quality monitoring module also includes a signal-to-noise ratio analysis unit, which is used to compare the signal-to-noise ratio of the base station receiving end collected during the monitoring period with a preset signal-to-noise ratio z1 to monitor the abnormality of the signal-to-noise ratio, so as to accurately monitor the abnormality of the signal-to-noise ratio and construct a signal-to-noise ratio abnormality index, wherein:

[0054] If z i0≤z1, the signal-to-noise ratio analysis unit determines that the signal-to-noise ratio of the i-th base station receiving end in the current monitoring period is abnormal, and sets the signal-to-noise ratio abnormality index of the i-th base station to Z1, setting: Z1=exp[3×(z1-z i0) / z1-3]; if z i0>z1, the signal-to-noise ratio analysis unit determines that the signal-to-noise ratio of the i-th base station receiving end in the current monitoring period is normal, and sets the signal-to-noise ratio abnormality index of the i-th base station to Z2, setting Z2=0, z i0 is the signal-to-noise ratio of the i-th base station receiving end; the signal-to-noise ratio analysis unit can quickly discover scenarios with greater noise impact through real-time monitoring of the signal-to-noise ratio and index construction, and trigger adjustment strategies according to actual conditions to maintain the stability of the communication link, reduce the bit error rate, and improve the reliability of data transmission.

[0055] Specifically, in this embodiment, the setting of the preset signal-to-noise ratio is not specifically limited, and those skilled in the art can freely set it as long as the setting requirements of the preset strength are met. Among them, the best value of z1 is 15dB.

[0056] Please continue reading Figure 2 As shown, the signal quality monitoring module also includes a signal quality monitoring unit, which is connected to the strength analysis unit and the signal-to-noise ratio analysis unit, and is used to monitor the signal quality of the base station receiving end according to the monitoring results of the abnormality of the signal strength and the abnormality of the signal-to-noise ratio within the monitoring period, so as to comprehensively evaluate the signal quality, wherein:

[0057] If w1×the i-th base station signal strength abnormality index+w2×the i-th base station signal-to-noise ratio abnormality index≤YC, the signal quality monitoring unit determines that the signal quality of the base station receiving end in the current monitoring period is normal; if w1×the i-th base station signal strength abnormality index+w2×the i-th base station signal-to-noise ratio abnormality index>YC, the signal quality monitoring unit determines that the signal quality of the base station receiving end in the current monitoring period is abnormal, w1 is the strength weight, w2 is the signal-to-noise ratio weight, w1+w2=1, w1>w2, and YC is the preset abnormality index; by combining the comprehensive detection of signal strength and signal-to-noise ratio, the signal quality monitoring unit can more comprehensively evaluate the signal quality and quickly determine the abnormality within the monitoring period, effectively reducing the risk of communication interruption caused by poor signal quality.

[0058] Specifically, in this implementation, there is no specific limitation on the setting of each weight and the preset abnormality index. Technical personnel in this field can set them freely as long as the setting requirements of each weight and the preset abnormality index are met. Among them, the optimal value of w1 is 0.7, the optimal value of w2 is 0.3, and the optimal value of YC is 0.19.

[0059] Please continue reading Figure 2As shown, the signal quality monitoring module also includes a power adjustment unit, which is connected to the signal quality monitoring unit and is used to construct a base station abnormal state coefficient α according to the monitoring results of the signal quality of each base station receiving end in the current monitoring period to maintain the stability of the receiving end signal. The power adjustment unit adjusts the transmission frequency of the tag in the next monitoring period according to the construction result of the base station abnormal state coefficient. If α≤YC0, the power adjustment unit determines that the base station signal state in the current monitoring period is normal and does not make any adjustment. If α>YC0, the power adjustment unit determines that the base station signal state in the current monitoring period is abnormal and adjusts the transmission frequency of the tag in the next monitoring period. The adjusted transmission frequency is set to f', and f'=f×{1+β×{ln[(α-YC0) / (α+YC0)+1] / l n2}}, when f'≥f0, the optimal value of f' is f0, f0 is the preset transmission frequency threshold, DYCi is the signal quality abnormality index of the i-th base station, DYCi=w1×the i-th base station signal strength abnormality index+w2×the i-th base station signal-to-noise ratio abnormality index, L is the number of base stations, YCO is the preset base station state threshold, β is the preset adjustment ratio coefficient, and f is the transmission frequency of the tag in the current monitoring period; the power adjustment unit constructs an adjustment model according to the abnormal state coefficient to realize dynamic adjustment of the tag transmission frequency in the next period, which is helpful to maintain the stability of the receiving end signal and improve the signal coverage and transmission performance in a complex communication environment.

[0060] Specifically, in this embodiment, there is no specific limitation on the method for obtaining the transmission frequency of the current monitoring period tag, and those skilled in the art can set it freely, and only need to meet the requirements for obtaining the transmission frequency of the current monitoring period tag, wherein the transmission frequency of the current monitoring period tag can be obtained from the positioning cloud server; in this embodiment, there is no specific limitation on the setting of the preset base station status threshold, the preset adjustment ratio coefficient, and the preset transmission frequency threshold, and those skilled in the art can set it freely, and only need to meet the setting requirements of the preset base station status threshold, the preset adjustment ratio coefficient, and the preset transmission frequency threshold, wherein the optimal value of YC0 is 0.15, the optimal value of β is 0.54, and the optimal value of f0 is 6GHz.

[0061] Please continue reading Figure 1 As shown, the system further includes an environment monitoring module for analyzing the abnormality of the rescue environment according to the smoke concentration and ambient temperature collected during the monitoring period, and the environment monitoring module is connected to the data acquisition module;

[0062] See also Figure 3As shown, the environment monitoring module includes an environment monitoring unit, which is used to compare the smoke concentration collected during the monitoring period with the preset smoke concentration n1 to analyze the abnormality of the smoke concentration. If nj0≤n1, the environment monitoring unit determines that the smoke concentration in the current monitoring period is normal. If nj0>n1, the environment monitoring unit determines that the smoke concentration in the current monitoring period is abnormal. nj0 is the smoke concentration of the rescue environment where the jth target is located.

[0063] The environmental monitoring unit compares the ambient temperature collected during the monitoring period with the preset temperature t1 to analyze the abnormality of the ambient temperature. If tj0≤t1, the environmental monitoring unit determines that the ambient temperature of the current monitoring period is normal. If tj0>t1, the environmental monitoring unit determines that the ambient temperature of the current monitoring period is abnormal. tj0 is the ambient temperature of the rescue environment where the jth target is located. The target in this embodiment is the rescue personnel.

[0064] Specifically, in this embodiment, there is no specific limitation on the setting of the preset smoke concentration and the preset temperature, and those skilled in the art can set them freely as long as the setting requirements of the preset smoke concentration and the preset temperature are met. Among them, the optimal value of n1 is 1000ppm, and the optimal value of t1 is 300°C.

[0065] Please continue reading Figure 3 As shown, the environment monitoring module also includes an environment abnormality analysis unit, which is connected to the environment monitoring unit and is used to analyze the abnormality of the rescue environment according to the analysis results of the abnormality of the smoke concentration and the abnormality of the ambient temperature during the monitoring period, so as to accurately judge the safety of the rescue environment, wherein:

[0066] If the smoke concentration is normal and the ambient temperature is normal, the environmental abnormality analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal; if the smoke concentration is normal and the ambient temperature is abnormal, when v2×(tj0-t1) / t1≤u0, the environmental abnormality analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal, and when v2×(tj0-t1) / t1>u0, the environmental abnormality analysis unit determines that the rescue environment of the jth target in the current monitoring period is abnormal; if the smoke concentration is abnormal and the ambient temperature is normal, when v1×(nj0-n1) / n1≤u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal, and when v1×(nj0-n1) / n1>u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is abnormal. The rescue environment is abnormal; if the smoke concentration is abnormal and the ambient temperature is abnormal, when v1×(nj0-n1) / n1+v2×(tj0-t1) / t1≤u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal; when v1×(nj0-n1) / n1+v2×(tj0-t1) / t1>u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is abnormal, v1 is the smoke weight, v2 is the temperature weight, v1≥v2, v1+v2=1, and u0 is the preset environmental abnormality coefficient; the environmental abnormality analysis unit can accurately judge the safety of the rescue environment by comprehensively analyzing the results of smoke and temperature, and make reasonable abnormal judgments, and promptly notify relevant targets to take necessary measures to avoid the targets being in high-risk environments.

[0067] Specifically, in this embodiment, there is no specific limitation on the setting of each weight and the preset environmental anomaly coefficient. Technical personnel in this field can set it freely as long as the setting requirements of each weight and the preset environmental anomaly coefficient are met. Among them, the best value of v1 is 0.6, the best value of v2 is 0.4, and the best value of u0 is 0.16.

[0068] Please continue reading Figure 1 As shown, the system further includes a state monitoring module, which is used to analyze the abnormality of the target state according to the target blood oxygen concentration and heart rate collected during the monitoring period, and the state monitoring module is connected to the data acquisition module;

[0069] The state monitoring module compares the target heart rate collected during the monitoring period with each preset heart rate to analyze the abnormality of the target heart rate. If d1≤dj0≤d2, the state monitoring module determines that the heart rate of the jth target in the current monitoring period is normal. If dj0<d1 or dj0>d2, the state monitoring module determines that the heart rate of the jth target in the current monitoring period is abnormal, and the state of the jth target is abnormal. dj0 is the heart rate of the jth target, d1 is the first preset heart rate, d2 is the second preset heart rate, and d1<d2;

[0070] When the heart rate of the jth target is normal, the state monitoring module compares the target blood oxygen concentration collected during the monitoring period with the preset blood oxygen concentration r1 to analyze the abnormality of the target state. If rj0≤r1, the state monitoring module determines that the state of the target in the current monitoring period is abnormal. If rj0>r1, the state monitoring module determines that the state of the target in the current monitoring period is normal, and rj0 is the blood oxygen concentration of the jth target. The state monitoring module's monitoring of the target heart rate and blood oxygen can quickly identify the abnormal state of the target, ensure timely alarm, protect the health and safety of the target, and reduce potential risks caused by sudden deterioration of physical condition.

[0071] Specifically, in this embodiment, the settings of the preset heart rate and the preset blood oxygen concentration are not specifically limited. Those skilled in the art can set them freely as long as the setting requirements of the preset heart rate and the preset blood oxygen concentration are met. Among them, the optimal value of d1 is 50bpm, the optimal value of d2 is 170bpm, and the optimal value of r1 is 90%.

[0072] Please continue reading Figure 1 As shown, the system also includes a positioning module, which is used to locate the target according to the monitoring results of the signal propagation time and signal quality between the tag and the base station collected during the monitoring period, and to warn the user according to the analysis results of the abnormality of the rescue environment and the abnormality of the target state during the monitoring period. The positioning module is connected to the signal quality monitoring module, the environment monitoring module, and the state monitoring module;

[0073] See also Figure 4 As shown, the positioning module includes a positioning unit, which is used to locate the target according to the monitoring results of the signal propagation time and signal quality between the tag and each base station collected during the monitoring period to obtain the position coordinates (xj, yj, zj) of the jth target. The analysis method of the position coordinates is as follows:

[0074] η×[(xj-x1) 2 +(yj-y1) 2 +(zj-z1) 2 ]=(c×Tj1 / 2) 2 ;

[0075] η×[(xj-x2) 2 +(yj-y2) 2 +(zj-z2) 2 ]=(c×Tj2 / 2) 2 ;

[0076] η×[(xj-x3) 2 +(yj-y3) 2 +(zj-z3) 2 ]=(c×Tj3 / 2) 2 ; ...

[0078] η×[(xj-xL) 2 +(yj-yL) 2 +(zj-zL) 2 ]=(c×TjL / 2) 2 ;

[0079] Among them, x1 is the X coordinate of the first base station, y1 is the Y coordinate of the first base station, z1 is the Z coordinate of the first base station, x2 is the X coordinate of the second base station, y2 is the Y coordinate of the second base station, z2 is the Z coordinate of the second base station, x3 is the X coordinate of the third base station, y3 is the Y coordinate of the third base station, z3 is the Z coordinate of the third base station, xL is the X coordinate of the Lth base station, yL is the Y coordinate of the Lth base station, zL is the Z coordinate of the Lth base station, L is the number of base stations, L ≥ 4, xj is the X coordinate of the jth target, yj is the Y coordinate of the jth target, zj is the Z coordinate of the jth target, Tj1 is the label of the jth target and the first The signal propagation time of the base station is Tj2, Tj3 is the signal propagation time between the tag of the j-th target and the second base station, TjL is the signal propagation time between the tag of the j-th target and the L-th base station, c is the speed of light, η is the preset weight adjustment coefficient, when the signal quality of the base station receiving end is normal, η is 1, and when the signal quality of the base station receiving end is abnormal, η is 0.72; the positioning unit is based on the positioning algorithm of the signal propagation time between the tag and the base station, combined with the dynamic adjustment of the signal quality, the unit can accurately track the position of the target in a complex environment, improve the positioning accuracy, and adapt to the volatility of the communication environment.

[0080] Specifically, the positioning unit uses the first base station as the origin of the coordinate system, whose coordinates are (0,0,0), and extends rightward from the origin (0,0,0), set as the positive X direction, extends upward from the origin (0,0,0), set as the positive Y direction, as the Y axis, and extends forward from the origin (0,0,0), set as the positive Z direction, to establish a three-dimensional rectangular coordinate system.

[0081] Specifically, the method for obtaining the base station coordinates is not specifically limited in this embodiment, and those skilled in the art can freely set it as long as the requirements for obtaining the base station coordinates are met. The base station coordinates can be obtained through GPS.

[0082] Please continue reading Figure 4 As shown, the positioning module also includes an alarm unit, which is connected to the positioning unit and is used to warn the user according to the analysis results of the abnormality of the rescue environment and the abnormality of the target state during the monitoring period, wherein:

[0083] If the state of the j-th target is abnormal or the rescue environment in which the j-th target is located is abnormal during the monitoring period, the alarm unit will send the position coordinates of the j-th target to the user and send a danger warning to the user; if the state of the j-th target is normal and the rescue environment in which the j-th target is located is normal during the monitoring period, the alarm unit will send the position coordinates of the j-th target to the user and will not send a danger warning to the user; the alarm unit can issue timely alarms as needed based on the monitoring results of the rescue environment and target state, and provide detailed position coordinates to achieve timely, safe and effective rescue response.

[0084] Please continue reading Figure 1 As shown, the system further includes an abnormality monitoring module, which is used to optimize the adjustment process of the transmission frequency of the next management period according to the monitoring results of the signal quality in the management period and the analysis results of the abnormality of the rescue environment, and the abnormality monitoring module is connected to the positioning module;

[0085] See also Figure 5 As shown, the abnormal monitoring module includes an abnormal monitoring unit, which evaluates the signal quality of the base station receiving end within the management period according to the monitoring result of the signal quality of the base station receiving end within the management period, and optimizes the adjustment process of the tag transmission power of the next management period according to the evaluation result, so as to improve the reliability and quality of the overall communication system, wherein:

[0086] If R0 / R≤k, the abnormal monitoring unit determines that the signal quality of the base station receiving end in the current management period is normal and does not make any adjustments. If R0 / R>k, the abnormal monitoring unit determines that the signal quality of the base station receiving end in the current management period is abnormal, and optimizes the adjustment process of the tag transmission power in the next management period, and sets the optimized preset adjustment ratio coefficient to β', setting β'=β×{1+exp[lg(R0 / Rk)]}. When β'≥β0, the value of β' is β0, β0 is the preset adjustment ratio threshold, R0 is the number of base station signal status abnormal monitoring cycles, R is the number of monitoring cycles in the management cycle, and k is the preset abnormal ratio. The abnormal monitoring unit ensures that the signal quality of the base station remains stable by real-time monitoring of the base station signal quality and optimizing the prediction and response mechanism for abnormal situations, thereby improving the reliability and quality of the overall communication system.

[0087] Specifically, in this embodiment, there is no specific limitation on the setting of the preset abnormal ratio and the preset adjustment ratio threshold. Those skilled in the art can set them freely, and they only need to meet the setting requirements of the preset abnormal ratio and the preset adjustment ratio threshold, wherein the optimal value of β0 is 0.68, and the optimal value of k is 0.08; in this embodiment, there is no specific limitation on the setting of the management cycle, and those skilled in the art can set them freely, and they only need to meet the setting requirements of the management cycle, wherein the management cycle can be set to the total duration of a rescue.

[0088] Please continue reading Figure 5 As shown, the abnormal monitoring module also includes an environment optimization unit, which is used to optimize the evaluation process of the signal quality of the base station receiving end during the management period based on the analysis result of the abnormality of the smoke concentration during the management period, so as to reduce the interference effect of smoke on the communication link, wherein:

[0089] If R1 / R≤Q, the environment optimization unit determines that the smoke concentration in the current management cycle is normal and no optimization is performed; if R1 / R>Q, the environment optimization unit determines that the smoke concentration in the current management cycle is abnormal, and optimizes the evaluation process of the signal quality of the base station receiving end within the management cycle, and sets the optimized preset abnormal ratio to k', setting k'=k×γ×exp[-(R1 / RQ)], R1 is the number of monitoring cycles with abnormal smoke concentration within the management cycle, Q is the preset smoke concentration abnormal ratio, and γ is the preset optimization ratio coefficient; the environment optimization unit further optimizes the base station signal quality evaluation by monitoring the abnormality of smoke concentration. The unit ensures that the signal stability can be effectively improved in a complex environment, thereby reducing the interference effect of smoke on the communication link.

[0090] Specifically, in this embodiment, there is no specific limitation on the setting of the preset smoke concentration abnormal ratio and the preset optimization proportional coefficient. Technical personnel in this field can set them freely, and they only need to meet the setting requirements of the preset smoke concentration abnormal ratio and the preset optimization proportional coefficient. Among them, the optimal value of Q is 0.6, and the optimal value of γ is 0.45.

[0091] Specifically, the personnel positioning system for firefighting described in this embodiment is applied to the positioning server, and the data acquisition module collects base station data, environmental data and personnel data in real time, and combines the signal quality monitoring module to analyze the signal strength and signal-to-noise ratio to ensure the reliability of the signal. In addition, the system also introduces an environmental monitoring module to analyze the smoke concentration and ambient temperature to evaluate the safety of the rescue environment. At the same time, the status monitoring module monitors the heart rate and blood oxygen concentration of the rescue personnel in real time, detects abnormal conditions in time and issues an alarm.

[0092] Specifically, the personnel positioning system for firefighting described in this embodiment can also be equipped with a wireless pulse relative positioning function and a full-duplex intercom function, and integrate Beidou positioning and Beidou message functions to provide more accurate and reliable support for personnel positioning and communication in firefighting and rescue tasks. The wireless pulse relative positioning function can be used to perform high-precision relative positioning measurements, including but not limited to height measurement, direction measurement and distance measurement functions, and accurately determine the relative position of the target through comprehensive calculation of the propagation time, angle and height difference of the wireless pulse signal; the full-duplex intercom function can provide flexible communication modes, support free switching between full-duplex and half-duplex modes to adapt to different communication needs, and the communication frequency can be adjusted within the range of 350 to 400MHz to ensure good signal coverage and call quality in different frequency bands. The transmission power supports high and low adjustment, and provides dynamic power adjustment according to the communication distance and the signal quality requirements of the actual environment. The intercom function further supports analog and digital communication modes, and has the ability to be compatible and interoperable with the existing PDT intercoms in use, thereby achieving firefighting. Efficient communication between rescuers. In addition, this function has a built-in advanced noise elimination algorithm, which can effectively eliminate noise interference from various sources, ensure clear voice call effects in noisy fire fighting environments, and ensure the accuracy of information transmission; the Beidou positioning function can provide high-precision Beidou positioning, and the positioning accuracy can reach ≤10 meters, ensuring that in a more complex geographical environment, it can still provide the system with high-precision target positioning information to effectively support the rapid response and location tracking of rescue personnel; the Beidou message function can regularly send the latitude and longitude coordinates of the target and form a route map during the rescue operation. Rescuers can better grasp the target's route and rescue progress through the real-time path information transmitted by the message, thereby effectively improving the command efficiency of the rescue; in this embodiment, the settings of the wireless pulse relative positioning function, full-duplex intercom function, Beidou positioning and Beidou message function are not specifically limited, and technicians in this field can set them freely, as long as the setting requirements of the wireless pulse relative positioning function, full-duplex intercom function, Beidou positioning and Beidou message function are met.

[0093] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the embodiments here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A personnel positioning system for firefighting, characterized in that: include, Data acquisition module, used to collect base station data, environmental data and target data; The signal quality monitoring module is used to monitor the signal quality according to the signal strength of the base station receiving end and the signal-to-noise ratio of the base station receiving end collected during the monitoring period, and adjust the transmission frequency of the tag in the next monitoring period according to the monitoring results of the signal quality of each base station receiving end in the current monitoring period; Environmental monitoring module, used to analyze the abnormality of the rescue environment based on the smoke concentration and ambient temperature collected during the monitoring period; The state monitoring module is used to analyze the abnormality of the target state based on the target blood oxygen concentration and heart rate collected during the monitoring period; The positioning module is used to locate the target according to the monitoring results of the signal propagation time and signal quality between the tag and the base station collected during the monitoring period, and to warn the user according to the analysis results of the abnormality of the rescue environment and the abnormality of the target state during the monitoring period; The abnormality monitoring module is used to optimize the adjustment process of the transmission frequency of the next management period according to the monitoring results of the signal quality in the management period and the analysis results of the abnormality of the rescue environment.

2. The personnel positioning system for firefighting according to claim 1, characterized in that: The signal quality monitoring module is provided with a strength analysis unit, a signal-to-noise ratio analysis unit, a signal quality monitoring unit and a power adjustment unit. The strength analysis unit compares the signal strength of the base station receiving end collected during the monitoring period with the preset strength a1 to monitor the abnormality of the signal strength and construct a signal strength abnormality index; the signal-to-noise ratio analysis unit compares the signal-to-noise ratio of the base station receiving end collected during the monitoring period with the preset signal-to-noise ratio z1 to monitor the abnormality of the signal-to-noise ratio and construct a signal-to-noise ratio abnormality index; The signal quality monitoring unit monitors the signal quality of the base station receiving end according to the monitoring results of signal strength abnormality and signal-to-noise ratio abnormality in the monitoring period to determine the signal quality of the base station receiving end in the current monitoring period, and the signal quality includes normal and abnormal.

3. The personnel positioning system for firefighting according to claim 2, characterized in that: The power adjustment unit constructs a base station abnormal state coefficient α according to the monitoring results of the signal quality of each base station receiving end in the current monitoring period, and compares the base station abnormal state coefficient α with the preset base station state threshold YC0 to adjust the transmission frequency of the label in the next monitoring period. When the base station abnormal state coefficient α is greater than the preset base station state threshold YC0, the transmission frequency of the label in the next monitoring period is adjusted to f'.

4. The personnel positioning system for firefighting according to claim 3, characterized in that: The environmental monitoring module is provided with an environmental monitoring unit and an environmental abnormality analysis unit. The environmental monitoring unit compares the smoke concentration collected during the monitoring period with the preset smoke concentration n1 to analyze the abnormality of the smoke concentration, and compares the ambient temperature collected during the monitoring period with the preset temperature t1 to analyze the abnormality of the ambient temperature.

5. The personnel positioning system for firefighting according to claim 4, characterized in that: The environmental anomaly analysis unit analyzes the abnormality of the rescue environment according to the analysis results of the abnormality of the smoke concentration and the abnormality of the ambient temperature in the monitoring period. If the smoke concentration is normal and the ambient temperature is normal, the environmental anomaly analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal; If the smoke concentration is normal and the ambient temperature is abnormal, when v2×(tj0-t1) / t1≤u0, the environmental anomaly analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal; when v2×(tj0-t1) / t1>u0, the environmental anomaly analysis unit determines that the rescue environment of the jth target in the current monitoring period is abnormal; If the smoke concentration is abnormal and the ambient temperature is normal, when v1×(nj0-n1) / n1≤u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal; when v1×(nj0-n1) / n1>u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is abnormal; If the smoke concentration is abnormal and the ambient temperature is abnormal, when v1×(nj0-n1) / n1+v2×(tj0-t1) / t1≤u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is normal; when v1×(nj0-n1) / n1+v2×(tj0-t1) / t1>u0, the environmental analysis unit determines that the rescue environment of the jth target in the current monitoring period is abnormal, v1 is the smoke weight, v2 is the temperature weight, and u0 is the preset environmental abnormality coefficient.

6. The personnel positioning system for firefighting according to claim 5, characterized in that: The state monitoring module compares the target heart rate collected during the monitoring period with each preset heart rate to analyze the abnormality of the target heart rate, where the abnormality of the target heart rate includes a normal heart rate and an abnormal heart rate; When the abnormality of the target heart rate is normal, the state monitoring module compares the target blood oxygen concentration collected during the monitoring period with the preset blood oxygen concentration to analyze the abnormality of the target state, and the abnormality of the target state includes normal state and abnormal state.

7. The personnel positioning system for firefighting according to claim 6, characterized in that: The positioning module is provided with a positioning unit and an alarm unit. The positioning unit locates the target according to the monitoring results of the signal propagation time and signal quality between the tag and each base station collected during the monitoring period to obtain the position coordinates (xj, yj, zj) of the jth target. The analysis method of the position coordinates is as follows: η×[(xj-x1) 2 +(yj-y1) 2 +(zj-z1) 2 ]=(c×Tj1 / 2) 2 ; η×[(xj−x2) 2 +(yj-y2) 2 +(zj-z2) 2 ]=(c×Tj2 / 2) 2 4 η×[(xj−x3) 2 +(yj-y3) 2 +(zj-z3) 2 ]=(c×Tj3 / 2) 2 4 ... η×[(xj−xL) 2 +(yj-yL) 2 +(zj-zL) 2 ]=(c×TjL / 2) 2 4 Wherein, x1 is the X coordinate of the first base station, y1 is the Y coordinate of the first base station, z1 is the Z coordinate of the first base station, x2 is the X coordinate of the second base station, y2 is the Y coordinate of the second base station, z2 is the Z coordinate of the second base station, x3 is the X coordinate of the third base station, y3 is the Y coordinate of the third base station, z3 is the Z coordinate of the third base station, xL is the X coordinate of the Lth base station, yL is the Y coordinate of the Lth base station, zL is the Z coordinate of the Lth base station, L is the number of base stations, L≥4, xj is the X coordinate of the jth target, yj is the Y coordinate of the jth target, zj is the Z coordinate of the jth target, Tj1 is the signal propagation time between the tag of the jth target and the first base station, Tj2 is the signal propagation time between the tag of the jth target and the second base station, Tj3 is the signal propagation time between the tag of the jth target and the third base station, TjL is the signal propagation time between the tag of the jth target and the Lth base station, c is the speed of light, and η is the preset weight adjustment coefficient.

8. The personnel positioning system for firefighting according to claim 7, characterized in that: The alarm unit warns the user based on the analysis results of the abnormality of the rescue environment and the abnormality of the target state within the monitoring period, wherein: If the status of the j-th target is abnormal or the rescue environment in which the j-th target is located is abnormal during the monitoring period, the alarm unit will send the position coordinates of the j-th target to the user and send a danger warning to the user; if the status of the j-th target is normal and the rescue environment in which the j-th target is located is normal during the monitoring period, the alarm unit will send the position coordinates of the j-th target to the user and will not send a danger warning to the user.

9. The personnel positioning system for firefighting according to claim 8, characterized in that: The abnormal monitoring module is provided with an abnormal monitoring unit and an environment optimization unit. The abnormal monitoring unit evaluates the signal quality of the base station receiving end within the management period according to the monitoring result of the signal quality of the base station receiving end within the management period, and optimizes the adjustment process of the tag transmission power of the next management period according to the evaluation result, wherein: If R0 / R≤k, the abnormality monitoring unit determines that the signal quality of the base station receiving end in the current management period is normal and no adjustment is made. If R0 / R>k, the abnormality monitoring unit determines that the signal quality of the base station receiving end in the current management period is abnormal, and sets the preset adjustment ratio coefficient of the next management period to β', where R0 is the number of base station signal status abnormality monitoring periods, R is the number of monitoring periods in the management period, and k is the preset abnormality ratio.

10. The personnel positioning system for firefighting according to claim 9, characterized in that: The environment optimization unit optimizes the evaluation process of the signal quality of the base station receiving end within the management period based on the analysis result of the abnormality of the smoke concentration within the management period, wherein: If R1 / R≤Q, the environmental optimization unit determines that the smoke concentration in the current management cycle is normal and no optimization is performed; if R1 / R>Q, the environmental optimization unit determines that the smoke concentration in the current management cycle is abnormal, and optimizes the preset abnormal ratio to k', where R1 is the number of monitoring cycles with abnormal smoke concentration in the management cycle, Q is the preset smoke concentration abnormal ratio, and γ is the preset optimization ratio coefficient.

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