A personnel positioning system for fire fighting

Abstract

The present invention relates to the technical field of personnel positioning, and particularly to a personnel positioning system for fire fighting. The system includes a data acquisition module for collecting base station data, environmental data, and target data; a signal quality monitoring module for monitoring signal quality and adjusting the transmission frequency of tags in the next monitoring cycle; an environmental monitoring module for analyzing the abnormality of the rescue environment; a status monitoring module for analyzing the abnormality of the target status; a positioning module for positioning the target according to the monitoring results of the signal propagation time and signal quality between the tag and the base station within the monitoring cycle, and giving an alarm to the user according to the analysis results of the abnormality of the rescue environment and the abnormality of the target status within the monitoring cycle; and an abnormality monitoring module for optimizing the adjustment process of the transmission frequency in the next management cycle. The present invention improves the accuracy of positioning rescue personnel.

Description

Technical Field

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

[0002] The fire fighting environment is often filled with smoke and has drastic temperature changes, resulting in reduced reliability of traditional positioning methods. In addition, the life safety of rescue targets is of utmost importance. Real-time monitoring of their physiological status and abnormal conditions in the environment is crucial for rapid response and decision-making. Although there are some target positioning systems on the market currently, most of them cannot effectively integrate 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 personnel safety positioning system based on UWB, which includes a number of sub-anchor nodes, a main anchor node, positioning bracelets, routers, 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 fighting command center to understand the real-time position coordinates of a target in a building on fire, and judge whether a fire fighter is in danger according to the real-time position coordinates. At the same time, the real-time fire situation of the building on fire can be grasped in real time to prevent the target from entering a more dangerous area and getting into danger. It can be seen that when positioning the target, this solution does not analyze the target's health status and the signal quality of the base station, resulting in problems of low target positioning accuracy and low target safety. Summary of the Invention

[0004] The purpose of the present invention is to provide a personnel positioning system for fire fighting to solve at least one of the problems existing in the prior art.

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

[0006] A personnel positioning system for fire fighting includes:

[0007] A data acquisition module for collecting base station data, environmental data, and target data;

[0008] A signal quality monitoring module for monitoring the signal quality according to the signal strength and signal-to-noise ratio of the base station receiving end collected within a monitoring period, and adjusting 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] An environmental monitoring module for analyzing the abnormality of the rescue environment according to the smoke concentration and environmental temperature collected within a monitoring period;

[0010] A status monitoring module for analyzing the abnormality of the target status based on the target blood oxygen concentration and heart rate collected within the monitoring period;

[0011] A positioning module for positioning the target based on the monitoring results of the signal propagation time and signal quality between the tag and the base station collected within the monitoring period, and alarming the user according to the analysis results of the abnormality of the rescue environment and the abnormality of the target status within the monitoring period;

[0012] An abnormality monitoring module for optimizing the adjustment process of the transmission frequency in the next management period according to the monitoring results of the signal quality and the analysis results of the abnormality of the rescue environment within the management period.

[0013] Further, the signal quality monitoring module is provided with an intensity analysis unit, a signal-to-noise ratio analysis unit, a signal quality monitoring unit and a power adjustment unit. The intensity analysis unit compares the signal intensity at the receiving end of the base station collected within the monitoring period with a preset intensity a1 to monitor the abnormality of the signal intensity and constructs a signal intensity abnormality index; the signal-to-noise ratio analysis unit compares the signal-to-noise ratio at the receiving end of the base station collected within the monitoring period with a 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 at the receiving end of the base station according to the monitoring results of the signal intensity abnormality and the signal-to-noise ratio abnormality within the monitoring period to judge the signal quality at the receiving end of the base station in the current monitoring period, and the signal quality includes normal and abnormal.

[0015] Further, 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 a preset base station state threshold YC0 to adjust the transmission frequency of the tag 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 tag in the next monitoring period is adjusted to f'.

[0016] Further, the environment monitoring module is provided with an environment monitoring unit and an environment abnormality analysis unit. The environment monitoring unit compares the smoke concentration collected within the monitoring period with a preset smoke concentration n1 to analyze the abnormality of the smoke concentration, and compares the environmental temperature collected within the monitoring period with a preset temperature t1 to analyze the abnormality of the environmental temperature.

[0017] Further, the environmental anomaly analysis unit analyzes the anomaly of the rescue environment based on the analysis results of the smoke concentration anomaly and the environmental temperature anomaly within the monitoring period. If the smoke concentration is normal and the environmental temperature is normal, the environmental anomaly analysis unit determines that the rescue environment where the j-th target is located in the current monitoring period is normal;

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

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

[0020] If the smoke concentration is abnormal and the environmental temperature is abnormal, when v1×(nj0 - n1) / n1 + v2×(tj0 - t1) / t1 ≤ u0, the environmental analysis unit determines that the rescue environment where the j-th target is located 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 where the j-th target is located 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 anomaly coefficient.

[0021] Further, the status monitoring module compares the target heart rate collected in the monitoring period with each preset heart rate to analyze the anomaly of the target heart rate. The anomaly of the target heart rate includes normal heart rate and abnormal heart rate;

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

[0023] Further, the positioning module is provided with a positioning unit and an alarm unit. The positioning unit locates the target based on the monitoring results of the signal propagation time and signal quality between the tag and each base station collected in the monitoring period to obtain the position coordinates (xj, yj, zj) of the j-th 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 L-th base station, yL is the Y coordinate of the L-th base station, zL is the Z coordinate of the L-th base station, L is the number of base stations, L ≥ 4, xj is the X coordinate of the j-th target, yj is the Y coordinate of the j-th target, zj is the Z coordinate of the j-th target, Tj1 is the signal propagation time between the tag of the j-th target and the first base station, Tj2 is the signal propagation time between the tag of the j-th target and the second base station, Tj3 is the signal propagation time between the tag of the j-th target and the third 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, and η is a preset weight adjustment coefficient.

[0030] Furthermore, the alarm unit alarms the user according to the analysis results of the abnormality of the rescue environment and the abnormality of the target state within the monitoring period, wherein:

[0031] If the status of the j-th target is abnormal or the rescue environment where 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 where 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 not send a danger warning to the user.

[0032] Further, the abnormality monitoring module is provided with an abnormality monitoring unit and an environment optimization unit. The abnormality monitoring unit evaluates the signal quality of the base station receiving end during the management period according to the monitoring result of the signal quality of the base station receiving end during the management period, and optimizes the adjustment process of the label transmission power of the next management period according to the evaluation result, where:

[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 label to β'. R0 is the number of monitoring periods with abnormal base station signal status, R is the number of monitoring periods in the management period, and k is the preset abnormality ratio.

[0034] Further, the environment optimization unit optimizes the evaluation process of the signal quality of the base station receiving end during the management period according to the analysis result of the abnormality of the smoke concentration during the management period, where:

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

[0036] The beneficial effects of the present invention are as follows: By collecting the signal strength and signal-to-noise ratio received by the base stations, the system monitors the signal quality in real time and can dynamically adjust the transmission frequency and power. This dynamic adjustment mechanism enables the system to correct in a timely manner when the signal quality is abnormal, improving the stability and reliability of communication. It is particularly suitable for fire protection scenarios 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 by combining the signal propagation time of each base station. This method improves the accuracy of personnel positioning. Especially in complex buildings or narrow spaces, it can help the command center quickly grasp the personnel positions and achieve precise rescue. The adjustment process of the tag transmission power is optimized based on the evaluation results of the signal quality received by the base stations within a cycle, and the signal quality evaluation is optimized through the abnormality feedback of the smoke concentration. Such a large-loop optimization improves the overall operation 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 will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0038] Figure 1 It is a schematic structural diagram of the personnel positioning system for fire protection in this embodiment.

[0039] Figure 2 It is a schematic structural diagram of the signal quality monitoring module in this embodiment.

[0040] Figure 3 It is a schematic structural diagram of the environmental monitoring module in this embodiment.

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

[0042] Figure 5 It is a schematic structural diagram of the abnormality monitoring module in this embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] In order to more clearly illustrate the present invention, the following further describes the present invention in combination with preferred embodiments and the drawings. Similar components in the drawings are denoted by the same reference numerals. Those skilled in the art should understand that the following specifically described content is illustrative rather than restrictive, and should not be used to limit the protection scope of the present invention.

[0044] It should be noted that although terms such as first, second, and third may be used in the embodiments of the present application for description, 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] Please refer to Figure 1 as shown in the figure, which is a schematic structural diagram of the personnel positioning system for fire protection in this embodiment. The system includes

[0046] a data acquisition module for acquiring 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, time signals and tag IDs. The time signal contains a timestamp. The base station calculates the distance from the tag by measuring the signal propagation time. The tag ID is a unique identifier for facilitating 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, the base station receives the signal and immediately returns an acknowledgment signal, and the tag receives the acknowledgment signal. The environmental data includes smoke concentration and environmental temperature. The target information includes target blood oxygen concentration and heart rate. In this embodiment, the acquisition methods of the base station data, environmental data, and target data are not specifically limited, and those skilled in the art can freely set them 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 signal processing using the NumPy and SciPy libraries in the Python library. The signal propagation time between the tag and the base station can be obtained through a time sensor. The smoke concentration can be obtained through a gas sensor. The environmental temperature can be obtained through a temperature sensor. The target blood oxygen concentration and heart rate can be obtained through a smart bracelet.

[0047] a signal quality monitoring module for monitoring 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 within 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. Among them, the monitoring period can be set to 0.5 seconds, 1 second, etc.

[0048] Please refer to Figure 2As shown, the signal quality monitoring module includes an intensity analysis unit. The intensity analysis unit is used to compare the signal intensity at the base station receiving end collected within the monitoring period with a preset intensity a1 to monitor the abnormality of the signal intensity, accurately identify whether the signal intensity is abnormal, and construct a signal intensity abnormality index, where:

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

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

[0051] a i0 > a1, the intensity analysis unit determines that the signal intensity at the receiving end of the i-th base station in the current monitoring period is normal, and sets the signal intensity abnormality index of the i-th base station to A2, and sets A2 = 0, where a i0 is the signal intensity at the receiving end of the i-th base station; Through the signal intensity monitoring of the base station receiving end, the intensity analysis unit can accurately identify whether the signal intensity is abnormal, construct an abnormality index, and effectively ensure the stability of communication quality. At the same time, when the signal intensity is abnormal, this unit can timely remind to adjust the signal transmission power to ensure that the communication is not interrupted.

[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 to refer to Figure 2 As shown, the signal quality monitoring module further includes a signal-to-noise ratio analysis unit. The signal-to-noise ratio analysis unit is used to compare the signal-to-noise ratio at the base station receiving end collected within the monitoring period with a preset signal-to-noise ratio z1 to monitor the abnormality of the signal-to-noise ratio, accurately monitor the abnormality of the signal-to-noise ratio, and construct a signal-to-noise ratio abnormality index, where:

[0054] If \(z_{i0}\leq z1\), the signal-to-noise ratio analysis unit determines that the signal-to-noise ratio at the receiving end of the \(i\)-th base station in the current monitoring period is abnormal, and sets the signal-to-noise ratio abnormality index of the \(i\)-th base station to \(Z1\), where \(Z1 = \exp[3\times(z1 - z_{i0}) / z1 - 3]\); if \(z_{i0}>z1\), the signal-to-noise ratio analysis unit determines that the signal-to-noise ratio at the receiving end of the \(i\)-th base station in the current monitoring period is normal, and sets the signal-to-noise ratio abnormality index of the \(i\)-th base station to \(Z2\), where \(Z2 = 0\), and \(z_{i0}\) is the signal-to-noise ratio at the receiving end of the \(i\)-th base station. Through real-time monitoring of the signal-to-noise ratio and index construction, the signal-to-noise ratio analysis unit can quickly detect scenarios with greater noise impact, trigger adjustment strategies according to actual situations, 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 it meets the setting requirements of the preset intensity. Among them, the optimal value of \(z1\) is 15 dB.

[0056] Please continue to refer to Figure 2 As shown, the signal quality monitoring module further includes a signal quality monitoring unit, which is connected to the intensity analysis unit and the signal-to-noise ratio analysis unit. It is used to monitor the signal quality at the receiving end of the base station according to the monitoring results of signal intensity abnormality and signal-to-noise ratio abnormality during the monitoring period to comprehensively evaluate the signal quality, where:

[0057] If \(w1\times\) the signal intensity abnormality index of the \(i\)-th base station \(+ w2\times\) the signal-to-noise ratio abnormality index of the \(i\)-th base station \(\leq YC\), the signal quality monitoring unit determines that the signal quality at the receiving end of the base station in the current monitoring period is normal; if \(w1\times\) the signal intensity abnormality index of the \(i\)-th base station \(+ w2\times\) the signal-to-noise ratio abnormality index of the \(i\)-th base station \(> YC\), the signal quality monitoring unit determines that the signal quality at the receiving end of the base station in the current monitoring period is abnormal, where \(w1\) is the intensity weight, \(w2\) is the signal-to-noise ratio weight, \(w1 + w2 = 1\), \(w1>w2\), and \(YC\) is the preset abnormality index. Through the combined detection of signal intensity and signal-to-noise ratio, the signal quality monitoring unit can more comprehensively evaluate the signal quality, quickly determine abnormalities during the monitoring period, and effectively reduce the risk of communication interruption caused by poor signal quality.

[0058] Specifically, in this embodiment, the settings of each weight and the preset abnormality index are not specifically limited, and those skilled in the art can freely set them as long as they meet the setting requirements of each weight and the preset abnormality index. 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 to refer to Figure 2As shown, the signal quality monitoring module further 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 at the receiving end of each base station in the current monitoring period to maintain the stability of the receiving end signal. It is set that 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 adjustments. 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 as f’, and it is set that f’ = f × {1 + β × {ln[(α - YC0) / (α + YC0) + 1] / ln2}}. When f’ ≥ f0, the optimal value of f’ is f0, where f0 is the preset transmission frequency threshold, DYCi is the signal quality abnormal index of the i-th base station, DYCi = w1 × the signal strength abnormal index of the i-th base station + w2 × the signal-to-noise ratio abnormal index of the i-th base station, 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 the dynamic adjustment of the tag transmission frequency in the next period, which helps 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, the method for obtaining the transmission frequency of the tag in the current monitoring period is not specifically limited, and those skilled in the art can freely set it as long as the requirements for obtaining the transmission frequency of the tag in the current monitoring period are met. Among them, the transmission frequency of the tag in the current monitoring period can be obtained from the positioning cloud server; in this embodiment, the settings of the preset base station state threshold, the preset adjustment ratio coefficient, and the preset transmission frequency threshold are not specifically limited, and those skilled in the art can freely set them as long as the settings of the preset base station state threshold, the preset adjustment ratio coefficient, and the preset transmission frequency threshold are met. Among them, the optimal value of YC0 is 0.15, the optimal value of β is 0.54, and the optimal value of f0 is 6 GHz.

[0061] Please continue to refer to Figure 1 As shown, the system further includes an environment monitoring module, which is used to analyze the abnormality of the rescue environment according to the smoke concentration and environmental temperature collected during the monitoring period. The environment monitoring module is connected to the data collection module;

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

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

[0064] Specifically, in this embodiment, the settings of the preset smoke concentration and the preset temperature are not specifically limited, and those skilled in the art can freely set them 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 1000 ppm, and the optimal value of t1 is 300 °C.

[0065] Please continue to refer to Figure 3 As shown, the environmental monitoring module further includes an environmental abnormality analysis unit, which is connected to the environmental monitoring unit and is used to analyze the abnormality of the rescue environment based on the analysis results of the smoke concentration abnormality and the environmental temperature abnormality within the monitoring period to accurately judge the safety of the rescue environment, where:

[0066] If the smoke concentration is normal and the ambient temperature is normal, the environmental anomaly analysis unit determines that the rescue environment where the j-th target is located 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 where the j-th target is located in the current monitoring period is normal, and when v2×(tj0 - t1) / t1 > u0, the environmental anomaly analysis unit determines that the rescue environment where the j-th target is located 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 where the j-th target is located in the current monitoring period is normal, and when v1×(nj0 - n1) / n1 > u0, the environmental analysis unit determines that the rescue environment where the j-th target is located 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 where the j-th target is located in the current monitoring period is normal, and when v1×(nj0 - n1) / n1 + v2×(tj0 - t1) / t1 > u0, the environmental analysis unit determines that the rescue environment where the j-th target is located in the current monitoring period is abnormal, where v1 is the smoke weight, v2 is the temperature weight, v1 ≥ v2, v1 + v2 = 1, and u0 is the preset environmental anomaly coefficient; the environmental anomaly analysis unit can accurately judge the safety of the rescue environment through the comprehensive analysis results of smoke and temperature, make reasonable abnormal judgments, and timely notify relevant targets to take necessary measures to prevent the targets from being in a high-risk environment.

[0067] Specifically, in this embodiment, no specific limitations are imposed on the settings of each weight and the preset environmental anomaly coefficient. Those skilled in the art can freely set them as long as they meet the setting requirements of each weight and the preset environmental anomaly coefficient. Among them, the optimal value of v1 is 0.6, the optimal value of v2 is 0.4, and the optimal value of u0 is 0.16.

[0068] Please continue to refer to Figure 1 As shown, the system further includes a status monitoring module, which is used to analyze the abnormality of the target status according to the target blood oxygen concentration and heart rate collected within the monitoring period. The status monitoring module is connected to the data collection module;

[0069] The state monitoring module compares the target heart rate collected in 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 j-th 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 j-th target in the current monitoring period is abnormal, and the state of the j-th target is abnormal. dj0 is the heart rate of the j-th 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 j-th target is normal, the state monitoring module compares the target blood oxygen concentration collected in 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. rj0 is the blood oxygen concentration of the j-th 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, guarantee the health and safety of the target, and reduce the potential risks brought by the sudden deterioration of the physical condition.

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

[0072] Please continue to refer to Figure 1 As shown, the system further 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 in the monitoring period, and give an alarm to the user according to the analysis results of the abnormality of the rescue environment and the abnormality of the target state in the monitoring period. The positioning module is connected to the signal quality monitoring module, the environment monitoring module, and the state monitoring module;

[0073] Please refer to 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 in the monitoring period to obtain the position coordinates (xj, yj, zj) of the j-th 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 L-th base station, yL is the Y coordinate of the L-th base station, zL is the Z coordinate of the L-th base station, L is the number of base stations, L ≥ 4, xj is the X coordinate of the j-th target, yj is the Y coordinate of the j-th target, zj is the Z coordinate of the j-th target, Tj1 is the signal propagation time between the tag of the j-th target and the first base station, Tj2 is the signal propagation time between the tag of the j-th target and the second base station, Tj3 is the signal propagation time between the tag of the j-th target and the third 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 a preset weight adjustment coefficient. When the signal quality at the base station receiving end is normal, the value of η is 1. When the signal quality at the base station receiving end is abnormal, the value of 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. This 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 takes the first base station as the origin of the coordinate system, with its coordinates being (0, 0, 0), and extends to the right from the origin (0, 0, 0), which is set as the positive X direction. It extends upward from the origin (0, 0, 0), which is set as the positive Y direction and serves as the Y-axis. It extends forward from the origin (0, 0, 0), which is set as the positive Z direction, to establish a three-dimensional rectangular coordinate system.

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

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

[0083] If the j-th target state is abnormal or the rescue environment where the j-th target is located is abnormal within 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 j-th target state is normal and the rescue environment where the j-th target is located is normal within 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; according to the monitoring results of the rescue environment and the target state, the alarm unit can alarm in time as needed and provide detailed position coordinates to achieve timely, safe and effective rescue response.

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

[0085] Please refer to Figure 5 As shown, the anomaly monitoring module includes an anomaly monitoring unit, which evaluates the signal quality of the base station receiving end within the management period according to the monitoring results of the signal quality of the base station receiving end within the management period, and optimizes the adjustment process of the tag transmission power in the next management period according to the evaluation results to improve the reliability and quality of the overall communication system, where:

[0086] If R0 / R ≤ k, the anomaly monitoring unit determines that the signal quality at the base station receiver in the current management period is normal and no adjustment is made. If R0 / R > k, the anomaly monitoring unit determines that the signal quality at the base station receiver in the current management period is abnormal and optimizes the adjustment process of the tag transmission power in the next management period. The optimized preset adjustment ratio coefficient is set as β’, and β’ = β × {1 + exp[lg(R0 / R - k)]} is set. When β’ ≥ β0, the value of β’ is β0, where β0 is the preset adjustment ratio threshold, R0 is the number of monitoring periods with abnormal base station signal status, R is the number of monitoring periods within the management period, and k is the preset anomaly ratio. The anomaly monitoring unit optimizes through real-time monitoring of the base station signal quality and the pre-judgment and response mechanism for abnormal situations, ensuring the stability of the base station signal quality, thereby improving the reliability and quality of the overall communication system.

[0087] Specifically, in this embodiment, no specific limitations are imposed on the setting of the preset anomaly ratio and the preset adjustment ratio threshold. Those skilled in the art can freely set them as long as they meet the setting requirements of the preset anomaly ratio and the preset adjustment ratio threshold. Among them, the optimal value of β0 is 0.68, and the optimal value of k is 0.08. This embodiment does not specifically limit the setting of the management period. Those skilled in the art can freely set it as long as it meets the setting requirements of the management period. Among them, the management period can be set as the total duration of a rescue.

[0088] Please continue to refer to Figure 5 As shown, the anomaly monitoring module further includes an environment optimization unit, which is used to optimize the evaluation process of the signal quality at the base station receiver in the management period based on the analysis result of the abnormality of the smoke concentration in the management period, so as to reduce the interference effect of smoke on the communication link, where:

[0089] If R1 / R ≤ Q, the environment optimization unit determines that the smoke concentration in the current management period is normal and no optimization is performed. If R1 / R > Q, the environment optimization unit determines that the smoke concentration in the current management period is abnormal and optimizes the evaluation process of the signal quality at the base station receiver in the management period. The optimized preset anomaly ratio is set as k’, and k’ = k × γ × exp[-(R1 / R - Q)] is set, where R1 is the number of monitoring periods with abnormal smoke concentration in the management period, Q is the preset smoke concentration anomaly ratio, and γ is the preset optimization ratio coefficient. The environment optimization unit further optimizes the evaluation of the base station signal quality by monitoring the abnormality of the smoke concentration. This 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, no specific limitations are imposed on the setting of the preset abnormal proportion of smoke concentration and the preset optimization proportion coefficient. Those skilled in the art can set them freely as long as the setting requirements of the preset abnormal proportion of smoke concentration and the preset optimization proportion coefficient are met. Among them, the best value of Q is 0.6, and the best value of γ is 0.45.

[0091] Specifically, the personnel positioning system for fire protection in this embodiment is applied to a positioning server. The base station data, environmental data, and personnel data are collected in real time through a data collection module. Combining with a signal quality monitoring module, the signal strength and signal-to-noise ratio are analyzed to ensure the reliability of the signal. In addition, an environmental monitoring module is introduced into the system to analyze the smoke concentration and environmental temperature, so as 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, discovers abnormal conditions in time, and issues an alarm.

[0092] Specifically, the personnel positioning system for firefighting in this embodiment can also be equipped with a wireless pulse relative positioning function and a full-duplex intercom function, and integrate the 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 for high-precision relative positioning measurement, including but not limited to height measurement, direction measurement, and distance measurement functions. By comprehensively calculating the propagation time, angle, and height difference of wireless pulse signals, the relative position of the target can be accurately determined. The full-duplex intercom function can provide a flexible communication mode, support free switching between full-duplex and half-duplex modes to adapt to different communication needs. The communication frequency can be adjusted within the range of 350 to 400 MHz to ensure good signal coverage and call quality on different frequency bands. The transmit power supports adjustable high and low levels, and provides dynamic power adjustment according to the communication distance and 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 existing in-use PDT walkie-talkies, thus realizing efficient communication between firefighters and rescuers. In addition, this function is built-in with an advanced noise cancellation algorithm, which can effectively eliminate noise interference from various sources, ensure clear voice call effects in a noisy firefighting environment, and guarantee the accuracy of information transmission. The Beidou positioning function can provide high-precision Beidou positioning, and the positioning accuracy can reach a level of ≤10 meters, ensuring that high-precision target positioning information can still be provided for the system in a relatively complex geographical environment to effectively support the rapid response and position tracking of rescue personnel. The Beidou message function can regularly send the longitude and latitude coordinates of the target and form a route map during the rescue operation. Rescue personnel can better master the travel route and rescue progress of the target through the real-time path information transmitted by this message, thus effectively improving the command efficiency of the rescue. In this embodiment, no specific limitations are made on the settings of the wireless pulse relative positioning function, the full-duplex intercom function, the Beidou positioning, and the Beidou message function. Those skilled in the art can freely set them as long as the setting requirements of the wireless pulse relative positioning function, the full-duplex intercom function, the Beidou positioning, and the Beidou message function are met.

[0093] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is impossible to list all the implementation manners here. Any obvious changes or variations derived from the technical solutions of the present invention still fall 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 in 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; 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 frequency 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 the abnormality of the signal strength and the abnormality of the signal-to-noise ratio 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; The frequency 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 sets ; Compare the base station abnormal state coefficient α with the preset base station state threshold YC0 to adjust the transmission frequency of the tag in the next monitoring period. When the base station abnormal state coefficient α is greater than the preset base station state threshold YC0, adjust the transmission frequency of the tag in the next monitoring period to f', and set f'=f×{1+β×{ln[(α-YC0) / (α+YC0)+1] / ln2}}. When f'≥f0, the best 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, YCO is the preset base station state threshold, β is the preset adjustment ratio coefficient, f is the transmission frequency of the tag in the current monitoring period, L is the number of base stations, w1 is the strength weight, and w2 is the signal-to-noise ratio weight; 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 transmission frequency of the tag 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 does not make adjustments. 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; 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', setting k'=k×γ×exp[-(R1 / RQ)], 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.

2. The personnel positioning system for firefighting according to claim 1, 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.

3. The personnel positioning system for firefighting according to claim 2, 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, and nj0 is the smoke concentration of the rescue environment of the jth target; 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, u0 is the preset environmental abnormality coefficient, and tj0 is the ambient temperature of the rescue environment of the jth target.

4. The personnel positioning system for firefighting according to claim 3, 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.

5. The personnel positioning system for firefighting according to claim 4, 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.

6. The personnel positioning system for firefighting according to claim 5, 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.

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