Comprehensive positioning and emergency communication method for mountain jungle disaster rescue

Abstract

The invention relates to the technical field of emergency rescue communication, in particular to a comprehensive positioning and emergency communication method for mountain jungle disaster rescue. Comprising the following steps: deploying an individual beacon and signal emission; deploying an unmanned aerial vehicle aerial platform and scanning response; sAR-based high-precision three-dimensional positioning of a complex environment is realized; constructing a self-adaptive 5G and Mesh ad hoc network based on perception; unmanned aerial vehicle precise hovering and communication guarantee based on positioning information; large-range communication coverage is carried out through multi-machine cooperation; through the above mode, the purposes of overcoming a complex terrain environment, realizing accurate positioning of a fire-fighting individual soldier, rapidly establishing a large-range and high-reliability emergency communication link, and guiding the unmanned aerial vehicle to carry out accurate communication guarantee are achieved.

Description

Technical Field

[0001] This invention relates to the field of emergency rescue communication technology, and in particular to a comprehensive positioning and emergency communication method for mountain and jungle disaster relief. Background Technology

[0002] In recent years, with the popularization of outdoor activities, accidents involving people in mountainous and jungle environments have occurred frequently, posing a severe challenge to the rescue capabilities of fire and rescue teams. The complex terrain and harsh environment of mountainous and jungle environments present three major challenges to rescue operations.

[0003] Poor communication is a major obstacle. Mountainous and jungle areas typically lack public network coverage, rendering conventional communication devices like mobile phones ineffective. Furthermore, dense vegetation and mountainsides severely block and shield radio signals, drastically reducing the communication range of conventional walkie-talkies used by fire and rescue teams to approximately 600 meters, insufficient for long-distance coordinated operations. While satellite phones are an alternative, their use is extremely demanding, requiring rescuers to reach open areas at the summit and sometimes even requiring the felling of trees to establish satellite communication, significantly delaying crucial rescue opportunities.

[0004] Locating oneself is difficult. Deep in the forest, the tree canopy severely obstructs and blocks signals from global navigation satellite systems such as BeiDou and GPS, making it difficult for rescuers to obtain their precise location in real time. In addition, the visibility in the forest is extremely poor, and fog often prevails, making it very easy to lose one's way even during the day, posing a huge risk to the coordination of rescue teams and their own safety.

[0005] Existing drone communication solutions have limitations. Utilizing drones to carry communication equipment is one approach to address the aforementioned problems, but existing solutions have significant shortcomings. Ordinary industrial drones have limited payload capacity, making it difficult to carry high-performance communication base stations, and their communication coverage is small, often relying on line-of-sight point-to-point communication. While large drones like the Wing Loong meet the payload and flight time requirements, they suffer from slow response times, high operating costs, a hovering radius of approximately ten kilometers, and an altitude of about 3000 meters. This makes them unable to provide precise location and communication support for rescue personnel like helicopters when hovering, hindering their ability to meet the sudden and flexible demands of mountain and jungle rescue operations.

[0006] In conclusion, it is essential to propose a method that overcomes complex terrain environments, enables precise positioning of individual firefighters, and allows for the rapid establishment of large-scale, highly reliable emergency communication links to guide drones in providing precise communication support. Summary of the Invention

[0007] The purpose of this invention is to provide a comprehensive positioning and emergency communication method for disaster relief in mountainous and jungle areas. This method overcomes complex terrain environments, enables precise positioning of individual firefighters, and allows for the rapid establishment of large-scale, highly reliable emergency communication links to guide drones for precise communication support.

[0008] To achieve the above objectives, the present invention employs a comprehensive positioning and emergency communication method for mountain and jungle disaster relief, comprising the following steps:

[0009] Deploy individual soldier beacons and signal transmitters;

[0010] Deploy unmanned aerial platforms and scan response;

[0011] High-precision stereo positioning in complex environments based on SAR;

[0012] Building a perception-based adaptive 5G and Mesh self-organizing network;

[0013] Precise hovering and communication support for drones based on location information;

[0014] Wide-area communication coverage is achieved through multi-machine collaboration.

[0015] Among the steps involved in deploying individual soldier beacons and signal transmissions:

[0016] Each firefighter entering the mountain and jungle rescue area is equipped with a low-power, integrated, and miniaturized ultra-wideband synthetic aperture radar beacon;

[0017] The beacon continuously transmits low-power UWB pulse signals as a signal source for positioning and identification.

[0018] Among the steps involved in deploying the drone aerial platform and scanning response:

[0019] Deploy an airborne emergency communication and positioning platform, which is an unmanned aerial vehicle (UAV) with large payload and long endurance.

[0020] The drone is equipped with a SAR signal receiving and processing module, a 5G and a Mesh self-organizing network base station module. The Mesh self-organizing network base station module includes public network base station and private network base station functions.

[0021] Control the drone to take off, conduct a cruise scan over the target rescue area, and receive and process UWB signals from ground-based soldier beacons.

[0022] Among the steps in high-precision stereo positioning in complex environments based on SAR:

[0023] Using the SAR signal receiving and processing module on board the UAV, ultra-wideband UWB signal echoes from individual soldier beacons are received from different flight positions and angles;

[0024] By using synthetic aperture radar (SAR) algorithms, echo signals from multiple angles are coherently superimposed. The ultra-wideband characteristics of UWB signals are utilized to penetrate vegetation attenuation layers. Combined with inverse synthetic aperture radar (ISAR) technology, the phase error of individual soldier movement is compensated to generate high-resolution radar images. This overcomes the physical obstruction of jungle foliage and accurately calculates the three-dimensional spatial coordinates of each beacon relative to the UAV, enabling centimeter-level high-precision stereo positioning of individual firefighters.

[0025] Among the steps in building a perception-based adaptive 5G and Mesh self-organizing network:

[0026] In performing positioning tasks, an emergency communication network is built using 5G and Mesh self-organizing network base station modules carried on the drone;

[0027] Based on the sensing frequency set and coding adaptive technology, the system periodically performs spectrum sensing. By sensing the channel noise, fading and collision characteristics of the wireless environment in real time, it identifies blank frequency bands with less interference, actively avoids interference, selects the optimal communication channel, and evaluates the quality of each candidate channel by transmitting pilot signals and analyzing the channel state information at the receiving end. According to the preset optimization target, it dynamically switches the operating frequency point and adaptively adjusts the modulation order and coding rate. Based on the channel time domain and frequency domain channel estimation technology of the reference signal, it selects the best modulation and coding scheme to maximize the wireless channel transmission efficiency and achieve efficient broadband transmission.

[0028] To achieve multi-mode converged communication, the 5G and Mesh self-organizing network base station modules simultaneously integrate the functions of public network base stations and private network base stations, constructing a public-private converged communication link.

[0029] Mesh networking combines 5G's multi-carrier modulation and massive MIMO technologies with self-organizing network technology, enabling multiple drones or drones and ground command nodes to form a dynamic, multi-hop broadband self-organizing network.

[0030] Among the steps involved in ensuring precise hovering and communication for drones based on location information:

[0031] The precise location information of the individual soldier is sent to the drone flight control system in real time. Based on the coordinates, the flight control system guides the drone to fly autonomously to the vertical airspace above the rescue team or the trapped personnel and hover there.

[0032] By positioning the drone directly above the soldier, a near-vertical, unobstructed communication link is formed, providing the soldier with stable and reliable access to both public and private networks.

[0033] Among them, in the step of achieving wide-area communication coverage through multi-machine collaboration:

[0034] When the rescue area is vast, multiple drones can autonomously divide the coverage sub-areas through preset geofences and dynamic allocation by the ground command system. The drones can discover each other by periodically broadcasting beacon frames and automatically establish and maintain multi-hop relay paths using mesh network protocols such as on-demand distance vector routing, forming a redundant network with self-healing capabilities.

[0035] By establishing self-organizing networks that are interconnected, the communication coverage areas of each network are merged into a huge, seamless communication network.

[0036] This invention discloses a comprehensive positioning and emergency communication method for disaster relief in mountainous and jungle areas, comprising the following steps: deploying individual soldier beacons and signal transmission; deploying UAV aerial platforms and scanning responses; high-precision stereo positioning in complex environments based on SAR; constructing a perception-based adaptive 5G and Mesh self-organizing network; precise hovering and communication support for UAVs based on positioning information; and achieving wide-area communication coverage through multi-UAV collaboration. Through these methods, the invention overcomes complex terrain environments, enables precise positioning of individual firefighters, and quickly establishes a wide-area, highly reliable emergency communication link, guiding UAVs to provide precise communication support. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the system architecture for a mountain and jungle rescue scenario according to the present invention.

[0039] Figure 2 This is a flowchart of the integrated positioning and emergency communication method for mountain and jungle disaster relief according to the present invention.

[0040] Figure 3 This is a schematic diagram of the individual soldier positioning principle based on UWB-SAR of the present invention.

[0041] Figure 4 This is a schematic diagram of the structure of the multi-drone collaborative construction of 5G and Mesh self-organizing network of the present invention.

[0042] Figure 5 This is a flowchart of the steps of the integrated positioning and emergency communication method for mountain and jungle disaster relief of the present invention.

[0043] Figure 6 This is a flowchart of steps S100 of the present invention.

[0044] Figure 7 This is a flowchart of steps S200 of the present invention.

[0045] Figure 8 This is a flowchart of steps S300 of the present invention.

[0046] Figure 9 This is a flowchart of steps S400 of the present invention.

[0047] Figure 10 This is a flowchart of steps S500 of the present invention.

[0048] Figure 11 This is a flowchart of steps S600 of the present invention. Detailed Implementation

[0049] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0050] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0051] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0052] Please see Figures 1-11 This invention provides a comprehensive positioning and emergency communication method for disaster relief in mountainous and jungle areas, comprising the following steps:

[0053] S100: Deploys individual soldier beacons and signal transmitters.

[0054] In this embodiment, the deployment of individual soldier beacons and signal transmissions is carried out as follows:

[0055] S101: Each firefighter entering a mountainous jungle rescue area is equipped with a low-power, integrated, miniaturized ultra-wideband synthetic aperture radar beacon;

[0056] S102: Utilizes a beacon to continuously transmit low-power UWB pulse signals as a signal source for positioning and identification.

[0057] During the above process, firefighters entering the mountainous jungle rescue area are equipped with low-power, integrated, and miniaturized ultra-wideband synthetic aperture radar beacons. These beacons are small in size and have low power consumption, making them easy to integrate into individual soldier equipment without affecting their normal rescue operations. The beacons continuously emit low-power UWB pulse signals as a signal source for positioning and identification.

[0058] S200: Deployment of unmanned aerial platforms and scan response.

[0059] In this embodiment, the deployment of the UAV aerial platform and scan response is carried out as follows:

[0060] S201: Deploy an airborne emergency communication and positioning platform, which is an unmanned aerial vehicle (UAV) with large payload and long endurance.

[0061] S202: The drone is equipped with a SAR signal receiving and processing module, a 5G and Mesh self-organizing network base station module. The Mesh self-organizing network base station module includes public network base station and private network base station functions.

[0062] S203: Controls the takeoff of the drone, conducts a cruise scan over the target rescue area, and receives and processes UWB signals from ground-based soldier beacons.

[0063] In the above process, an airborne emergency communication and positioning platform is deployed by taking off a heavy-load, long-endurance UAV from the forward command post and flying it over the pre-set rescue area. The UAV is equipped with a SAR signal receiving and processing module, a 5G and Mesh self-organizing network base station module, and the Mesh self-organizing network base station module includes public network base station and private network base station functions. The UAV is controlled to take off and conduct cruise scanning over the rescue target area to receive and process UWB signals from ground soldier beacons.

[0064] S300: High-precision stereo positioning in complex environments based on SAR.

[0065] In this embodiment, the high-precision stereo positioning in complex environments based on SAR is specifically performed as follows:

[0066] S301: Utilizing the SAR signal receiving and processing module onboard the UAV, it receives ultra-wideband UWB signal echoes from individual soldier beacons from different flight positions and angles;

[0067] S302: Through synthetic aperture radar algorithm, it coherently superimposes echo signals from multiple angles, utilizes the ultra-wideband characteristics of UWB signals to penetrate vegetation attenuation layers, and combines inverse synthetic aperture radar technology to compensate for individual soldier motion phase errors, generating high-resolution radar images, breaking through the physical obstruction of jungle foliage, accurately calculating the three-dimensional spatial coordinates of each beacon relative to the UAV, and performing centimeter-level high-precision three-dimensional positioning of individual firefighters.

[0068] In the above process, refer to Figure 3 During flight, the UAV uses its onboard SAR signal receiving and processing module to receive ultra-wideband UWB signal echoes from individual soldier beacons from different flight positions (such as positions A, B, and C) and angles. Through synthetic aperture radar algorithms, the echo signals from multiple angles are coherently superimposed. The ultra-wideband characteristics of UWB signals penetrate the vegetation attenuation layer. Combined with inverse synthetic aperture radar (ISAR) technology to compensate for the individual soldier's motion phase error, high-resolution radar images are generated. This overcomes the physical obstruction of foliage and accurately calculates the three-dimensional spatial coordinates of each beacon relative to the UAV, enabling centimeter-level high-precision stereo positioning of individual firefighters.

[0069] S400: Awareness-based adaptive 5G and Mesh self-organizing network construction.

[0070] In this embodiment, the construction of a perception-based adaptive 5G and Mesh self-organizing network is carried out as follows:

[0071] S401: In performing positioning tasks, an emergency communication network is built using the 5G and Mesh self-organizing network base station modules carried by the drone;

[0072] S402: Based on sensing frequency sets and adaptive coding technology, the system periodically performs spectrum sensing. By sensing the channel noise, fading, and collision characteristics of the wireless environment in real time, it identifies 'blank frequency bands' with less interference, actively avoids interference, and selects the optimal communication channel. Subsequently, by transmitting pilot signals and analyzing the channel state information (CSI) at the receiver, it evaluates the quality of each candidate channel (such as signal-to-noise ratio and multipath delay spread). Finally, based on preset optimization objectives (including maximizing throughput and ensuring minimum latency), it dynamically switches the operating frequency and adaptively adjusts the modulation order and coding rate. Based on the channel time-domain and frequency-domain channel estimation technology of the reference signal, it selects the best modulation and coding scheme to maximize wireless channel transmission efficiency and achieve efficient broadband transmission.

[0073] S403: Enables multi-mode converged communication. The 5G and Mesh self-organizing network base station modules simultaneously integrate the functions of public network base stations and private network base stations to build a public-private converged communication link.

[0074] S404: Mesh networking combines 5G's multi-carrier modulation, massive MIMO technology with self-organizing network technology to create a dynamic, multi-hop broadband self-organizing network between multiple drones or between drones and ground command nodes.

[0075] In the aforementioned process, during the positioning task, an emergency communication network is constructed using 5G and Mesh self-organizing network base station modules mounted on the UAV. The system periodically performs spectrum sensing, identifying less-interference 'blank frequency bands' by real-time perception of channel noise, fading, and collision characteristics of the wireless environment, actively avoiding interference, and selecting the optimal communication channel. Subsequently, by transmitting pilot signals and analyzing the channel state information (CSI) at the receiving end, the quality of each candidate channel (such as signal-to-noise ratio and multipath delay spread) is evaluated. Finally, based on preset optimization objectives (including maximizing throughput and ensuring minimum latency), the system dynamically switches between channels. By changing the operating frequency and adaptively adjusting the modulation order and coding rate, and selecting the optimal modulation and coding scheme based on the channel time-domain and frequency-domain channel estimation techniques of the reference signal, the system maximizes wireless channel transmission efficiency and enables efficient broadband transmission. It also facilitates multi-mode converged communication, integrating public and private network base station functions into 5G and Mesh self-organizing network base station modules to construct a public-private converged communication link. Furthermore, it enables Mesh networking, combining 5G's multi-carrier modulation and massive MIMO technologies with self-organizing network technology to create a dynamic, multi-hop broadband self-organizing network between multiple drones or between drones and ground command nodes.

[0076] The drone, upon activating its 5G Mesh base station function, first scans the surrounding 2.4GHz and 5GHz frequency bands to detect interference sources and automatically selects a clean frequency band as its operating channel. Simultaneously, it tests channel quality by transmitting pilot signals and dynamically adjusts the modulation scheme (e.g., using 256-QAM when the channel is good and switching to QPSK when the channel is poor) to ensure stable and efficient data transmission. This network achieves multi-mode converged communication, providing ground soldiers with stable and reliable public network signals (for making external calls) and private network signals (for internal encrypted command and dispatch). Multiple drones automatically discover and establish connections via the Mesh protocol, forming a multi-hop network that meets the needs of cluster collaboration and information exchange.

[0077] S500: Precise hovering and communication support for drones based on location information.

[0078] In this embodiment, the precise hovering and communication support of the drone based on positioning information is achieved through the following process:

[0079] S501: The precise location information of the individual soldier is obtained and sent to the UAV flight control system in real time. The flight control system guides the UAV to fly autonomously to the vertical airspace above the rescue team or the trapped personnel and hover there.

[0080] S502: By positioning the drone directly above the soldier, a near-vertical, unobstructed communication link is formed, providing stable and reliable public and private network communication access for the soldier on the ground.

[0081] During the above process, the precise location information of the individual soldier is sent to the UAV flight control system in real time. Based on the coordinates, the flight control system guides the UAV to fly autonomously to the vertical airspace above the rescue team or the trapped personnel and hover there. With the UAV directly above the individual soldier, a nearly vertical and unobstructed communication link is formed, providing stable and reliable public network and private network communication access for the ground soldier.

[0082] After receiving the precise coordinates of the individual soldier from the drone, the command center's integrated processing and display terminal generates navigation instructions. The drone's flight control system then autonomously adjusts its flight attitude and position according to the instructions, eventually hovering directly above the cluster of individual soldiers. At this point, the individual soldier can successfully access the public network or establish a private network communication link with the command center through their terminal device via the drone, enabling real-time interaction of high-definition voice, video, and data.

[0083] S600: Achieves wide-area communication coverage through multi-machine collaboration.

[0084] In this embodiment, wide-area communication coverage is achieved through multi-machine collaboration. The specific process is as follows:

[0085] S601: When the rescue area is vast, multiple drones can autonomously divide the coverage sub-areas through preset geofences or dynamic allocation by the ground command system. Drones can discover each other through periodic broadcast beacon frames and automatically establish and maintain multi-hop relay paths using mesh network protocols such as on-demand distance vector routing, forming a redundant network with self-healing capabilities.

[0086] S602: By establishing self-organizing networks that are interconnected, the communication ranges covered by each network are merged into a huge, seamless communication network.

[0087] During the above process, the precise location information of the individual soldier is transmitted to the UAV flight control system in real time. Based on the coordinates, the flight control system guides the UAV to autonomously fly to and hover directly above the rescue team or trapped personnel. With the UAV positioned directly above the soldier, a near-vertical, unobstructed communication link is formed, providing stable and reliable public and private network communication access for the ground soldier. When the rescue area is vast, multiple UAVs can autonomously divide coverage sub-areas through preset geofencing or dynamic allocation by the ground command system. UAVs discover each other through periodic broadcast beacon frames and automatically establish and maintain multi-hop relay paths using mesh network protocols such as on-demand distance vector routing, forming a redundant network with self-healing capabilities. Through the interconnection of the established self-organizing network, the communication ranges of each UAV are merged into a huge, seamless communication network.

[0088] Among them, reference Figure 4 When the rescue area exceeds the coverage of a single drone, three drones (a, b, c) can be deployed. They perform positioning and communication tasks in their respective areas of responsibility and are interconnected through a 5G Mesh self-organizing network. The network signal is relayed to the ground command post, forming a powerful emergency communication network covering the entire valley. Finally, at the front-line command post, the commander can see the location information of all individual firefighters in real time and intuitively on a 3D electronic map through the integrated positioning, communication, and command system. Through the integrated communication dispatch panel, the commander can initiate a private network call to a specific individual or team with one click, or manage their public network access permissions, thus achieving efficient command and decision-making.

[0089] Beneficial effects:

[0090] Achieving penetrating and precise positioning: Through UWB-SAR technology, the signal shielding effect of foliage in the jungle is effectively overcome, enabling high-precision three-dimensional positioning of individual firefighters in environments without satellite signals, providing crucial location information support for rescue command and personnel safety.

[0091] Building an adaptive, highly reliable communication network: By combining 5G's Mesh and self-organizing network technologies, and through sensing-based frequency sets and coding adaptive technologies, a high-bandwidth, low-latency, and highly interference-resistant emergency communication network can be established in complex electromagnetic environments, ensuring smooth command and dispatch.

[0092] Achieving precise communication support: Innovatively using high-precision positioning results to guide drone hovering and constructing the optimal vertical communication link, fundamentally solving the communication problem caused by terrain obstruction and achieving "accompanying" precise communication support for rescue personnel.

[0093] It boasts strong scalability and flexibility: through multi-machine collaboration, communication coverage can be flexibly expanded to adapt to mountain and jungle rescue missions of varying scales. The entire approach is rapid in response and flexible in deployment, greatly improving the efficiency and safety of mountain and jungle rescue operations.

[0094] This invention is not only a collection of positioning and communication methods, but also a comprehensive system that integrates intuitive display of personnel positioning information, communication scheduling, and command and decision-making, significantly improving the systematic combat capability of mountain and jungle rescue.

[0095] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0096] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A comprehensive positioning and emergency communication method for disaster relief in mountainous and jungle areas, characterized in that, Includes the following steps: Deploy individual soldier beacons and signal transmitters; Deploy unmanned aerial platforms and scan response; High-precision 3D positioning in complex environments based on SAR; Building a perception-based adaptive 5G and Mesh self-organizing network; Precise hovering and communication support for drones based on location information; Wide-area communication coverage is achieved through multi-machine collaboration.

2. The integrated positioning and emergency communication method for mountain and jungle disaster relief as described in claim 1, characterized in that, In the steps of deploying individual soldier beacons and signal transmitters: Each firefighter entering the mountain and jungle rescue area is equipped with a low-power, integrated, and miniaturized ultra-wideband synthetic aperture radar beacon; The beacon continuously transmits low-power UWB pulse signals as a signal source for positioning and identification.

3. The integrated positioning and emergency communication method for mountain and jungle disaster relief as described in claim 1, characterized in that, In the steps of deploying an unmanned aerial platform and scanning response: Deploy an airborne emergency communication and positioning platform, which is an unmanned aerial vehicle (UAV) with large payload and long endurance. The drone is equipped with a SAR signal receiving and processing module, a 5G and a Mesh self-organizing network base station module. The Mesh self-organizing network base station module includes public network base station and private network base station functions. Control the drone to take off, conduct a cruise scan over the target rescue area, and receive and process UWB signals from ground-based soldier beacons.

4. The integrated positioning and emergency communication method for mountain and jungle disaster relief as described in claim 1, characterized in that, In the steps of high-precision stereo positioning in complex environments based on SAR: Using the SAR signal receiving and processing module on board the UAV, ultra-wideband UWB signal echoes from individual soldier beacons are received from different flight positions and angles; By using synthetic aperture radar (SAR) algorithms, echo signals from multiple angles are coherently superimposed. The ultra-wideband characteristics of UWB signals are utilized to penetrate vegetation attenuation layers. Combined with inverse synthetic aperture radar (ISAR) technology, the phase error of individual soldier movement is compensated to generate high-resolution radar images. This overcomes the physical obstruction of jungle foliage and accurately calculates the three-dimensional spatial coordinates of each beacon relative to the UAV, enabling centimeter-level high-precision stereo positioning of individual firefighters.

5. The integrated positioning and emergency communication method for mountain and jungle disaster relief as described in claim 1, characterized in that, In the steps of building a perception-based adaptive 5G and Mesh self-organizing network: In performing positioning tasks, an emergency communication network is built using 5G and Mesh self-organizing network base station modules carried on the drone; Based on the sensing frequency set and coding adaptive technology, the system periodically performs spectrum sensing. By sensing the channel noise, fading and collision characteristics of the wireless environment in real time, it identifies blank frequency bands with less interference, actively avoids interference, selects the optimal communication channel, and evaluates the quality of each candidate channel by transmitting pilot signals and analyzing the channel state information at the receiving end. According to the preset optimization target, it dynamically switches the operating frequency point and adaptively adjusts the modulation order and coding rate. Based on the channel time domain and frequency domain channel estimation technology of the reference signal, it selects the best modulation and coding scheme to maximize the wireless channel transmission efficiency and achieve efficient broadband transmission. To achieve multi-mode converged communication, the 5G and Mesh self-organizing network base station modules simultaneously integrate the functions of public network base stations and private network base stations, constructing a public-private converged communication link. Mesh networking combines 5G's multi-carrier modulation and massive MIMO technologies with self-organizing network technology, enabling multiple drones or drones and ground command nodes to form a dynamic, multi-hop broadband self-organizing network.

6. The integrated positioning and emergency communication method for mountain and jungle disaster relief as described in claim 1, characterized in that, In the steps of precise hovering and communication support for drones based on location information: The precise location information of the individual soldier is sent to the drone flight control system in real time. Based on the coordinates, the flight control system guides the drone to fly autonomously to the vertical airspace above the rescue team or the trapped personnel and hover there. By positioning the drone directly above the soldier, a near-vertical, unobstructed communication link is formed, providing the soldier with stable and reliable access to both public and private networks.

7. The integrated positioning and emergency communication method for mountain and jungle disaster relief as described in claim 1, characterized in that, In the process of achieving wide-area communication coverage through multi-machine collaboration: When the rescue area is vast, multiple drones can autonomously divide the coverage sub-areas through preset geofences and dynamic allocation by the ground command system. The drones can discover each other by periodically broadcasting beacon frames and automatically establish and maintain multi-hop relay paths using mesh network protocols such as on-demand distance vector routing, forming a redundant network with self-healing capabilities. By establishing self-organizing networks that are interconnected, the communication coverage areas of each network are merged into a huge, seamless communication network.

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