Continuous position tracking method and system for multiple members of team

Abstract

The invention provides a continuous position tracking method and system for multiple members of a team, and relates to the technical field of combined positioning. According to the method, the continuous position information of the multiple members of the team can be acquired, and the continuous position data of each member of the team can be tracked through the equipment of any member in the team. The method is applied to exploration operation or emergency rescue, and comprises the following steps: after all user terminal electronic equipment collects combined positioning data and establishes communication connection, sending the data of the user terminal electronic equipment to selected target electronic equipment; the target electronic device receives the data of all the user terminal electronic devices and then stores the data, and meanwhile the target electronic device sends the combined positioning data of all the members to all the user terminal electronic devices of the team and / or the remote data service center electronic device; and the user terminal electronic equipment confirms the data after receiving the data, so that the continuous position data of each other member of the team can be tracked through the user terminal electronic equipment of any member in the team.

Description

Technical Field

[0001] The present application relates to the field of combined positioning technology, and in particular to a method and system for continuous position tracking of multiple members of a team. Background Art

[0002] For exploration team members, continuous location tracking can ensure the maximum safety of team members during exploration operations in complex and remote field environments. Especially in the case of danger and emergency rescue services, if the rescuers cannot quickly and accurately obtain the continuous location information of each explorer, the rescue time will be extended. If the explorers cannot obtain rescue services in time, the life safety of the explorers will be threatened.

[0003] In order to quickly rescue all trapped exploration workers in an emergency and improve rescue efficiency, a positioning system is provided in the related art, which includes a GPS module, an inertial navigation sensor, a wireless transmission module, and a processor for receiving data. First, when there is a GPS signal, the processor receives the GPS positioning signal as positioning data; when there is no GPS signal, the processor calculates the positioning data through the inertial navigation sensor. The positioning data is then sent to a remote server through the wireless transmission module. Once an emergency rescue situation occurs, the rescue team will carry out the rescue mission through the data provided by the remote server.

[0004] However, the working environment of exploration team members is generally in complex and remote fields (such as narrow river valleys, rolling mountains, deep jungles and deserts, etc.). Some areas cannot receive positioning data signals from satellite positioning systems, and some areas cannot even connect to GSM wireless communication signals. Therefore, it is difficult to obtain the latest continuous location information of all trapped people in real time, quickly and accurately during the rescue mission, and it is also easy to cause the rescue mission to fail. Summary of the invention

[0005] In order to solve the problem of quickly and accurately obtaining the continuous position of all exploration personnel in emergency rescue missions, the present application provides a continuous position tracking method and system for multiple members of a team, which collects continuous position information of multiple members of the team and can access the continuous position data of each member of the team through the device of any member of the team. The method is applied to exploration operations or emergency rescue, including: after the team member user terminal electronic device collects the combined positioning data, the data is sent to the networking relay; after the networking relay receives the positioning data of all user terminal electronic devices in the team within a certain period of time, it stores the positioning data according to the custom data protocol of this application, and packages and sends the positioning data of all members of the team to all user terminal electronic devices of the team and the electronic device of the remote data service center; if the member user terminal electronic device cannot establish a connection with the networking relay, the team member user terminal electronic device sends the data to the terminal electronic device of any member of the team that can establish a connection. In this way, the combined positioning data of each member of the team can be stored on each device. In an emergency situation where rescue is needed, the rescuer can find the combined positioning data of each member of the team from the electronic device of any trapped person, so that the trapped person can obtain timely rescue services.

[0006] In the first aspect, the present application provides a method for continuous position tracking of multiple members of a team, and the method for continuous position tracking of multiple members of a team is applied to a continuous position tracking system of multiple members of a team, and the method includes: according to the N+1 user terminal electronic devices of the team, a mesh networking wireless communication is established, and N user terminal electronic devices and 1 networking relay electronic device (N is a positive integer greater than or equal to 1) are obtained, and the networking relay electronic device also has the function of a user terminal electronic device. The combined positioning data is composed of satellite positioning system protocol frame data and inertial navigation sensor data. When a user terminal electronic device can receive any of the satellite positioning system signals, the combined positioning data will select the satellite positioning system protocol frame data as the positioning data of the team member; when the user terminal electronic device cannot receive any of the satellite positioning system signals, the combined positioning data will select the inertial navigation sensor data as the positioning data of the team member. At the same time, the continuous position indicates that the combined position data obtained by the user terminal electronic device is continuous position data in the time period, and the real-time position of each member of the team can be navigated and tracked according to the continuous position data, so that the trapped persons can obtain rescue services in time in an emergency.

[0007] At the same time, the user terminal electronic device receives the combined positioning data and generates a first mode upload protocol message. The combined positioning data input includes satellite positioning system protocol frame data input or inertial navigation sensor data input, and the first mode upload protocol message body includes the combined positioning data. Among them, the first mode upload protocol message includes a frame header, a message instruction, a target device identifier, a data length, data, a checksum, and a frame tail. At this time, the user terminal electronic device, the remote data service center electronic device and the networking relay electronic device establish a communication connection, and when the user terminal electronic device sends a data connection establishment request message, it is sent in the order of priority of the target electronic device. The target sub-device includes the networking relay electronic device, the remote data service center electronic device and N-1 arbitrary user terminal electronic devices, and the priority is networking relay electronic device>remote data service center electronic device>N-1 arbitrary user terminal electronic devices (N is an integer greater than or equal to 1).

[0008] In one possible design, the user terminal electronic device sends a data connection establishment request message to the networking relay electronic device; if the networking relay electronic device receives the data connection establishment request message from the user terminal electronic device, the continuous position data of the user terminal electronic device is tracked in the first manner. The first tracking method is to aggregate the positioning data of all team members through the networking relay electronic device and store them, and at the same time, send the updated positioning data of all team members to N user terminal electronic devices and remote data service center electronic devices, where N is a positive integer greater than or equal to 1. In addition, the data connection establishment request message includes a frame header, a message instruction, a target device identifier, a data length, data, a checksum, and a frame tail.

[0009] In one possible design, if the networking relay electronic device cannot receive the data connection establishment request message from the user terminal electronic device, the user terminal electronic device will send a data connection establishment request message to the remote data service center electronic device; if the remote data service center electronic device receives the data connection establishment request message from the user terminal electronic device, the continuous position data of the user terminal electronic device is tracked using the second method. The second tracking method is to aggregate and store the positioning data of all team members through the remote data service center electronic device, and at the same time, send the latest positioning data of all team members to N user terminal electronic devices and 1 networking relay electronic device (N is a positive integer greater than or equal to 1).

[0010] In a possible design, if the electronic device of the remote data service center cannot receive the data connection establishment request message of the user terminal electronic device, the user terminal electronic device will send a data connection establishment request message to any N-1 user terminal electronic devices in the team, and the priority of any N-1 user terminal electronic devices is determined according to the minimum distance between the user terminal electronic devices (N is a positive integer greater than or equal to 1), and the device that establishes the data connection is the user 2 terminal electronic device (the naming rules of the remaining user terminal electronic devices in the team are: user terminal electronic device 3, user terminal electronic device 4, ..., user terminal electronic device N-1, and so on); if the user 2 terminal electronic device receives the data connection establishment request message of the user terminal electronic device, the continuous position data of the user terminal electronic device is tracked in the third way. The third way of tracking selects the user terminal electronic device with the smallest distance between the two devices in order to allow the data to reach the target electronic device more quickly and accurately, and the smaller the distance between the two devices, the higher the stability of the transmission signal data.

[0011] At the same time, the combined positioning data input includes at least one of the following data signals: Global Positioning System (GPS) protocol frame data input, Beidou Satellite Navigation System (BDS) protocol frame data input, Galileo Satellite Navigation System (Galileo) protocol frame data input, GLONASS protocol frame data input, and inertial navigation sensor data input.

[0012] Furthermore, the combined positioning data input includes satellite positioning system protocol frame data input and inertial navigation sensor data input. The selection of the combined positioning data is determined according to whether the user terminal electronic device can receive the positioning data of the satellite positioning system.

[0013] If the user terminal electronic device can receive any kind of satellite positioning system signal, then the combined positioning data input will select the satellite positioning system protocol frame data input.

[0014] If the user terminal electronic device cannot receive any satellite positioning system signal, the combined positioning data input will select the inertial navigation sensor data input.

[0015] The minimum distance between two user terminal electronic devices is proportional to the time difference between sending a data connection request message and receiving a first mode downlink protocol message. The distance calculation formula is:

[0016] S ij-min =v*(T2-T1)

[0017] In the formula, S ij-minis the minimum distance between user terminal electronic device i and user terminal electronic device j, in meters, T1 is the time for sending a data connection request message, T2 is the time for receiving a first mode downlink protocol message, in seconds, v is the propagation speed of the wireless signal in the air, in meters / second; i and j are both positive integers.

[0018] At the same time, the network relay electronic device is selected by the user terminal electronic device in the mesh network. The selection principle is: calculate the sum of the distances between a user terminal electronic device and the remaining m-1 user terminal electronic devices in turn (sum(S1), sum(S2), …, sum(S m ))Minimum sum(S min ), the principle formula is:

[0019] in Among them, S 11 , S 22 , S 33 , …, S mm Both are 0.

[0020] In the formula, S 11 , S 12 , …, S 1m are respectively the distance between the first user terminal electronic device and the first user terminal electronic device, the distance between the first user terminal electronic device and the second user terminal electronic device, and the distance between the first user terminal electronic device and the mth user terminal electronic device; S 21 , …, S m1 They are respectively the distance from the second user terminal electronic device to the first user terminal electronic device, and the distance from the mth user terminal electronic device to the first user terminal electronic device; m is an integer greater than or equal to 1.

[0021] The priority of target electronic devices for establishing data connection request messages is: networking relay electronic devices > remote data service center electronic devices > N-1 arbitrary user terminal electronic devices, and the priority of N-1 arbitrary user terminal electronic devices is determined based on the minimum distance between each pair of user terminal electronic devices (N is a positive integer greater than or equal to 1).

[0022] In one possible design, the continuous location tracking method of multiple members of a team adopts the first tracking method. In the specific implementation, it may include: the networking relay electronic device responds to receiving a data connection establishment request message from the user terminal electronic device, and the networking relay electronic device sends a first mode downlink protocol message to the user terminal electronic device. In the first mode of tracking data, the networking relay electronic device not only requires all user terminal electronic devices to transmit data through mesh networking, but also requires data transmission through GSM and remote data service center electronic devices. Among them, the first mode downlink protocol message includes a frame header, a message instruction, a target device identifier, a data length, data, a check, and a frame tail.

[0023] The user terminal electronic device receives the first mode downlink protocol message from the networking relay electronic device, and the user terminal electronic device will stop sending the data connection request message. Then, the user terminal electronic device sends the first mode uplink protocol message to the networking relay electronic device. The first mode downlink protocol message includes the device identification of the target electronic device.

[0024] In response to receiving a first-mode upload protocol message from a user terminal electronic device, and after the networking relay electronic device receives the first-mode upload protocol message from the remaining user terminal electronic devices in the mesh network, the networking relay electronic device will send a second-mode downlink protocol message to the user terminal electronic device and the remote data service center electronic device and store it. The storage protocol frame format includes the combined positioning data, device identification, and positioning time; wherein the second-mode downlink protocol message includes a frame header, a message instruction, a target device identification, a data length, data, a check, and a frame tail.

[0025] The user terminal electronic device and the remote data service center electronic device receive the second mode downlink protocol message from the networking relay electronic device, classify and store the combined positioning data of the second mode downlink protocol message according to the storage protocol frame format, and send a data reception confirmation message to the networking relay electronic device, the second mode downlink protocol message includes the combined positioning data of the networking relay electronic device and the combined positioning data of the N+1 user terminal electronic devices of the team (N is a positive integer greater than or equal to 1), the data reception confirmation message includes the device identification of the user terminal electronic device, and the storage protocol frame format includes the combined positioning data, device identification, and positioning time. Among them, the data reception confirmation message includes a frame header, a message instruction, a target device identification, a data length, data, a check, and a frame tail.

[0026] In a possible design, the continuous location tracking method of multiple team members adopts the second tracking method. In a specific implementation, it may include: the remote data service center electronic device responds to receiving a data connection establishment request message from the user terminal electronic device, and the remote data service center electronic device sends a first mode downlink protocol message to the user terminal electronic device.

[0027] The user terminal electronic device receives the first mode downlink protocol message from the remote data service center electronic device, the user terminal electronic device stops sending the data connection request message, and the user terminal electronic device sends the first mode uplink protocol message to the remote data service center electronic device;

[0028] In response to receiving the first mode uploading protocol message from the user terminal electronic device, and after the remote data service center electronic device receives the first mode uploading protocol message from k user terminal electronic devices and networking relay electronic devices outside the mesh network, the remote data service center electronic device will send the second mode downloading protocol message to the k user terminal electronic devices and networking relay electronic devices; k is a positive integer greater than or equal to 0, and k <N+2。

[0029] The user terminal electronic device receives the second mode downlink protocol message from the remote data service center electronic device, classifies and stores the combined positioning data of the second mode downlink protocol message according to the storage protocol frame format, and sends a data reception confirmation message to the remote data service center electronic device. The second mode downlink protocol message includes the combined positioning data of the networking relay electronic device and the combined positioning data of N+1 user terminal electronic devices in the team (N is a positive integer greater than or equal to 1).

[0030] In a possible design, the continuous location tracking method of multiple team members adopts the third mode of tracking. In a specific implementation, it may include: in response to receiving a data connection establishment request message from the user terminal electronic device, the user 2 terminal electronic device sends a first mode downlink protocol message to the user terminal electronic device.

[0031] The user terminal electronic device receives the first mode downlink protocol message from the user 2 terminal electronic device, the user terminal electronic device stops sending the data connection request message, and the user terminal electronic device sends the first mode uplink protocol message to the user 2 terminal electronic device.

[0032] In response to receiving the first mode upload protocol message from the user terminal electronic device, the user 2 terminal electronic device extracts the combined positioning data of the user terminal electronic device in the message and adds it to the first mode upload protocol message in the user 2 terminal electronic device.

[0033] The user terminal electronic device receives the second mode downlink protocol message from the user 2 terminal electronic device, classifies and stores the combined positioning data of the second mode downlink protocol message according to the storage protocol frame format, and sends a data reception confirmation message to the user 2 terminal electronic device. The second mode downlink protocol message includes the combined positioning data of the networking relay electronic device and the combined positioning data of N+1 user terminal electronic devices in the team (N is a positive integer greater than or equal to 1).

[0034] After the user terminal electronic device and the user 2 terminal electronic device complete data transmission, the user 2 terminal electronic device will transmit data according to the target electronic device priority of the user terminal electronic device data connection request message, and the priority is: networking relay electronic device> remote data service center electronic device> H arbitrary user terminal electronic devices, H represents the remaining user terminal electronic devices (H = N-2), where H is a positive integer greater than or equal to 0. The remaining user terminal electronic devices are connected and data transmitted according to the priority method.

[0035] In a second aspect, the present application provides a continuous position tracking system for multiple members of a team, the system comprising N user terminal electronic devices, networking relay electronic devices and remote data service center electronic devices, where N is a positive integer greater than or equal to 1.

[0036] The networking relay electronic device is selected by the software during the mesh networking process, so the networking relay electronic device and the N user terminal electronic devices have the same hardware structure. The storage protocol frame of the networking relay electronic device also includes the combined positioning data of the N user terminal electronic devices and the networking relay electronic device itself, where N is a positive integer greater than or equal to 1. When P new user terminal electronic devices join the team, the networking relay electronic device will add the P new user terminal electronic devices to the mesh networking, making the new user terminal electronic device an electronic device in the mesh networking. At this time, there are N+P user terminal electronic devices and 1 networking relay electronic device in the mesh networking, and P is a positive integer greater than or equal to 1.

[0037] In one possible design, N user terminal electronic devices (N is a positive integer greater than or equal to 1) and networking relay electronic devices include a processor, a satellite positioning system receiving module, an inertial navigation sensor, a display screen, a mesh networking wireless communication module, GSM wireless communication, a memory, and an sound and light alarm module.

[0038] It can be understood that the user terminal electronic device needs to establish a communication connection with the target electronic device when performing the first combined positioning data transmission. The target electronic device needs to be selected according to the priority, and the priority is: networking relay electronic device> remote data service center electronic device> N-1 any user terminal electronic devices (N is an integer greater than or equal to 1), and the transmission modes are: first mode tracking, second mode tracking and third mode tracking; then, the user terminal electronic device transmits the combined positioning data to the target electronic device; finally, the target electronic device will send the second mode downlink protocol message to the user terminal electronic device, and respond to the data reception confirmation message sent by the user terminal electronic device, so that the continuous location data of each person in the team can be tracked from any user terminal electronic device, networking relay electronic device and remote data service center electronic device, and the current location of the trapped persons in the team can be navigated based on the continuous location data. Therefore, in an emergency, each member of the team can obtain timely rescue services.

[0039] In one possible design, the electronic device of the remote data service center includes a processor, a display screen, a mesh networking wireless communication module, GSM wireless communication, and a memory. The electronic device of the remote data service center is mainly used to receive N user terminal electronic devices and 1 networking relay electronic device, where N is a positive integer greater than or equal to 1. Therefore, the mesh networking wireless communication module is not required in the control system of the electronic device of the remote data service center.

[0040] The processor executes code instructions through a logic circuit to implement a method for continuous position tracking of multiple members of a team, including executing instructions such as the collection of combined positioning data, the collection of inertial navigation sensor data, the transmission of mesh networking wireless communication module data, the transmission of GSM wireless communication data, the display of combined positioning data, and the storage of combined positioning data. Therefore, the processor can be used to execute the instructions of the method in the electronic device step of the first aspect above.

[0041] The satellite positioning system receiving module is used to receive input signals of satellite positioning system protocol frame data.

[0042] The inertial navigation sensor is used to collect inertial navigation sensor data input signals.

[0043] The display screen is used to display position data, and the position data is not limited to combined positioning data, navigation path position data generated by combined positioning data, and three-dimensional navigation position data generated by combined positioning data. The display screen includes touch screen and non-touch screen.

[0044] The mesh networking wireless communication module includes but is not limited to Lora networking, NB-IoT networking and other wireless communication networking methods, which are used to realize the transmission of combined positioning data of multiple members of the team within the local area network.

[0045] GSM wireless communication is used to realize remote data transmission between the electronic equipment of the remote data service center and the N user terminal electronic equipment (N is a positive integer greater than or equal to 1), and to realize remote data transmission between the electronic equipment of the remote data service center and the networking relay electronic equipment.

[0046] The memory is used to store instruction program codes of various devices such as user terminal electronic devices, networking relay electronic devices and remote data service center electronic devices, as well as to store second mode downlink protocol message data.

[0047] The sound and light alarm module is used to generate sound signals and flashing light signals during the rescue process, making it easier for rescuers to find them;

[0047] The electronic equipment of the remote data service center is used for remote combined positioning data management and to realize continuous position tracking of N user terminal electronic equipment and networking relay electronic equipment (N is a positive integer greater than or equal to 1).

[0048] The user terminal electronic device communicates with any of the remaining N-1 user terminal electronic devices in the team, and the communication method adopts the mesh networking wireless communication, where N is a positive integer greater than or equal to 1;

[0049] In a possible design, the specific implementation may include: user terminal electronic devices, networking relay electronic devices and remote data service center electronic devices communicate with each other, and the specific communication methods are: mesh networking wireless communication is used between user terminal electronic devices and networking relay electronic devices; GSM communication is used between user terminal electronic devices and remote data service center electronic devices; GSM communication is used between networking relay electronic devices and remote data service center electronic devices.

[0050] It can be understood that the continuous position tracking system for multiple members of a team described in the second aspect provided above, first, when the satellite positioning system receiving module is able to receive the positioning signal of the satellite positioning system, the combined positioning data will use the satellite positioning system protocol frame data as input; when the satellite positioning system receiving module is unable to receive the positioning signal of the satellite positioning system, the combined positioning data will use the inertial navigation sensor data as input. Secondly, the processor will eventually send the combined positioning data to the networking relay electronic device or the remote data service center electronic device or other user terminal electronic device, and recombine the position data of all members of the team into the storage protocol frame format for storage. At the same time, the position data of all members of the team will be recombined into the second mode of downlink protocol message, and sent to the user terminal electronic devices and remote data service center electronic devices of all members of the team, thereby completing the transmission of a combined positioning data. Therefore, the continuous location data of any member of the team can be obtained through any user terminal electronic device of the team, and can be quickly located when emergency rescue is needed, thereby obtaining the navigation path data of the trapped person. For the rescue team, the command and rescue center can more reasonably allocate rescue resources, enhance rescue safety, improve rescue strategies, and improve rescue efficiency based on the real-time location data of the trapped persons; for the trapped team members, the trapped team members can obtain rescue services in a timely manner, while also maximizing the protection of the life safety of all trapped team members. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0052] Figure 2 A schematic diagram of the hardware structure of a user terminal electronic device provided in an embodiment of the present application;

[0053] Figure 3 A schematic diagram of the hardware structure of an electronic device of a remote data service center provided in an embodiment of the present application;

[0053] Figure 4 A schematic diagram of a method for continuous position tracking of multiple members of a team provided in an embodiment of the present application;

[0054] Figure 5 A flow chart of a first tracking method provided in an embodiment of the present application;

[0053] Figure 6 A flow chart of a second tracking method provided in an embodiment of the present application;

[0054] Figure 7 A flow chart of a third tracking method provided in an embodiment of the present application;

[0053] Figure 8A schematic diagram of the structure of a user terminal electronic device provided in an embodiment of the present application.

[0054] Legend

[0054] 100. User terminal electronic device, 110. Processor, 121. Satellite positioning system receiving module, 122. Inertial navigation sensor, 131. GSM wireless communication, 132. Mesh networking wireless communication module, 140. Display screen, 150. Memory, 160. Sound and light alarm module, 170. Button, 180. Clock module chip, 190. Charging management module, 191. Power management module, 192. Battery, 200. Remote data service center electronic device, 210. Processor, 220. Display screen, 230. GSM wireless communication, 240. Sound and light alarm module, 250. Memory, 260. Button, 270. Charging management module, 271. Power management module, 272. Battery. DETAILED DESCRIPTION

[0051] In the following, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. At the same time, the term "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist; for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0050] In the embodiments of the present application, the words "exemplarily" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0051] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0052] For example, Figure 1 A schematic diagram of an application scenario of the method provided in the embodiment of the present application is shown. Figure 1As shown, it includes N+1 user terminal electronic devices 100 and a remote data service center electronic device 200 of the command and rescue center. The N+1 user terminal electronic devices 100 can realize mutual communication between two electronic devices; any one of the N+1 user terminal electronic devices 100 can wirelessly communicate with the remote data service center electronic device 200. For the convenience of description, in the subsequent embodiments of the present application, N+1 user terminal electronic devices 100 are taken as an example for introduction, which can be respectively recorded as "user terminal electronic device 100", "user 1 terminal electronic device 100", "user 2 terminal electronic device 100", ..., "user N terminal electronic device 100". Among them, the N+1 user terminal electronic devices 100 receive the satellite positioning system protocol frame data sent by the satellite positioning system, and the N+1 user terminal electronic devices 100 will select N user terminal electronic devices 100 and 1 networking relay electronic device after implementing mesh networking through software.

[0053] It should be noted that N+1 user terminal electronic devices 100 can communicate with each other in pairs, and the specific communication method is: after the mesh network is established, all user terminal electronic devices 100 in the mesh network can communicate with each other in pairs; when the signal between the user terminal electronic device 100 and the networking relay electronic device is blocked, the user terminal electronic device 100 can communicate indirectly through other user terminal electronic devices 100 and the networking relay electronic device in the mesh network, wherein the user terminal electronic device 100 and the networking relay electronic device can be separated by one or more user terminal electronic devices 100.

[0053] At the same time, any one of the N+1 user terminal electronic devices 100 can communicate with the remote data service center electronic device 200 directly or indirectly by wireless communication, and the communication method is GSM communication.

[0053] When L new user terminal electronic devices 100 join the team, the networking relay electronic device will add the L new user terminal electronic devices 100 to the mesh network, making the new user terminal electronic device 100 a user terminal electronic device 100 in the mesh network. At this time, there are N+L user terminal electronic devices 100 and 1 networking relay electronic device in the mesh network, and L is a positive integer greater than or equal to 1. For example: in an emergency rescue, the user terminal electronic devices 100 of multiple rescuers will be added to the user terminal electronic device 100 of the trapped person, and can achieve mutual communication between the two, which is convenient for the rescuers to command the rescue.

[0053] It can be understood that, first, N+1 user terminal electronic devices 100 will sort out the received satellite positioning system protocol frame data and inertial navigation sensor data to generate combined positioning data, and send the combined positioning data to the networking relay electronic device in the mesh network; then, the networking relay electronic device re-sorts the combined positioning data of all user terminal electronic devices 100 and sends it to all user terminal electronic devices 100 and the remote data service center electronic device 200; finally, all user terminal electronic devices 100 return data reception confirmation messages. Therefore, each user terminal electronic device 100 can read the continuous combined positioning data of all user terminal electronic devices 100, thus realizing the continuous position tracking of multiple members of the team.

[0053] In such Figure 1 In the scenario shown, in non-emergency situations, all members of the team wear user terminal electronic devices 100, and each user terminal electronic device 100 sends the received combined positioning data to the networking relay electronic device. After that, the networking relay electronic device organizes all the combined positioning data and sends them to each user terminal electronic device 100 and the remote data service center electronic device 200; when an emergency occurs (for example, people are trapped and the GSM signal of the trapped people cannot be received), first, the rescuers can perform offline positioning based on the combined positioning data of the remote data service center electronic device 200. After arriving at the scene, the new user terminal electronic device 100 worn by the rescuers will be added to the mesh network to view the continuous combined positioning data of the trapped people in real time, so that the trapped people in the team can obtain rescue services in time, and the life safety of the trapped people in the team is maximized.

[0053] For example, Figure 2 The hardware structure diagram of a user terminal electronic device of the method provided in the embodiment of the present application is shown. Figure 2 As shown, the user terminal electronic device 100 may include a processor 110, a satellite positioning system receiving module 121, an inertial navigation sensor 122, a GSM wireless communication 131, a mesh networking wireless communication module 132, a display screen 140, a memory 150, an audio and video alarm module 160, a button 170, a clock module chip 180, a charging management module 190, a power management module 191, a battery 192, etc.

[0053] The processor 110 may include one or more processing units, for example, the processor 110 may include an application processor, a modem processor, a graphics processor, an image signal processor, a controller, a memory, a video codec, a digital signal processor, a baseband processor, a neural network processor, etc. Among them, different processing units may be independent devices or integrated into one or more processors.

[0053] The processor 110 may generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0053] The satellite positioning system receiving module 121 receives UTC time data, longitude, latitude, altitude and other parameters in the satellite positioning system protocol frame data through the antenna 1. The satellite positioning system includes the Global Positioning System (GPS), the Beidou Satellite Navigation System (BDS), the Galileo Satellite Navigation System (Galileo), and the GLONASS. If the user terminal electronic device 100 can receive any satellite positioning system signal, the combined positioning data input will select the satellite positioning system protocol frame data input.

[0053] The inertial navigation sensor 122 can measure the absolute angular rate in three directions through a three-axis gyroscope, measure the acceleration in three directions through a three-axis accelerometer, and measure the three-dimensional geomagnetic intensity through a three-axis magnetoresistive magnetometer. Then, the time is integrated according to the measured parameters to generate absolute navigation data including longitude, latitude, and altitude, and the result is transformed into a navigation coordinate system. If the user terminal electronic device 100 cannot receive any satellite positioning system signal, the combined positioning data input will select the data input of the inertial navigation sensor 122.

[0053] The GSM wireless communication 131 is used to transmit the combined positioning data of all user terminal electronic devices 100 (including networking relay electronic devices) to the remote data service center electronic device 200, and the GSM wireless communication 131 realizes data sending and receiving through the antenna 2.

[0053] The mesh networking wireless communication module 132 is used to realize the communication of N+1 user terminal electronic devices 100, including the two-to-two communication between the N user terminal electronic devices 100, and also including the two-to-two communication between the N user terminal electronic devices 100 and the networking relay electronic devices. At the same time, the mesh networking wireless communication module 132 includes but is not limited to wireless communication networking methods such as Lora networking and NB-IoT networking. The mesh networking wireless communication module 132 sends and receives data through the antenna 3.

[0053] The display screen 140 is used to display continuous position data, which is not limited to combined positioning data, navigation path position data generated by combined positioning data, and three-dimensional navigation position data generated by combined positioning data. In addition, the display screen 140 includes touch screen and non-touch screen.

[0053] The memory 150 is used to store the relevant execution instructions of the processor program, and also stores the combined location data, target device identification, UTC time and other data of all user terminal electronic devices 100.

[0053] The sound and light alarm module 160 sends out a distress signal through sound and light, which is convenient for rescuers to find trapped people in time. The sound and light alarm module 160 is mainly divided into a sound signal alarm module and a light signal alarm module. Among them, the sound signal alarm module includes but is not limited to a module that generates sound signals such as a speaker and a buzzer; the light signal alarm module is not limited to a light signal module such as an LED lamp and a laser. Therefore, the distress signal through sound and light is easier for rescuers to find and obtain rescue services in time.

[0053] The button 170 is used to send out a distress signal. When someone in the team is trapped, the button 170 can be used to manually send out a distress sound signal and a light signal.

[0053] The clock module chip 180 can be used to provide a corresponding reference time for the combined positioning data. When the user terminal electronic device 100 can receive any satellite positioning system signal, the reference time of the combined positioning data uses the UTC time, and the UTC time also provides a calibration time for the clock module chip 180; when the user terminal electronic device 100 cannot receive any satellite positioning system signal, the reference time of the combined positioning data uses the reference time of the clock module chip 180.

[0053] The front end of the charging management module 190 is connected to a wired charger or a wireless charger for charging input, and the rear end of the charging management module 190 is connected to the power management module 191 and the battery 192. The front end of the power management module 191 is connected to the charging management module 190 and the battery 192, and the front and rear ends of the power management module 191 are connected to the functional circuits of the user terminal electronic device 100 or the networking relay electronic device. If the charging management module 190 has a charging input, the charging management module 190 will power the power management module 191 and charge the battery 192 at the same time; if the charging management module 190 is not connected to the charging input, the power management module 191 and the rear end circuit will be powered by the battery 192. The front end of the battery 192 is connected to the charging management module 190, and the rear end is connected to the power management module 191, which is used to power the corresponding user terminal electronic device 100 or the networking relay electronic device, and monitor parameters such as battery power, current and battery health status.

[0053] Understandably, Figure 2 The illustrated structure does not constitute a specific limitation on the user terminal electronic device 100. In some embodiments of the present application, the user terminal electronic device 100 may include Figure 2 More or fewer components are shown, or some components are combined, or some components are separated, or different component arrangements are arranged. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0053] It should be noted that the user terminal electronic device 100 in the embodiment of the present application can be a handheld device, a head-mounted device, a wearable device, etc. The embodiment of the present application does not impose any special restrictions on the specific form of the electronic device.

[0053] For example, Figure 3 The hardware structure diagram of a user terminal electronic device of the method provided in the embodiment of the present application is shown. Figure 3 As shown, the remote data service center electronic device 200 may include a processor 210 , a display screen 220 , a GSM wireless communication 230 , an audio and visual alarm module 240 , a memory 250 , a button 260 , a charging management module 270 , a power management module 271 , and a battery 272 .

[0053] The processor 210 may include one or more processing units, for example, the processor 210 may include an application processor, a modem processor, a graphics processor, an image signal processor, a controller, a memory, a video codec, a digital signal processor, a baseband processor, a neural network processor, etc. Among them, different processing units may be independent devices or integrated into one or more processors. In addition, the processor 210 is used to process the combined positioning data transmitted from the user terminal electronic device 100, and to process the storage of control logic execution instructions and data.

[0053] The display screen 220 can be used to intuitively display the position data. In an emergency, the command rescue center and rescuers can intuitively view the specific location of the trapped person through the display screen 220, which is conducive to the efficient completion of the rescue mission.

[0053] GSM wireless communication 230 provides digital mobile phone communication services through remote communication, and can convert data into digital signals for transmission in a wireless network. In the embodiment of the present application, GSM wireless communication 230 is mainly used to transmit parameters related to the combined positioning data in the user terminal electronic device 100.

[0053] The sound and light alarm module 240 sends out an alarm signal through sound and light signals to promptly remind the personnel of the command rescue center that there are trapped persons and rescue services are needed.

[0053] The memory 250 is used to store the relevant execution instructions of the processor 210 program, and also stores the combined location data, target device identification, UTC time and other data of all user terminal electronic devices 100.

[0053] The button 260 can generate a manual alarm signal. It is mainly used in emergency situations. If the automatic alarm information is to send an alarm signal, the personnel in the command rescue center can manually press the button 260 to remind the rescue personnel that there are trapped people.

[0053] The front end of the charging management module 270 is connected to a wired charger or a wireless charger for charging input, and the back end of the charging management module 270 is connected to the power management module 271 and the battery 272. The front end of the power management module 271 is connected to the charging management module 270 and the battery 272, and the front and back ends of the power management module 271 are connected to the functional circuits of the user terminal electronic device 100 or the networking relay electronic device. If the charging management module 270 has a charging input, the charging management module 270 will power the power management module 271 and charge the battery 272 at the same time; if the charging management module 270 is not connected to the charging input, the power management module 271 and the back end circuit will be powered by the battery 272. The front end of the battery 272 is connected to the charging management module 270, and the back end is connected to the power management module 271, which is used to power the remote data service center electronic device 200 and monitor parameters such as battery power, current and battery health status.

[0053] The remote data service center electronic device 200 is mainly used for remote continuous location tracking of all user terminal electronic devices 100 (including networking relay electronic devices), so that in an emergency, the command and rescue center can take appropriate safety measures, reasonably allocate rescue resources, make more accurate decisions, and provide some safety guidance.

[0053] Understandably, Figure 3 The illustrated structure does not constitute a specific limitation on the remote data service center electronic device 200. In some embodiments of the present application, the remote data service center electronic device 200 may include: Figure 3 More or fewer components are shown, or some components are combined, or some components are separated, or different component arrangements are arranged. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0053] For example, Figure 4 A schematic diagram of a method for continuous position tracking of multiple members of a team provided in an embodiment of the present application is shown. Figure 3 As shown, when the user terminal electronic device 100 generates a first mode upload protocol message by combining positioning data, it is necessary to send a data connection establishment request message according to the priority of the target electronic device. At this time, the target electronic device includes a networking relay electronic device, a remote data service center electronic device, and N-1 arbitrary user terminal electronic devices. Therefore, continuous position tracking of each member of the team can be achieved according to different target electronic devices. A continuous position tracking method for multiple members of a team provided in an embodiment of the present application includes three tracking methods: first mode tracking 500, second mode tracking 600, and third mode tracking 700.

[0053] It can be understood that in order to realize the continuous position tracking of all team members, it is first necessary to be able to collect the continuous position data of all team members. When the satellite positioning system signal is detected to be online, the combined positioning data of this application selects the satellite positioning system protocol frame data as input; when the satellite positioning system signal is detected to be offline, the combined positioning data selects the inertial navigation sensor data as input. At the same time, it is also necessary to be able to transmit the continuous position data of each team member between the electronic devices for continuous position tracking. Finally, it is possible to realize the real-time reading of the continuous position data of each team member and track the corresponding position of the person.

[0053] For example, Figure 5 A flow chart of a first tracking method provided by an embodiment of the present application is shown. Figure 5 As shown, the method may include steps 501 to 505 (including 505A and 505B):

[0053] Step 501: The user terminal electronic device, the remote data service center electronic device and the networking relay electronic device establish a communication connection, and the user terminal electronic device sends a data connection request message to the networking relay electronic device.

[0053] The first method of tracking and establishing a communication connection includes: establishing a mesh networking communication connection between a user terminal electronic device and a networking relay electronic device, and establishing a GSM remote communication connection between the networking relay electronic device and the remote data service center electronic device. The networking relay electronic device is selected from the mesh networking by the user terminal electronic device, and the selection principle is based on the minimum calculated distance between a certain user terminal electronic device and the remaining user terminal electronic devices, so that the networking relay electronic device can be placed in the center as much as possible, which is conducive to more user terminal electronic devices to access the mesh networking.

[0053] At the same time, the user terminal electronic device sends a data connection request message to the networking relay electronic device, so that the combined positioning data cannot be transmitted normally after the user terminal electronic device calls out the mesh network. For example: as time goes on, when a team member brings a user terminal electronic device to the back of a remote mountain or other place where the signal is blocked, the user terminal electronic device carried by the team member cannot receive the signal from the networking relay electronic device. At this time, sending a data connection request message to the networking relay electronic device is to confirm again that the real-time data can be accurately sent to the networking relay electronic device, so as to facilitate the selection of the combined positioning tracking method for all team members (including the first tracking method, the second tracking method and the third tracking method).

[0053] Step 502: The networking relay electronic device sends a first mode downlink protocol message to the user terminal electronic device.

[0053] It can be understood that after the networking relay electronic device receives the data connection request message from the user terminal electronic device, it sends a first mode downlink protocol message in response to the user terminal electronic device. At this time, it indicates that the user terminal electronic device can still be in the mesh network, and tells the user terminal electronic device that it can now transmit real-time data with the networking relay electronic device, so the first mode of tracking is selected to transmit data.

[0053] Step 503A: The user terminal electronic device sends a first mode upload protocol message to the networking relay electronic device.

[0053] Among them, when it is confirmed that the user terminal electronic device network is still in the mesh networking, the user terminal electronic device can then send the first mode upload protocol message containing the combined positioning data of the user terminal electronic device to the networking relay electronic device, so that the networking relay electronic device can summarize the combined positioning data of all user terminal electronic devices in the team.

[0053] Step 503B: The electronic device of the remote data service center sends a first mode upload protocol message to the networking relay electronic device.

[0053] Among them, the electronic device of the remote data service center can upload the combined positioning data in a first manner through a protocol message to the networking relay electronic device, so that the networking relay electronic device can summarize the combined positioning data of all user terminal electronic devices in the team. At this time, the combined positioning data of the electronic device of the remote data service center itself is meaningless, and the combined positioning data of other user terminal electronic devices received through GSM is meaningful. This step is mainly to allow the combined data of user terminal electronic devices that are outside the mesh network and can realize GSM communication to be uploaded and summarized smoothly.

[0053] Step 504: the networking relay electronic device sends a second mode downlink protocol message to the user terminal electronic device and the remote data service center electronic device.

[0053] It can be understood that after the networking relay electronic device receives the combined positioning data of all user terminal electronic devices in the team, it extracts the combined positioning data, device identification, and positioning time to generate a storage protocol frame. At the same time, the location data of all members of the team are recombined into a second mode downlink protocol message, and sent to the user terminal electronic devices of all members of the team and the electronic device of the remote data service center.

[0053] Step 505A: The user terminal electronic device returns a data reception confirmation message to the networking relay electronic device.

[0053] Step 505B: The electronic device of the remote data service center returns a data reception confirmation message to the networking relay electronic device.

[0053] It can be understood that the user terminal electronic device and the remote data service center electronic device return a data reception confirmation message to the networking relay electronic device. Thus, the transmission of the combined positioning data is completed through the first tracking method, and the combined location data of the user terminal electronic devices of all members of the team can be accessed through any user terminal electronic device in the team, which plays a very important role in emergency rescue missions when there is no GSM signal for a long time.

[0053] For example, Figure 6 A flow chart of a second tracking method provided by an embodiment of the present application is shown. Figure 6 As shown, the method may include steps 601 to 605:

[0053] Step 601: A user terminal electronic device and a remote data service center electronic device establish a communication connection, and the user terminal electronic device sends a data connection request message to the remote data service center electronic device.

[0053] Among them, the communication connection method in the second tracking method specifically refers to the establishment of a GSM communication connection between the user terminal electronic device and the remote data service center electronic device, which can realize remote data transmission. It can be understood that a GSM communication connection needs to be established after the device is started. As time goes by, the team members are constantly moving, which may cause the GSM signal to be blocked or shielded (for example, in a low-lying area or behind a mountain). When transmitting the combined positioning data again, it is necessary to send a data connection request message to confirm that the data can be transmitted reliably.

[0053] Step 602: The electronic device of the remote data service center sends a first mode downlink protocol message to the electronic device of the user terminal.

[0053] At this time, the remote data service center electronic device responds to the data connection request message of the user terminal electronic device and responds to the request that the communication is connected. Therefore, the first mode downlink protocol message is sent to the user terminal electronic device to confirm that the communication can be successfully completed.

[0053] Step 603: The user terminal electronic device sends a first mode upload protocol message to the remote data service center electronic device.

[0053] The user terminal electronic device uploads its own combined positioning data to the remote data service center electronic device, so that the remote data service center electronic device will receive the combined positioning data of the user terminal electronic device.

[0053] Step 604: The electronic device of the remote data service center sends a second mode downlink protocol message to the electronic device of the user terminal.

[0053] At this time, the electronic device of the remote data service center matches the received combined positioning data of the user terminal electronic device with the positioning time and the device identifier, stores it in accordance with the storage protocol frame format, and simultaneously sends the second mode downlink protocol message to the user terminal electronic device.

[0053] Step 605: The user terminal electronic device returns a data reception confirmation message to the remote data service center electronic device.

[0053] When the user terminal electronic device receives the second mode downlink protocol message sent by the remote data service center electronic device, it will feedback a data reception confirmation message, which means that the transmission of one cycle of combined positioning data is completed.

[0053] Specifically, first, the user terminal electronic device and the remote data service center electronic device confirm that they are connected again by sending a data connection request message. At this time, the user terminal electronic device uploads the combined data to the remote data service center electronic device through GSM; then, the remote data service center electronic device generates and stores the second mode downlink protocol message, and at the same time, sends the second mode downlink protocol message to the user terminal electronic device; finally, wait for the user terminal electronic device to feedback the data confirmation message, thereby completing a transmission of the combined positioning data. In this process, the user terminal electronic device can be all user terminal electronic devices or part of the user terminal electronic devices. If it is part of the user terminal electronic devices, then the part of the combined positioning data is uploaded to the networking relay electronic device after aggregation, and the networking relay electronic device is sent to each user terminal electronic device. At the same time, all the sent combined positioning data will also be relayed by the remote data service center electronic device to the user terminal electronic device outside the mesh network.

[0053] It can be understood that the second tracking method is mainly used in scattered user terminal electronic devices, which may exceed the distance of mesh networking or have obstacles in the middle that block the mesh networking signal, and thus are applied to user terminal electronic devices that cannot implement mesh networking. Therefore, the combined positioning data of user terminal electronic devices outside the mesh networking is received by the remote data service center electronic device and then sent to the remaining user terminal electronic devices.

[0053] For example, Figure 7 A flow chart of a third tracking method provided by an embodiment of the present application is shown. Figure 7 As shown, the method may include steps 701 to 706:

[0053] Step 701: a user terminal electronic device establishes a communication connection with user 1-N terminal electronic devices, and the user terminal electronic device sends a data connection request message to user 1-N terminal electronic devices.

[0053] Similarly, the user terminal electronic device cannot connect to the network relay electronic device in the mesh network, and at the same time, it cannot connect to the GSM signal. At this time, it is necessary to transmit the combined positioning data to the user 1~N terminal electronic devices through the user terminal electronic device, and the user terminal electronic device also needs to send a data connection request message to the user 1~N terminal electronic devices to confirm the real-time connection status.

[0053] Step 702: The terminal electronic devices of users 1 to N send a first-mode downlink protocol message to the terminal electronic device of the user.

[0053] Among them, when user 1~N terminal electronic device receives the data connection request message sent by the user terminal electronic device, it means that user 1~N terminal electronic device can communicate with the current user terminal electronic device in real time. Therefore, user 1~N terminal electronic device sends the first mode downlink protocol message to the user terminal electronic device to confirm that data transmission can be carried out.

[0053] Step 703: The user terminal electronic device sends a first mode upload protocol message to the user terminal electronic devices 1 to N.

[0053] The user terminal electronic device uploads its own combined positioning data to the user terminal electronic devices 1 to N. In this way, the user terminal electronic devices 1 to N will receive the combined positioning data of the user terminal electronic device.

[0053] Step 704: The terminal electronic device of user 1 to N will continue to transmit the combined location data to the next level through the first / second / third mode tracking until the terminal electronic device of user 1 to N receives the second mode downlink protocol message returned by the networking relay electronic device or the remote data service center electronic device.

[0053] It can be understood that after the user 1~N terminal electronic device receives the combined positioning data of the user terminal electronic device, it is necessary to organize the combined location data of the user terminal electronic device and the combined data of the user 1~N terminal electronic device together, generate a new first mode upload protocol message for continued transmission, and the transmission priority is first mode tracking > second mode tracking > third mode tracking, until the user 1~N terminal electronic device receives the second mode downlink protocol message returned by the networking relay electronic device or the remote data service center electronic device.

[0053] Step 705: The user 1-N terminal electronic device sends a second mode downlink protocol message to the user terminal electronic device.

[0053] Step 706: The user terminal electronic device returns a data reception confirmation message to the user terminal electronic devices 1 to N.

[0053] Therefore, the third tracking method can also store the combined location data of all team members in the user terminal electronic device of each team member, and when there is a GSM signal, it can also be stored in the electronic device of the remote data service center. It is realized that during the emergency rescue process, the continuous location data of each team member can be accessed through the device of any team member.

[0053] For example, Figure 8 This is a schematic diagram of the structure of a user terminal electronic device provided in an embodiment of the present application. Figure 8 As shown, the first electronic device 100 includes: one or more processors 1001; one or more memories 1002; one or more sensors 1003; one or more wireless transmission modules 1004; and the above components can be connected via one or more communication buses 1005. Exemplarily, the first electronic device 100 can be a portable wearable user terminal electronic device.

[0053] Among them, one or more computer programs are stored in the memory 1002, and the memory 1002 can be a built-in memory of the processor or an external memory, and the one or more computer programs include instructions; the processor 1001 calls the instructions stored in the memory 1002, so that the user terminal electronic device 100 executes the continuous position tracking method in the above embodiment.

[0053] In the embodiment of the present application, the processor 1001 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiment of the present application. The steps of the method disclosed in the embodiment of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor 1001. The software module can be located in the memory 1002, and the processor 1001 reads the program instructions in the memory 1002, and completes the steps of any of the above-mentioned embodiment methods in combination with its hardware.

[0053] Meanwhile, the sensor 1003 may be one or more. Exemplarily, the inertial navigation sensor may be an integrated six-axis or more sensor, or a discrete sensor. Exemplarily, such as an integrated 9-axis sensor (integrating an XYZ three-axis accelerometer, an XYZ three-axis angular velocity sensor, and an XYZ three-axis magnetic field sensor), a discrete X-axis accelerometer, a Y-axis accelerometer, a Z-axis accelerometer, an X-axis angular velocity sensor, a Y-axis angular velocity sensor, a Z-axis angular velocity sensor, an X-axis magnetic field sensor, a Y-magnetic field sensor, and a Z-magnetic field sensor may also be used; similarly, an integrated dual-axis sensor and a single-axis sensor may also be used in combination, for example, an XYZ three-axis accelerometer may be replaced by a discrete XY dual-axis accelerometer and a single-axis accelerometer in the Z direction; an XYZ three-axis angular velocity sensor may be replaced by an XY dual-axis angular velocity sensor and an angular velocity sensor in the Z direction; and an XYZ three-axis magnetic field sensor may be replaced by an XY dual-axis magnetic field sensor and a magnetic field sensor in the Z direction.

[0053] In addition, the wireless transmission module 1004 can be a variety of networking methods such as lora, NB-IoT, etc. that can realize mesh networking. It also includes mobile wireless communication methods such as GSM long-range 2G / 3G / 4G / 5G.

[0053] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, systems (devices) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by instructions. These codes can be provided to a processor of a special-purpose computer, an embedded processor or other programmable data processing device to generate instructions required for the processor to execute, so that the instructions executed by the processor of the programmable data processing device generate instructions for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

Claims

1. A method for continuous position tracking of multiple members of a team, characterized in that: A continuous position tracking system applied to multiple members of a team, the method comprising: According to the team's N+1 user terminal electronic devices, a mesh networking wireless communication is established, and N user terminal electronic devices and 1 networking relay electronic device are obtained. The networking relay electronic device also has the function of the user terminal electronic device, and N is a positive integer greater than or equal to 1; the user terminal electronic device receives the combined positioning data and generates a first mode upload protocol message, the combined positioning data input includes a satellite positioning system protocol frame data input or an inertial navigation sensor data input, and the first mode upload protocol message body includes the combined positioning data; After the user terminal electronic device, the remote data service center electronic device and the networking relay electronic device establish a communication connection, the user terminal electronic device sends a data connection establishment request message to the networking relay electronic device; If the networking relay electronic device receives the data connection establishment request message from the user terminal electronic device, the continuous location data of the user terminal electronic device is tracked in a first manner; If the networking relay electronic device cannot receive the data connection establishment request message from the user terminal electronic device, the user terminal electronic device will send a data connection establishment request message to the remote data service center electronic device; If the remote data service center electronic device receives the data connection establishment request message from the user terminal electronic device, the continuous location data of the user terminal electronic device is tracked in a second manner; If the remote data service center electronic device cannot receive the data connection establishment request message of the user terminal electronic device, the user terminal electronic device will send a data connection establishment request message to any N-1 user terminal electronic devices in the team, and the priority of any N-1 user terminal electronic devices is determined according to the minimum distance between each of the N-1 user terminal electronic devices, and the device that establishes the data connection is user terminal electronic device 2; If the user terminal electronic device 2 receives the data connection establishment request message from the user terminal electronic device, the continuous location data of the user terminal electronic device is tracked using the third method.

2. The method according to claim 1, characterized in that: The combined positioning data input includes at least one of the following data signals: global positioning system (GPS) protocol frame data input, Beidou satellite navigation system (BDS) protocol frame data input, Galileo satellite navigation system (Galileo) protocol frame data input, GLONASS protocol frame data input, inertial navigation sensor data input; The combined positioning data input includes satellite positioning system protocol frame data input and inertial navigation sensor data input; If the user terminal electronic device can receive any of the satellite positioning system signals, the combined positioning data input will select the satellite positioning system protocol frame data input; If the user terminal electronic device cannot receive any of the satellite positioning system signals, the combined positioning data input will select the inertial navigation sensor data input.

3. The method according to claim 1, characterized in that: The minimum distance between the user terminal electronic devices is proportional to the time difference between sending the data connection request message and receiving the first mode downlink protocol message. The distance calculation formula is: S ij-min =v*(T2-T1) In the formula, S ij-min is the minimum distance between the user terminal electronic device i and the user terminal electronic device j, the unit is m, T1 is the time for sending the data connection request message, T2 is the time for receiving the first mode downlink protocol message, the unit is s, v is the propagation speed of the wireless signal in the air, the unit is m / s; i and j are both positive integers.

4. The method according to claims 1-3, characterized in that: The network relay electronic device is selected by the user terminal electronic device in the mesh network, and the selection principle is: the sum of the distances between a certain user terminal electronic device and the remaining m-1 user terminal electronic devices is calculated in sequence (sum(S1), sum(S2), ..., sum(S m ))Minimum sum(S min ), the principle formula is: in (Where S 11 , S 22 , S 33 , …, S mm All are 0) In the formula, S 11 , S 12 , …, S 1m are respectively the distance between the first user terminal electronic device and the first user terminal electronic device, the distance between the first user terminal electronic device and the second user terminal electronic device, and the distance between the first user terminal electronic device and the mth user terminal electronic device; S 21 , …, S m1 They are respectively the distance from the second user terminal electronic device to the first user terminal electronic device, and the distance from the mth user terminal electronic device to the first user terminal electronic device; m is an integer greater than or equal to 1.

5. The method according to claims 1-3, characterized in that: The priority of the target electronic device for establishing the data connection request message is networking relay electronic device>remote data service center electronic device>N-1 arbitrary user terminal electronic devices, and the priority of the N-1 arbitrary user terminal electronic devices is determined based on the minimum distance between each pair of the user terminal electronic devices.

6. The method according to claim 1, characterized in that: The data transmission tracked by the first method is: In response to receiving the data connection establishment request message from the user terminal electronic device, the networking relay electronic device sends a first mode downlink protocol message to the user terminal electronic device; The user terminal electronic device receives the first mode downlink protocol message from the networking relay electronic device, the user terminal electronic device stops sending the data connection request message, and the user terminal electronic device sends the first mode uplink protocol message to the networking relay electronic device, wherein the first mode downlink protocol message includes the device identification of the target electronic device; In response to receiving the first mode uploading protocol message from the user terminal electronic device, and after the networking relay electronic device receives the first mode uploading protocol message from the remaining user terminal electronic devices in the mesh network, the networking relay electronic device will send the second mode downloading protocol message to the user terminal electronic device and the remote data service center electronic device; The user terminal electronic device receives the second mode downlink protocol message from the networking relay electronic device, classifies and stores the combined positioning data of the second mode downlink protocol message according to the storage protocol frame format, and sends a data reception confirmation message to the networking relay electronic device, the second mode downlink protocol message includes the combined positioning data of the networking relay electronic device and the combined positioning data of N+1 user terminal electronic devices in the team, the data reception confirmation message includes the device identification of the user terminal electronic device, and the storage protocol frame format includes the combined positioning data, the device identification, and the positioning time.

7. The method according to claims 1-3, characterized in that: The data transmission tracked by the second method is: In response to receiving the data connection establishment request message from the user terminal electronic device, the remote data service center electronic device sends a first mode downlink protocol message to the user terminal electronic device; The user terminal electronic device receives the first mode downlink protocol message from the remote data service center electronic device, the user terminal electronic device stops sending the data connection request message, and the user terminal electronic device sends the first mode uplink protocol message to the remote data service center electronic device; In response to receiving the first mode uploading protocol message from the user terminal electronic device, and after the remote data service center electronic device receives the first mode uploading protocol message from k user terminal electronic devices outside the mesh network and the networking relay electronic device, the remote data service center electronic device will send the second mode downloading protocol message to the k user terminal electronic devices and the networking relay electronic device; k is a positive integer greater than or equal to 0, and k <N+2; The user terminal electronic device receives the second mode downlink protocol message from the remote data service center electronic device, classifies and stores the combined positioning data of the second mode downlink protocol message according to the storage protocol frame format, and sends a data reception confirmation message to the remote data service center electronic device, wherein the second mode downlink protocol message includes the combined positioning data of the networking relay electronic device and the combined positioning data of the N+1 user terminal electronic devices of the team.

8. The method according to claims 1-3, characterized in that: The data transmission tracked in the third mode is: In response to receiving the data connection establishment request message from the user terminal electronic device, the user terminal electronic device 2 sends a first mode downlink protocol message to the user terminal electronic device; The user terminal electronic device receives the first mode downlink protocol message from the user terminal electronic device 2, the user terminal electronic device stops sending the data connection request message, and the user terminal electronic device sends the first mode uplink protocol message to the user terminal electronic device 2; The user terminal electronic device 2 extracts the combined positioning data of the user terminal electronic device in the message in response to receiving the first mode uploading protocol message from the user terminal electronic device, and adds the combined positioning data of the user terminal electronic device to the first mode uploading protocol message in the user terminal electronic device 2; The user terminal electronic device receives the second mode downlink protocol message from the user terminal electronic device 2, classifies and stores the combined positioning data of the second mode downlink protocol message according to the storage protocol frame format, and sends a data reception confirmation message to the user terminal electronic device 2, wherein the second mode downlink protocol message includes the combined positioning data of the networking relay electronic device and the combined positioning data of the N+1 user terminal electronic devices of the team.

9. A continuous position tracking system for multiple team members, characterized in that: The continuous position tracking system for multiple team members includes N user terminal electronic devices, networking relay electronic devices and remote data service center electronic devices; The networking relay electronic device is selected by software during the mesh networking process, and the networking relay electronic device and the N user terminal electronic devices have the same hardware configuration; when a new user terminal electronic device joins the team, the networking relay electronic device will add the new user terminal electronic device to the mesh networking, making the new user terminal electronic device an electronic device in the mesh networking; The N user terminal electronic devices and the networking relay electronic device each include a processor, a satellite positioning system receiving module, an inertial navigation sensor, a display screen, a mesh networking wireless communication module, a GSM wireless communication, a memory, and an audio and visual alarm module; The electronic device of the remote data service center includes a processor, a display screen, a mesh networking wireless communication module, a GSM wireless communication, and a memory; the processor executes code instructions through a logic circuit to implement the method according to any one of claims 1 to 8; The satellite positioning system receiving module is used to receive the satellite positioning system protocol frame data input signal as claimed in claim 2; The inertial navigation sensor is used to collect the inertial navigation sensor data input signal as claimed in claim 2; The display screen is used to display position data, and the position data is not limited to combined positioning data, navigation path position data generated by combined positioning data, and three-dimensional navigation position data generated by combined positioning data. The display screen includes a touch screen and a non-touch screen; The mesh networking wireless communication module includes but is not limited to wireless communication networking methods such as Lora networking and NB-IoT networking, which are used to realize the transmission of combined positioning data of multiple members of the team in a local area network; The GSM wireless communication is used to realize remote data transmission between the remote data service center electronic device and the N user terminal electronic devices, and is used to realize remote data transmission between the remote data service center electronic device and the networking relay electronic device; The memory is used to store instruction program codes of various devices such as user terminal electronic devices, networking relay electronic devices and remote data service center electronic devices, and store protocol message data transmitted in the second manner as claimed in claims 1-8; The sound and light alarm module is used to generate sound signals and flashing light signals during the rescue process, so as to facilitate the rescue personnel to find it; The remote data service center electronic device is used for remote combined positioning data management and to achieve continuous position tracking of the N user terminal electronic devices and the networking relay electronic devices.

10. The system according to claim 9, characterized in that: The user terminal electronic device communicates with any of the remaining N-1 user terminal electronic devices in the team, and the communication method adopts the mesh networking wireless communication, where N is a positive integer greater than or equal to 1; The user terminal electronic device, the networking relay electronic device and the remote data service center electronic device communicate with each other in pairs, and the communication method is specifically as follows: The mesh networking wireless communication is adopted between the user terminal electronic device and the networking relay electronic device; the user terminal electronic device and the remote data service center electronic device adopt GSM communication; the networking relay electronic device and the remote data service center electronic device adopt GSM communication.

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