Emergency rescue positioning system and method based on ultra wide band

Abstract

The invention relates to an emergency rescue positioning system and method based on an ultra wide band, and the system comprises a plurality of positioning base stations, a plurality of positioning terminals and a cloud service platform which are disposed at an emergency rescue site. The positioning base station comprises a UWB communication module which is used for carrying out wireless communication with a positioning terminal and obtaining distance measurement data; the directional antenna is connected with the UWB communication module and is used for directionally radiating and receiving UWB signals; the positioning module is used for acquiring geodetic coordinates of the positioning base station; the data processing module is used for preprocessing the ranging data and the geodetic coordinates and sending the preprocessed data to the cloud service platform through the wireless data transmission module; and the cloud service platform is used for receiving the preprocessed data reported by the positioning base station and acquiring the position information of the positioning terminal based on the preprocessed data. The problem of how to improve the positioning accuracy in a complex and severe emergency rescue scene in the prior art is solved.

Description

Technical Field

[0001] This application relates to the field of wireless positioning, and in particular to an emergency rescue positioning system and medium based on ultra-widebandwidth. Background Technology

[0002] In emergency rescue scenarios such as fire rescue, earthquake rescue, and mine rescue, real-time and accurate positioning of rescue personnel deep in the field is crucial for command centers to grasp the situation, ensure the safety of rescue personnel, and improve rescue efficiency. Ultra-wideband (UWB) technology, due to its high bandwidth and high temporal resolution, can achieve centimeter-level precision ranging and is widely used in the positioning field.

[0003] However, when applying UWB technology to complex and harsh emergency rescue sites, its positioning accuracy is severely limited. For example, in obstacle-filled ruins, multi-story buildings, and underground mines, the propagation of UWB signals suffers attenuation and distortion, leading to increased ranging errors. Conventional UWB devices have limited communication distance and obstacle-penetrating capabilities in such environments, making it difficult to guarantee stable, high-quality ranging signals, thus directly affecting the final positioning accuracy.

[0004] Therefore, no effective solution has yet been proposed for improving the positioning accuracy of ultra-bandwidth-based emergency rescue positioning systems in complex and harsh emergency rescue scenarios. Summary of the Invention

[0005] This application provides an ultra-wideband-based emergency rescue positioning system and method to at least address the problem in related technologies of how to improve positioning accuracy in complex and harsh emergency rescue scenarios.

[0006] In a first aspect, embodiments of this application provide an emergency rescue positioning system based on ultra-wideband, including multiple positioning base stations deployed at emergency rescue sites, multiple positioning terminals, and a cloud service platform; wherein, the positioning base stations include: The UWB communication module is used to wirelessly communicate with the positioning terminal to acquire ranging data. A directional antenna, connected to the UWB communication module, is used for directional radiation and reception of UWB signals; The positioning module is used to obtain the geodetic coordinates of the positioning base station; The data processing module is used to preprocess the ranging data and the geodetic coordinates, and send the preprocessed data to the cloud service platform through the wireless data transmission module; The cloud service platform is used to receive preprocessed data reported by the positioning base station and obtain the location information of the positioning terminal based on the preprocessed data.

[0007] In one embodiment, the positioning base station further includes: The positioning antenna is connected to the housing of the positioning base station via a TNC connector and an RG58 RF cable. The data transmission antenna is connected to the outer shell of the positioning base station via an N-type connector; The power management module is used to provide power to the UWB communication module, the positioning module, the data processing module and the wireless data transmission module, wherein the power supply method includes external power supply and internal power supply.

[0008] In one embodiment, the directional antenna is a UWB gain directional antenna with a horizontal beamwidth between 60° and 120°, and the directional antenna and the housing of the positioning base station are connected via an SMA connector and an RG58 RF cable.

[0009] In one embodiment, the UWB communication module and the data processing module are connected via an SPI bus, and the UWB communication module includes a power amplifier and a low-noise amplifier.

[0010] In one embodiment, the positioning module is a BeiDou RTK positioning module, used to receive network RTK differential data and calculate the geodetic coordinates of the positioning base station.

[0011] In one embodiment, the wireless data transmission module is a 4G or 5G data transmission module, which is connected to the data processing module in the positioning base station through an internal bus or high-speed serial port, and transmits the encrypted data to the cloud service platform.

[0012] In one embodiment, the UWB communication module, when wirelessly communicating with the positioning terminal to acquire ranging data, is used for: The UWB communication module of the positioning terminal transmits a UWB request signal at time Ta1; The UWB communication module of the positioning base station receives the UWB request signal and transmits the UWB response signal at time Tb1; The UWB communication module of the positioning terminal receives the UWB response signal at time Tb2; The times Ta1, Tb1, and Tb2 are used as ranging data.

[0013] In one embodiment, the data processing module, when preprocessing the ranging data and the geodetic coordinates, is used to: Based on the times Ta1, Tb1, and Tb2 in the ranging data, the flight time of the radio signal between the positioning terminal and the positioning base station is calculated using the two-way time-of-flight method, and the flight time is correlated with the geodetic coordinates.

[0014] In one embodiment, when the cloud service platform obtains the location information of the positioning terminal based on the preprocessed data, it is used to: The system receives and parses the preprocessed data, which includes the geodetic coordinates of the positioning base station and the flight time between the positioning base station and the positioning terminal. Based on the geodetic coordinates of the positioning base station and the flight time between the positioning base station and the positioning terminal, the location coordinates of the positioning terminal are obtained through a time-of-arrival positioning algorithm.

[0015] Secondly, an emergency rescue positioning method based on ultra-wideband, applied to the system described in the first aspect, the method comprising: Multiple positioning base stations were deployed at the emergency rescue site, and positioning terminals were provided to rescue personnel; After the positioning base station is powered on, the geodetic coordinates of the positioning base station are obtained through the positioning module; The positioning base station uses a UWB communication module and a directional antenna to conduct two-way time-of-flight ranging communication with the positioning terminal carried by the rescue personnel to obtain ranging data; The data processing module of the positioning base station preprocesses the geodetic coordinates and the ranging data, and then transmits them to the cloud service platform in real time through the wireless data transmission module. The cloud service platform receives the preprocessed data and, based on the geodetic coordinates of the positioning base station and the flight time between the positioning base station and the positioning terminal, obtains the location coordinates of the positioning terminal using a time-of-arrival positioning algorithm.

[0016] Thirdly, embodiments of this application provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements an ultra-wideband-based emergency rescue positioning system as described in the first aspect above.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements an ultra-wideband-based emergency rescue positioning system as described in the first aspect above.

[0018] The emergency rescue positioning system based on ultra-wideband provided in this application has at least the following technical effects: Multiple positioning base stations, multiple positioning terminals, and a cloud service platform are deployed at emergency rescue sites. The positioning base stations include: a UWB communication module for wireless communication with the positioning terminals to acquire ranging data; a directional antenna connected to the UWB communication module for directional radiation and reception of UWB signals; and a positioning module and directional antenna, which significantly enhance signal penetration and communication distance, ensuring ranging reliability in complex rescue environments. The positioning module automatically acquires the geodetic coordinates of the base station, enabling it to be used immediately upon deployment and greatly improving deployment efficiency. A data processing module preprocesses the ranging data and geodetic coordinates and transmits the preprocessed data to the cloud service platform via a wireless data transmission module, avoiding reliance on on-site cabling. The cloud service platform receives the preprocessed data reported by the positioning base stations and, based on this data, obtains the location information of the positioning terminals, providing the command center with real-time and accurate personnel locations, and providing crucial information support for rapid search and rescue of trapped personnel. This addresses the challenge of improving positioning accuracy in complex and harsh emergency rescue scenarios.

[0019] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram illustrating the structure of an ultra-wideband-based emergency rescue positioning system according to an exemplary embodiment; Figure 2 This is a schematic diagram of the structure of a positioning base station according to an exemplary embodiment; Figure 3 This is a flowchart of an emergency rescue positioning method based on ultra-wideband; Figure 4 This is a structural block diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0022] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0023] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0024] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0025] In this document, it should be understood that the terms used may be technical means used to implement part of the present invention or other summary technical terms. For example, the terms may include: UWB (Ultra-Wideband) is a wireless communication technology that uses nanosecond-level non-sinusoidal narrow pulses to transmit data. It occupies an extremely wide spectrum (greater than 500MHz), has extremely high time resolution, and low power consumption. In this application, its extremely high time resolution is utilized to precisely measure the time-of-flight (ToF) of radio waves between a base station and a user terminal, thereby achieving centimeter-level ranging accuracy.

[0026] A directional antenna is an antenna that concentrates radio frequency energy in one or a few specific directions for transmission and reception. Compared to an omnidirectional antenna, it has higher gain and a longer coverage range in a specific direction, but a narrower coverage angle.

[0027] Directional radiation: The mode in which antenna energy is concentrated and propagated in a specific direction. Directional radiation of UWB signals allows positioning base stations to project energy more efficiently toward the target area, enhancing the ability to penetrate obstacles (such as walls and ruins) and extending the effective communication ranging distance.

[0028] Geodetic coordinates: A coordinate system used to represent the position of a point on the surface of the Earth's ellipsoid. It is usually defined by three parameters: longitude, latitude, and height.

[0029] TNC connector: A type of threaded coaxial cable connector characterized by stable connection and good shock resistance.

[0030] RG58 RF cable: coaxial cable type, characteristic impedance of 50 ohms, used for transmitting high-frequency RF signals.

[0031] N-type connector: A large threaded coaxial cable connector with a characteristic impedance of 50 ohms. It features a robust design, high power capacity, and excellent shielding, making it suitable for high-performance RF connection applications such as base stations and broadcasting.

[0032] SMA connector: A small threaded coaxial cable connector with a characteristic impedance of 50 ohms.

[0033] BeiDou RTK Positioning: RTK (Real-Time Kinematic) is a high-precision satellite positioning method. Error correction data for satellite signals is calculated using a base station (such as Qianxun Location's network RTK service) and transmitted in real-time to the positioning base station via the mobile network. The positioning base station uses this correction data to process its own raw satellite observation data, thereby calculating positioning coordinates with centimeter-level accuracy in real time.

[0034] In one aspect, embodiments of this application provide an emergency rescue positioning system based on ultra-wideband. Figure 1This is a schematic diagram illustrating the structure of an ultra-wideband-based emergency rescue positioning system according to an exemplary embodiment. Figure 1 As shown, the system includes: multiple positioning base stations deployed at emergency rescue sites, multiple positioning terminals, and a cloud service platform; among which, Figure 2 This is a schematic diagram of the structure of a positioning base station according to an exemplary embodiment, such as... Figure 2 As shown, the positioning base station includes: The UWB communication module is used to communicate wirelessly with the positioning terminal to obtain ranging data.

[0035] Optionally, the UWB communication module and data processing module are connected via an SPI bus. The UWB communication module includes a power amplifier and a low-noise amplifier. Specifically, a high-performance RF front-end architecture is adopted, including one or more stages of power amplifiers (PAs) and low-noise amplifiers (LNAs), which can significantly improve the uplink and downlink budget between the positioning base station and the positioning terminal. The UWB module and the main control unit are connected via a high-speed SPI bus.

[0036] A directional antenna, connected to a UWB communication module via a high-gain PA+LNA transceiver circuit, is used for directional radiation and reception of UWB signals.

[0037] Optionally, the directional antenna is a UWB gain directional antenna with a horizontal beamwidth between 60° and 120°. The directional antenna and the positioning base station housing are connected via an SMA connector and an RG58 RF cable. Specifically, the positioning base station is externally connected to a directional UWB antenna to achieve an optimized balance between directional and omnidirectional coverage, providing excellent obstacle penetration in complex positioning scenarios and improving positioning accuracy.

[0038] The positioning module is used to obtain the geodetic coordinates of the positioning base station.

[0039] Optionally, the positioning module is a BeiDou RTK positioning module, used to receive network RTK differential data and calculate the geodetic coordinates of the positioning base station. Specifically, the positioning base station integrates a real-time dynamic differential (RTK) high-precision BeiDou positioning module. After the base station is powered on, its RTK module automatically searches for satellite signals and receives network RTK differential data from Qianxun Location and other networks through a wireless data transmission unit, automatically calculating and obtaining its own geodetic coordinates (latitude, longitude, and altitude) with centimeter-level accuracy. This coordinate data is automatically uploaded to the backend server via a 4G / 5G data transmission module for calculating the terminal's location, avoiding the time-consuming manual measurement and calibration steps in traditional methods.

[0040] The data processing module is used to preprocess the ranging data and geodetic coordinates, and then send the preprocessed data to the cloud service platform via the wireless data transmission module.

[0041] Optionally, a high-performance GPU chip can be used to quickly process the ranging data of the UWB communication module and the location information of the positioning module, and send the processed information to the background processor in real time via the 4G / 5G module.

[0042] The positioning antenna is connected to the housing of the positioning base station via a TNC connector and an RG58 RF cable.

[0043] Optionally, the threaded locking structure of the TNC connector provides high connection stability and vibration resistance, effectively ensuring the continuous and reliable transmission of satellite positioning signals in complex vibration environments at rescue sites; combined with the low signal attenuation characteristics of the RG58 coaxial cable, it jointly ensures the accuracy and integrity of high-precision BeiDou positioning data acquisition.

[0044] The data transmission antenna connects to the housing of the positioning base station via an N-type connector. Optionally, the data transmission antenna is a 4G / 5G antenna, employing an external omnidirectional fiberglass antenna, connected to the housing of the positioning base station using an N-type connector. The high power capacity and high shielding performance of the N-type connector provide stable and efficient high-frequency signal transmission for the 4G / 5G backhaul link, significantly reducing the risk of data loss. Simultaneously, the fiberglass omnidirectional antenna structure achieves signal coverage, ensuring that the base station can establish a reliable wireless communication link with the remote command center regardless of its deployment location, eliminating the need for on-site network cabling.

[0045] The wireless data transmission module connects to the data transmission antenna and has a built-in 4G / 5G or future-evolving mobile communication modem as the backhaul link. It connects to the main control module via an internal bus (such as USB, PCIe) or a high-speed serial port, directly transmitting encrypted UWB raw measurement data (such as Time of Flight (ToF) and Time Difference of Arrival (TDoA)) or processed location data to the remote command cloud platform, completely eliminating the need for on-site engineering steps such as laying network cables and fiber optic cables. The power management module provides power to the UWB communication module, positioning module, data processing module, and wireless data transmission module, through both external power supply and internal power supply.

[0046] Optionally, the power management module can be connected to various external power sources, such as DC power, PoE power, and UPS power interfaces. After internal voltage reduction, it provides stable power to the internal circuits of the UWB communication module, positioning module, data processing module, and wireless data transmission module. The base station integrates a backup battery, enabling seamless switching between external power and the internal battery, with priority given to charging the internal battery using external power. When the external portable power source is replaced, the positioning system operation remains unaffected, and the internal battery continues to operate for at least 2 hours. Furthermore, the UPS emergency portable power source uses a hot-swappable modular DC UPS, including but not limited to high-energy-density lithium-ion battery packs, supercapacitors, or combinations thereof, eliminating the difficulty of obtaining power on-site.

[0047] The cloud service platform is used to receive pre-processed data reported by the positioning base station and obtain the location information of the positioning terminal based on the pre-processed data.

[0048] In one embodiment, the UWB communication module, when wirelessly communicating with the positioning terminal to acquire ranging data, is used for: The UWB communication module of the positioning terminal transmits a UWB request signal at time Ta1; The UWB communication module of the positioning base station receives the UWB request signal and transmits the UWB response signal at time Tb1; The UWB communication module of the positioning terminal receives the UWB response signal at time Tb2; Use Ta1, Tb1, and Tb2 as ranging data.

[0049] Optionally, when the positioning terminal and the positioning base station begin ranging, the precision clock unit of the UWB communication module inside the terminal first generates and records the initial timestamp Ta1, and at the same time controls the radio frequency front-end to transmit a UWB request pulse signal with specific encoding. After the UWB communication module of the positioning base station captures the signal through the high-gain directional antenna, its internal processing unit immediately records the arrival time Tb1 and triggers the response mechanism to immediately transmit a UWB response signal with time stamp information. After receiving the response signal, the clock unit of its UWB module accurately records the arrival time Tb2. Finally, the three key time stamp data, Ta1, Tb1, and Tb2, are packaged into the original ranging dataset and transmitted to the data processing module for time-of-flight calculation via the high-speed SPI bus.

[0050] Through two-way signal interaction and a precise time-stamping recording mechanism, errors caused by clock asynchrony between devices are effectively eliminated, providing a reliable data foundation for subsequent high-precision distance calculation. Using UWB for ranging fully leverages its high temporal resolution, enabling the system to maintain centimeter-level ranging accuracy even in complex multipath environments. The entire process is completed automatically at the hardware level, requiring no manual intervention. This ensures operational efficiency in emergency rescue scenarios while guaranteeing the reliability and consistency of ranging results through standardized processing procedures.

[0051] In one embodiment, the data processing module, when preprocessing the ranging data and geodetic coordinates, is used to: Based on the time of Ta1, Tb1, and Tb2 in the ranging data, the flight time of the radio signal between the positioning terminal and the positioning base station is calculated using the two-way time-of-flight method, and the flight time is correlated with the geodetic coordinates.

[0052] Optionally, firstly, the timestamps Ta1 (time when the terminal transmits a request signal), Ta2 (time when the terminal receives a return signal from the base station), and Tb2 (time when the terminal receives a response signal), recorded by the positioning terminal, and Tb1 (time when the base station receives a request signal), recorded by the positioning base station, are parsed from the received raw data packets; then, the flight time is calculated using the two-way time-of-flight (TW-ToF) method, specifically as follows: The flight time is calculated using the formula S=C*[(Tb2-Ta1)-(Tb1-Ta2)] (where C is the speed of light). Finally, the calculated flight time or raw timestamp data is correlated and encapsulated with the centimeter-precision geodetic coordinates (including longitude, latitude, and elevation) of the corresponding base station, and then transmitted to the cloud service platform via a wireless data transmission module.

[0053] Furthermore, the positioning terminal sends a UWB ranging request signal at time Ta1, the positioning base station receives the ranging request signal sent by the positioning terminal at time Tb1, and returns a ranging response signal at time Tb2. The positioning terminal receives the ranging response signal returned by the positioning base station at time Ta2, and the positioning terminal sends a ranging resolution signal to the positioning base station again at time Ta3. The positioning base station receives the ranging resolution signal sent by the positioning terminal at time Tb3.

[0054] Therefore, the distance between the positioning terminal and the positioning base station can be calculated as follows: D=C*{[(Ta2-Ta1)-(Tb2-Tb1)] / 2+[(Tb3-Tb2)-(Ta3-Ta2)] / 2} / 2 In the formula, C is the speed of light.

[0055] In one embodiment, when the cloud service platform obtains the location information of the positioning terminal based on preprocessed data, it is used to: Receive and parse preprocessed data, which includes the geodetic coordinates of the positioning base station and the flight time between the positioning base station and the positioning terminal; Based on the geodetic coordinates of the positioning base station and the flight time between the positioning base station and the positioning terminal, the location coordinates of the positioning terminal are obtained through the time-of-arrival positioning algorithm.

[0056] Optionally, encrypted preprocessed data transmitted via a wireless data transmission module is received, decrypted, and parsed. This preprocessed data includes the geodetic coordinates (longitude, latitude, and elevation) of at least three positioning base stations, as well as the radio signal time-of-flight data between each positioning base station and the same positioning terminal. The parsed data undergoes integrity verification and timestamp alignment to ensure time consistency across multiple data sources. Based on the precise coordinates of multiple positioning base stations and their time-of-flight data with the same terminal, a mathematical solution model is established using a Time of Arrival (TOA) positioning algorithm to calculate the positioning terminal's position coordinates. The calculated position coordinates are then converted from a geodetic coordinate system to the required planar coordinate system (such as the UTM coordinate system).

[0057] In one embodiment, the system further includes a display unit for receiving location data from the location site and displaying the precise location of the rescue personnel on a display screen in real time.

[0058] In summary, this application provides an ultra-wideband (UWB) emergency rescue positioning system. Through highly integrated and automated design, it integrates a UWB communication module, directional antenna, positioning module, data processing module, wireless data transmission module, positioning antenna, data transmission antenna, and power management module into a single positioning base station. This system, along with the positioning base station, positioning terminal, and cloud service platform, achieves the following: Extremely improved deployment efficiency: Rapid deployment of the positioning base station is achieved, reducing the traditional deployment time of several hours to minutes. Significantly enhanced positioning reliability: High-performance radio frequency and directional antennas ensure communication and positioning accuracy and range in complex and harsh rescue environments. Strong guarantee of rescue safety: Real-time and accurate personnel location and movement trajectory are provided to the command center, providing crucial information support for rapid search and rescue of trapped personnel. This addresses the problem in related technologies of how to improve positioning accuracy in complex and harsh emergency rescue scenarios.

[0059] Secondly, embodiments of this application provide an emergency rescue positioning method based on ultra-wideband. Figure 3 This is a flowchart of an emergency rescue positioning method based on ultra-wideband, such as... Figure 3 As shown, the method includes: Step S101: Deploy multiple positioning base stations at the emergency rescue site and equip rescue personnel with positioning terminals.

[0060] Step S102: After the positioning base station is powered on, the geodetic coordinates of the positioning base station are obtained through the positioning module.

[0061] Step S103: The positioning base station communicates with the positioning terminal carried by the rescue personnel through a UWB communication module and a directional antenna to obtain ranging data.

[0062] Step S104: After the data processing module of the positioning base station preprocesses the geodetic coordinates and ranging data, it transmits them to the cloud service platform in real time through the wireless data transmission module.

[0063] Step S105: The cloud service platform receives the preprocessed data and, based on the geodetic coordinates of the positioning base station and the flight time between the positioning base station and the positioning terminal, obtains the location coordinates of the positioning terminal through the time-of-arrival positioning algorithm.

[0064] In summary, this application provides an emergency rescue positioning method based on ultra-wideband (UWB). By integrating an RTK module into the positioning base station, it autonomously acquires ground coordinates, enabling the base station to be used immediately upon deployment. This avoids the time-consuming manual coordinate measurement and input steps of traditional methods, significantly shortening on-site deployment time. Through a UWB communication module and a directional antenna, bidirectional time-of-flight ranging is performed. Combined with the high gain and strong penetration characteristics of the directional antenna, the quality and reliability of the ranging signal are ensured in complex rescue environments, laying a data foundation for high-precision positioning. Data backhaul is achieved using a wireless wide area network, eliminating reliance on wired networks and ensuring the real-time nature and remote accessibility of positioning data. Finally, the cloud service platform, based on the precise coordinates and ranging data from multiple base stations, uses the TOA algorithm to calculate the terminal location, forming a complete technical closed loop from rapid automatic deployment and reliable data acquisition to remote precise positioning, significantly improving the efficiency and safety of emergency rescue.

[0065] It should be noted that the ultra-wideband-based emergency rescue positioning system provided in this embodiment is used to implement the above-described embodiments, and details already described will not be repeated. As used above, the terms "module," "unit," and "subunit" can refer to a combination of software and / or hardware that performs a predetermined function. Although the apparatus described in the above embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0066] Thirdly, embodiments of this application provide an electronic device, Figure 4 This is a block diagram illustrating an electronic device according to an exemplary embodiment. (e.g.) Figure 4 As shown, the electronic device may include a processor 41 and a memory 42 storing computer program instructions.

[0067] Specifically, the processor 41 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0068] The memory 42 may include a large-capacity memory for data or instructions. For example, and not limitingly, the memory 42 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 42 may include removable or non-removable (or fixed) media. Where appropriate, the memory 42 may be internal or external to a data processing device. In a particular embodiment, the memory 42 is non-volatile memory. In a particular embodiment, the memory 42 includes read-only memory (ROM) and random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), an electrically alterable read-only memory (EAROM), or flash memory, or a combination of two or more of these. Where appropriate, the RAM can be Static Random-Access Memory (SRAM) or Dynamic Random-Access Memory (DRAM). DRAM can be Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), Extended Data Out Dynamic Random-Access Memory (EDODRAM), Synchronous Dynamic Random-Access Memory (SDRAM), etc.

[0069] The memory 42 can be used to store or cache various data files that need to be processed and / or used for communication, as well as possible computer program instructions executed by the processor 41.

[0070] The processor 41 reads and executes computer program instructions stored in the memory 42 to implement any of the ultra-wideband-based emergency rescue positioning systems described in the above embodiments.

[0071] In one embodiment, an ultra-wideband-based emergency rescue positioning device may further include a communication interface 43 and a bus 40. Wherein, as... Figure 4 As shown, the processor 41, memory 42, and communication interface 43 are connected through bus 40 and complete communication with each other.

[0072] The communication interface 43 is used to enable communication between the various modules, devices, units, and / or equipment in the embodiments of this application. The communication interface 43 can also enable data communication with other components such as external devices, image / data acquisition devices, databases, external storage, and image / data processing workstations.

[0073] Bus 40 includes hardware, software, or both, that couples together components of an ultra-wideband-based emergency rescue positioning device. Bus 40 includes, but is not limited to, at least one of the following: data bus, address bus, control bus, expansion bus, and local bus. For example, and not as a limitation, bus 40 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 40 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0074] Fourthly, embodiments of this application provide a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements an ultra-wideband-based emergency rescue positioning system provided in the first aspect.

[0075] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0076] In a possible implementation, the present invention can also be implemented as a program product comprising program code, which, when the program product is run on a terminal device, causes the terminal device to perform steps to implement the ultra-wideband-based emergency rescue positioning system provided in the first aspect.

[0077] The program code for executing the present invention can be written in any combination of one or more programming languages. The program code can be executed entirely on the user device, partially on the user device, as a standalone software package, partially on the user device and partially on a remote device, or entirely on a remote device.

[0078] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An ultra-wideband based emergency rescue positioning system, characterized in that, The system comprises a plurality of positioning base stations, a plurality of positioning terminals and a cloud service platform deployed at an emergency rescue site, wherein the positioning base station comprises: a UWB communication module, configured to communicate wirelessly with the positioning terminal and acquire ranging data; a directional antenna, connected to the UWB communication module, configured to radiate and receive UWB signals directionally; a positioning module, configured to acquire geodetic coordinates of the positioning base station; a data processing module, configured to preprocess the ranging data and the geodetic coordinates, and send the preprocessed data to the cloud service platform through a wireless data transmission module; the cloud service platform is configured to receive the preprocessed data reported by the positioning base station, and acquire position information of the positioning terminal based on the preprocessed data.

2. The ultra-wideband-based emergency rescue positioning system according to claim 1, characterized in that, The positioning base station further comprises: a positioning antenna, connected to the positioning base station shell through a TNC connector and an RG58 radio frequency line; a data transmission antenna, connected to the positioning base station shell through an N-type connector; a power management module, configured to provide power supply for the UWB communication module, the positioning module, the data processing module and the wireless data transmission module, wherein the power supply mode includes external power supply and internal power supply.

3. The ultra-wideband-based emergency rescue positioning system according to claim 1, characterized in that, The directional antenna is a UWB gain directional antenna with a horizontal beam width of 60° to 120°, and the directional antenna and the positioning base station shell are connected through an SMA connector and an RG58 radio frequency line.

4. The ultra-wideband-based emergency rescue positioning system according to claim 1, characterized in that, The UWB communication module and the data processing module are connected through an SPI bus, and the UWB communication module comprises a power amplifier and a low-noise amplifier.

5. The ultra-wideband-based emergency rescue positioning system according to claim 1, wherein, The positioning module is a Beidou RTK positioning module, configured to receive network RTK differential data and solve the geodetic coordinates of the positioning base station.

6. The ultra-wideband-based emergency rescue positioning system according to claim 1, wherein, The wireless data transmission module is a 4G or 5G data transmission module, connected to the data processing module in the positioning base station through an internal bus or a high-speed serial port, and transmits data to the cloud service platform after encryption.

7. The ultra-wideband-based emergency rescue positioning system according to claim 1, characterized in that, When the UWB communication module of the positioning terminal transmits a UWB request signal at Ta1 time, the UWB communication module of the positioning base station receives the UWB request signal at Tb1 time and transmits a UWB response signal, the UWB communication module of the positioning terminal receives the UWB response signal at Tb2 time, and the Ta1 time, the Tb1 time and the Tb2 time are taken as ranging data. When the data processing module preprocesses the ranging data and the geodetic coordinates, it is used for: based on the Ta1 time, the Tb1 time and the Tb2 time in the ranging data, the flight time of the radio signal between the positioning terminal and the positioning base station is calculated by the two-way time of flight method, and the flight time is associated with the geodetic coordinates. When the cloud service platform acquires the position information of the positioning terminal based on the preprocessed data, it is used for: receiving and analyzing the preprocessed data, the preprocessed data comprising the geodetic coordinates of the positioning base station and the flight time between the positioning base station and the positioning terminal; 8. The ultra-wideband-based emergency rescue positioning system of claim 1, wherein, ​ ​ 9. The ultra-wideband-based emergency rescue positioning system of claim 1, wherein, ​ ​ Based on the geodetic coordinates of the positioning base station and the time of flight between the positioning base station and the positioning terminal, the position coordinates of the positioning terminal are obtained through a time of arrival positioning algorithm.

10. An emergency rescue positioning method based on ultra-wideband, applied to the system in claims 1-9, characterized in that, The method comprises: Deploy multiple positioning base stations at the emergency rescue site and configure positioning terminals for rescue personnel; After the positioning base station is powered on, the geodetic coordinates of the positioning base station are obtained through a positioning module; The positioning base station communicates with the positioning terminal carried by the rescue personnel through a UWB communication module and a directional antenna to obtain ranging data; The data processing module of the positioning base station pre-processes the geodetic coordinates and the ranging data and transmits them to the cloud service platform in real time through the wireless data transmission module; The cloud service platform receives the pre-processed data, obtains the position coordinates of the positioning terminal through a time of arrival positioning algorithm based on the geodetic coordinates of the positioning base station and the time of flight between the positioning base station and the positioning terminal.

Images