Fire-fighting individual indoor space positioning system and method based on bidirectional compensation

Abstract

The invention discloses a fire-fighting individual indoor space positioning system and method based on bidirectional compensation, and relates to the technical field of indoor space positioning in fire-fighting extinguishment and rescue scenarios, and the system comprises a UWB base station which is worn by a fire-fighting individual to enter a building, the UWB base station comprises a UWB main base station and a UWB auxiliary base station which realize data interaction connection through a communication link; a plurality of fire-fighting emergency evacuation and illumination indicating lamps, wherein the plurality of fire-fighting emergency evacuation and illumination indicating lamps are arranged in the building; the implementation cost is reduced, and the popularization and application prospects are wide; the fire-fighting emergency evacuation and illumination indication system can continuously supply power to the UWB-Tag, so that the UWB-Tag has continuous power supply support; the UWB main base station and the UWB auxiliary base station select the UWB-Tag in the three fire-fighting emergency evacuation and illumination indicating lamps which are closest to each other, so that interference caused by LOS (non-visual) can be greatly reduced; the deployment mode of the UWB main base station and the UWB auxiliary base station is equivalent to adding a positioning reference point, so that the positioning accuracy can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of indoor space positioning in firefighting and rescue scenarios, and in particular to a system and method for indoor space positioning of a single firefighter based on bidirectional compensation. Background Art

[0002] The number of high-rise buildings in my country has grown rapidly. As of 2023, the number has exceeded 1 million, and there are more than 5,000 super high-rise buildings, ranking first in the world. However, this is accompanied by a severe fire situation. In the first eight months of 2024, there were 36,000 fires in high-rise buildings, which has exceeded the whole year of 2023. Due to the dense population, closed space and difficulty in evacuation and smoke exhaust in high-rise and super high-rise buildings, fires can easily cause heavy casualties, posing a huge challenge to firefighting and rescue.

[0003] How to ensure the life safety of fire rescue personnel has always been the key research direction of the National Fire Rescue Bureau of the Ministry of Emergency Management, domestic and foreign scientific research institutions, universities and other units. The country has listed "individual protection of individuals" as a key research and development topic. Among them, the acquisition of individual position information in indoor environments is of great significance. Accurate positioning can quickly rescue individuals when they are in distress. It is also beneficial for the command center to grasp the distribution of personnel, command operations scientifically, and improve the actual combat effectiveness of the rescue team.

[0004] Existing indoor positioning technologies are diverse, including infrared, ultrasonic, Wi-Fi, Bluetooth, ultra-wideband (UWB), and inertial measurement units (IMUs). Each technology has its own unique advantages and limitations, and is suitable for different positioning scenarios and business needs. Selecting the appropriate positioning technology solution is a balancing act between business needs (such as positioning scenarios and accuracy requirements) and positioning costs (including equipment costs, personnel costs, and maintenance costs). Real-time location acquisition for individual firefighters at firefighting and rescue sites, such as high-rise and super-high-rise buildings and urban complexes, faces the following challenges:

[0005] 1. Uncertainty at the fire scene: Since it is impossible to predict which building will catch fire, it is impossible to deploy positioning equipment in advance. Therefore, the indoor positioning system of individual firefighters should rely on no external basic positioning equipment as much as possible, or the cost of such equipment should be as low as possible and have other routine functions to assist in positioning in the event of a fire.

[0006] 2. Effectiveness during the rescue process: Before entering a building for firefighting and rescue, the building's external mains power supply is usually cut off to prevent secondary damage. This requires that the positioning equipment must have independent power supply capabilities or other effective power supply support;

[0007] 3. Complexity of scenarios: High-rise and super-high-rise buildings have complex structures. Position estimation technologies based on RF propagation attenuation (such as Wi-Fi, Bluetooth, and UWB) need to address the rapid degradation of positioning performance under non-line-of-sight (NLOS) conditions.

[0008] 4. Elevation acquisition: In high-rise and super-high-rise building scenarios, traditional elevation acquisition methods mainly rely on barometers or IMUs. However, these methods are greatly affected by the environment and errors accumulate over long periods of operation. Once the floor estimation deviates, rescue operations may be delayed, leading to serious consequences. Summary of the Invention

[0009] In response to the shortcomings of the existing technology, the present invention provides a fire-soldier indoor space positioning system based on two-way compensation. The present invention reduces the implementation cost and has broad prospects for promotion and application; the fire emergency evacuation and lighting indicator lights continuously power the UWB-Tag, so that the UWB-Tag has continuous power support; the UWB main base station and the UWB secondary base station select the UWB-Tag among the three closest fire emergency evacuation and lighting indicator lights, which can greatly reduce the interference caused by LOS (non-visual); the deployment method of the UWB main base station and the UWB secondary base station is equivalent to adding a positioning reference point, which can greatly improve the accuracy of positioning.

[0010] To achieve the above objectives, the present invention is implemented through the following technical solutions: a firefighter indoor space positioning system based on two-way compensation, comprising:

[0011] A UWB base station, which is worn by individual firefighters and brought into a building. The UWB base station includes a UWB primary base station and a UWB secondary base station that are connected via a communication link for data exchange.

[0012] Multiple fire emergency evacuation and lighting indicator lights are set up in the building, each of which has a built-in UWB-Tag. The multiple UWB-Tags determine the relative distance by performing radio frequency communication with the UWB primary base station and the UWB secondary base station, thereby obtaining the positioning data of the firefighters;

[0013] The fire command battle network and the on-site command center establish a data communication link with the on-site command center via wireless, and the UWB main base station transmits the positioning data to the on-site command center through the fire command battle network.

[0014] Preferably, the UWB main base station includes:

[0015] A UWB radio frequency unit, which is used to obtain positioning data of individual firefighters;

[0016] 1.4G-Mesh module, which is used to wirelessly transmit the positioning data obtained by the UWB radio frequency unit to the fire command battle network. The command battle network wirelessly transmits the collected positioning data to the on-site command center, which receives, stores and determines the location of the positioning data;

[0017] A radio frequency antenna unit, which is used to transmit and receive wireless signals from the UWB radio frequency unit and the 1.4G-Mesh module;

[0018] A power supply unit is used to supply power to the UWB radio frequency unit and the 1.4G-Mesh module.

[0019] Preferably, the UWB secondary base station includes:

[0020] A UWB radio frequency unit, which is used to obtain positioning data of individual firefighters;

[0021] A radio frequency antenna unit, configured to transmit and receive wireless signals from the UWB radio frequency unit;

[0022] A power supply unit is used to supply power to the UWB radio frequency unit.

[0023] Preferably, the UWB main base station and the UWB secondary base station are deployed on both ear sides of the firefighter's helmet by means of pasting.

[0024] Preferably, the UWB primary base station and the UWB secondary base station are connected via an Ethernet cable.

[0025] A firefighter indoor spatial positioning system based on two-way compensation includes the following steps:

[0026] S1: Defines the basic space and coordinates of the firefighter's location;

[0027] S2: Project the reference coordinates of the fire evacuation indicator light onto the plane where the individual UWB base station is located;

[0028] S3: Calculate the location coordinates of the UWB primary base station and the UWB secondary base station;

[0029] S4: Obtain the coordinates of the firefighter's location.

[0030] Preferably, in step S1,

[0031] Define the coordinates of the firefighter as p(x,y) and the coordinates of the UWB main base station as p p (x,y), the coordinates of the UWB secondary base station are p s (x, y), defines the height of the UWB primary base station and the UWB secondary base station from the ground as h;

[0032] The three fire emergency evacuation and lighting indicators close to the UWB main base station are defined as p IL-21 , p IL-22 and p IL-23 , three fire emergency evacuation and lighting indicator lights p IL-21 , p IL-22 and p IL-23 The distances from the UWB main base station are d 21 , d 22 and d 23 , the coordinates are p IL-21 (x,y),p IL-22 (x,y) and p IL-23 (x,y), the height from the ground is h 21 , h 22 and h 23 ;

[0033] The three fire emergency evacuation and lighting indicators adjacent to the UWB secondary base station are defined as p IL-11 , p IL-12 and p IL-13 , three fire emergency evacuation and lighting indicator lights p IL-11 , p IL-12 and p IL-13 The distances to the UWB secondary base station are d 11 , d 12 and d 13 , the coordinates are p IL-11 (x,y),p IL-12 (x,y) and p IL-13 (x,y), the height from the ground is h 11 , h 12 and h 13 .

[0034] Preferably, in step S2,

[0035] Define three fire emergency evacuation and lighting indicator lights near the UWB main base station IL-21 , p IL-22 and p IL-23 The projected coordinate is p ～ IL-21 (x,y),p ～ IL-22 (x,y) and p ～ IL-23 (x, y), the distance between the UWB main base station and the three coordinates after projection is defined as and calculate and The formulas are:

[0036]

[0037] Define three fire emergency evacuation and lighting indicator lights adjacent to the UWB secondary base station IL-11 , p IL-12 and p IL-13 The projected coordinate is p ～ IL-11 (x,y),p ～ IL-12 (x,y) and p ～ IL-13 (x,y), the distance between the UWB secondary base station and the three projected coordinates is defined as and calculate and The formulas are:

[0038]

[0039] Preferably, in step S3, the coordinates of the UWB main base station p p The formula for (x, y) is:

[0040]

[0041] UWB secondary base station coordinates p s The formula for (x,y) is:

[0042]

[0043] Preferably, in step S4, the formula for calculating the plane coordinates p(x, y) of the position of the firefighter is:

[0044]

[0045] By using the attribute data of the floor where the nearby fire evacuation indicator light is located, the specific floor where the individual soldier is at that moment can be obtained.

[0046] The present invention provides a firefighter indoor space positioning system and method based on two-way compensation, which has the following beneficial effects:

[0047] Most traditional UWB positioning methods use fixed deployment of UWB base stations, which are connected by wireless networks and use a unified clock to obtain the UWB-Tag position. Specific positioning algorithms include TOA and TDOA. However, this invention combines UWB-Tags with fire emergency evacuation and lighting indicators. UWB-Tags are fixedly deployed, and a single firefighter carries two UWB base stations for reverse positioning. This allows for real-time access to the fire rescue command network and transmits information to the on-site command center.

[0048] Currently, the price of a UWB-Tag is around 20-100 yuan, while the price of a UWB base station is several hundred or even thousands of yuan. Therefore, the implementation method of the present invention can greatly reduce the implementation cost and has broad prospects for promotion and application. After a fire accident occurs, the fire emergency evacuation and lighting indicators can continuously power the UWB-Tag, ensuring that the UWB-Tag has effective power support when a fire occurs.

[0049] During the coordinate determination process, the UWB main base station and the UWB secondary base station select the UWB-Tags among the three closest fire emergency evacuation and lighting indicator lights, which can greatly reduce the interference caused by LOS (non-visual). The deployment method of the UWB main base station and the UWB secondary base station is equivalent to adding a positioning reference point, which can to a certain extent compensate for the impact of single-node position acquisition on positioning accuracy, and can greatly improve the utilization rate of the reference positions of the fire emergency evacuation and lighting indicator lights in the spatial structure during the position acquisition process. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a structural diagram of a firefighter indoor space positioning system based on two-way compensation according to the present invention;

[0051] Figure 2 This is a schematic diagram of the deployment principle of a firefighter base station in a firefighter indoor space positioning system based on two-way compensation according to the present invention;

[0052] Figure 3 This is a schematic diagram of the fire evacuation indicator light and UWB-Tag combination of the present invention;

[0053] Figure 4 This is a basic flow chart for determining the position of a single soldier according to the present invention. DETAILED DESCRIPTION

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0055] like Figure 1-3 As shown, the present invention provides a technical solution: a firefighter indoor space positioning system based on two-way compensation, comprising:

[0056] UWB base station, the UWB base station is worn by individual firefighters and brought into the building. The UWB base station includes a UWB main base station and a UWB secondary base station that realize data interaction through a communication link;

[0057] Multiple fire emergency evacuation and lighting indicator lights are installed in the building. Each fire emergency evacuation and lighting indicator light has a built-in UWB-Tag. Based on the building's spatial structure, it provides a fixed reference coordinate for spatial positioning for the position of individual firefighters during emergency rescue. Multiple UWB-Tags determine the relative distance through radio frequency communication with the UWB main base station and UWB secondary base station, thereby obtaining the positioning data of individual firefighters.

[0058] The fire command battle network and the on-site command center establish a data communication link with the on-site command center through wireless. The UWB main base station transmits the positioning data to the on-site command center through the fire command battle network.

[0059] In this embodiment, the combination of the fire emergency evacuation and lighting indicator lights and the UWB-Tag enables the fire emergency evacuation and lighting indicator lights to provide continuous power input for the UWB-Tag. In addition, the coordinate position of the UWB-Tag can be determined by referring to the layout diagram, address, and floor of the fire emergency evacuation and lighting indicator lights. The position data of the firefighter is determined by signal interaction between the UWB main base station and the UWB secondary base station and multiple UWB-Tags. The UWB main base station transmits the positioning data to the on-site command center through the fire command battle network, so that the on-site command center can clearly understand the location information of the on-site rescue personnel. The on-site command battle network adopts a temporary deployment method during the on-site networking process. Firefighters entering complex scenes such as high-rise or super-high-rise buildings will carry some small networking equipment with them, and follow them with them during the movement to ensure that there is network protection in the area where the firefighters are.

[0060] like Figure 3 As shown in the figure, if the shell of the fire evacuation indicator light is made of PVC, the UWB-Tag can be built into the indicator light because PVC has little effect on radio frequency attenuation. If the shell of the fire evacuation indicator light is made of metal, the UWB-Tag needs to be placed outside the indicator light because metal has a greater impact on radio frequency attenuation. The specific location should generally be deployed in one of the four corners of the indicator light to avoid affecting the guidance function of the fire evacuation indicator light.

[0061] It is worth noting that fire emergency lighting and evacuation indicator lights rely on fire emergency power supply during the rescue process, and do not rely on external mains power, ensuring the effectiveness of positioning during the rescue. Secondly, according to Article 15 of the "Fire Protection Law of the People's Republic of China", public gathering places must undergo fire safety inspections before being put into use, including submitting layout plans of the building's internal fire protection facilities. These layout plans contain information such as the location, address, and floor of emergency lighting fixtures, which can serve as reference points for accurate positioning of individual soldiers during disasters. In addition, according to the current national standard GB51309-2018 "Technical Standard for Fire Emergency Lighting and Evacuation Indication Systems":

[0062] First, there are evacuation walkways and stairs with maintenance structures:

[0063] When the sign surface of the direction indicator light is perpendicular to the evacuation direction, the installation spacing of the lamps should not be greater than 20m.

[0064] When the sign surface of the direction indicator light is parallel to the evacuation direction, the spacing between the lamps should not be greater than 10m.

[0065] Second, evacuation routes in open spaces such as exhibition halls, shops, waiting rooms for buses (ships), civil aviation terminals, and business halls:

[0066] When the sign surface of the direction sign light is perpendicular to the evacuation direction, the setting spacing of extra-large or large direction sign lights should not be greater than 30m, and the setting spacing of medium or small direction sign lights should not be greater than 20m.

[0067] When the sign surface of the direction sign light is parallel to the evacuation direction, the setting spacing of extra-large or large direction sign lights should not be greater than 15m, and the setting spacing of medium or small direction sign lights should not be greater than 10m.

[0068] Third, maintain visual continuity of direction marker lights:

[0069] It should be installed at the center of the ground of the evacuation walkway or evacuation passage, and the spacing between lamps should not be greater than 3m.

[0070] The visible transmission distance between a UWB base station and a UWB-Tag is usually around 150 meters, while the maximum distance between emergency indicator lights is 30 meters and indicator lights must be installed at corners. Therefore, the combination with fire emergency lighting can meet the current positioning accuracy requirements. In particular, combined with some special deployment methods and other efficient positioning models, it can achieve meter-level positioning accuracy, which is highly reliable for meeting the current indoor positioning needs of fire brigades.

[0071] like Figure 2 As shown, as an embodiment of the present invention, the UWB main base station includes:

[0072] UWB radio frequency unit, which is used to obtain the positioning data of individual firefighters;

[0073] 1.4G-Mesh module: The 1.4G-Mesh module is used to wirelessly transmit the positioning data obtained by the UWB radio frequency unit to the fire command battle network. The command battle network wirelessly transmits the collected positioning data to the on-site command center, which receives, stores and determines the location of the positioning data.

[0074] RF antenna unit, which is used to transmit and receive wireless signals from the UWB RF unit and 1.4G-Mesh module;

[0075] The power supply unit is used to supply power to the UWB radio frequency unit and the 1.4G-Mesh module.

[0076] UWB secondary base station includes:

[0077] UWB radio frequency unit, which is used to obtain the positioning data of individual firefighters;

[0078] A radio frequency antenna unit, which is used to transmit and receive wireless signals from the UWB radio frequency unit;

[0079] The power supply unit is used to supply power to the UWB radio frequency unit.

[0080] In this embodiment, the UWB radio frequency unit uses nanosecond-level non-sinusoidal narrow pulses to transmit data, achieving high-speed data transmission by sending a series of short pulses within a wide spectrum. Due to the narrow pulse characteristics of the UWB signal, it has extremely high time resolution and can accurately measure the propagation time of the signal, thereby achieving high-precision positioning function, with positioning accuracy reaching the centimeter level;

[0081] The 1.4G-Mesh module is a wireless Mesh ad hoc network module operating in the 1.4GHz frequency band. It can achieve non-line-of-sight communication capabilities of more than 0.5-2 kilometers even in urban environments with obstacles. It has a long communication distance and strong anti-interference ability.

[0082] The RF antenna unit is used in wireless communication systems to transmit and receive RF signals. The UWB base station has a built-in power supply unit that ensures continuous power supply for 2 hours.

[0083] As an embodiment of the present invention, the UWB primary base station and the UWB secondary base station are deployed on both ear sides of a firefighter's helmet in a pasting manner.

[0084] In this embodiment, this deployment method can ensure that when falling objects fall above a firefighter, they will not fall vertically onto the UWB base station, preventing the UWB base station from directly impacting the firefighter's helmet and endangering the firefighter's head safety.

[0085] As an embodiment of the present invention, the UWB primary base station and the UWB secondary base station are connected via an Ethernet cable.

[0086] In this embodiment, the Ethernet line is routed on the back side of the helmet.

[0087] like Figure 4 As shown, the present invention also provides a method for indoor space positioning of a firefighter based on two-way compensation, comprising the following steps:

[0088] S1: Defines the basic space and coordinates of the firefighter's location;

[0089] Define the coordinates of the firefighter as p(x,y) and the coordinates of the UWB main base station as p p (x,y), the coordinates of the UWB secondary base station are p s (x, y), defines the height of the UWB primary base station and the UWB secondary base station from the ground as h;

[0090] The three fire emergency evacuation and lighting indicators close to the UWB main base station are defined as p IL-21 , p IL-22 and p IL-23 ;

[0091] Three fire emergency evacuation and lighting indicator lights IL-21 , p IL-22 and p IL-23 The distances from the UWB main base station are d 21 , d 22 and d 23 ;

[0092] Three fire emergency evacuation and lighting indicator lights IL-21 , p IL-22 and p IL-23 The coordinates of p are IL-21 (x,y),p IL-22 (x,y) and p IL-23 (x,y);

[0093] Three fire emergency evacuation and lighting indicator lights IL-21 , p IL-22 and p IL-23 The heights from the ground are h 21 , h 22 and h 23 ;

[0094] The three fire emergency evacuation and lighting indicators adjacent to the UWB secondary base station are defined as p IL-11 , p IL-12 and p IL-13 ;

[0095] Three fire emergency evacuation and lighting indicator lights IL-11 , p IL-12 and p IL-13 The distances to the UWB secondary base station are d 11 , d 12 and d 13 ;

[0096] Three fire emergency evacuation and lighting indicator lights IL-11 , p IL-12 and p IL-13 The coordinates of p are IL-11 (x,y),p IL-12 (x,y) and p IL-13 (x,y);

[0097] Three fire emergency evacuation and lighting indicator lights IL-11 , p IL-12 and p IL-13 The heights from the ground are h 11 , h 12 and h 13 ;

[0098] The distance acquisition method may be TWR, TDOA, etc.

[0099] S2: Project the reference coordinates of the fire evacuation indicator light onto the plane where the individual UWB base station is located;

[0100] Define three fire evacuation indicator lights p adjacent to the UWB main base station IL-21 , p IL-22 and p IL-23 The projected coordinate is p ～ IL-21 (x,y),p ～ IL-22 (x,y) and p ～ IL-23 (x, y), the distance between the UWB main base station and the three coordinates after projection is defined as and So

[0101]

[0102] Similarly, define three fire evacuation indicator lights p adjacent to the UWB secondary base station IL-11 , p IL-12 and p IL-13 The projected coordinate is p～ IL-11 (x,y),p ～ IL-12 (x,y) and p ～ IL-13 (x,y), the distance between the UWB secondary base station and the three projected coordinates is defined as and So

[0103]

[0104] S3: Calculate the location coordinates of the UWB primary base station and the UWB secondary base station;

[0105] The calculation equation is as follows:

[0106]

[0107] According to the plane, the coordinates of three points are known, namely p ～ IL-21 (x,y),p ～ IL-22 (x,y) and p ～ IL-23 (x, y) and the distance from the unknown point to the three known points and where p ～ IL-21 (x,y),p ～ IL-22 (x,y) and p ～ IL-23 (x,y) and p IL-21 (x,y),p IL-22 (x,y) and p IL-23 The values ​​of (x, y) are the same. By solving the above equation, the coordinates of the UWB main base station p can be obtained. p (x,y);

[0108] Similarly, the following equation is listed:

[0109]

[0110] By solving the above equation, the coordinates of the UWB secondary base station p can be obtained s (x,y);

[0111] S4: Obtain the coordinates of the firefighter's location;

[0112] According to the formula:

[0113]

[0114] The plane coordinates of the firefighter's location are obtained, with a height of h. At the same time, the attribute data of the floor where the nearby fire evacuation indicator light is located can be used to obtain the specific floor where the firefighter is at that moment.

[0115] In this positioning method, the clocks of the UWB main base station and UWB secondary base station deployed on both sides of the individual soldier's helmet should be based on the UWB main base station, and clock synchronization should be performed every 5 minutes to ensure that the sampling data is in the same scene at the same time.

[0116] In this positioning method, during the process of determining the coordinates of the UWB primary and secondary base stations, there may be many nearby fire-fighting facility indicator lights obtained at the same time. The selection strategy is to select the three closest ones, which can greatly reduce the interference caused by LOS (non-visual). If there are only two nearby fire-fighting facility indicator lights, the positioning method can adopt a single-base station positioning method, using the UWB secondary base station as a reference node, and based on its constant distance from the UWB primary base station (the width of the helmet) as an equation, it is substituted into the positioning equation to calculate the coordinates of the UWB primary base station.

[0117] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A firefighter indoor space positioning system based on two-way compensation, characterized in that: include: A UWB base station, which is worn by individual firefighters and brought into a building. The UWB base station includes a UWB primary base station and a UWB secondary base station that are connected via a communication link for data exchange. Multiple fire emergency evacuation and lighting indicator lights are set up in the building, each of which has a built-in UWB-Tag. The multiple UWB-Tags determine the relative distance by performing radio frequency communication with the UWB primary base station and the UWB secondary base station, thereby obtaining the positioning data of the firefighters; The fire command battle network and the on-site command center establish a data communication link with the on-site command center via wireless, and the UWB main base station transmits the positioning data to the on-site command center through the fire command battle network.

2. The indoor space positioning system for firefighters based on two-way compensation according to claim 1 is characterized in that: The UWB main base station includes: A UWB radio frequency unit, which is used to obtain positioning data of individual firefighters; 1.4G-Mesh module, which is used to wirelessly transmit the positioning data obtained by the UWB radio frequency unit to the fire command battle network. The command battle network wirelessly transmits the collected positioning data to the on-site command center, which receives, stores and determines the location of the positioning data; A radio frequency antenna unit, which is used to transmit and receive wireless signals from the UWB radio frequency unit and the 1.4G-Mesh module; A power supply unit is used to supply power to the UWB radio frequency unit and the 1.4G-Mesh module.

3. The indoor space positioning system for firefighters based on two-way compensation according to claim 1 is characterized in that: The UWB secondary base station includes: A UWB radio frequency unit, which is used to obtain positioning data of individual firefighters; A radio frequency antenna unit, configured to transmit and receive wireless signals from the UWB radio frequency unit; A power supply unit is used to supply power to the UWB radio frequency unit.

4. The indoor space positioning system for firefighters based on two-way compensation according to claim 1 is characterized in that: The UWB main base station and the UWB secondary base station are deployed on both ear sides of the firefighter's helmet in a pasting manner.

5. The indoor space positioning system for firefighters based on two-way compensation according to claim 1 is characterized in that: The UWB main base station and the UWB secondary base station are connected via an Ethernet cable.

6. A method for indoor spatial positioning of a firefighter based on two-way compensation, applicable to the indoor spatial positioning system for a firefighter based on two-way compensation as claimed in any one of claims 1 to 5, characterized in that: The following steps are involved: S1: Defines the basic space and coordinates of the firefighter's location; S2: Project the reference coordinates of the fire evacuation indicator light onto the plane where the individual UWB base station is located; S3: Calculate the location coordinates of the UWB primary base station and the UWB secondary base station; S4: Obtain the coordinates of the firefighter's location.

7. The method for indoor spatial positioning of a firefighter based on bidirectional compensation according to claim 6, characterized in that: In the step S1, Define the coordinates of the firefighter as p(x,y) and the coordinates of the UWB main base station as p p (x,y), the coordinates of the UWB secondary base station are p s (x, y), defines the height of the UWB primary base station and the UWB secondary base station from the ground as h; The three fire emergency evacuation and lighting indicators close to the UWB main base station are defined as p IL-21 , p IL-22 and p IL-23 , three fire emergency evacuation and lighting indicator lights p IL-21 , p IL-22 and p IL-23 The distances from the UWB main base station are d 21 , d 22 and d 23 , the coordinates are p IL-21 (x,y),p IL-22 (x,y) and p IL-23 (x,y), the height from the ground is h 21 , h 22 and h 23 ; The three fire emergency evacuation and lighting indicators adjacent to the UWB secondary base station are defined as p IL-11 , p IL-12 and p IL-13 , three fire emergency evacuation and lighting indicator lights p IL-11 , p IL-12 and p IL-13 The distances to the UWB secondary base station are d 11 , d 12 and d 13 , the coordinates are p IL-11 (x,y),p IL-12 (x,y) and p IL-13 (x,y), the height from the ground is h 11 , h 12 and h 13 .

8. The method for indoor spatial positioning of a firefighter based on bidirectional compensation according to claim 7, characterized in that: In the step S2, Define three fire emergency evacuation and lighting indicator lights near the UWB main base station IL-21 , p IL-22 and p IL-23 The projected coordinate is p ～ IL-21 (x,y),p ～ IL-22 (x,y) and p ～ IL-23 (x, y), the distance between the UWB main base station and the three coordinates after projection is defined as and calculate and The formulas are: Define three fire emergency evacuation and lighting indicator lights adjacent to the UWB secondary base station IL-11 , p IL-12 and p IL-13 The projected coordinate is p ～ IL-11 (x,y),p ～ IL-12 (x,y) and p ～ IL-13 (x,y), the distance between the UWB secondary base station and the three projected coordinates is defined as and calculate and The formulas are:

9. The method for indoor spatial positioning of a firefighter based on bidirectional compensation according to claim 8, characterized in that: In step S3, the coordinates of the UWB main base station p p The formula for (x, y) is: UWB secondary base station coordinates p s The formula for (x,y) is:

10. The method for indoor spatial positioning of a firefighter based on bidirectional compensation according to claim 9, characterized in that: In step S4, the formula for calculating the plane coordinates p(x, y) of the position of the firefighter is: By using the attribute data of the floor where the nearby fire evacuation indicator light is located, the specific floor where the individual soldier is at that moment can be obtained.

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