Method and system for continuous location tracking of team members

Abstract

The application provides a team multi-member continuous position tracking method and system, and relates to the field of combined positioning technology. The method can collect continuous position information of team multi-members, and can track continuous position data of each member of the team through the device of any member in the team. The method is applied to exploration operations or emergency rescue, and comprises the following steps: after all user terminal electronic devices collect combined positioning data and establish a communication connection, the user terminal electronic device data is sent to a selected target electronic device; after the target electronic device receives the data of all user terminal electronic devices, the data is stored, and the target electronic device sends the combined positioning data of all members to each user terminal electronic device of the team and / or a remote data service center electronic device; after the user terminal electronic device receives the data, the data is confirmed, so that the user terminal electronic device of any member in the team can track the continuous position data of each member of the team.

Description

TECHNICAL FIELD

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

[0002] For exploration team personnel, in complex and remote field environments, continuous position tracking can ensure the maximum safety of team personnel in exploration operations. In particular, in the case of danger requiring emergency rescue services, if rescue personnel cannot quickly and accurately obtain the continuous position information of each exploration personnel, the rescue time will be prolonged, and if the exploration personnel cannot obtain rescue services in time, the life safety of the exploration personnel will be threatened.

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

[0004] However, the working environment of exploration team members is generally complex and remote in the field (such as narrow valleys, undulating mountains, deep jungles, and deserts), and some areas cannot receive satellite positioning system positioning data signals, or even some areas cannot connect to GSM wireless communication signals. Therefore, it is difficult to obtain the latest continuous position information of all trapped personnel in real time, quickly and accurately during the rescue mission, and it is also easy to cause the rescue mission to fail. SUMMARY

[0005] In order to solve the problem of quickly and accurately obtaining all the continuous positions of the exploration personnel in emergency rescue missions, the application provides a continuous position tracking method and system for a team of multiple members, which collects continuous position information of the team of multiple members and enables access to 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, and includes: after the team member user terminal electronic device collects combined positioning data, the data is sent to the networking relay; after the networking relay receives positioning data of all user terminal electronic devices in the team within a certain time, the positioning data is stored according to the self-defined data protocol of the application, and the positioning data of all members of the team is packaged and sent to all user terminal electronic devices of the team and remote data service center electronic devices; if the member user terminal electronic device cannot establish a connection with the networking relay, the team member user terminal electronic device sends data to the terminal electronic device of any member in the team that can establish a connection. In this way, each device stores the combined positioning data of each member of the team, and in an emergency situation requiring rescue, rescue personnel can find the combined positioning data of each member of the team from the electronic device of any trapped person, so as to facilitate the trapped person to obtain timely rescue services.

[0006] In a first aspect, the application provides a continuous position tracking method for a team of multiple members, which is applied to a continuous position tracking system for a team of multiple members. The method includes: establishing a mesh networking wireless communication according to N+1 user terminal electronic devices of a team, obtaining N user terminal electronic devices and 1 networking relay electronic device (N is a positive integer greater than or equal to 1), 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 kind of satellite positioning system signal, the combined positioning data will select satellite positioning system protocol frame data as the positioning data of the team member; when a user terminal electronic device cannot receive any kind of satellite positioning system signal, the combined positioning data will select inertial navigation sensor data as the positioning data of the team member. At the same time, the continuous position represents the continuous position data of the combined position data obtained by the user terminal electronic device 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 person can obtain timely rescue services in an emergency.

[0007] Meanwhile, 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. The first mode upload protocol message includes a frame header, a message instruction, a target device identifier, a data length, data, a check, 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 the user terminal electronic device sends a data connection establishment request message according to the priority order of the target electronic device. The target electronic 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 the networking relay electronic device > the 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 a 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 of the user terminal electronic device, the continuous position data of the user terminal electronic device is tracked in a first mode. The first mode tracking is to store the positioning data of all team members by the networking relay electronic device, and at the same time, update the positioning data of all team members to N user terminal electronic devices and a remote data service center electronic device. 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 check, and a frame tail.

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

[0010] In one possible design, if the remote data service center electronic device cannot receive the user terminal electronic device's data connection establishment request message, the user terminal electronic device will send the data connection establishment request message to N-1 arbitrary user terminal electronic devices in the team, the priority of the N-1 arbitrary user terminal electronic devices is determined according to the minimum pairwise distance between the user terminal electronic device and the N-1 arbitrary user terminal electronic devices (N is a positive integer greater than or equal to 1), and the device for establishing the data connection is the user terminal electronic device 2 (the naming rule of the remaining user terminal electronic devices in the team is user terminal electronic device 3, user terminal electronic device 4, …, user terminal electronic device N-1, and so on); if the user terminal electronic device 2 receives the user terminal electronic device's data connection establishment request message, the continuous position data of the user terminal electronic device is tracked in the third way. The user terminal electronic device with the minimum pairwise distance is selected in the third way tracking in order to make the data 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] Moreover, 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 satellite positioning system positioning data.

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

[0015] The minimum pairwise distance between the user terminal electronic devices is proportional to the distance according to the time difference between sending the data connection request message and receiving the first way transmission protocol message, and the distance calculation formula is:

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

[0017] In the formula, S ij-minLet i be the minimum distance between user terminal electronic device i and user terminal electronic device j, in meters (m); T1 is the time to send a data connection request message; T2 is the time to receive a first-mode downlink protocol message, in seconds (s); and v is the speed of wireless signal propagation in the air, in meters per second (m / s). Both i and j are positive integers.

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

[0019] in

[0020] Among them, S 11 S 22 S 33 S mm All are 0.

[0021] In the formula, S 11 S 12 S 1m Let S be the distance from the first user terminal electronic device to the first user terminal electronic device, the distance from the first user terminal electronic device to the second user terminal electronic device, and the distance from the first user terminal electronic device to the m-th user terminal electronic device, respectively; 21 S m1 These are the distances from the second user terminal electronic device to the first user terminal electronic device, and the distance from the m-th user terminal electronic device to the first user terminal electronic device, respectively; m is an integer greater than or equal to 1.

[0022] The priority of the target electronic device in the data connection establishment request message is: network relay electronic device > remote data service center electronic device > N-1 arbitrary user terminal electronic devices. The priority of the N-1 arbitrary user terminal electronic devices is determined according to the minimum distance between each pair of user terminal electronic devices (N is a positive integer greater than or equal to 1).

[0023] In one possible design, the team multi-member continuous position tracking method adopts the first mode tracking. In a specific implementation, it can include: the mesh relay electronic device sends the first mode downlink protocol packet to the user terminal electronic device in response to receiving the data connection establishment request packet from the user terminal electronic device. In the first mode tracking data, the mesh relay electronic device not only needs all user terminal electronic devices to transmit data through mesh networking, but also needs to transmit data through GSM and remote data service center electronic device. The first mode downlink protocol packet includes a frame header, a packet instruction, a target device identifier, a data length, data, a check, and a frame tail.

[0024] The user terminal electronic device receives the first mode downlink protocol packet from the mesh relay electronic device, and the user terminal electronic device will stop sending the data connection request packet. Then, the user terminal electronic device sends the first mode uplink protocol packet to the mesh relay electronic device, and the first mode downlink protocol packet includes the device identifier of the target electronic device.

[0025] The mesh relay electronic device sends the second mode downlink protocol packet to the user terminal electronic device and the remote data service center electronic device and stores it in response to receiving the first mode uplink protocol packet from the user terminal electronic device and receiving the first mode uplink protocol packet from the remaining user terminal electronic devices in the mesh network. The storage protocol frame format includes the combined positioning data, the device identifier, and the positioning time. The second mode downlink protocol packet includes a frame header, a packet instruction, a target device identifier, a data length, data, a check, and a frame tail.

[0026] The user terminal electronic device and the remote data service center electronic device receive the second mode downlink protocol packet from the mesh relay electronic device, store the combined positioning data of the second mode downlink protocol packet according to the storage protocol frame format, and send a data reception confirmation packet to the mesh relay electronic device. The second mode downlink protocol packet includes the combined positioning data of the mesh relay electronic device and the combined positioning data of the team N+1 user terminal electronic devices (N is a positive integer greater than or equal to 1), and the data reception confirmation packet includes the device identifier of the user terminal electronic device. The storage protocol frame format includes the combined positioning data, the device identifier, and the positioning time. The data reception confirmation packet includes a frame header, a packet instruction, a target device identifier, a data length, data, a check, and a frame tail.

[0027] In one possible design, the continuous location tracking method for multiple team members employs a second tracking approach. In a specific implementation, this may include: upon receiving a data connection establishment request message from a user terminal electronic device, the remote data service center electronic device sends a first-mode download protocol message to the user terminal electronic device.

[0028] When the user terminal electronic device receives the first method downlink protocol message from the remote data service center electronic device, the user terminal electronic device will stop sending data connection request messages and send the first method uplink protocol message to the remote data service center electronic device.

[0029] Upon receiving a first-mode upload protocol message from a user terminal electronic device, and after receiving first-mode upload protocol messages from k user terminal electronic devices and network relay electronic devices outside the mesh network, the remote data service center electronic device will send a second-mode download protocol message to the k user terminal electronic devices and network relay electronic devices; k is a positive integer greater than or equal to 0, and k <N+2。

[0030] 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 location 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 location data of the network relay electronic device and the combined location data of N+1 user terminal electronic devices in the team (N is a positive integer greater than or equal to 1).

[0031] In one possible design, the continuous location tracking method for multiple team members employs a third-mode tracking approach. In a specific implementation, this may include: in response to receiving a data connection establishment request message from a user terminal electronic device, the user terminal electronic device sends a first-mode downlink protocol message to the user terminal electronic device.

[0032] When the user terminal electronic device receives the first mode downlink protocol message from the user 2 terminal electronic device, the user terminal electronic device will stop sending data connection request messages and send the first mode uplink protocol message to the user 2 terminal electronic device.

[0033] In response to receiving a first mode upload protocol message from the user terminal electronic device, the user 2 terminal electronic device extracts the combined location data of the user terminal electronic device from the message and adds it to the first mode upload protocol message in the user 2 terminal electronic device.

[0034] The user terminal electronic device receives the second-mode downlink protocol message from the user 2 terminal electronic device, classifies and stores the combined location 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 location data of the network relay electronic device and the combined location data of the team N+1 user terminal electronic devices (N is a positive integer greater than or equal to 1).

[0035] After the user terminal electronic device and user 2 terminal electronic device complete the data transfer, user 2 terminal electronic device will transmit data according to the priority of the target electronic device in the user terminal electronic device data connection request message. The priority is: network relay electronic device > remote data service center electronic device > H arbitrary user terminal electronic devices, where H represents the remaining user terminal electronic devices (H = N-2), and H is a positive integer greater than or equal to 0. For the remaining user terminal electronic devices, the data transmission method will also follow this priority method for connection and data transmission.

[0036] Secondly, this application provides a continuous location tracking system for multiple team members, which includes N user terminal electronic devices, network relay electronic devices, and remote data service center electronic devices, where N is a positive integer greater than or equal to 1.

[0037] The network relay electronic device is selected by software during the mesh networking process. Therefore, the network relay electronic device and the N user terminal electronic devices have the same hardware configuration. The storage protocol frame of the network relay electronic device also includes the combined location data of the N user terminal electronic devices and the network 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 network relay electronic device will add the P new user terminal electronic devices to the mesh network, making the new user terminal electronic devices one electronic device in the mesh network. At this time, there are a total of N+P user terminal electronic devices and 1 network relay electronic device in the mesh network, where P is a positive integer greater than or equal to 1.

[0038] In one possible design, the N user terminal electronic devices (N is a positive integer greater than or equal to 1) and the network relay electronic devices all include a processor, a satellite positioning system receiving module, an inertial navigation sensor, a display screen, a mesh network wireless communication module, a GSM wireless communication module, a memory, and an audible and visual alarm module.

[0039] Understandably, when a user terminal electronic device transmits its first combined positioning data, it needs to establish a communication connection with the target electronic device. The target electronic device is selected based on priority: network 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). The transmission methods are: first method tracking, second method tracking, and third method tracking, respectively. Then, the user terminal electronic device transmits the combined positioning data to the target electronic device. Finally, the target electronic device sends a second method downlink protocol message to the user terminal electronic device and responds with a data reception confirmation message sent by the user terminal electronic device. This allows the continuous location data of each member of the team to be tracked from any user terminal electronic device, network relay electronic device, and remote data service center electronic device. Based on the continuous location data, navigation can be provided to the current location of any trapped member of the team. Therefore, in case of an emergency, each member of the team can receive timely rescue services.

[0040] In one possible design, the remote data service center electronic device includes a processor, a display screen, a mesh networking wireless communication module, GSM wireless communication, and a memory. The remote data service center electronic device is mainly used to receive signals from 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 control system of the remote data service center electronic device does not require a mesh networking wireless communication module.

[0041] The processor executes code instructions through logic circuits to implement a method for continuous position tracking of multiple team members, including instructions for acquiring combined positioning data, acquiring inertial navigation sensor data, transmitting data from the mesh network wireless communication module, transmitting GSM wireless communication data, displaying combined positioning data, and storing combined positioning data. Therefore, the processor can be used to execute the instructions of the method in the electronic device steps described in the first aspect above.

[0042] The satellite positioning system receiver module is used to receive input signals of satellite positioning system protocol frame data.

[0043] Inertial navigation sensors are used to collect inertial navigation sensor data input signals.

[0044] The display screen is used to display location data, which is not limited to combined positioning data, navigation path location data generated from combined positioning data, and three-dimensional navigation location data generated from combined positioning data. The display screen includes touch screens and non-touch screens.

[0045] Mesh networking wireless communication modules include, but are not limited to, LoRa networking, NB-IoT networking, and other wireless communication networking methods, used to enable multiple team members to transmit combined location data to each other within a local area network.

[0046] GSM wireless communication is used to realize remote data transmission between the remote data service center electronic equipment 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 remote data service center electronic equipment and the network relay electronic equipment.

[0047] The memory is used to store the instruction program code of various devices such as user terminal electronic devices, network relay electronic devices, and remote data service center electronic devices, as well as the second-mode downlink protocol message data.

[0048] The sound and light alarm module is used to generate sound signals and flashing light signals during the rescue process, making it easier for the rescued people to detect the alarm.

[0049] The remote data service center electronic equipment is used for remote combined positioning data management and to realize continuous location tracking of N user terminal electronic equipment and network relay electronic equipment (N is a positive integer greater than or equal to 1).

[0050] The user terminal electronic device communicates with any one of the other N-1 user terminal electronic devices in the team, and the communication method adopts the mesh network wireless communication, where N is a positive integer greater than or equal to 1.

[0051] In one possible design, the specific implementation may include: communication between each other between the user terminal electronic device, the network relay electronic device, and the remote data service center electronic device. The specific communication methods are as follows: the user terminal electronic device and the network relay electronic device use mesh network wireless communication; the user terminal electronic device and the remote data service center electronic device use GSM communication; and the network relay electronic device and the remote data service center electronic device use GSM communication.

[0052] Understandably, the multi-member continuous location tracking system for the team described in the second aspect above, firstly, when the satellite positioning system receiving module can receive the positioning signal from the satellite positioning system, the combined positioning data will use satellite positioning system protocol frame data as input; when the satellite positioning system receiving module cannot receive the positioning signal from the satellite positioning system, the combined positioning data will use inertial navigation sensor data as input. Secondly, the processor will ultimately send the combined positioning data to the network relay electronic equipment, the remote data service center electronic equipment, or other user terminal electronic equipment, recombining the location data of all team members into a storage protocol frame format for storage. Simultaneously, the processor will recombining the location data of all team members into a second-mode downlink protocol message and sending it to the user terminal electronic equipment and the remote data service center electronic equipment of all team members, thereby completing one transmission of combined positioning data. Therefore, continuous location data of any member of the team can be obtained through any user terminal electronic device. In the event of an emergency rescue, the location can be quickly determined, thereby obtaining navigation path data for the trapped personnel. For the rescue team, the command and rescue center can allocate rescue resources more rationally, enhance rescue safety, improve rescue strategies, and increase rescue efficiency based on the real-time location data of the trapped personnel. For the trapped team members, this allows them to receive rescue services in a timely manner, while also maximizing the safety of all trapped team members. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0054] Figure 2 A schematic diagram of the hardware structure of a user terminal electronic device provided in an embodiment of this application;

[0055] Figure 3 A schematic diagram of the hardware structure of an electronic device for a remote data service center provided in an embodiment of this application;

[0056] Figure 4 A schematic diagram illustrating a method for continuous location tracking of multiple team members provided in an embodiment of this application;

[0057] Figure 5 A flowchart of a first-mode tracking method provided in an embodiment of this application;

[0058] Figure 6 A flowchart of a second-mode tracking method provided in an embodiment of this application;

[0059] Figure 7 A flowchart of a third-mode tracking method provided in this application embodiment;

[0060] Figure 8This is a schematic diagram of the structure of a user terminal electronic device provided in an embodiment of this application.

[0061] Legend

[0062] 100. User terminal electronic equipment; 110. Processor; 121. Satellite positioning system receiver module; 122. Inertial navigation sensor; 131. GSM wireless communication; 132. Mesh networking wireless communication module; 140. Display screen; 150. Memory; 160. Audible and visual alarm module; 170. Button; 180. Clock module chip; 190. Charging management module; 191. Power management module; 192. Battery; 200. Remote data service center electronic equipment; 210. Processor; 220. Display screen; 230. GSM wireless communication; 240. Audible and visual alarm module; 250. Memory; 260. Button; 270. Charging management module; 271. Power management module; 272. Battery. Detailed Implementation

[0063] In the following text, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of that feature. Meanwhile, the term "and / or" is used to describe the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0064] In the embodiments of this 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 this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0065] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0066] For example, Figure 1 This illustration shows an application scenario diagram of the method provided in an embodiment of this application. For example... Figure 1As shown, the system includes N+1 user terminal electronic devices 100 and a remote data service center electronic device 200 for the command and rescue center. The N+1 user terminal electronic devices 100 can communicate with each other in pairs; any one of the N+1 user terminal electronic devices 100 can wirelessly communicate with the remote data service center electronic device 200. For ease of description, in the following embodiments of this application, N+1 user terminal electronic devices 100 will be used as an example, and can be referred to as "user terminal electronic device 100", "user 1 terminal electronic device 100", "user 2 terminal electronic device 100", ..., "user N terminal electronic device 100". The N+1 user terminal electronic devices 100 receive satellite positioning system protocol frame data sent by the satellite positioning system. After implementing mesh networking through software, the N+1 user terminal electronic devices 100 will select N user terminal electronic devices 100 and 1 network relay electronic device.

[0067] It should be noted that the N+1 user terminal electronic devices 100 can communicate with each other in pairs. The specific communication method is as follows: 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 of a user terminal electronic device 100 and the network relay electronic device is blocked, the user terminal electronic device 100 can communicate indirectly through other user terminal electronic devices 100 and the network relay electronic device in the mesh network. There can be one or more user terminal electronic devices 100 between the user terminal electronic device 100 and the network relay electronic device.

[0068] Meanwhile, any one of the N+1 user terminal electronic devices 100 can communicate directly or indirectly with the remote data service center electronic device 200 via GSM communication.

[0069] When L new user terminal electronic devices 100 join the team, the network relay electronic device will add these L new user terminal electronic devices 100 to the mesh network, making each new user terminal electronic device 100 a user terminal electronic device 100 in the mesh network. At this time, the mesh network has a total of N+L user terminal electronic devices 100 and 1 network relay electronic device, where L is a positive integer greater than or equal to 1. For example, in emergency rescue, the user terminal electronic devices 100 of multiple rescuers will join the user terminal electronic devices 100 of the trapped person, and they can communicate with each other in pairs, facilitating rescue command and rescue by the rescuers.

[0070] As can be understood, firstly, the N+1 user terminal electronic devices 100 organize the received satellite positioning system protocol frame data and inertial navigation sensor data to generate combined positioning data, and then send the combined positioning data to the network relay electronic device in the mesh network; then, the network relay electronic device reorganizes the combined positioning data of all user terminal electronic devices 100 and distributes 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 continuous location tracking of multiple members of the team.

[0071] In such Figure 1 In the scenario shown, under non-emergency conditions, all team members wear user terminal electronic devices 100. Each user terminal electronic device 100 sends the received combined positioning data to the network relay electronic device. Then, the network relay electronic device organizes all the combined positioning data and distributes it to each user terminal electronic device 100 and the remote data service center electronic device 200. When an emergency occurs (e.g., people are trapped and their GSM signal cannot be received), rescuers can first perform offline location positioning based on the combined positioning data from the remote data service center electronic device 200. Upon arrival at the scene, the new user terminal electronic devices 100 worn by the rescuers will join the mesh network to view the continuous combined positioning data of the trapped people in real time. This allows the trapped team members to receive rescue services in a timely manner and maximizes the safety of the trapped team members.

[0072] For example, Figure 2 A schematic diagram of the hardware structure of a user terminal electronic device according to an embodiment of this application is shown. Figure 2 As shown, the user terminal electronic device 100 may include a processor 110, a satellite positioning system receiver module 121, an inertial navigation sensor 122, a GSM wireless communication module 131, a mesh networking wireless communication module 132, a display screen 140, a memory 150, an audible and visual alarm module 160, buttons 170, a clock module chip 180, a charging management module 190, a power management module 191, a battery 192, etc.

[0073] The processor 110 may include one or more processing units, such as 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. These different processing units may be independent devices or integrated into one or more processors.

[0074] The processor 110 can generate operation control signals based on the instruction opcode and timing signals to control the instruction fetching and execution.

[0075] The satellite positioning system receiving module 121 receives UTC time data, longitude, latitude, altitude, and other parameters from the satellite positioning system protocol frame data via antenna 1. The satellite positioning systems include Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Galileo Navigation Satellite System, and GLONASS. If the user terminal electronic device 100 can receive signals from any of these satellite positioning systems, then the combined positioning data input will select the satellite positioning system protocol frame data input.

[0076] The inertial navigation sensor 122 measures absolute angular rates in three directions using a three-axis gyroscope, accelerations in three directions using a three-axis accelerometer, and three-dimensional geomagnetic intensity using a three-axis magnetoresistive magnetometer. It then integrates the measured parameters over time to generate absolute navigation data including longitude, latitude, and altitude, and transforms the results into a navigation coordinate system. If the user terminal electronic device 100 cannot receive signals from any of the satellite positioning systems, the combined positioning data input will select the data input from the inertial navigation sensor 122.

[0077] GSM wireless communication 131 is used to transmit combined location data of all user terminal electronic devices 100 (including network relay electronic devices) to remote data service center electronic device 200. Furthermore, GSM wireless communication 131 transmits and receives data through antenna 2.

[0078] The mesh networking wireless communication module 132 is used to realize communication among N+1 user terminal electronic devices 100, including pairwise communication between the N user terminal electronic devices 100 and pairwise communication between the N user terminal electronic devices 100 and the network relay electronic device. Simultaneously, the mesh networking wireless communication module 132 includes, but is not limited to, LoRa networking, NB-IoT networking, and other wireless communication networking methods. The mesh networking wireless communication module 132 transmits and receives data through antenna 3.

[0079] The display screen 140 is used to display continuous location data, which is not limited to combined location data, navigation path location data generated by combined location data, or three-dimensional navigation location data generated by combined location data. The display screen 140 includes a touch screen and a non-touch screen.

[0080] The memory 150 is used to store the relevant execution instructions of the processor program, and also to store the combined location data, target device identifier, UTC time and other data of all user terminal electronic devices 100.

[0081] The audible and visual alarm module 160 emits distress signals via sound and light, facilitating timely discovery of trapped individuals by rescuers. The module primarily consists of an audible alarm module and a visual alarm module. The audible alarm module includes, but is not limited to, modules that generate sound signals such as speakers and buzzers; the visual alarm module includes, but is not limited to, modules that generate light signals such as LED lights and lasers. Therefore, distress signals using both sound and light make it easier for rescuers to locate the trapped individuals and ensure timely access to rescue services.

[0082] Button 170 is used to send a distress signal. When a member of the team is trapped, they can manually send a distress sound and light signal by pressing button 170.

[0083] 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 signals from any satellite positioning system, the reference time for the combined positioning data uses UTC time, which also provides a calibration time for the clock module chip 180; when the user terminal electronic device 100 cannot receive signals from any satellite positioning system, the reference time for the combined positioning data uses the reference time of the clock module chip 180.

[0084] The charging management module 190 is connected to a wired or wireless charger for charging input, and to a power management module 191 and a battery 192 at its rear. The power management module 191 is connected to both the charging management module 190 and the battery 192 at its front end, and to the functional circuitry of the user terminal electronic device 100 or the network relay electronic device at its rear end. When the charging management module 190 has a charging input, it will supply power to the power management module 191 and simultaneously charge the battery 192. If the charging management module 190 is not connected to a charging input, the power management module 191 and its rear-end circuitry will be powered by the battery 192. The battery 192 is connected to the charging management module 190 at its front end and to the power management module 191 at its rear end, supplying power to the corresponding user terminal electronic device 100 or the network relay electronic device, and simultaneously monitoring parameters such as battery level, current, and battery health status.

[0085] Understandable, Figure 2 The illustrated structure does not constitute a specific limitation on the user terminal electronic device 100. In some embodiments of this application, the user terminal electronic device 100 may include more than Figure 2 The diagram shows more or fewer components, or combinations of components, or separate components, or different arrangements of components. The components shown can be implemented in hardware, software, or a combination of both.

[0086] It should be noted that the user terminal electronic device 100 in this application embodiment can be a handheld device, a head-mounted device, a wearable device, etc., and this application embodiment does not impose any special restrictions on the specific form of the electronic device.

[0087] For example, Figure 3 A schematic diagram of the hardware structure of a user terminal electronic device according to an embodiment of this 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 device 230, an audible and visual alarm module 240, a memory 250, buttons 260, a charging management module 270, a power management module 271, and a battery 272.

[0088] Processor 210 may include one or more processing units, such as application processors, modem processors, graphics processors, image signal processors, controllers, memory, video codecs, digital signal processors, baseband processors, neural network processors, etc. Different processing units may be independent devices or integrated into one or more processors. Processor 210 is used to process combined positioning data transmitted from user terminal electronic device 100, as well as to process control logic execution instructions and store data.

[0089] The display screen 220 can be used to intuitively display location data. In emergency situations, the command and rescue center and rescue personnel can use the display screen 220 to clearly see the specific location of the trapped personnel, which is conducive to the efficient completion of rescue missions.

[0090] The 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 embodiments of this application, the GSM wireless communication 230 is mainly used to transmit parameters related to combined positioning data in the user terminal electronic device 100.

[0091] The audible and visual alarm module 240 emits alarm signals through sound and light to promptly remind personnel at the command and rescue center that there are trapped people who need rescue services.

[0092] 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 identifier, UTC time and other data of all user terminal electronic devices 100.

[0093] Button 260 can generate a manual alarm signal. This is primarily used in emergencies; if the automatic alarm does not sound, personnel at the rescue center can manually press button 260 to alert rescue workers that someone is trapped.

[0094] The charging management module 270 is connected to a wired or wireless charger for charging input, and to a power management module 271 and a battery 272 at its rear. The power management module 271 is connected to both the charging management module 270 and the battery 272 at its front end, and to the functional circuitry of the user terminal electronic device 100 or the network relay electronic device at its rear end. When the charging management module 270 has a charging input, it will supply power to the power management module 271 and simultaneously charge the battery 272. If the charging management module 270 is not connected to a charging input, the power management module 271 and its rear-end circuitry will be powered by the battery 272. The battery 272 is connected to the charging management module 270 at its front end and to the power management module 271 at its rear end, supplying power to the remote data service center electronic device 200 and monitoring parameters such as battery level, current, and battery health status.

[0095] The remote data service center electronic device 200 is mainly used for remote and continuous location tracking of all user terminal electronic devices 100 (including network relay electronic devices). This facilitates the command and rescue center in taking appropriate safety measures, rationally allocating rescue resources, making more accurate decisions, and providing safety guidance in emergency situations.

[0096] Understandable, Figure 3 The illustrated structure does not constitute a specific limitation on the remote data service center electronic device 200. In some embodiments of this application, the remote data service center electronic device 200 may include more than Figure 3 The diagram shows more or fewer components, or combinations of components, or separate components, or different arrangements of components. The components shown can be implemented in hardware, software, or a combination of both.

[0097] For example, Figure 4 This diagram illustrates a method for continuous location tracking of multiple team members according to an embodiment of this application. Figure 3 As shown, when the user terminal electronic device 100 generates a first-mode upload protocol message by combining positioning data, it needs to send a data connection establishment request message according to the priority of the target electronic device. At this time, the target electronic devices include network relay electronic devices, remote data service center electronic devices, and N-1 arbitrary user terminal electronic devices. Therefore, continuous location tracking of each member of the team can be achieved according to different target electronic devices. The continuous location tracking method for multiple team members provided in this application embodiment includes three tracking modes: first-mode tracking 500, second-mode tracking 600, and third-mode tracking 700.

[0098] Understandably, to achieve continuous location tracking of all team members, it is first necessary to be able to collect continuous location data for all team members. This application selects satellite positioning system protocol frame data as input when the satellite positioning system signal is detected to be online; and selects inertial navigation sensor data as input when the satellite positioning system signal is detected to be offline. Simultaneously, it must be able to transmit the continuous location data of each team member between the electronic devices used for continuous location tracking. Finally, it must be able to achieve real-time reading of the continuous location data of each team member and track their corresponding location.

[0099] For example, Figure 5 A flowchart of a first-mode tracking method provided in an embodiment of this application is shown. Figure 5 As shown, the method may include steps 501 to 505 (including 505A and 505B):

[0100] Step 501: The user terminal electronic device, the remote data service center electronic device, and the network relay electronic device establish a communication connection, and the user terminal electronic device sends a data connection request message to the network relay electronic device.

[0101] The first method for establishing communication connections includes: establishing a mesh network communication connection between the user terminal electronic device and the network relay electronic device, and establishing a GSM remote communication connection between the network relay electronic device and the remote data service center electronic device. The network relay electronic device is selected by the user terminal electronic device within the mesh network. The selection principle is based on minimizing the calculated sum of distances between a given user terminal electronic device and the remaining user terminal electronic devices. This ensures that the network relay electronic device is positioned centrally, facilitating the connection of more user terminal electronic devices to the mesh network.

[0102] Simultaneously, the user terminal electronic device sends a data connection request message to the network relay electronic device to ensure that the combined positioning data cannot be transmitted normally after the user terminal electronic device disconnects from the mesh network. For example, as time progresses, if a member of the team takes their user terminal electronic device to a remote area behind a mountain or other location with signal obstruction, causing the user terminal electronic device to lose signal from the network relay electronic device, sending a data connection request message to the network relay electronic device at this time is to reconfirm that the real-time data can be accurately transmitted to the network relay electronic device, facilitating the selection of the combined positioning and tracking method (including first-mode tracking, second-mode tracking, and third-mode tracking) for all team members.

[0103] Step 502: The network relay electronic device sends a first-mode downlink protocol message to the user terminal electronic device.

[0104] It is understandable that after the network relay electronic device receives the data connection request message from the user terminal electronic device, it sends a response message of the first mode downlink protocol to the user terminal electronic device. This indicates that the user terminal electronic device is still in the mesh network and tells the user terminal electronic device that it can transmit data in real time with the network relay electronic device. Therefore, the first mode tracing is selected to transmit data.

[0105] Step 503A: The user terminal electronic device sends a first-mode upload protocol message to the network relay electronic device.

[0106] When it is confirmed that the user terminal electronic device is still in a mesh network, the user terminal electronic device can send a first-mode upload protocol message containing the combined location data of the user terminal electronic device to the network relay electronic device, so that the network relay electronic device can collect the combined location data of all user terminal electronic devices in the team.

[0107] Step 503B: The remote data service center electronic device sends a first-mode upload protocol message to the network relay electronic device.

[0108] In this process, the remote data service center electronic device can send the combined location data to the network relay electronic device via a first-mode upload protocol message. This allows the network relay electronic device to aggregate the combined location data from all user terminal electronic devices within the team. At this point, the combined location data of the remote data service center electronic device itself is meaningless; however, the combined location data received from other user terminal electronic devices via GSM is meaningful. This step primarily aims to ensure that the combined data from user terminal electronic devices outside the mesh network that are capable of GSM communication can be successfully uploaded and aggregated.

[0109] Step 504: The network relay electronic equipment will send the second method downlink protocol message to the user terminal electronic equipment and the remote data service center electronic equipment.

[0110] It is understandable that after receiving the combined location data from all user terminal electronic devices in the team, the network relay electronic device extracts the combined location data, device identifier, and location time to generate a storage protocol frame. Simultaneously, it reassembles the location data of all team members into a second-mode downlink protocol message and sends it to the user terminal electronic devices of all team members and the remote data service center electronic device.

[0111] Step 505A: The user terminal electronic device returns a data reception confirmation message to the network relay electronic device.

[0112] Step 505B: The remote data service center electronic device returns a data reception confirmation message to the network relay electronic device.

[0113] It is understandable that the user terminal electronic devices and the remote data service center electronic devices return data reception confirmation messages to the network relay electronic devices. This completes the transmission of combined location data through the first method of tracking, enabling any user terminal electronic device in the team to access the combined location data of all team members' user terminal electronic devices. This plays a crucial role in emergency rescue missions where GSM signals are unavailable for extended periods.

[0114] For example, Figure 6 A flowchart of a second-mode tracking method provided in an embodiment of this application is shown. Figure 6 As shown, the method may include steps 601 to 605:

[0115] Step 601: The user terminal electronic device and the 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.

[0116] The second tracking method specifically refers to establishing a GSM communication connection between the user terminal electronic device and the remote data service center electronic device, enabling remote data transmission. It's understandable that a GSM communication connection needs to be established after the device is started. As time progresses and the team members move, the GSM signal may be blocked or shielded (e.g., in a low-lying area or behind a mountain). Therefore, when transmitting combined positioning data again, a data connection request message needs to be sent to confirm reliable data transmission.

[0117] Step 602: The remote data service center electronic device sends a first-mode downlink protocol message to the user terminal electronic device.

[0118] At this point, the remote data service center electronic device responds to the data connection request message from the user terminal electronic device and acknowledges that communication has been established. Therefore, it sends a first-mode downlink protocol message to the user terminal electronic device to confirm successful communication.

[0119] Step 603: The user terminal electronic device sends a first-mode upload protocol message to the remote data service center electronic device.

[0120] In this process, the user terminal electronic device uploads its own combined location data to the remote data service center electronic device, and the remote data service center electronic device then receives the combined location data from the user terminal electronic device.

[0121] Step 604: The remote data service center electronic device will send a second-mode downlink protocol message to the user terminal electronic device.

[0122] At this time, the remote data service center electronic device will match the combined positioning data received from the user terminal electronic device with the positioning time and device identifier, and store it according to the storage protocol frame format. At the same time, it will send a second method downlink protocol message to the user terminal electronic device.

[0123] Step 605: The user terminal electronic device returns a data reception confirmation message to the remote data service center electronic device.

[0124] When the user terminal electronic device receives the second-mode downlink protocol message sent by the remote data service center electronic device, it will send back a data reception confirmation message. At this time, it indicates that the combined positioning data of one cycle has been transmitted.

[0125] Specifically, the process begins with the user terminal electronic devices and the remote data service center electronic devices confirming their connection by sending a data connection request message. At this point, both user terminal electronic devices upload combined data to the remote data service center electronic device via GSM. Next, the remote data service center electronic device generates and stores a second-mode downlink protocol message, and simultaneously sends this message to the user terminal electronic devices. Finally, it waits for the user terminal electronic devices to send a data confirmation message, thus completing one transmission of the combined positioning data. In this process, the user terminal electronic devices can be all of them or only a portion of them. If only a portion of the user terminal electronic devices are involved, their combined positioning data is aggregated and uploaded to the network relay electronic device, which then distributes it to each user terminal electronic device. Simultaneously, all distributed combined positioning data is relayed by the remote data service center electronic device to user terminal electronic devices outside the mesh network.

[0126] It's understandable that the second tracking method is primarily used for dispersed user terminal electronic devices, which may be beyond the range of a mesh network or have obstacles blocking the mesh network signal, thus making it suitable for user terminal electronic devices that cannot achieve mesh networking. Therefore, the remote data service center electronic device receives the combined location data of user terminal electronic devices outside the mesh network and then sends it to the remaining user terminal electronic devices.

[0127] For example, Figure 7 A flowchart of a third-mode tracking method provided in an embodiment of this application is shown. Figure 7 As shown, the method may include steps 701 to 706:

[0128] Step 701: The user terminal electronic device establishes a communication connection with user 1 to N terminal electronic devices, and the user terminal electronic device sends a data connection request message to user 1 to N terminal electronic devices.

[0129] Similarly, if the user terminal electronic device cannot connect to the network relay electronic device in the mesh network, and also cannot connect to the GSM signal, then it is necessary to transmit combined positioning data to user 1 to N terminal electronic devices through the user terminal electronic device, and also to send data connection request messages to user 1 to N terminal electronic devices to confirm the real-time connection status.

[0130] Step 702: User 1 to N terminal electronic devices send a first method downlink protocol message to the user terminal electronic device.

[0131] When user 1 to N terminal electronic devices receive a data connection request message sent by user terminal electronic device, it indicates that user 1 to N terminal electronic devices can communicate with the current user terminal electronic device in real time. Therefore, user 1 to N terminal electronic devices send a first mode downlink protocol message to user terminal electronic device to confirm that data transmission can be performed.

[0132] Step 703: The user terminal electronic device sends a first mode upload protocol message to the user terminal electronic devices 1 to N.

[0133] In this process, the user terminal electronic device uploads its own combined location data to user terminal electronic devices 1 to N, and in this way, user terminal electronic devices 1 to N will receive the combined location data of the user terminal electronic devices.

[0134] Step 704: User 1 to N terminal electronic devices will continue to transmit combined location data to the next level through the first / second / third method of tracking until the user 1 to N terminal electronic devices receive the second method downlink protocol message returned by the network relay electronic device or the remote data service center electronic device.

[0135] It is understandable that after receiving the combined location data from the user terminal electronic devices, user 1 to N terminal electronic devices need to organize the combined location data of the user terminal electronic devices together with the combined data of user 1 to N terminal electronic devices to generate a new first-mode upload protocol message for continued transmission. Moreover, the transmission priority is first-mode tracking > second-mode tracking > third-mode tracking, until user 1 to N terminal electronic devices receive the second-mode downlink protocol message returned by the network relay electronic device or the remote data service center electronic device.

[0136] Step 705: The user terminal electronic devices 1 to N will send a second method downlink protocol message to the user terminal electronic devices.

[0137] Step 706: The user terminal electronic device returns a data reception confirmation message to the user terminal electronic devices 1 to N.

[0138] Therefore, third-party tracking can also store the combined location data of all team members on each member's user terminal electronic device, and simultaneously on the remote data service center's electronic device when there is a GSM signal. This enables continuous location data of each team member to be accessed via any member's device during emergency rescue operations.

[0139] For example, Figure 8 This is a schematic diagram of the structure of a user terminal electronic device provided in an embodiment of this 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; and one or more wireless transmission modules 1004; the above devices 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.

[0140] The memory 1002 stores one or more computer programs, and the memory 1002 can be a processor's internal memory or an external memory. The one or more computer programs include instructions. The processor 1001 calls the instructions stored in the memory 1002, causing the user terminal electronic device 100 to execute the continuous position tracking method in the above embodiment.

[0141] In the embodiments of this application, the processor 1001 can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by the hardware processor, or being executed by a combination of hardware and software modules in the processor 1001. The software modules can be located in the memory 1002, and the processor 1001 reads the program instructions in the memory 1002 and combines them with its hardware to complete the steps of any of the methods in the above embodiments.

[0142] Meanwhile, sensor 1003 can be one or more. For example, the inertial navigation sensor can be an integrated six-axis or higher sensor, or it can be a discrete sensor. For example, an integrated 9-axis sensor (integrating an XYZ triaxial accelerometer, an XYZ triaxial angular velocity sensor, and an XYZ triaxial magnetic field sensor) can be used, as can discrete X-axis single-axis accelerometers, Y-axis single-axis accelerometers, Z-axis single-axis accelerometers, X-axis single-axis angular velocity sensors, Y-axis single-axis angular velocity sensors, Z-axis single-axis angular velocity sensors, X-axis magnetic field sensors, Y-axis magnetic field sensors, and Z-axis magnetic field sensors. Similarly, a combination of integrated dual-axis sensors and single-axis sensors can be used; for example, an XYZ triaxial accelerometer can be replaced by a discrete XY dual-axis accelerometer and a Z-axis single-axis accelerometer; an XYZ triaxial angular velocity sensor can be replaced by an XY dual-axis angular velocity sensor and a Z-axis angular velocity sensor; and an XYZ triaxial magnetic field sensor can be replaced by an XY dual-axis magnetic field sensor and a Z-axis magnetic field sensor.

[0143] Furthermore, the wireless transmission module 1004 can support various networking methods such as LoRa and NB-IoT, enabling mesh networking. It also supports mobile wireless communication methods such as 2G / 3G / 4G / 5G for long-range GSM connections.

[0144] This application describes embodiments of methods, systems (devices), and computer program products according to embodiments of this application with reference to flowchart illustrations and / or block diagrams. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by instructions. This code can be provided to a processor of a special-purpose computer, embedded processor, or other programmable data processing device to generate instructions required for processor execution, such that the instructions, which execute via the processor of the programmable data processing device, produce instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

Claims

1. A method for continuous location tracking of multiple team members, characterized in that, A continuous location tracking system for multiple team members, the method comprising: Based on the team's N+1 user terminal electronic devices, a mesh network wireless communication is established, resulting in N user terminal electronic devices and 1 network relay electronic device. The network relay electronic device also has the functions of the user terminal electronic devices, where 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 satellite positioning system protocol frame data input or inertial navigation sensor data input. The body of the first mode upload protocol message includes the combined positioning data. After the user terminal electronic device, the remote data service center electronic device and the network relay electronic device establish a communication connection, the user terminal electronic device sends a data connection establishment request message to the network relay electronic device. If the network relay electronic device receives a data connection establishment request message from the user terminal electronic device, the continuous location data of the user terminal electronic device is tracked using a first method. The first method involves the network relay electronic device aggregating and storing the location data of all team members, and simultaneously distributing the updated location data of all team members to N user terminal electronic devices and the remote data service center electronic device, where N is a positive integer greater than or equal to 1. Furthermore, the data connection establishment request message includes a frame header, message instruction, target device identifier, data length, data, checksum, and frame trailer. If the network 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 the second way. The second way of tracking is to store the location data of all team members after the remote data service center electronic device aggregates the location data of all team members, and at the same time, to send the latest location data of all team members to N user terminal electronic devices and 1 network relay electronic device, where N is a positive integer greater than or equal to 1. If the remote data service center 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 any one of the N-1 user terminal electronic devices in the team. The priority of the N-1 user terminal electronic devices is determined according to the minimum distance between each pair of user terminal electronic devices. The device that establishes the data connection is the user terminal electronic device (2). If the user terminal electronic device (2) receives the data connection establishment request message of the user terminal electronic device, the continuous location data of the user terminal electronic device is tracked in a third way. The third way of tracking selects the user terminal electronic devices with the smallest distance between each pair in order to make the data reach the target electronic device more quickly and accurately, and the smaller the distance between the two devices, the higher the stability of the transmitted signal data.

2. The method according to claim 1, characterized in that, The combined positioning data input includes at least one of the following data signals: GPS protocol frame data input, BDS protocol frame data input, Galileo protocol frame data input, GLONASS protocol frame data input, and 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 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 inertial navigation sensor data input.

3. The method according to claim 1, characterized in that, The minimum distance between any 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 as follows: In the formula, For the user terminal electronic device In the user terminal electronic device The minimum distance between them is , in units of , The time for sending the data connection request message. The time for receiving the first method downlink protocol message, in units of , The speed at which wireless signals travel through the air, measured in units of 1000 m / s. ; and All are positive integers.

4. The method according to any one of claims 1-3, characterized in that, The network relay electronic device is selected by the user terminal electronic device in the mesh network. The selection principle is: sequentially calculate the relationship between a certain user terminal electronic device and the remaining... The distance between individual user terminal electronic devices and Minimum The principle formula is: ,in , in All are 0; In the formula, These represent the distances from the first user terminal electronic device to the first user terminal electronic device, the distances from the first user terminal electronic device to the second user terminal electronic device, and the distances from the first user terminal electronic device to the second user terminal electronic device. The distance between individual user terminal electronic devices; These represent the distances from the second user terminal electronic device to the first user terminal electronic device, respectively. The distance from each user terminal electronic device to the first user terminal electronic device; It is an integer greater than or equal to 1.

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

6. The method according to claim 1, characterized in that, The data transmission tracked by the first method is as follows: In response to receiving a data connection establishment request message from the user terminal electronic device, the network relay electronic device sends a first mode downlink protocol message to the user terminal electronic device. When the user terminal electronic device receives a first mode downlink protocol message from the network relay electronic device, the user terminal electronic device will stop sending the data connection request message and send the first mode uplink protocol message to the network relay electronic device, wherein the first mode downlink protocol message includes the device identifier of the target electronic device. In response to receiving a first mode upload protocol message from the user terminal electronic device, and after receiving the first mode upload protocol messages from other user terminal electronic devices in the mesh network, the network relay electronic device will send a second mode download protocol message to the user terminal electronic device and the remote data service center electronic device. The user terminal electronic device receives a second-mode downlink protocol message from the network 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 network relay electronic device. The second-mode downlink protocol message includes the combined positioning data of the network relay electronic device and the combined positioning data of the team's N+1 user terminal electronic devices. The data reception confirmation message includes the device identifier of the user terminal electronic device. The storage protocol frame format includes the combined positioning data, the device identifier, and the positioning time.

7. The method according to any one of claims 1-3, characterized in that, The data transmission tracked in the second method is as follows: In response to receiving a 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. When the user terminal electronic device receives a first-mode downlink protocol message from the remote data service center electronic device, the user terminal electronic device will stop sending the data connection request message and send the first-mode uplink protocol message to the remote data service center electronic device. The remote data service center electronic device responds to receiving a first mode upload protocol message from the user terminal electronic device, and the remote data service center electronic device receives data from outside the mesh network. After the user terminal electronic device and the network relay electronic device upload the first method protocol message, the remote data service center electronic device will send the message to the network relay electronic device. Each user terminal electronic device and the network relay electronic device send a second method downlink protocol message; It is a positive integer greater than or equal to 0, and ; The user terminal electronic device receives a second-mode downlink protocol message from the remote data service center electronic device, classifies and stores the combined location 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 location data of the network relay electronic device and the combined location data of the team's N+1 user terminal electronic devices.

8. The method according to any one of claims 1-3, characterized in that, The data transmission tracked by the third method is as follows: In response to receiving a data connection establishment request message from the user terminal electronic device (2), 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 a first mode downlink protocol message from the user terminal electronic device (2), the user terminal electronic device will stop 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). In response to receiving a first mode upload protocol message from the user terminal electronic device (2), the user terminal electronic device (2) extracts the combined positioning data of the user terminal electronic device from the message and adds it to the first mode upload 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). The second mode downlink protocol message includes the combined positioning data of the network relay electronic device and the combined positioning data of the team N+1 user terminal electronic devices.

9. A continuous location tracking system for multiple team members, characterized in that, The team's multi-member continuous location tracking system includes N user terminal electronic devices, network relay electronic devices, and remote data service center electronic devices. The network relay electronic device is selected by the software during the mesh networking process. The network 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 network relay electronic device will add the new user terminal electronic device to the mesh network, making the new user terminal electronic device an electronic device in the mesh network. The N user terminal electronic devices and the network relay electronic devices each include a processor, a satellite positioning system receiving module, an inertial navigation sensor, a display screen, a mesh network wireless communication module, a GSM wireless communication module, a memory, and an audible and visual alarm module. The electronic equipment 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 processor executes code instructions via logic circuits to implement the method as described in any one of claims 1-8; The satellite positioning system receiving module is used to receive satellite positioning system protocol frame data input signals; The inertial navigation sensor is used to collect inertial navigation sensor data input signals; The display screen is used to display location data, which is not limited to combined positioning data, navigation path location data generated by combined positioning data, and three-dimensional navigation location 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 LoRa networking and NB-IoT networking wireless communication networking modes, which are used to enable multiple team members to transmit combined positioning data to each other in the 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 to realize remote data transmission between the remote data service center electronic device and the network relay electronic device. The memory is used to store the instruction program code of the user terminal electronic device, the network relay electronic device, and the remote data service center electronic device, as well as the protocol message data transmitted in the second manner as described in claims 1-8; The sound and light alarm module is used to generate sound signals and flashing light signals during the rescue process, making it easier for the rescued personnel to detect the alarm. The remote data service center electronic device is used for remote combined positioning data management and to realize continuous location tracking of the N user terminal electronic devices and the network relay electronic devices.

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

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