Personnel physiological state and positioning monitoring method in underground space emergency rescue

Abstract

The invention relates to the technical field of communication, in particular to a personnel physiological state and positioning monitoring method in underground space emergency rescue, which comprises the following steps: acquiring data of position information, physiological information and geomagnetic information of an underground space area in a crowdsourcing manner, and transmitting the acquired data to a cloud; constructing and updating a feature geomagnetic map of the underground space region and an underground space building structure map at the cloud; when an emergency situation occurs, a rescue worker formulates a search and rescue strategy through the latest characteristic geomagnetic map and the underground space building structure map, constructs an emergency wireless network, analyzes the effectiveness of the position information and the geomagnetic information of the current rescue area, carries out fusion processing, monitors the physiological information of the trapped person in real time and carries out rescue actions; the monitoring of the physiological state and positioning of the personnel in the underground space area after an emergency situation occurs is realized, so that comprehensive search and rescue work can be effectively carried out, and the daily monitoring of the positions of the personnel in the underground space area is realized.

Description

Technical Field

[0001] The invention relates to the field of communication technology, and in particular to a method for monitoring the physiological state and positioning of personnel in underground space emergency rescue. Background Art

[0002] With the continuous expansion of human production and living scope, the development and utilization of underground resources are increasing, and the gradual migration of human activities to underground space has become an irreversible trend. The extensive use of underground space has not only improved the efficiency of land use, but also brought new challenges. In this context, the safety of underground building environment has become a focus of attention, especially the problem of emergency rescue positioning in the event of a disaster. In order to cope with these problems, a variety of wireless communication and positioning technologies have been introduced into the underground environment, such as Ultra-Wideband (UWB), Bluetooth, Inertial Navigation System (INS), etc. UWB technology is known for its high-precision positioning capability and can provide centimeter-level location information; Bluetooth is widely used in short-distance communications due to its low power consumption and wide device compatibility; INS uses accelerometers and gyroscopes to measure the motion state of objects and provide continuous position updates. In addition, geomagnetic positioning technology and physiological monitoring technology are also used to monitor the location and health status of personnel.

[0003] However, despite the outstanding performance of the above technologies in their respective fields, they face many limitations in complex underground environments. Satellite signal shielding renders traditional GPS positioning methods ineffective, while the reflection and shielding of wireless signals by building structures further exacerbate the occurrence of multipath effects and non-line-of-sight errors, resulting in a significant reduction in the accuracy of wireless positioning technologies such as UWB and Bluetooth. In emergency environments, wireless positioning and communication equipment may be displaced, powered off, dropped or damaged, making the wireless positioning system unreliable or even completely unavailable. Although inertial navigation systems can provide relatively accurate location information in the short term, their errors will gradually accumulate and become difficult to correct over time. Visual navigation that relies on optical sensing may not work properly due to factors such as fire, smoke, and dust. These factors work together to make it difficult for existing positioning mechanisms and technologies to meet the continuity and reliability requirements required for emergency rescue positioning in underground building environments, thereby affecting the effectiveness and safety of emergency rescue operations.

[0004] Therefore, it is necessary to invent a method for monitoring the physiological status and positioning of personnel in underground space emergency rescue to solve the above problems. Summary of the invention

[0005] In order to solve the problems mentioned in the above background technology, the present invention provides a method for monitoring the physiological state and positioning of personnel in underground space emergency rescue.

[0006] A method for monitoring the physiological state and positioning of personnel in underground space emergency rescue is implemented by the following steps: The location information, physiological information and geomagnetic information of the underground space area are collected by crowdsourcing, and the collected data is transmitted to the cloud; In the cloud, multi-source sensors are used to correct the collected location information and geomagnetic information, and characteristic geomagnetic maps of underground space areas and underground space building structure maps are constructed and updated; Download updated characteristic geomagnetic maps and underground space building structure maps through portable mobile terminals, and locate people in the underground space in real time by combining real-time location information, physiological information and geomagnetic information; When an emergency occurs, rescuers formulate search and rescue strategies based on the latest characteristic geomagnetic maps and underground space building structure maps, build emergency wireless networks, analyze the validity of the current rescue area's location information and geomagnetic information, and perform fusion processing, monitor the physiological information of trapped people in real time, and carry out rescue operations; Through rescue operations, the emergency wireless network is optimized to update personnel positioning, mark search and rescue trajectories, and optimize search and rescue strategies. This enables monitoring of the physiological state and positioning of personnel in the underground space after an emergency occurs in order to effectively carry out comprehensive search and rescue work, as well as daily monitoring of the location of personnel in the underground space.

[0007] Furthermore, the crowdsourcing method is used to collect data on location information, physiological information and geomagnetic information of underground space areas, including: deploying wireless communication positioning base stations in the underground space area; collecting data on location information, geomagnetic information and physiological information of crowdsourcers in the underground space area through portable mobile terminals carried by crowdsourcers that integrate wireless communication positioning technology, inertial navigation technology, physiological monitoring technology and geomagnetic positioning technology.

[0008] Furthermore, transmitting the collected data to the cloud includes: transmitting the collected data to the cloud via a wireless communication network.

[0009] Furthermore, the portable mobile terminal integrates wireless communication positioning technology, inertial navigation technology, physiological monitoring technology and geomagnetic positioning technology.

[0010] Furthermore, the method of using multi-source sensors in the cloud to correct the collected position information and geomagnetic information includes: using a multi-source data fusion method of a factor graph in the cloud, combined with a plug-and-play sensor system, to locate and analyze the environmental characteristics of the underground space area to achieve correction of the collected position information and geomagnetic information.

[0011] Furthermore, the updating of the characteristic geomagnetic map and the underground space building structure map of the underground space area includes: continuously collecting data of location information and geomagnetic information through crowdsourcing and continuously interpolating and updating the characteristic geomagnetic map and the underground space building structure map of the underground space area to ensure that the drawings are often used and updated.

[0012] Furthermore, the construction of the emergency wireless network includes: rescue personnel carry wireless portable base stations into the rescue area of ​​the underground space area and deploy them to form the emergency wireless network.

[0013] Furthermore, the analysis of the validity of the location information and geomagnetic information of the current rescue area and the fusion processing include: the data of the location information includes inertial data and wireless positioning data, the data of the geomagnetic information includes geomagnetic data, and the rescue personnel analyze the validity of the geomagnetic data, inertial data and wireless positioning data of the current rescue area through a portable mobile terminal, and fuse the geomagnetic data, inertial data and wireless positioning data through elastic PNT (Positioning, Navigation, and Timing) technology and factor graph algorithm to ensure the credibility of the data and improve positioning accuracy and reliability.

[0014] Furthermore, the portable mobile terminal includes a power supply, a wireless positioning module, an IMU (inertial measurement unit) attitude sensor, a geomagnetic sensor, a physiological parameter sensor and a control chip; the power supply is electrically connected to the wireless positioning module, the IMU (inertial measurement unit) attitude sensor, the geomagnetic sensor, the physiological parameter sensor and the control chip respectively; the control chip is electrically connected to the wireless positioning module, the IMU (inertial measurement unit) attitude sensor, the geomagnetic sensor and the physiological parameter sensor respectively.

[0015] Compared with the prior art, the advantages of the present invention are: 1. Flexible fusion of multi-source positioning information. In emergency scenarios, the optimal combination is made according to the PNT (Positioning, Navigation, and Timing) perception capability to ensure the continuity and reliability of positioning services. This mechanism effectively solves the problem of inaccurate or unreliable positioning of traditional positioning technology in underground environments due to factors such as satellite signal shielding and building structure reflection and shielding, especially the problem of inaccurate positioning caused by multipath effects and frequent non-line-of-sight errors.

[0016] 2. Rapid deployment of wireless communication and positioning networks. By carrying portable base stations into the rescue area and quickly building an emergency wireless network, the search and rescue strategy can be quickly formulated and fully covered, and the emergency response speed can be improved. This rapid deployment capability ensures that even in the event of infrastructure failure, communication and positioning functions can be immediately restored, supporting efficient emergency rescue operations and solving the problem that existing wireless positioning and communication equipment may be displaced, powered off, dropped or damaged, causing the wireless positioning system to be unreliable or even completely unavailable.

[0017] 3. The integration of geomagnetic navigation technology enables multi-source data correction to be performed in a passive and power-free state to maintain positioning accuracy. The continuous updating of characteristic geomagnetic maps ensures its adaptability and can maintain effective positioning services even in extreme environments, solving the limitations brought about by long-term reliance on a single navigation technology, especially the problem of error accumulation and difficulty in correction in inertial navigation systems.

[0018] 4. Continuously collect location information and geomagnetic information through crowdsourcing in daily environments to ensure that characteristic geomagnetic maps and underground space building structure maps are often used and updated. This not only helps to provide real-time feedback on changes in the internal layout of underground space buildings, but also provides the latest environmental information for search and rescue work, optimizes the formulation of search and rescue strategies, and avoids the frequent changes in the underground building environment. The traditional underground space building structure map is difficult to reflect the latest layout in a timely manner, affecting the efficiency and accuracy of the search and rescue work.

[0019] 5. Comprehensive health management. By integrating physiological monitoring technology, the present invention can monitor the vital signs of trapped persons in real time, assist rescuers in assessing the health status of trapped persons, give priority to emergency situations, and improve the success rate of rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall framework of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the portable mobile terminal of the present invention.

[0022] Figure 3 It is a characteristic geomagnetic map of an embodiment of the present invention.

[0023] Figure 4 It is a schematic diagram of the underground space building structure of an embodiment of the present invention.

[0024] In the picture: 1. Table. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0026] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0027] like Figure 2 As shown, the portable mobile terminal includes a power supply, a wireless positioning module, an IMU (inertial measurement unit) attitude sensor, a geomagnetic sensor, a physiological parameter sensor and a control chip; the power supply is electrically connected to the wireless positioning module, the IMU (inertial measurement unit) attitude sensor, the geomagnetic sensor, the physiological parameter sensor and the control chip respectively; the control chip is electrically connected to the wireless positioning module, the IMU (inertial measurement unit) attitude sensor, the geomagnetic sensor and the physiological parameter sensor respectively.

[0028] In this embodiment, the portable mobile terminal is a mobile phone; and the control chip is an application processor.

[0029] This embodiment provides a method for monitoring the physiological status and positioning of personnel in underground space emergency rescue. Figure 1 As shown, including: In daily situations in underground space areas, wireless communication positioning base stations are deployed in underground space areas, and the location information, geomagnetic information and physiological information of crowdsourcers in underground space areas are collected through mobile phones carried by crowdsourcers that integrate wireless positioning modules, IMU attitude sensors, geomagnetic sensors and physiological parameter sensors; The collected data is transmitted to the cloud through a wireless communication network; The location information, geomagnetic information and physiological information are analyzed and processed in the cloud, and the location information and geomagnetic information data are time-aligned through data synchronization technology; Use Kalman filtering algorithm to reduce noise and error when the mobile phone collects data, ensure data accuracy, and perform feature extraction; Construct underground space building structure diagrams in the cloud based on location information and geomagnetic information data; According to the characteristics of the geomagnetic field in the underground space area, the location information and geomagnetic information data are used in the cloud to construct a characteristic matrix reflecting the changes in the direction and intensity of the magnetic field; The characteristics and location information of the geomagnetic field are spatially mapped, and the Kriging interpolation algorithm is used to create a visual geomagnetic map to display the changes in the magnetic field at different locations in the underground space area, forming a characteristic geomagnetic map, such as Figure 3 As shown, through the location trajectory of crowdsourced personnel, new obstacles or building structures in the underground space area are determined and updated in real time; Based on the location information and geomagnetic information collected in real time by the mobile phone, the multi-source data fusion method of factor graph is used, combined with the plug-and-play sensor system, to locate and analyze the environmental characteristics of the underground space area to achieve timely correction of the collected location information and geomagnetic information; In this embodiment, the plug-and-play sensor system is Xsens DOT; According to the daily walking tracks of people in the underground space area and the characteristic geomagnetic field, the underground space building structure diagram in the cloud is modified, such as Figure 4 As shown, in this embodiment, a table 1 is added; The latest characteristic geomagnetic map and underground space building structure map can be downloaded at any time through the mobile phone, and the personnel in the underground space area can be located in real time by combining the real-time location information, physiological information and geomagnetic information, and the real-time visual positioning display can be completed; When an emergency occurs in an underground space area, rescuers download the latest geomagnetic feature map and underground space building structure map from the cloud for search and rescue use; According to the latest underground space building structure diagram, rescuers compare it with the original underground space building structure diagram, familiarize themselves with the rescue area environment of the underground space area, and plan a reasonable search and rescue route; Rescuers carry wireless portable base stations into the rescue area, deploy wireless portable base stations at key nodes of the search and rescue route, and quickly build an emergency wireless network to ensure smooth communication in the rescue area; The data of the location information includes inertial data and wireless positioning data, and the data of the geomagnetic information includes geomagnetic data. Rescuers use mobile phones to analyze the validity of geomagnetic data, inertial data and wireless positioning data in the current rescue area, and integrate the geomagnetic data, inertial data and wireless positioning data through elastic PNT technology and factor graph algorithm, and adjust the weights adaptively to ensure the credibility of the data and improve the positioning accuracy and reliability; Through the deployed emergency wireless network, the positioning signal of the trapped person is obtained, the position of the trapped person is tracked in real time, and the health status is evaluated based on the data parameters of their physiological information, so as to carry out rapid and accurate rescue operations. Based on this data, the rescue route and strategy are dynamically adjusted to ensure that the rescue operation is more accurate and efficient, and to maximize the survival rate of the trapped persons; Through the deployment of emergency wireless networks and search and rescue routes laid out by rescue personnel, the coverage range and network coverage density are optimized, personnel positioning is updated, search and rescue trajectory is marked, and search and rescue strategies are optimized. The physiological state and positioning of personnel in the underground space area after an emergency occurs can be monitored in order to effectively carry out comprehensive and effective search and rescue work, as well as to achieve daily monitoring of the location of personnel in the underground space area.

[0030] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for monitoring the physiological status and positioning of personnel in underground space emergency rescue, characterized in that: This method is implemented by the following steps: The location information, physiological information and geomagnetic information of the underground space area are collected by crowdsourcing, and the collected data is transmitted to the cloud; In the cloud, multi-source sensors are used to correct the collected location information and geomagnetic information, and characteristic geomagnetic maps of underground space areas and underground space building structure maps are constructed and updated; Download updated characteristic geomagnetic maps and underground space building structure maps through portable mobile terminals, and locate people in the underground space in real time by combining real-time location information, physiological information and geomagnetic information; When an emergency occurs, rescuers formulate search and rescue strategies based on the latest characteristic geomagnetic maps and underground space building structure maps, build emergency wireless networks, analyze the validity of the current rescue area's location information and geomagnetic information, and perform fusion processing, monitor the physiological information of trapped people in real time, and carry out rescue operations; Through rescue operations, the emergency wireless network is optimized to update personnel positioning, mark search and rescue trajectories, and optimize search and rescue strategies. This enables monitoring of the physiological state and positioning of personnel in the underground space after an emergency occurs in order to effectively carry out comprehensive search and rescue work, as well as daily monitoring of the location of personnel in the underground space.

2. A method for monitoring the physiological status and positioning of personnel in underground space emergency rescue according to claim 1, characterized in that: The method of using crowdsourcing to collect data on location information, physiological information and geomagnetic information of underground space areas includes: deploying wireless communication positioning base stations in the underground space areas, and collecting data on location information, geomagnetic information and physiological information of crowdsourcers in the underground space areas through portable mobile terminals carried by crowdsourcers that integrate wireless communication positioning technology, inertial navigation technology, physiological monitoring technology and geomagnetic positioning technology.

3. A method for monitoring the physiological status and positioning of personnel in underground space emergency rescue according to claim 1, characterized in that: The transmitting the collected data to the cloud comprises: transmitting the collected data to the cloud via a wireless communication network.

4. A method for monitoring the physiological status and positioning of personnel in underground space emergency rescue according to claim 1, characterized in that: The portable mobile terminal integrates wireless communication positioning technology, inertial navigation technology, physiological monitoring technology and geomagnetic positioning technology.

5. The method for monitoring the physiological status and positioning of personnel in underground space emergency rescue according to claim 1, characterized in that: The method of using multi-source sensors in the cloud to correct the collected position information and geomagnetic information includes: using a multi-source data fusion method of a factor graph in the cloud, combined with a plug-and-play sensor system, to locate and analyze the environmental characteristics of the underground space area to achieve correction of the collected position information and geomagnetic information.

6. A method for monitoring the physiological status and positioning of personnel in underground space emergency rescue according to claim 1, characterized in that: The updating of the characteristic geomagnetic map and the underground space building structure map of the underground space area includes: continuously collecting data of location information and geomagnetic information through crowdsourcing and continuously interpolating and updating the characteristic geomagnetic map and the underground space building structure map of the underground space area to ensure that the drawings are often used and updated.

7. A method for monitoring the physiological status and positioning of personnel in underground space emergency rescue according to claim 1, characterized in that: The construction of the emergency wireless network includes: rescue personnel carry wireless portable base stations into the rescue area of ​​the underground space area and deploy them to form the emergency wireless network.

8. A method for monitoring the physiological status and positioning of personnel in underground space emergency rescue according to claim 1, characterized in that: The analysis of the validity of the location information and geomagnetic information of the current rescue area and the fusion processing include: the data of the location information include inertial data and wireless positioning data, the data of the geomagnetic information include geomagnetic data, the rescue personnel analyze the validity of the geomagnetic data, inertial data and wireless positioning data of the current rescue area through a portable mobile terminal, and fuse the geomagnetic data, inertial data and wireless positioning data through elastic PNT (Positioning, Navigation, and Timing) technology and factor graph algorithm to ensure the credibility of the data and improve the positioning accuracy and reliability.

9. A method for monitoring the physiological status and positioning of personnel in underground space emergency rescue according to claim 4, characterized in that: The portable mobile terminal includes a power supply, a wireless positioning module, an IMU (inertial measurement unit) attitude sensor, a geomagnetic sensor, a physiological parameter sensor and a control chip; the power supply is electrically connected to the wireless positioning module, the IMU (inertial measurement unit) attitude sensor, the geomagnetic sensor, the physiological parameter sensor and the control chip respectively; the control chip is electrically connected to the wireless positioning module, the IMU (inertial measurement unit) attitude sensor, the geomagnetic sensor and the physiological parameter sensor respectively.

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