Emergency shelter crowd guiding device and method based on fusion positioning

Abstract

The invention discloses an emergency shelter crowd guiding device and method based on fusion positioning, and relates to the technical field of visible light, the emergency shelter crowd guiding device comprises an optical information control assembly and a positioning guiding assembly, and the optical information control assembly comprises an optical control unit; the positioning guide assembly comprises an optical information receiving module, an optical information position analysis module and a guide information display and control module; the light control unit is used for controlling high-frequency flickering of light and sending a light signal with an ID code; the optical information receiving module is used for receiving optical signals; the optical information position analysis module is used for analyzing the optical signal to obtain positioning data and performing fingerprint matching on the positioning data by using a fingerprint positioning method to obtain position data; and the guide information display and control module is used for displaying the position data on a pre-constructed map model. According to the guiding device, the VLP technology and the MEMS sensor are combined, and the guiding device can achieve centimeter-level accurate positioning in the underground environment without satellite signals.

Description

Technical Field

[0001] The present invention relates to the field of visible light technology, and more particularly to an emergency shelter crowd guiding device and method based on fusion positioning. Background Art

[0002] At present, emergency shelters can effectively protect people's lives in the face of natural or non-natural disasters. However, some of these facilities are built underground and have complex and large internal structures, which poses positioning and navigation challenges to refugees. Satellite positioning technology performs poorly in indoor environments, especially in underground spaces without windows and where satellite signals are blocked, making it difficult to provide accurate location information.

[0003] However, with the development of science and technology, although there are already a variety of positioning technologies and navigation solutions, such as those based on Wi-Fi, Bluetooth beacons or geomagnetism, these technologies can provide a certain degree of positioning services in specific scenarios, but they still face problems such as insufficient accuracy, poor reliability or high deployment costs. For underground emergency shelters, the existing positioning technology cannot fully meet the needs of refugees to quickly and accurately find safe exits or important supplies, resulting in low efficiency of crowd evacuation in emergency situations and increasing potential risks.

[0004] Therefore, how to realize a high-precision, low-cost and easy-to-deploy indoor positioning system, especially for guiding refugees in large and complex underground spaces, is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] In view of this, the present invention provides an emergency shelter crowd guiding device and method based on fusion positioning, which overcomes the above-mentioned defects.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A crowd guiding device for emergency shelters based on fusion positioning, comprising: an optical information control component and a positioning guiding component, wherein the optical information control component comprises an optical control unit, and the positioning guiding component comprises an optical information receiving module, an optical information position parsing module and a guiding information display and control module;

[0008] The light control unit is used to control the high-frequency flashing of the light and send a light signal with an ID code;

[0009] The optical information receiving module is used to receive the optical signal;

[0010] The optical information position analysis module is used to analyze the optical signal to obtain positioning data, and use the fingerprint positioning method to perform fingerprint matching on the positioning data to obtain position data;

[0011] The guidance information display and control module is used to display the position data on a pre-built map model.

[0012] Optionally, the light control unit includes a code generation unit, a code sending unit and a control unit connected in sequence;

[0013] The coding generation unit is used to construct frame data as coding data using a preset coding method;

[0014] The encoding and sending unit is used to send the encoded data according to the TDMA transmission mechanism;

[0015] The control unit is used to control the light to flash at a high frequency according to the received coded data and send a light signal with an ID code.

[0016] Optionally, the code generation unit includes a parameter setting subunit, a data encoding subunit and a padding subunit;

[0017] The parameter setting subunit is used to set the total length and starting position of the frame data;

[0018] The data encoding subunit is used to confirm the data loading position according to the starting position and load the byte data, and encode it to obtain the initial encoded data;

[0019] The padding subunit is used to determine whether to perform numerical padding according to the relationship between the length of the initial coded data and the total length of the frame data to generate the coded data.

[0020] Optionally, the optical information position analysis module includes a photoelectric conversion unit, a sampling unit, a storage unit, an analysis unit and a parsing unit;

[0021] The photoelectric conversion unit is used to convert the received optical signal into a corresponding electrical signal;

[0022] The sampling unit is used to perform timed sampling on the electrical signal to obtain the duration of the high level and the low level in the pulse signal;

[0023] The storage unit is used to store the high level and low level duration data in sequence;

[0024] The analysis unit is used to analyze the stored data, extract valid data and calculate the average duration of the high level and the cycle average value;

[0025] The valid data is parsed and converted into binary bit data according to the high level average duration and the cycle average value.

[0026] Optionally, the optical information position analysis module further includes a fingerprint positioning unit, and the fingerprint positioning unit includes a fingerprint library construction subunit and a fingerprint positioning subunit;

[0027] The fingerprint library construction subunit is used to divide the positioning area into multiple sub-areas, collect the optical power vectors received by each of the sub-areas as the position fingerprint, and construct the fingerprint library;

[0028] The fingerprint positioning subunit is used to perform matching in the fingerprint library according to the binary bit data using a fingerprint matching model to obtain the position data.

[0029] A method for guiding crowds in emergency shelters based on fusion positioning, the specific steps are as follows:

[0030] The optical information control component generates coded data using a preset coding method, and based on the coded data, controls the light to flash at a high frequency using a TDMA transmission mechanism, and sends an optical signal with an ID code;

[0031] The positioning guidance component receives the optical signal, analyzes the optical signal, obtains positioning data, and uses a fingerprint positioning method to perform fingerprint matching on the positioning data to obtain position data; and displays the position data on a pre-constructed map model.

[0032] Optionally, the steps of acquiring the optical signal with the ID code are:

[0033] Constructing frame data as the coded data using a preset coding method, and loading the data;

[0034] The coded data is sent based on the timer and DMA control to control the high-frequency flashing of the light and send a light signal with an ID code.

[0035] Optionally, the method for generating the encoded data is:

[0036] Set the total length and starting position of the frame data;

[0037] Loading byte data based on the starting position and encoding to obtain initial encoded data;

[0038] Whether to perform numerical padding is determined based on the relationship between the length of the initial coded data and the total length of the frame data to generate the coded data.

[0039] Optionally, the optical signal analysis step is:

[0040] Converting the received optical signal into an electrical signal;

[0041] Performing timed sampling on the electrical signal to obtain the duration of the high level and the low level in the pulse sequence, and storing the obtained duration;

[0042] Analyze the stored data, extract valid data and calculate the average duration of high level and the average value of the cycle;

[0043] The valid data is parsed and converted into binary bit data according to the high level average duration and the cycle average value.

[0044] Optionally, the step of acquiring the position data is:

[0045] Divide the positioning area into multiple sub-areas, collect the optical power vectors received by each of the sub-areas as position fingerprints, and build a fingerprint library;

[0046] According to the binary bit data, a fingerprint matching model is used to perform matching in the fingerprint library to obtain the position data.

[0047] It can be seen from the above technical solutions that the present invention discloses a crowd guiding device and method for emergency shelters based on fusion positioning, which has the following beneficial effects compared with the prior art:

[0048] High-precision positioning: By combining VLP technology with MEMS sensors, the guidance device can achieve centimeter-level precise positioning in underground environments without satellite signals. VLP uses the existing LED lighting equipment inside the shelter as a signal transmission source to provide users with accurate location information; while MEMS sensors can supplement and correct location data to ensure positioning accuracy.

[0049] Low-cost deployment: VLP technology uses existing lighting infrastructure, without the need to deploy complex network facilities, reducing deployment costs. At the same time, the miniaturization and integration of MEMS sensors make it easy to embed them into various mobile terminals, such as smartphones or dedicated portable guidance devices, further reducing hardware costs.

[0050] Quick response and real-time update: Able to receive and process data from VLP and MEMS in real time, quickly calculate the exact location of the refugees, and dynamically adjust the path planning according to the latest environmental changes, guiding the refugees to reach the safe exit or find important supplies as quickly as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0052] Figure 1 A schematic diagram of the structure of the device provided by the present invention;

[0053] Figure 2 A schematic diagram of the signal light decoding process provided by the present invention;

[0054] Figure 3 This is a schematic diagram of the fingerprint positioning algorithm flow provided by the present invention. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] The embodiment of the present invention discloses, on one hand, a crowd guiding device for an emergency shelter based on fusion positioning, comprising: an optical information control component and a positioning guiding component, wherein the optical information control component comprises an optical control unit, and the positioning guiding component comprises an optical information receiving module, an optical information position parsing module, and a guiding information display and control module;

[0057] Light information control component, used to control the high-frequency flashing of lights and send light signals with ID codes;

[0058] An optical information receiving module, used for receiving optical signals;

[0059] The optical information position analysis module is used to analyze the optical signal to obtain positioning data, and use the fingerprint positioning method to perform fingerprint matching on the positioning data to obtain the position data;

[0060] The guidance information display and control module is used to display the location data on a pre-built map model.

[0061] Furthermore, this embodiment is based on VLP (Visible Light Positioning) combined with MEMS (Micro-Electro-Mechanical System) for confined space positioning and autonomous navigation technology, designs visible light communication transmitting and receiving devices, and realizes optical communication and positioning information transmission by modifying LED lamps; constructs a map model that combines spatial light distribution with the dimensions inside the building, and combines optical communication and positioning information to provide positioning and navigation information for the positioning guide, which can be used handheld or in combination with a smartphone via Bluetooth; at the same time, develops a position information compensation algorithm based on MEMS inertia to provide positioning and navigation information for the device under the conditions of incomplete optical communication and positioning information.

[0062] Furthermore, when applying Figure 1 As shown, the optical information control component uses an optical information control box to enable the LED lamp to have the function of transmitting position coding information. It includes an LED lamp voltage regulator and a light control unit. The LED lamp is a low-voltage device. The LED lamp voltage regulator converts the AC220V AC power into DC18V, 5V, etc. to power the LED lamp and other devices in the system. The light control unit is an important module in the visible light communication system. Its main function is to make the LED lamp flash at a high frequency that is invisible to the human eye while lighting, and send light signals with ID codes. Different LED lamps have different flashing frequencies, and the light signals sent are also different. Positioning is performed based on light signals with different flashing frequencies. The positioning and guidance component uses a positioning guide, which can display the emergency shelter map, calibrate its own location information on the map, and provide evacuation guidance routes after operation. The positioning guide can be used by hand or connected to a mobile phone via Bluetooth. Among them, the optical information receiving module uses a wide-angle light receiving window to receive optical signals, and the optical information position analysis module is used to decode the received coded signal light. The fingerprint positioning algorithm is used to obtain high-precision positioning information. The optical information position analysis module includes a MEMS inertial positioning device, which calculates the relative displacement position through the MEMS device, and compensates for the places where the LED light cannot reach. The guidance information display and control module has display and control functions, and can be used directly by the refugees when there is no smartphone.

[0063] In one embodiment, the optical information control component includes a code generation unit, a code transmission unit and a control unit connected in sequence;

[0064] A coding generation unit, used for constructing frame data as coded data using a preset coding method;

[0065] A coding and sending unit, used for sending the coded data according to the TDMA transmission mechanism;

[0066] The control unit is used to control the high-frequency flashing of the light according to the received coded data and send a light signal with an ID code.

[0067] In one embodiment, the code generation unit includes a parameter setting subunit, a data encoding subunit and a place filling subunit;

[0068] The parameter setting subunit is used to set the total length and starting position of the frame data;

[0069] The data encoding subunit is used to confirm the data loading position according to the starting position and load the byte data, and encode it to obtain the initial encoded data;

[0070] The padding subunit is used to determine whether to perform numerical padding based on the relationship between the length of the initial coded data and the total length of the frame data to generate coded data.

[0071] Furthermore, the coding format of the optical control unit adopts the TDMA time domain division method, and designs an independent coding delay method to increase the optical channel bandwidth. The specific coding steps are as follows:

[0072] Initialization phase: configure GPIO, timer and DMA, and prepare hardware resources;

[0073] Frame data loading: construct frame data according to a specific encoding method;

[0074] Frame data transmission: frame data transmission is completed through timer and DMA control;

[0075] Cyclic state management: Dynamically adjust the state during the sending process until the entire data transmission is completed.

[0076] Among them, the frame data loading stage relies on the bsp_LoadLaserData function to implement the frame data loading, and its core function is to encode the input byte data into the frame data format required for optical communication and load it into the global sending buffer. The specific implementation process is:

[0077] a) Set the starting position, reserve the first 16 positions for the fixed frame header, and start loading data from the 16th position in the buffer;

[0078] b) Input data, process byte data bit by bit, take each bit in turn starting from the lowest bit, and encode according to the bit value: if the bit value is 1, add the high level time value to the buffer; if the bit value is 0, add the low level time value 0 to the buffer. After processing each bit, shift the byte right to prepare for processing the next bit;

[0079] c) Fill the buffer. If the encoded data length is less than 64 bits (the total length of the frame), fill the remaining space with 0.

[0080] In the frame data sending stage, first load the data into the sending buffer, then configure DMA transfer and enable the timer to start frame data sending.

[0081] In one embodiment, the optical information position analysis module includes a photoelectric conversion unit, a sampling unit, a storage unit, an analysis unit, and a parsing unit;

[0082] A photoelectric conversion unit, used to convert the received optical signal into a corresponding electrical signal;

[0083] A sampling unit is used to perform timed sampling on the electrical signal to obtain the duration of the high level and the low level in the pulse signal;

[0084] A storage unit, used for storing high level and low level duration data in sequence;

[0085] An analysis unit, used for analyzing the stored data, extracting valid data and calculating the average duration of the high level and the cycle average value;

[0086] According to the high level average duration and the cycle average value, the valid data is parsed and converted into binary bit data.

[0087] Furthermore, if Figure 2 As shown, when applied, during the sampling process, the photoelectric conversion unit uses a photoelectric sensor to convert the optical signal into an electrical signal, and performs regular sampling of the electrical signal to obtain the high and low level durations of the pulse; the data storage stage is a buffer stage, in which the sampled data is stored in the buffer and recorded in the order of alternating high and low levels; the goal of frame header analysis and cycle extraction is to locate the starting position of valid data, input the pulse width data buffer, and output the high level average value and the cycle average value; cycle segmentation is to parse the pulse data and convert the high and low level sequences into binary bit data.

[0088] The specific steps of frame header analysis and period extraction are as follows:

[0089] a) Check the frame header length: whether the frame header length meets the minimum requirement (usually 16 bits or more). If not, the analysis fails.

[0090] b) Extracting the reference pulse: reading the first few pulses in the buffer and extracting the duration of the first positive pulse and negative pulse as the reference;

[0091] c) Pulse verification and statistics: traverse the data in the frame header area, verify whether the duration of the positive pulse is close to the benchmark positive pulse value, and verify whether the duration of the negative pulse is close to the benchmark negative pulse value. Finally, the duration of the entire cycle is accumulated by adding up the duration of the positive pulse.

[0092] The code for the cycle segmentation process is as follows:

[0093] a) Initialization: calculate the low level average value and prepare the analysis result buffer;

[0094] b) Data traversal: The high level (even index) verifies whether the current pulse duration is close to highTick. If it is, it is recorded as binary bit 1. The low level (odd index) calculates the difference between the low level duration and lowTick. Based on the difference and the cycle duration, the number of complete cycles occupied by the low level is calculated, and the corresponding number of binary bits 0 are inserted according to the number of cycles.

[0095] c) Pad at the end: If the binary digits after parsing are not a multiple of 8, fill it with 0;

[0096] d) Data conversion: Convert the parsed binary bit array into a 32-bit integer output.

[0097] The final main decoding logic is responsible for coordinating the decoding process, combining frame header analysis and cycle segmentation to complete the binary data restoration of the complete frame.

[0098] In one embodiment, the optical information position analysis module further includes a fingerprint positioning unit, and the fingerprint positioning unit includes a fingerprint library construction subunit and a fingerprint positioning subunit;

[0099] The fingerprint library construction subunit is used to divide the positioning area into multiple sub-areas, collect the optical power vector received by each sub-area as the position fingerprint, and construct the fingerprint library;

[0100] The fingerprint positioning subunit is used to match the binary bit data in the fingerprint library using the fingerprint matching model to obtain the position data.

[0101] Furthermore, after successfully decoding the signal light, the fingerprint-based visible light positioning method is used to associate the received signal strength with the position by establishing a fingerprint library. This mainly includes the offline fingerprint library establishment stage and the online positioning stage. The specific algorithm flow is as follows: Figure 3 shown.

[0102] In the offline stage, the positioning area is divided into several small areas as reference points, and the optical power vector received at each reference point is measured and recorded. The optical power vector of each reference point is used as a position fingerprint to form a fingerprint library. In the positioning stage, the receiver collects the signal strength from each LED at an unknown position, and then estimates the relative distance between the receiver and each LED through the corresponding calculation formula for the received optical power. The approximate position range of the receiver is determined according to the principle of triangulation positioning to narrow the search space of the fingerprint. Then, using this position range as a restriction condition, the fingerprint matching model is used to find the signal strength in the fingerprint library that is closest to the current signal strength, and the corresponding position is used as the estimated position of the receiving device.

[0103] This embodiment also discloses a method for guiding people in an emergency shelter based on fusion positioning, and the specific steps are as follows:

[0104] The optical information control component generates coded data using a preset coding method, controls the high-frequency flashing of the light based on the coded data using a TDMA transmission mechanism, and sends an optical signal with an ID code;

[0105] The positioning guidance component receives the optical signal, analyzes the optical signal, obtains positioning data, and uses the fingerprint positioning method to perform fingerprint matching on the positioning data to obtain position data; the position data is displayed on a pre-built map model.

[0106] Furthermore, the light information control component is used to make different LED lamps flash at different frequencies without affecting the lighting, that is, different LED lamps are encoded to emit light signals;

[0107] The wide-angle light receiving window of the positioning guide is used to receive the signal light emitted by the LED lamp, and the obtained light signal is decoded by the light information position analysis module. The fingerprint positioning method is used to obtain high-precision positioning information. The relative displacement position is calculated by MEMS in the position where the LED light cannot reach, and the area without visible light is compensated.

[0108] The guidance information display and control module in the positioning guide is used to display the location data, and the map model is used to provide route guidance so that the refugees can know their location and direction. The positioning information obtained by the positioning guide can be transmitted to the smartphone through the Bluetooth communication module, and the positioning guide can also be used handheld without a smartphone.

[0109] In one embodiment, the steps of acquiring the optical signal with the ID code are:

[0110] Constructing frame data as coded data using a preset coding method and loading it;

[0111] Send coded data based on timer and DMA control to control the high-frequency flashing of lights and send light signals with ID codes.

[0112] In one embodiment, the method for generating the encoded data is:

[0113] Set the total length and starting position of the frame data;

[0114] Load byte data based on the starting position and encode it to obtain initial encoded data;

[0115] Whether to perform numerical padding is determined based on the relationship between the length of the initial coded data and the total length of the frame data to generate coded data.

[0116] In one embodiment, the steps of analyzing the optical signal are:

[0117] Convert the received optical signal into an electrical signal;

[0118] Performing timed sampling on the electrical signal to obtain the duration of the high level and the low level in the pulse sequence and store them;

[0119] Analyze the stored data, extract valid data and calculate the average duration of high level and the average value of the cycle;

[0120] According to the high level average duration and the cycle average value, the valid data is parsed and converted into binary bit data.

[0121] In one embodiment, the steps of obtaining the location data are:

[0122] The positioning area is divided into multiple sub-areas, and the optical power vector received by each sub-area is collected as the position fingerprint to build a fingerprint library;

[0123] According to the binary bit data, the fingerprint matching model is used to match in the fingerprint library to obtain the position data.

[0124] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0125] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A crowd guiding device for an emergency shelter based on fusion positioning, comprising: The optical information control component and the positioning guidance component are characterized in that the optical information control component includes an optical control unit, and the positioning guidance component includes an optical information receiving module, an optical information position parsing module and a guidance information display and control module; The light control unit is used to control the high-frequency flashing of the light and send a light signal with an ID code; The optical information receiving module is used to receive the optical signal; The optical information position analysis module is used to analyze the optical signal to obtain positioning data, and use the fingerprint positioning method to perform fingerprint matching on the positioning data to obtain position data; The guidance information display and control module is used to display the position data on a pre-built map model.

2. According to claim 1, a crowd guiding device for emergency shelters based on fusion positioning is characterized in that: The light control unit comprises a code generating unit, a code sending unit and a control unit connected in sequence; The coding generation unit is used to construct frame data as coding data using a preset coding method; The encoding and sending unit is used to send the encoded data according to the TDMA transmission mechanism; The control unit is used to control the light to flash at a high frequency according to the received coded data and send a light signal with an ID code.

3. The crowd guiding device for emergency shelters based on fusion positioning according to claim 2 is characterized in that: The code generation unit includes a parameter setting subunit, a data encoding subunit and a place filling subunit; The parameter setting subunit is used to set the total length and starting position of the frame data; The data encoding subunit is used to confirm the data loading position according to the starting position and load the byte data, and encode it to obtain the initial encoded data; The padding subunit is used to determine whether to perform numerical padding according to the relationship between the length of the initial coded data and the total length of the frame data to generate the coded data.

4. The crowd guiding device for emergency shelters based on fusion positioning according to claim 1, characterized in that: The optical information position analysis module includes a photoelectric conversion unit, a sampling unit, a storage unit, an analysis unit and a parsing unit; The photoelectric conversion unit is used to convert the received optical signal into a corresponding electrical signal; The sampling unit is used to perform timed sampling on the electrical signal to obtain the duration of the high level and the low level in the pulse signal; The storage unit is used to store the high level and low level duration data in sequence; The analysis unit is used to analyze the stored data, extract valid data and calculate the average duration of the high level and the cycle average value; The valid data is parsed and converted into binary bit data according to the high level average duration and the cycle average value.

5. The crowd guiding device for emergency shelters based on fusion positioning according to claim 4 is characterized in that: The optical information position analysis module further includes a fingerprint positioning unit, and the fingerprint positioning unit includes a fingerprint library construction subunit and a fingerprint positioning subunit; The fingerprint library construction subunit is used to divide the positioning area into multiple sub-areas, collect the optical power vectors received by each of the sub-areas as the position fingerprint, and construct the fingerprint library; The fingerprint positioning subunit is used to perform matching in the fingerprint library according to the binary bit data using a fingerprint matching model to obtain the position data.

6. A method for guiding crowds in emergency shelters based on fusion positioning, characterized in that: The specific steps are: The optical information control component generates coded data using a preset coding method, and based on the coded data, controls the light to flash at a high frequency using a TDMA transmission mechanism, and sends an optical signal with an ID code; The positioning guidance component receives the optical signal, analyzes the optical signal, obtains positioning data, and uses a fingerprint positioning method to perform fingerprint matching on the positioning data to obtain position data; and displays the position data on a pre-constructed map model.

7. The method for guiding crowds in emergency shelters based on fusion positioning according to claim 6, characterized in that: The steps for obtaining the optical signal with ID code are as follows: Constructing frame data as the coded data using a preset coding method, and loading the data; The coded data is sent based on the timer and DMA control to control the high-frequency flashing of the light and send a light signal with an ID code.

8. The method for guiding crowds in emergency shelters based on fusion positioning according to claim 7, characterized in that: The method for generating the coded data is: Set the total length and starting position of the frame data; Loading byte data based on the starting position and encoding to obtain initial encoded data; Whether to perform numerical padding is determined based on the relationship between the length of the initial coded data and the total length of the frame data to generate the coded data.

9. The method for guiding crowds in emergency shelters based on fusion positioning according to claim 1, characterized in that: The analysis steps of the optical signal are: Converting the received optical signal into an electrical signal; Performing timed sampling on the electrical signal to obtain the duration of the high level and the low level in the pulse sequence, and storing the obtained duration; Analyze the stored data, extract valid data and calculate the average duration of high level and the average value of the cycle; The valid data is parsed and converted into binary bit data according to the high level average duration and the cycle average value.

10. The method for guiding crowds in emergency shelters based on fusion positioning according to claim 9, characterized in that: The steps for obtaining the location data are: Divide the positioning area into multiple sub-areas, collect the optical power vectors received by each of the sub-areas as position fingerprints, and build a fingerprint library; According to the binary bit data, a fingerprint matching model is used to perform matching in the fingerprint library to obtain the position data.

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