Firefighting individual indoor space positioning system and method based on bidirectional compensation

Abstract

The application discloses a fire-fighting individual indoor space positioning system and method based on bidirectional compensation, relates to the indoor space positioning technical field in a fire-fighting and rescue scene, and comprises a UWB base station, a plurality of fire emergency evacuation and lighting indicator lamps and a UWB-Tag. The UWB base station is worn by a fire-fighting individual into a building, the UWB base station comprises a UWB main base station and a UWB auxiliary base station which are connected through a communication link to realize data interaction, the plurality of fire emergency evacuation and lighting indicator lamps are arranged in the building, the application reduces the implementation cost, and has a wide application prospect; the fire emergency evacuation and lighting indicator 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 emergency evacuation and lighting indicator lamps closest to the UWB main base station and the UWB auxiliary base station, so that the 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] This invention relates to the field of indoor spatial positioning technology in fire fighting and rescue scenarios, specifically to a firefighter's individual indoor spatial positioning system and method based on bidirectional compensation. Background Technology

[0002] The number of high-rise buildings in my country has grown rapidly, exceeding 1 million by 2023, including more than 5,000 super high-rise buildings, ranking first in the world. However, this has also brought a severe fire situation. In the first eight months of 2024, there were 36,000 fires in high-rise buildings, exceeding the total for the entire year of 2023. High-rise and super high-rise buildings are prone to fires that can cause serious casualties due to their dense population, enclosed spaces, and difficulties in evacuation and smoke extraction, posing a great challenge to fire rescue.

[0003] Ensuring the safety of firefighters has always been a key research focus for the Ministry of Emergency Management, the National Fire and Rescue Bureau, domestic and international research institutions, and universities. The state has listed "individual soldier protection" as a key research and development topic. Among these, obtaining individual soldier location information in indoor environments is of great significance. Accurate positioning can enable rapid rescue when a soldier is in danger, and it also helps the command center to grasp the distribution of personnel, scientifically command operations, and improve the combat effectiveness of rescue teams.

[0004] There are various existing indoor positioning technologies, such as infrared, ultrasonic, Wi-Fi, Bluetooth, ultra-wideband (UWB), and inertial measurement unit (IMU). Each technology has its unique advantages and limitations, and is suitable for different positioning scenarios and business needs. Selecting a suitable positioning technology solution is a process of balancing business needs (such as positioning scenarios and accuracy requirements) and positioning costs (including equipment costs, personnel costs, and maintenance costs). Achieving real-time location acquisition for individual firefighters at fire 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 and it is impossible to pre-deploy positioning facilities, the indoor positioning system of individual firefighters should, as far as possible, not rely on external basic positioning facilities, or these facilities should be as inexpensive as possible and have other daily functions to assist in positioning when a fire occurs.

[0006] 2. Effectiveness during the rescue process: Before entering a building to carry out fire fighting and rescue, the external mains power supply to the building is usually cut off to prevent secondary damage. This requires that the positioning equipment must have independent power supply capability or other effective power support.

[0007] 3. Complexity of the scenario: High-rise and super high-rise buildings have complex structures, and location estimation technologies based on radio frequency propagation attenuation (such as Wi-Fi, Bluetooth, UWB, etc.) need to solve the problem of 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 a long period of operation. Once the floor estimation is inaccurate, it may delay the rescue opportunity and lead to serious consequences. Summary of the Invention

[0009] To address the shortcomings of existing technologies, this invention provides a firefighter indoor spatial positioning system based on bidirectional compensation. This invention reduces implementation costs and has broad prospects for widespread application. Fire emergency evacuation and lighting indicators continuously power the UWB-Tag, providing continuous power support. The UWB main base station and UWB secondary base station select the UWB-Tag from the three closest fire emergency evacuation and lighting indicators, greatly reducing interference caused by LOS (non-line of sight). The deployment method of the UWB main base station and UWB secondary base station is equivalent to adding a positioning reference point, which can greatly improve positioning accuracy.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a firefighter indoor spatial positioning system based on bidirectional compensation, comprising:

[0011] UWB base station, the UWB base station is worn by firefighters and entered into the building, the UWB base station includes a UWB main base station and a UWB secondary base station that realize data interaction connection through a communication link;

[0012] Multiple fire emergency evacuation and lighting indicator lights are installed inside the building. Each fire emergency evacuation and lighting indicator light has a built-in UWB-Tag. The multiple UWB-Tags determine the relative distance by communicating with the UWB main base station and the UWB secondary base station via radio frequency, thereby obtaining the positioning data of individual firefighters.

[0013] The fire command and control network and the on-site command center are connected by a wireless data communication link. The UWB main base station transmits positioning data to the on-site command center through the fire command and control network.

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

[0015] UWB radio frequency unit, the UWB radio frequency unit is used to acquire the positioning data of individual firefighters;

[0016] The 1.4G-Mesh module is used to wirelessly transmit the positioning data acquired by the UWB radio frequency unit to the fire command and control network. The command and control 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 provided for supplying power to the UWB radio frequency unit and the 1.4G-Mesh module.

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

[0020] UWB radio frequency unit, the UWB radio frequency unit is used to acquire the positioning data of individual firefighters;

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

[0022] A power supply unit is provided for supplying power to the UWB radio frequency unit.

[0023] Preferably, the UWB main base station and UWB secondary base station are deployed on the sides of the firefighter's helmet by adhesive bonding.

[0024] Preferably, the UWB main 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 spatial location and coordinates of a firefighter's position;

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

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

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

[0030] Preferably, in step S1,

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

[0032] The three fire emergency evacuation and lighting indicators near 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 to the UWB main base station are d respectively 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), with heights h above the ground respectively. 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 respectively 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), with heights h above the ground respectively. 11 h 12 and h 13 .

[0034] Preferably, in step S2,

[0035] Define three fire emergency evacuation and lighting indicator lights adjacent to the UWB main base station. IL-21 p IL-22 and p IL-23 The projected coordinates are p ～ IL-21 (x,y), p ～ IL-22 (x,y) and p ～ IL-23 (x, y), define the distance between the UWB main base station and the three projected coordinates as... and calculate and The formulas are as follows:

[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 coordinates are p ～ IL-11 (x,y), p ～ IL-12 (x,y) and p ～ IL-13 (x, y), define the distance between the UWB secondary base station and the three coordinates after projection as... and calculate and The formulas are as follows:

[0038]

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

[0040]

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

[0042]

[0043] Preferably, in step S4, the formula for calculating the planar coordinates p(x,y) of the firefighter's location is:

[0044]

[0045] By using the attribute data of the nearby fire evacuation indicator lights, the specific floor where the soldier is located at any given time can be obtained.

[0046] This invention provides a firefighter's indoor spatial positioning system and method based on bidirectional compensation, which has the following beneficial effects:

[0047] Traditionally, most UWB positioning methods involve the fixed deployment of UWB base stations, with wireless network connections between them. The location of the UWB-Tag is obtained based on a unified clock, and the specific positioning algorithms are mainly TOA, TDOA, etc. In contrast, this invention combines UWB-Tag with fire emergency evacuation and lighting indicators. The UWB-Tag is fixedly deployed, and firefighters carry two UWB base stations to achieve reverse positioning. This allows for real-time access to the fire rescue on-site command and control network and transmission of 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 this invention can greatly reduce the implementation cost and has broad prospects for promotion and application. After a fire occurs, the UWB-Tag can be continuously powered through fire emergency evacuation and lighting indicators to ensure that the UWB-Tag has effective power support during a fire.

[0049] During the coordinate determination process, the UWB main base station and UWB secondary base station select the UWB-Tag from the three closest fire emergency evacuation and lighting indicator lights, which can greatly reduce interference caused by LOS (non-line of sight). The deployment method of the UWB main base station and UWB secondary base station is equivalent to adding a positioning reference point, which can compensate for the impact of single node location acquisition on positioning accuracy to a certain extent, and can greatly improve the utilization rate of the reference position of fire emergency evacuation and lighting indicator lights in the spatial structure during the location acquisition process. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of a firefighter's indoor spatial positioning system based on bidirectional compensation, according to the present invention.

[0051] Figure 2 This is a schematic diagram illustrating the deployment principle of a firefighter base station for a firefighter indoor spatial positioning system based on bidirectional compensation, according to the present invention.

[0052] Figure 3 This is a schematic diagram illustrating the integration of the fire evacuation indicator light and the UWB-Tag in this invention.

[0053] Figure 4 This is a basic flowchart for determining the position of a single soldier in this invention. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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's indoor spatial positioning system based on bidirectional compensation, comprising:

[0056] UWB base stations are worn by firefighters and brought into buildings. UWB base stations include a main UWB base station and a secondary UWB base station that achieve data interaction connection through a communication link.

[0057] Multiple fire emergency evacuation and lighting indicator lights are installed inside 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 spatial positioning reference coordinate for obtaining the location of individual firefighters during emergency rescue. Multiple UWB-Tags determine the relative distance by communicating with the UWB main base station and UWB secondary base station via radio frequency, thereby obtaining the location data of individual firefighters.

[0058] The fire command and control network and the on-site command post establish a data communication link wirelessly. The UWB main base station transmits positioning data to the on-site command post through the fire command and control network.

[0059] In this embodiment, the integration of fire emergency evacuation and lighting indicators with UWB-Tags enables the fire emergency evacuation and lighting indicators to provide continuous power input to the UWB-Tags. Furthermore, the coordinates of the UWB-Tags can be determined by referring to the layout diagram, address, and floor of the fire emergency evacuation and lighting indicators. The location data of individual firefighters is determined through signal interaction between the UWB main base station and multiple UWB-Tags via UWB main base stations and UWB secondary base stations. The UWB main base station transmits the location data to the on-site command center via the fire command and control network, enabling the on-site command center to clearly understand the location information of the on-site rescue personnel. The on-site command and control network is deployed temporarily during the on-site networking process. Firefighters entering complex scenarios such as high-rise or super high-rise buildings carry small networking devices, which are deployed as they move, ensuring network coverage in areas where firefighters are present.

[0060] like Figure 3 As shown, if the housing 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 housing 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 effect 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 supplies during rescue operations, without depending on external mains power, ensuring the effectiveness of positioning during 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 diagrams of the building's internal fire protection facilities. These diagrams contain information such as the location, address, and floor of emergency lighting fixtures, which can serve as precise reference points for individual positioning during disasters. Furthermore, according to the current national standard GB51309-2018 "Technical Standard for Fire Emergency Lighting and Evacuation Indication Systems":

[0062] First, evacuation corridors and staircases with supporting structures:

[0063] When the sign face of a directional sign is perpendicular to the evacuation direction, the spacing between the lights should not exceed 20m.

[0064] When the sign face of a directional sign is parallel to the evacuation direction, the spacing between the lights should not exceed 10m.

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

[0066] When the sign face of a directional sign is perpendicular to the evacuation direction, the spacing between extra-large or large directional signs should not exceed 30m, and the spacing between medium or small directional signs should not exceed 20m.

[0067] When the sign face of a directional sign is parallel to the evacuation direction, the spacing between extra-large or large directional sign lights should not exceed 15m, and the spacing between medium or small directional sign lights should not exceed 10m.

[0068] Third, maintain visual continuity with directional sign lights:

[0069] Lights should be placed in the center of the evacuation corridor or passageway, and the spacing between light fixtures should not exceed 3m.

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

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

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

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

[0074] The radio frequency antenna unit is used to transmit and receive wireless signals from the UWB radio frequency unit and the 1.4G-Mesh module.

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

[0076] UWB secondary base stations include:

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

[0078] The radio frequency antenna unit 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. High-speed data transmission is achieved by sending a series of short pulses over a wide frequency range. 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. The positioning accuracy can reach the centimeter level.

[0081] The 1.4G-Mesh module is a wireless mesh self-organizing network module that operates in the 1.4GHz frequency band. It can achieve non-line-of-sight communication capability of 0.5-2 kilometers or more in urban environments with obstacles. It has a long communication distance and strong anti-interference capability.

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

[0083] As an embodiment of the present invention, the UWB main base station and the UWB secondary base station are deployed on the sides of the ears of the firefighter's helmet by means of adhesive.

[0084] In this embodiment, this deployment method ensures that when an object falls from above a firefighter, it will not fall vertically onto the UWB base station, thus preventing the UWB base station from directly impacting the firefighter's helmet and endangering the firefighter's head safety.

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

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

[0087] like Figure 4 As shown, the present invention also provides a method for indoor spatial positioning of individual firefighters based on bidirectional compensation, comprising the following steps:

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

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

[0090] The three fire emergency evacuation and lighting indicators near 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 p IL-21 p IL-22 and p IL-23 The distances to the UWB main base station are d respectively 21 d 22 and d 23 ;

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

[0093] Three fire emergency evacuation and lighting indicator lights p IL-21 p IL-22 and p IL-23 The heights above 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 p IL-11 p IL-12 and p IL-13 The distances to the UWB secondary base station are d respectively 11 d 12 and d 13 ;

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

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

[0098] The methods for obtaining the above distances can include TWR, TDOA, etc.

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

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

[0101]

[0102] Similarly, define three fire evacuation indicator lights p near the UWB secondary base station. IL-11 p IL-12 and p IL-13 The projected coordinates are p～ IL-11 (x,y), p ～ IL-12 (x,y) and p ～ IL-13 (x, y), define the distance between the UWB secondary base station and the three coordinates after projection as... and So

[0103]

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

[0105] The equation for the calculation is as follows:

[0106]

[0107] Based on the coordinates of three points p on the plane... ～ IL-21 (x,y), p ～ IL-22 (x,y) and p ～ IL-23 (x, y) and the distances 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 Since the values ​​of (x, y) are the same, the coordinates p of the UWB main base station can be obtained by solving the above equation. p (x,y);

[0108] Similarly, the following equation can be listed:

[0109]

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

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

[0112] Based on the formula:

[0113]

[0114] By obtaining the planar coordinates of the firefighter's location at a height of h, and the attribute data of the nearby fire evacuation indicator lights on the floor where the firefighter is located, the specific floor at that moment can be obtained.

[0115] In this positioning method, the clocks of the UWB main base station and the UWB secondary base station deployed on both sides of the 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 sampled data are from the same time and the same scenario.

[0116] In this positioning method, during the determination of the coordinates of the UWB primary and secondary base stations, there may be many nearby fire-fighting facility indicator lights acquired at the same time. The selection strategy is to select the three closest ones, which can greatly reduce the interference caused by LOS (non-line of sight). 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. Based on the fact that its distance from the UWB primary base station is constant (the width of the helmet) as an equation, the coordinates of the UWB primary base station can also be calculated by substituting it into the positioning equation.

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

Claims

1. A firefighter's indoor spatial positioning system based on bidirectional compensation, characterized in that, include: UWB base station, which is worn by firefighters inside buildings, includes a main UWB base station and a secondary UWB base station that are connected via a communication link for data interaction; the main UWB base station and the secondary UWB base station are attached to the sides of the firefighter's helmet by adhesive; the main UWB base station and the secondary UWB base station are connected by an Ethernet cable. Multiple fire emergency evacuation and lighting indicator lights are installed inside the building. Each fire emergency evacuation and lighting indicator light has a built-in UWB-Tag. The multiple UWB-Tags determine the relative distance by communicating with the UWB main base station and the UWB secondary base station via radio frequency, thereby obtaining the positioning data of individual firefighters. The fire command and control network and the on-site command post are connected by a wireless data communication link, and the UWB main base station transmits positioning data to the on-site command post through the fire command and control network. The UWB main base station includes: UWB radio frequency unit, the UWB radio frequency unit is used to acquire the positioning data of individual firefighters; The 1.4G-Mesh module is used to wirelessly transmit the positioning data acquired by the UWB radio frequency unit to the fire command and control network. The command and control 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 provided for supplying power to the UWB radio frequency unit and the 1.4G-Mesh module.

2. The firefighter indoor spatial positioning system based on bidirectional compensation according to claim 1, characterized in that, The UWB secondary base station includes: UWB radio frequency unit, the UWB radio frequency unit is used to acquire the positioning data of individual firefighters; A radio frequency antenna unit, which is used to transmit and receive wireless signals from the UWB radio frequency unit; A power supply unit is provided for supplying power to the UWB radio frequency unit.

3. A method for indoor spatial positioning of individual firefighters based on bidirectional compensation, applicable to the indoor spatial positioning system for individual firefighters based on bidirectional compensation described in any one of claims 1-2, characterized in that, Includes the following steps: S1: Defines the basic spatial location and coordinates of a firefighter's position; Define individual firefighter coordinates as The coordinates of the UWB main base station are The coordinates of the UWB secondary base station are The height of the UWB primary base station and the UWB secondary base station above the ground is defined as... ; The three fire emergency evacuation and lighting indicators adjacent to the UWB main base station are defined as follows: , and Three fire emergency evacuation and lighting indicator lights , and The distances to the UWB main base station are respectively , and The coordinates are respectively , and The heights from the ground are respectively , and ; The three fire emergency evacuation and lighting indicators adjacent to the UWB secondary base station are defined as follows: , and Three fire emergency evacuation and lighting indicator lights , and The distances to the UWB secondary base station are respectively , and The coordinates are respectively , and The heights from the ground are respectively , and ; S2: Project the reference coordinates of fire emergency evacuation and lighting indicators onto the plane where the individual soldier's UWB base station is located; Specifically, this involves defining three fire emergency evacuation and lighting indicator lights located near the UWB main base station. , and The projected coordinates are , and The distance between the UWB main base station and the three coordinates after projection is defined as... , and ,calculate , and The formulas are as follows: 、 、 ； Define three fire emergency evacuation and lighting indicators adjacent to the UWB secondary base station. , and The projected coordinates are , and The distance between the UWB secondary base station and the three coordinates after projection is defined as follows: , and ,calculate , and The formulas are as follows: 、 、 ； S3: Calculate the location coordinates of the UWB primary base station and the UWB secondary base station: Specifically, the coordinates of the UWB main base station The calculation formula is: ； UWB secondary base station coordinates The calculation formula is: ； S4: Obtain the coordinates of the individual firefighter's location: Calculate the planar coordinates of the individual firefighter's location. The formula is: ； By using the attribute data of the nearby fire emergency evacuation and lighting indicators, the specific floor where the soldier was located at that moment can be obtained.

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