Emergency rescue positioning system, method, building, and computer-readable storage medium

Abstract

This invention provides an emergency rescue positioning system, method, building, and computer-readable storage medium. The emergency rescue positioning system includes: a central controller; multiple fire alarm detectors, each including a positioning base station, the positioning base stations being connected to the central controller via a first communication link; multiple positioning terminals, connected to the positioning base stations via a second communication link, the second communication link being different from the first communication link; the positioning base stations sending positioning broadcast packets; the positioning terminals receiving the positioning broadcast packets and sending positioning requests and authentication signals; the positioning base stations receiving and responding to the positioning requests and authentication signals during a reception time slice, and reporting the positioning terminal information to the central controller after authentication; the positioning base stations determining the distance between themselves and the positioning terminals and reporting the distance to the central controller; the central controller determining the location of the positioning terminals based on the multiple distances. This invention can meet the reliable communication requirements in emergency scenarios, achieving low-cost, high-reliability terminal positioning.

Description

Technical Field

[0001] This invention relates generally to the field of fire protection technology, and in particular to an emergency rescue positioning system, method, building, and computer-readable storage medium. Background Technology

[0002] Locating personnel and assets in indoor or non-open spaces is a long-standing market demand. However, current positioning solutions struggle to achieve both low cost and high reliability, failing to meet the reliable communication requirements of emergency scenarios and the positioning needs of emergency rescue wireless networks. Therefore, how to achieve reliable communication in emergency scenarios and realize low-cost, high-reliability terminal positioning is a technical problem that this invention aims to solve.

[0003] The content of the background section is merely the technology known to the inventor and does not necessarily represent the prior art in this field. Summary of the Invention

[0004] In response to one or more of the problems existing in the prior art, the present invention provides an emergency rescue positioning system, method, building and computer-readable storage medium, which can meet the reliable communication requirements in emergency scenarios and achieve low-cost and high-reliability terminal positioning.

[0005] A first aspect of the present invention provides an emergency rescue positioning system. The emergency rescue positioning system includes: a central controller; multiple fire alarm detectors, each fire alarm detector including a positioning base station, the positioning base station being connected to the central controller via a first communication link; multiple positioning terminals, the positioning terminals being connected to the positioning base stations via a second communication link, the second communication link being different from the first communication link; the positioning base stations are configured to send positioning broadcast packets; the positioning terminals are configured to receive the positioning broadcast packets and send positioning requests and authentication signals; the positioning base stations are configured to receive and respond to the positioning requests and authentication signals in a reception time slice, and after authentication, report the positioning terminal information to the central controller; the positioning base stations are configured to determine the distance between themselves and the positioning terminals and report the distance to the central controller; the central controller is configured to determine the location of the positioning terminals based on the multiple distances.

[0006] Optionally, the first communication link includes a wired communication link; the second communication link includes a wireless communication link; the positioning base station reuses the fire-fighting wired communication link and the power supply line; the positioning base station supports multi-mode communication and can operate in the 2.4GHz communication band, the SUB1G communication band, and / or the 5.8GHz communication band.

[0007] Optionally, each of the 2.4GHz communication band, the SUB1G communication band, and the 5.8GHz communication band includes multiple sub-bands. The main controller is configured to statistically analyze the noise floor information of each sub-band, perform quality scoring and environmental attenuation factor compensation, and dynamically allocate sub-bands for transmission control signaling and transmission data streams. The sub-bands for transmission control signaling are different from those for transmission data streams. The multiple sub-bands of the SUB1G communication band include the 433MHz, CN470MHz, EU868MHz, and AS915MHz operating bands.

[0008] Optionally, the operating time slots of the positioning base stations of the multiple fire alarm detectors are different, and the main controller is configured to supply power to each positioning base station based on time division multiplexing; the main controller is configured to send downlink voltage carrier signals through the first communication link to realize multiple communication level broadcast frames; the fire alarm detectors are configured to send uplink echo code current through the first communication link; the power supply stability time slots of each fire alarm detector in the downlink broadcast frame are divided into their own operating time slots for operation.

[0009] Optionally, when the positioning base station communicates with multiple positioning terminals, the positioning base station is configured to communicate based on the PSN encoding of the multiple positioning terminals; the positioning base station is configured to communicate with the terminal to be located that has passed authentication and entered the network based on the power consumption time slice distribution; the central controller is configured to perform load balancing based on the signal strength of the positioning broadcast packet, the signal strength of the positioning request and identity authentication, and the bus allocation time slice load.

[0010] Optionally, the main controller is configured to count the number of terminals connected to each positioning base station. If the number of terminals is less than or equal to a preset number, the main controller is configured to shorten the operating time slice of the positioning base station; if the number of terminals is greater than the preset number, the main controller is configured to extend the operating time slice of the positioning base station. Optionally, the main controller is configured to monitor whether the fire alarm detectors detect fire signals, and control the operating time slice of the positioning base stations of the fire alarm detectors based on whether fire signals are detected, including: extending the operating time slice of the positioning base stations of the fire alarm detectors that have detected fire signals, extending the time slice of the corresponding positioning base stations to the longest preset operating time slice, and elevating them to the highest priority; and shortening the operating time slice of the positioning base stations of the fire alarm detectors that have not detected fire signals.

[0011] Optionally, the positioning terminal includes an active wake-up mode. The positioning terminal is configured to determine its own displacement change based on the signal characteristics of the positioning base station. When the displacement change is greater than a displacement threshold, the positioning terminal is configured to operate in the active wake-up mode and send the positioning request and identity authentication signal. The signal characteristics include at least one of PSN identification code, signal strength, and communication time.

[0012] Optionally, the positioning terminal further includes a low-power heartbeat mode. The positioning terminal is configured to control the transmission frequency of the positioning request and authentication signal based on its own battery level and / or the density of the positioning base stations. When the battery level is lower than a battery threshold and / or the density is greater than a density threshold, the positioning terminal is configured to operate in the low-power heartbeat mode and reduce the transmission frequency. When the displacement change is greater than the displacement threshold and / or the battery level is lower than the battery threshold, the positioning terminal is configured to operate in the active wake-up mode. After completing the positioning, it switches to the low-power heartbeat mode and reduces the transmission frequency to N times its original value.

[0013] Optionally, the positioning terminal further includes a near-field working mode and a far-field working mode. In the near-field working mode, the positioning terminal operates in the 2.4GHz or 5.8GHz high-frequency band; in the far-field working mode, the positioning terminal operates in the SUB 1G low-frequency band; the positioning terminal is configured to switch between the near-field working mode and the far-field working mode.

[0014] Optionally, the positioning terminal is configured to select multiple target positioning base stations for communication based on the signal strength, signal-to-noise ratio, and / or packet error rate of the positioning base station; each of the multiple target positioning base stations is configured to determine its distance from the positioning terminal based on the time-of-arrival method and report the distance to the central controller; the central controller is configured to select multiple target distances based on the signal strength, signal-to-noise ratio, and / or packet error rate of the target positioning base stations and based on a weighted election algorithm, and determine the position of the positioning terminal based on the multiple target distances.

[0015] Optionally, the positioning terminal is configured to determine whether the signal of the target positioning base station is abnormal or lost. When an abnormality or loss occurs, the positioning terminal is configured to form a temporary wireless mesh network with other positioning terminals, activate the beacon function, and broadcast its own coordinates. The coordinates can be reported to the main controller through other positioning base stations and the SUB1G communication band.

[0016] Optionally, the positioning base station is configured to periodically perform static calibration of the ambient noise level based on the location fingerprint database and the synchronization clock provided by the main controller; and to dynamically update the ambient noise level based on the statically calibrated ambient noise level.

[0017] Optionally, the positioning base station is configured to control the cycle based on whether the fire alarm probe detects a fire signal; when a fire signal is detected, the cycle is shortened; when no fire signal is detected, the cycle is maintained or extended.

[0018] Optionally, the positioning terminal includes an inertial sensor configured to sense the attitude data of the positioning terminal, and the positioning terminal is configured to determine its own displacement change based on the attitude data and the synchronization clock; the positioning base station is configured to determine the distance between itself and the positioning terminal based on one or more of the complementary filtering algorithm, the Kalman filtering algorithm, the attitude data, and the time-of-arrival method.

[0019] Optionally, the main controller is configured to compensate for the signal delay of the positioning base station based on attitude data from inertial sensors, and to correct the ranging error based on the attitude data and the time-of-arrival method.

[0020] A second aspect of the invention provides a building. The building includes the emergency rescue positioning system described above.

[0021] A third aspect of the present invention provides an emergency rescue positioning method executed by the emergency rescue positioning system described above. The emergency rescue positioning method includes: sending a positioning broadcast packet via the positioning base station; receiving the positioning broadcast packet via the positioning terminal and sending a positioning request and authentication signal; receiving and responding to the positioning request and authentication signal via the positioning base station in a reception time slice, and reporting the positioning terminal information to the central controller after authentication; determining the distance between the positioning base station and the positioning terminal via the positioning base station and reporting the distance to the central controller; and determining the location of the positioning terminal via the central controller based on multiple distances.

[0022] A fourth aspect of the present invention provides a computer-readable storage medium. The computer-readable storage medium includes computer-executable instructions stored thereon, which, when executed by a processor, implement the emergency rescue location method as described above.

[0023] The emergency rescue positioning system and method of the present invention integrate a positioning base station into a fire early warning probe. The positioning base station is connected to a central controller through a first communication link and to a positioning terminal through a second communication link. This enables low-cost and high-reliability positioning of the positioning terminal, thereby achieving low-cost and high-reliability asset positioning. It is suitable for positioning scenarios such as indoor or non-open space locations (e.g., tunnels). Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 A schematic diagram of an emergency rescue positioning system according to some embodiments of the present invention is shown.

[0025] Figure 2 A schematic diagram of the beacon broadcast frame structure of a positioning base station according to some embodiments of the present invention is shown.

[0026] Figure 3 A schematic diagram of wired network polling is shown according to some embodiments of the present invention.

[0027] Figure 4 A schematic diagram of wired network local address transmission is shown according to some embodiments of the present invention.

[0028] Figure 5 A schematic diagram of the data frame structure for transmitting special emergency event information in a wired network is shown according to some embodiments of the present invention.

[0029] Figure 6 A schematic diagram illustrating the process of transmitting special emergency event information via a wired network according to some embodiments of the present invention is shown.

[0030] Figure 7 A schematic diagram illustrating communication between a positioning base station and multiple positioning terminals according to some embodiments of the present invention is shown.

[0031] Figure 8 A schematic diagram of a building according to some embodiments of the present invention is shown.

[0032] Figure 9 A flowchart illustrating an emergency rescue positioning method according to some embodiments of the present invention is shown.

[0033] Figure 10 A flowchart illustrating an emergency rescue positioning method according to some embodiments of the present invention is shown.

[0034] Figure 11 A flowchart illustrating an emergency rescue positioning method according to some embodiments of the present invention is shown. Detailed Implementation

[0035] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] The following provides many different embodiments or examples for implementing various structures of the invention. To simplify the invention, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0040] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0041] This invention provides an emergency rescue positioning system. The system includes a central controller, multiple fire alarm detectors, and multiple positioning terminals. Each fire alarm detector includes a positioning base station, which is connected to the central controller via a first communication link. The positioning terminals are connected to the positioning base stations via a second communication link, which is different from the first. The positioning base stations are configured to send positioning broadcast packets. The positioning terminals are configured to receive positioning broadcast packets and send positioning requests and authentication signals. The positioning base stations are configured to receive and respond to the positioning requests and authentication signals during a reception time slice, and after authentication, report the positioning terminal information to the central controller. The positioning base stations are configured to determine the distance between themselves and the positioning terminals and report this distance to the central controller. The central controller is configured to determine the location of the positioning terminals based on multiple distances. This emergency rescue positioning system can meet the reliable communication requirements in emergency scenarios, achieving low-cost, high-reliability terminal positioning.

[0042] Figure 1 A schematic diagram of an emergency rescue positioning system according to some embodiments of the present invention is shown. Figure 1As shown, the emergency rescue positioning system 10 includes a central controller 11, multiple fire warning detectors 12, and multiple positioning terminals 13. Each of the multiple fire warning detectors 12 includes a positioning base station 120. For example, the fire warning detectors 12 may include smoke detectors, heat detectors, flame detectors, gas detectors, composite detectors, etc. For example, the positioning base station 120 may include a positioning module integrated within the fire warning detector 12 and an onboard antenna, occupying little space and having high integration. For example, the positioning terminal 13 may include a mobile phone, tablet computer, laptop computer, wearable device, etc. In some embodiments, the positioning of the positioning terminal 13 can characterize the positioning of personnel and assets. The positioning base station 120 is connected to the central controller 11 via a first communication link L1. The positioning terminal 13 is connected to the positioning base station 120 via a second communication link L2. The first communication link L1 and the second communication link L2 are different. In some embodiments, the first communication link L1 may include a wired communication link. The wired communication link can be implemented using twisted-pair cable, coaxial cable, optical fiber, etc. In some embodiments, the second communication link L2 may include a wireless communication link. Wireless communication links can be implemented through Wi-Fi, cellular networks, satellite links, microwave / millimeter-wave links, Bluetooth, Zigbee, and other methods.

[0043] Some indoor emergency rescue positioning solutions have the following shortcomings: purely wireless positioning solutions (such as WiFi and Bluetooth positioning) require the deployment of independent base stations, resulting in high hardware costs. Furthermore, wireless signals are easily interfered with in emergency scenarios (such as fires with dense smoke or structural collapses), failing to meet the communication and positioning requirements in emergency situations. The emergency rescue positioning system of this invention integrates the positioning base station into the fire alarm detector, connects to the central controller via a first communication link, and connects to the positioning terminal via a second communication link. This combines wired and wireless methods, eliminating the need for additional independent base stations, ensuring compatibility with existing fire protection systems, minimizing modification difficulty, effectively reducing hardware costs, and meeting the high-reliability communication and positioning requirements in emergency scenarios.

[0044] It should be noted that the present invention can set up positioning base stations for all fire alarm detectors, or it can set up positioning base stations for a portion of the fire alarm detectors. In other words, the emergency rescue positioning system of the present invention includes positioning base stations for at least some fire alarm detectors. In practical applications, the configuration can be adjusted according to requirements.

[0045] In some embodiments, the main controller 11 may include control circuitry, drive circuitry, a central processing unit (CPU), a microcontroller unit (MCU), a digital signal processor (DSP), a graphics processing unit (GPU), an accelerator, a neural processing unit (NPU), a tensor processing unit (TPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, gate devices, or transistor logic devices, or similar devices.

[0046] Reference Figure 1 The positioning base station 120 can send positioning broadcast packets. The positioning terminal 13 can receive the positioning broadcast packets and send positioning requests and authentication signals. The positioning base station 120 can receive and respond to the positioning requests and authentication signals during the receiving time slice. After authentication, it reports the positioning terminal information to the main controller 11. The positioning base station 120 can determine the distance between itself and the positioning terminal and report the distance to the main controller 11. The main controller 11 can determine the location of the positioning terminal 13 based on multiple distances. For example, the main controller 11 can determine the location of the positioning terminal 13 based on at least three distances and triangulation.

[0047] Figure 2 A schematic diagram of the beacon broadcast frame structure of a positioning base station according to some embodiments of the present invention is shown. Figure 2As shown, the broadcast of the positioning base station 120 consists of two working periods. The first working period, T1, is the beacon broadcast period (the time period for sending base station positioning broadcast packets). The second working period, T2, is the positioning response period (the time period for receiving signals from the positioning terminal). During the beacon broadcast period T1, the positioning base station 120 sends positioning broadcast packets, which include information such as base station coordinates and synchronization clock. After sending the positioning broadcast packets, the positioning base station 120 enters the positioning response period T2, waiting for the positioning terminal 13 to send a positioning request and authentication signal. After recognizing the positioning broadcast packet sent by the positioning base station 120, the positioning terminal 13 initiates a positioning request and authentication signal. The positioning base station 120 receives and responds to the positioning request and authentication signal sent by the positioning terminal 13 during its receiving time slice. After authentication, the positioning base station 120 reports the information of the positioning terminal 13 to the central controller 11 for information aggregation and backup, facilitating subsequent multi-base station data analysis.

[0048] In some embodiments, during the beacon broadcast period T1 (e.g., 10ms), the base station positioning broadcast packet sent by the positioning base station 120 contains three parts of information: ① base station address code (e.g., 1 byte); ② base station coordinates (x / y / z, e.g., 4 bytes each); ③ synchronization clock (e.g., 2 bytes, synchronized with the wired clock of the main controller 11, e.g., error ≤ 10μs). During the positioning response period T2 (e.g., 20ms), the positioning base station 120 allocates time slots according to the PSN code, with each positioning terminal 13 having a communication time slot of 5ms, supporting up to 4 terminals communicating simultaneously and avoiding communication conflicts.

[0049] In some embodiments, the positioning base station 120 can periodically send base station positioning broadcast packets for the positioning terminal 13 to identify the presence of a nearby positioning base station, calibrate the time anchor, and correct time errors. It is understood that the positioning base station 120 is connected to the main controller 11 via a first communication link L1, which includes a wired communication link, enabling the positioning base station 120 to communicate with the main controller 11 via a wired connection and share a clock with the main controller 11. The positioning base station 120 can send beacon broadcast frame structures based on wired communication positioning broadcast packets, resulting in more accurate beacon time and a wired bus synchronization clock error as low as <10μs, which helps improve the communication rate, response speed, and reliability of the emergency rescue positioning system 10.

[0050] In some embodiments, the operating time slots of the positioning base stations 120 of the multiple fire alarm detectors 12 are different. Figure 3 A schematic diagram of wired network polling according to some embodiments of the present invention is shown. For example... Figures 1-3As shown, for example, the emergency rescue positioning system 10 includes 200 fire alarm detectors 12. Each fire alarm detector 12 includes a positioning base station 120, and the 200 fire alarm detectors 12 together include 200 positioning base stations 120. Each positioning base station 120 has a different address code. Each positioning base station 120 has a unique address number, for example, 1#, 2#...#199, 200#. The address number can represent the identity information of the positioning base station 120. Each positioning base station 120 has a different operating time slice. Each positioning base station 120 has a corresponding operating time, for example, t1, t2...t199, t200. For example, the operating time slices of the 200 positioning base stations 120 can be divided into 30ms slices. The wired power supply timing signal can include time synchronization information, location information, coded ID information, etc.

[0051] In some embodiments, the main controller 11 sends downlink voltage carrier signals through the first communication link to realize multiple communication level broadcast frames; the fire alarm probe 12 (positioning base station 120) sends uplink echo code current through the first communication link, and each fire alarm probe 12 (positioning base station 120) is divided into its own working time slot during the stable power supply time slot in the downlink broadcast frame.

[0052] In some embodiments, the main controller 11 can perform wired network polling based on the address number of the positioning base station 120 to communicate with the positioning base station 120. In some embodiments, the main controller 11 can power each positioning base station 120 using a time-division multiplexing method. For example, the main controller 11 can sequentially address the positioning base stations 120 based on the polling period and address number, and power each positioning base station 120 sequentially. The main controller 11 can sequentially address the positioning base stations 120 numbered #1-#200 based on the polling period, and power each positioning base station 120 sequentially using a time-division multiplexing method. The main controller 11 addresses one positioning base station 120 at a time, providing normal power to that positioning base station 120, while the remaining 199 unaddressed positioning base stations 120 can remain in a dormant state. This eliminates the need to upgrade the power supply components, effectively saving costs, effectively reducing the overall current demand of the bus, saving the total power supply of the main controller, and achieving a bus occupancy rate as low as <0.5%, effectively maintaining high-speed communication and improving the communication rate, response speed, and reliability of the emergency rescue positioning system 10.

[0053] Some indoor emergency rescue positioning solutions have the following shortcomings: UWB high-precision positioning solutions, although the positioning accuracy can reach 0.1m, require high base station deployment density, consume a lot of power, are incompatible with existing fire protection systems, and are difficult to modify; there is a contradiction between power consumption and real-time performance, with large positioning delay in low-power mode and short battery life in real-time positioning mode.

[0054] The emergency rescue positioning system of the present invention integrates the positioning base station into the fire early warning probe. The positioning base station is connected to the main controller through the first communication link. It can reuse the fire wired communication link and power supply line, without the need for additional base station and power supply deployment. It can improve integration, communication reliability, power supply reliability and reduce cost. It is incompatible with existing fire protection systems and is easy to modify.

[0055] The emergency rescue positioning system of the present invention uses a time-division multiplexing method and an address encoding polling mechanism of the positioning base stations to supply power to each positioning base station. On the one hand, this can reduce bus occupancy, ensure communication speed, save power consumption, and solve the contradiction between power consumption and real-time performance. On the other hand, the main controller 11 can derive the power supply cycle and the beacon of the positioning base station, which helps to improve positioning reliability.

[0056] In some embodiments, the positioning base station 120 supports dual-mode communication, operating simultaneously in the 2.4GHz communication band and the SUB1G communication band, achieving compatibility between high-frequency and low-frequency communication, improving communication reliability, and thus enhancing the timeliness, effectiveness, and reliability of positioning. In some embodiments, the positioning base station 120 supports multi-mode communication, operating in the 2.4GHz communication band, the SUB1G communication band, and / or the 5.8GHz communication band, compatible with multi-band communication. In some embodiments, the multiple sub-bands of the SUB1G communication band include the 433MHz, CN470MHz, EU868MHz, and AS915MHz operating bands, supporting communication in multiple regions. It should be understood that the high-frequency band has a core advantage, with the 5.8GHz bandwidth significantly higher than that of the 2.4GHz band.

[0057] In some embodiments, each of the 2.4GHz communication band, the SUB1G communication band, and the 5.8GHz communication band includes multiple sub-bands. The main controller 11 can statistically analyze the noise floor information of each sub-band, perform quality scoring and environmental attenuation factor compensation, and dynamically allocate sub-bands for transmitting control signaling and transmitting data streams. The sub-bands for transmitting control signaling are different from the sub-bands for transmitting data streams.

[0058] In some embodiments, the operating state of the positioning base station 120 may include a sleep state and a wake-up state. When the positioning base station 120 is not addressed by the main controller 11, the positioning base station 120 operates in a sleep state. When the positioning base station 120 is addressed by the main controller 11, the positioning base station 120 operates in a wake-up state. In the wake-up state, the main controller 11 supplies power to the positioning base station 120 normally, and the positioning base station 120 operates in a normal power consumption mode. In the sleep state, the positioning base station 120 operates in a low power consumption mode.

[0059] Figure 4A schematic diagram illustrating the transmission of local addresses in a wired network according to some embodiments of the present invention is shown. For example... Figure 4 As shown, in the query trigger phase P1, the main controller 11 initiates a command (taking "1# detector (positioning base station) working time query" as a typical scenario) via a 24V read code enable signal to activate the information feedback process of the fire alarm probe 12 (positioning base station 120). In the level modulation command phase P2, the main controller 11 sends an operation command to the fire alarm probe 12 (positioning base station 120) using a combination of high, medium, and low level codes (custom protocol sequence). In the current modulation feedback phase P3, which is the slave response area, the fire alarm probe 12 (positioning base station 120) replies with its own data via current modulation, including type, status, and information collected by the wireless module, which can be transmitted to the main controller 11 in multi-byte frames. For example, after responding to the command, the fire alarm probe 12 (positioning base station 120) uses current loop modulation technology to detect the current signal in real time and provide feedback, transmitting its own address, status bit (fault / fire alarm / normal), and associated data back to the main controller 11 using current signal characteristics (such as current amplitude / pulse width encoding). In the information analysis and judgment stage P4, the main controller 11 receives the current modulation signal, and restores the address and status (such as identifying abnormalities such as faults / fire alarms, or normal operating conditions) through the decoding algorithm, thus completing the identification of the equipment (fire alarm probe 12, positioning base station 120) and its operating condition.

[0060] Figure 5 A schematic diagram of the data frame structure for transmitting special emergency event information in a wired network is shown according to some embodiments of the present invention. Figure 6 A schematic diagram illustrating the process of transmitting special emergency event information via a wired network according to some embodiments of the present invention is shown. Figure 5 and Figure 6 It can present the interaction logic of the system during regular polling and emergency event preemption transmission.

[0061] like Figure 5 As shown, the data frame structure includes a polling identifier segment P5 and a preemption frame data segment P6. The polling identifier segment P5 carries the system's regular polling instructions for terminal nodes (numbered #1 - #200), employing a sequential addressing mechanism to periodically acquire terminal status and routine data, maintaining basic system communication and equipment monitoring. The preemption frame data segment P6 is a priority transmission channel reserved for information on special emergency events. For example, when a terminal (positioning base station 120) detects an emergency event such as a fire alarm or fault alarm, the preemption mechanism is triggered. The emergency event code (such as alarm type, location information, etc.) is directly uploaded through this data segment, breaking the regular polling sequence and ensuring that emergency information is transmitted to the host (main controller 11) with priority and speed.

[0062] like Figure 6As shown, the logic of the special emergency event information transmission mechanism is as follows. In some embodiments, the system defaults to sequentially addressing terminals numbered #1-#200 (positioning base station 120) and collecting regular data using a polling cycle. If a terminal determines that an emergency event exists (such as a sensor triggering an alarm threshold), it activates the preemptive transmission information process, without waiting for the next cycle to address its local address, and prioritizes encapsulating the emergency event information into preemptive frame response data. This data is then transmitted through the preemptive frame issued by the host (main controller 11), achieving low-latency reporting of emergency information. The host end identifies key information such as the emergency event type and initiating address by parsing the data information of the preemptive frame response current, and triggers corresponding response strategies (such as audible and visual alarms, linkage control, etc.).

[0063] In some embodiments, the main controller 11 can poll the location base station 120 according to its address code (1#-200#). For example, the working time slice of each location base station is 30ms. The polling period is 200 × 30ms = 6s. The power supply cycle is synchronized with the beacon broadcast frame, that is, within the 30ms of the location base station being addressed, the first 10ms (beacon broadcast period T1) are used to send a location broadcast packet (including base station coordinates, synchronization clock, and starting channel number), and the last 20ms (location response period T2) are used to receive the request signal from the location terminal. Bus occupancy rate = single base station working time slice / polling period = 30ms / 6000ms = 0.5%. The low bus occupancy rate and high efficiency allow more time to be reserved for fire communication.

[0064] In some embodiments, each positioning terminal 13 has a unique PSN code to represent identity information. When the positioning base station 120 communicates with multiple positioning terminals 13, the positioning base station 120 can communicate based on the PSN codes of the multiple positioning terminals 13. For example, the positioning base station 120 can determine the PSN code of the positioning terminal 13 by reading the positioning request and identity authentication signals fed back by the positioning terminal 13, and determine the communication priority based on the PSN code (e.g., the smaller PSN code communicates first, the larger PSN code communicates later, and vice versa). In some embodiments, the positioning base station 120 can communicate with the terminals 13 that have passed authentication and joined the network based on the power consumption time slice distribution. The central controller 11 can perform load balancing based on the signal strength of the positioning broadcast packet, the strength of the positioning request and identity authentication signals, and the bus allocation time slice load. This can forcibly adjust the association between some terminals to be located and the positioning base station, achieving communication avoidance between the same positioning base station and multiple positioning terminals. This helps ensure communication efficiency, balance the total load of the communication bus, achieve low communication time occupancy and high efficiency, reserve more time for fire communication, and improve the effectiveness and reliability of communication in emergency situations. In some embodiments, communication avoidance can be implemented in the following ways: For example, the positioning terminal can perform channel monitoring before sending uplink signals, and implement a delayed transmission strategy when channel occupancy is detected. When the number of delays reaches a threshold, the uplink signal can be sent directly to avoid missing the reception time window and ensure the timeliness, effectiveness, and reliability of communication.

[0065] In some embodiments, the central controller 11 can count the number of terminals connected to each positioning base station 120 in real time. If the number of terminals is less than or equal to a preset number, the central controller 11 can shorten the working time slice of the positioning base station 120. If the number of terminals is greater than the preset number, the central controller 11 can extend the working time slice of the positioning base station 120. For example, the central controller 11 counts the number of terminals connected to each positioning base station 120 in real time (load). If the number of terminals connected to the positioning base station 120 is ≤3, it indicates a light load, and the working time slice of the positioning base station 120 on the bus is shortened to 20ms (e.g., shortened from the original fixed time slice of 30ms to 20ms), saving bus resources. If the number of terminals connected to the positioning base station 120 is >3, it indicates a heavy load, and the working time slice of the positioning base station 120 on the bus is extended to 40ms (e.g., extended from the original fixed time slice of 30ms to 40ms). In other words, the central controller 11 can adjust the working time slice of the positioning base station 120 based on the number of terminals connected to each positioning base station 120. This working time slice is the power supply time slice for the base station. The base station requires no additional power supply, nor does it need internal backup power. Power can be supplied by reusing the existing centralized backup power equipment on the fire protection bus, which is beneficial for low cost and small size. This allows for load balancing, adaptive dynamic adjustment of the time slice allocation, and dynamic changes to the positioning system's working timing parameters and strategies, ensuring all terminals can complete communication. No hardware modifications are needed on the fire protection bus; it can be achieved solely through a software upgrade of the main controller. Furthermore, the base station's power supply time slice comes from the main controller. Based on the wired network (fire protection bus) between the main controller and the base station, the positioning base station connects to the main controller via a wired communication link. The fire protection wired communication link and power supply line can be reused. Based on the time accuracy and synchronization of the fire protection bus, this working time slice can serve not only as the base station's power supply time slice but also as a communication time slice and a standard time anchor for positioning. Positioning synchronization can be achieved through power supply timing, eliminating the need for expensive temperature-compensated clock crystals, thus achieving higher clock synchronization accuracy in a lower-cost manner. This invention, based on the fire protection bus, can achieve network-wide time synchronization accuracy at the microsecond (μs) level. It should be noted that this is only an illustrative example, and the present invention does not limit the specific duration of the time slice or the specific value of the preset number. In practical applications, it can be adjusted according to the needs.

[0066] In some embodiments, the adjustment of the time slice of the positioning base station 120 can be linked to the priority of the fire warning signal of the corresponding fire warning probe 12. When the fire warning probe 12 detects a fire signal, it can automatically extend the time slice of the corresponding positioning base station 120 to the longest preset working time slice, raise it to the highest priority, prioritize power supply / communication, improve the timeliness, effectiveness and reliability of communication in emergency situations, and ensure that the terminal positioning in the fire alarm area is not delayed.

[0067] In some embodiments, the central controller can monitor whether fire alarm detectors have detected a fire signal and control the operating time slot of the positioning base station of the fire alarm detector based on whether a fire signal has been detected. For example, the central controller and the fire alarm detectors can communicate with each other. The central controller can monitor whether the fire alarm detectors have detected a fire signal based on the communication information between the central controller and the fire alarm detectors, and control the operating time slot of the positioning base station of the fire alarm detector. For example, the central controller can extend the operating time slot of the positioning base station of the fire alarm detector that has detected a fire signal, extending the time slot of the corresponding positioning base station to the longest preset operating time slot and elevating it to the highest priority. The central controller can shorten the operating time slot of the positioning base station of the fire alarm detector that has not detected a fire signal. In this way, the central controller can dynamically allocate energy resources to the fire protection bus, giving priority to allocating power resources to the positioning base station of the fire alarm detector that has detected a fire signal, improving the reliability of the system, and saving power consumption of the positioning base station of the fire alarm detector that has not detected a fire signal.

[0068] In some embodiments, the main controller can monitor the bus current and control the operating time slice of the positioning base stations of fire alarm detectors based on the bus current. When the bus current exceeds a current threshold, the main controller can automatically reduce the operating time slice of the positioning base stations of fire alarm detectors that have not detected a fire signal, thereby reducing the power consumption of the positioning base stations in non-fire alarm areas. Simultaneously, the main controller can automatically increase the operating time slice of the positioning base stations of fire alarm detectors that have detected a fire signal, allocating more power resources to the positioning base stations in fire alarm areas. In this way, the main controller can dynamically allocate energy resources for the fire bus, ensuring the adaptive power supply function of the fire bus, solving the bottleneck problem of limited power supply to the fire bus, ensuring the continuity of positioning in fire alarm areas, and reducing the cost of replacing and upgrading old projects.

[0069] In some embodiments, the main controller can control the working time slice of the positioning base station of the fire alarm probe based on one or more of the following: the number of terminals connected to the positioning base station, whether the fire alarm probe detects a fire signal, and the bus current, so as to realize dynamic load balancing of the fire bus and dynamically allocate energy resources to the fire bus.

[0070] In some embodiments, the positioning terminal, the positioning base station of the fire alarm detector, the fire protection facilities, and the main controller may each include a communication module, enabling communication between them. For example, the fire alarm detector can sense the occurrence of a fire and report it to the main controller when a fire alarm is triggered. The main controller can allocate more time slots to the positioning base station of the fire alarm detector that reports fire information, extending the positioning time slot length of the positioning base station. Simultaneously, it can prompt the positioning terminals in the area to enter emergency positioning mode in the broadcast frame, increasing the positioning frequency, for example, increasing the frequency of initiating positioning requests by more than three times, and simultaneously activating positioning terminals with built-in inertial navigation and other sensors. The positioning base station can measure the distance between itself and the positioning terminal and report it to the main controller. The main controller determines the location of the positioning terminal based on the distances reported by multiple positioning base stations, achieving personnel positioning. The positioning terminal can also identify the wireless communication beacons of fire protection facilities (fire extinguishers, fire hydrants, sprinkler systems, etc.) and synchronize personnel and other asset positioning data with fire protection facility location data to the main controller. Based on the interaction between positioning terminals, fire early warning probes, positioning base stations, fire protection facilities, and the main controller, a fire early warning-positioning linkage mechanism can be realized to generate the optimal rescue path for personnel and resources, achieving high-precision, timely, effective, and reliable emergency rescue. Figure 7 A schematic diagram illustrating communication between a positioning base station and multiple positioning terminals according to some embodiments of the present invention is shown. Figure 7 As shown, during the downlink communication phase, the positioning base station 120 can actively broadcast communication signals to all field components of the system (e.g., positioning terminal 13). For example, the positioning base station 120 can periodically send base station positioning broadcast packets, which include information such as base station coordinates, synchronization clock, the starting channel number of the wireless communication during the receiving time period, the number of uplink frequency hopping polling times and frequency bands, and the positioning response period. During the uplink communication phase, the positioning terminal 13 sends a positioning request and authentication signal to the positioning base station 120. The starting channel number can be retained in the uplink wireless communication broadcast frame to improve the efficiency and success rate of the positioning base station 120 in identifying the positioning terminal 13, and can also be used for subsequent frequency hopping polling.

[0071] In some embodiments, after receiving a broadcast from the positioning base station 120, the positioning terminal enters a monitoring mode to monitor whether there is a feedback channel signal in the air. If a feedback channel signal is detected, a delay avoidance strategy can be implemented. The positioning terminal waits for the feedback channel signal to disappear before sending the positioning request and authentication signal to the positioning base station 120, thus avoiding communication and improving communication efficiency. (Refer to...) Figure 7 After receiving the positioning broadcast packet, positioning terminals A, B, C, and D monitor the uplink signal and its channel code. For example, this channel code could be a clean channel number selected during the cumulative time based on the positioning base station's static calibration.

[0072] The positioning base station 120 supports multi-mode communication and can operate in the 2.4GHz, SUB1G, and 5.8GHz communication bands. Each of these bands comprises multiple sub-bands, which are subject to varying degrees of electromagnetic interference in open environments. To address the electromagnetic interference issue affecting sub-bands, this invention proposes a channel selection algorithm based on noise floor statistics and frequency hopping polling. This algorithm dynamically allocates clean channels by quantitatively evaluating the noise floor level of each sub-band. Furthermore, for complex operating environments, multiple sub-bands can operate simultaneously, prioritizing the transmission of core control signaling via the sub-band with higher quality characteristic values, while other sub-bands transmit data streams, thus improving anti-interference capabilities while maintaining communication quality. For example, during the operation of the emergency rescue positioning system, the main controller 11 can statistically analyze the noise floor information of each sub-band, perform quality scoring and environmental attenuation factor compensation, and allocate sub-bands for transmitting control signaling and data streams. The sub-bands for transmission control signaling are different from those for transmission data streams. The sub-bands for transmission control signaling are clean channel numbers with low noise floor and high quality characteristic values ​​(quality scores). In contrast, the sub-bands for transmission data streams have high noise floor and low quality characteristic values.

[0073] For example, channel quality scoring can be calculated using a weighted model based on one or more parameters such as sub-band noise floor level, packet error rate, signal-to-noise ratio, frequency characteristics, and environmental attenuation factor, and the weighting coefficients can be dynamically updated.

[0074] For example, the quality score can be determined based on the following formula: .

[0075] Where i: frequency band identifier (2.4GHz / SUB1G / 5.8GHz / other frequency bands (e.g., 10 GHz)).

[0076] Ni: Sub-band noise floor level (dBm).

[0077] Pi: Sub-band packet error rate (%).

[0078] Si: Sub-band signal-to-noise ratio (dB).

[0079] Bi: Available bandwidth (MHz).

[0080] fi: Center frequency (GHz). The center frequency can be used to quantify high-frequency path loss.

[0081] Li: Environmental degradation factor.

[0082] For example, the environmental attenuation factor can characterize environmental humidity or obstacle density. For some frequency bands sensitive to water vapor molecules, this factor can be used for compensation when identifying changes in environmental humidity, which can improve the accuracy of quality scoring, facilitate the precise selection of clean channel numbers for communication, improve communication effectiveness, real-time performance, and reliability, and thus improve the accuracy of ranging results and positioning accuracy.

[0083] α, β, γ, δ, η: dynamic weight coefficients, satisfying α+β+γ+δ+η=1.

[0084] For example, the weighting coefficients can be dynamically updated to adapt to the influence of various factors on the quality score, thereby improving the system's adaptability and adjustment capabilities. Figure 7 As shown, after detecting the uplink signal from positioning terminal A, positioning terminal B delays sending its own uplink signal until the uplink signal from positioning terminal A ends. For example, the transmission time is delayed from tb1 to tb2. In some embodiments, each positioning terminal can randomly delay its uplink signal transmission to prevent collisions and reduce interference. In some embodiments, after a positioning terminal has delayed its transmission three times, it will no longer delay and will transmit directly to avoid missing the reception period of the positioning base station due to excessive system delay, thus ensuring timely, effective, and reliable communication. For example, after positioning terminals C and D have delayed three times, they will no longer delay but will transmit their uplink signals directly to the positioning base station to avoid missing the reception period of the positioning base station. For example, after receiving the base station broadcast, positioning terminals A, B, C, and D monitor the uplink channel: Positioning terminal A prioritizes sending uplink signals (e.g., PSN code 001, signal strength -50dB); after detecting the signal from positioning terminal A, positioning terminal B delays for 5ms (tb1=0ms→tb2=5ms) before sending its own uplink signal; positioning terminals C and D delay three times consecutively (cumulative delay of 15ms) before directly sending their uplink signals (to avoid missing the positioning response period T2, e.g., 20ms); the positioning base station identifies each positioning terminal through the PSN code and allocates communication resources according to the principle of higher priority for higher signal strength, ensuring that the bus load is balanced below 80%, thus guaranteeing communication efficiency, effectiveness, and reliability.

[0085] In some embodiments, the positioning base station 120 can perform downlink encoding on the base station positioning broadcast packet and update the base station positioning broadcast packet using the uplink feedback signals (positioning request and authentication signals) received in each round to improve positioning accuracy. For example, the positioning base station 120 can perform downlink encoding using the starting channel number, uplink frequency hopping polling number, and number of frequency bands in the broadcast frame to improve uplink avoidance efficiency and balance the accuracy of frequency hopping measurement with the ability to carry a limited number of positioning terminals within a limited reception time period.

[0086] In some embodiments, the positioning terminal 13 includes an active wake-up mode (ModeA). In some embodiments, the positioning terminal 13 also includes a low-power heartbeat mode (ModeH). The positioning terminal 13 has a power consumption adaptive function. The positioning terminal 13 can determine its own displacement change based on the signal characteristics of the positioning base station 120. The signal characteristics of the positioning base station 120 may include at least one of PSN identification code, signal strength, and communication time. The positioning terminal 13 can determine whether its own displacement has changed based on one or more of the following signal characteristics: PSN identification code, signal strength, and communication time. For example, the positioning terminal 13 can determine that its own displacement has changed and is greater than the displacement threshold based on one or more of the following: a change in PSN identification code, a signal strength change greater than a signal strength change threshold, or a communication time change greater than a communication time change threshold. In some embodiments, the positioning terminal 13 may include an inertial sensor that can sense the attitude data of the positioning terminal 13. The positioning terminal 13 can determine its own displacement change based on the attitude data. For example, based on the attitude data, it can determine whether the position, acceleration, or magnetic field has changed significantly, thereby determining whether its own displacement has changed significantly. When the displacement change exceeds a displacement threshold, the positioning terminal 13 can determine that its displacement has changed significantly, cancel the power-saving protection state, operate in active wake-up mode (Mode A), enter the wireless positioning process, and send a positioning request and authentication signal. When the displacement change is not greater than the displacement threshold, the positioning terminal 13 determines that its displacement has not changed significantly, can remain in the power-saving protection state, operate in low-power heartbeat mode (Mode H), and will not enter the wireless positioning process. The positioning terminal 13 can switch between active wake-up mode (Mode A) and low-power heartbeat mode (Mode H) based on displacement changes to achieve power consumption self-adaptation.

[0087] In some embodiments, when the positioning terminal determines that the displacement has changed based on at least one of changes in signal strength, communication time, or attitude data, it can automatically adjust the power. For example, the positioning terminal can increase or decrease the power by adjusting the SNR quality of the feedback signal and the PER packet loss rate of the communication, thereby achieving power consumption adaptation.

[0088] In some embodiments, the positioning terminal can use differentiated power consumption adaptive strategies in different modes. For example, a high-power strategy is used in the active wake-up mode (Mode A, active positioning mode) to ensure power supply and positioning reliability. A low-power strategy is used in the low-power heartbeat mode (Mode H) to save power. This achieves power consumption adaptation, balancing positioning reliability and energy saving.

[0089] In some embodiments, the positioning terminal 13 can control the transmission frequency of positioning requests and authentication signals based on its own battery level and / or the density of positioning base stations. The positioning terminal 13 may include a power management unit for monitoring its own battery level. One positioning terminal 13 may communicate with multiple positioning base stations 120. The positioning terminal 13 can determine the density of the positioning base stations 120 based on the signal feedback density of the positioning base stations 120. When the battery level of the positioning terminal 13 is below a power threshold and / or the density of the positioning base stations 120 is above a density threshold, the positioning terminal 13 can operate in a low-power heartbeat mode (ModeH) and reduce the transmission frequency of positioning requests and authentication signals. This also enables power consumption adaptation.

[0090] In some embodiments, the positioning terminal 13 can switch between active wake-up mode ModeA and low-power heartbeat mode ModeH based on displacement changes and / or its own power level (battery voltage). When the displacement change is greater than the displacement threshold and / or the power level is lower than the power level threshold, the positioning terminal 13 can operate in active wake-up mode ModeA. After completing the positioning, it switches to low-power heartbeat mode ModeH and reduces the transmission frequency to N times the original frequency.

[0091] In some embodiments, the positioning terminal 13 can switch between an active wake-up mode (Mode A) and a low-power heartbeat mode (Mode H) based on its own battery power (battery voltage) and / or the density of positioning base stations 120. When the battery power of the positioning terminal 13 is lower than a battery threshold and / or the density of positioning base stations 120 is greater than a density threshold, the positioning terminal 13 can switch its operating mode to the low-power heartbeat mode (Mode H) and disable the active wake-up function. The positioning terminal 13 can send location requests and authentication signals at a first transmission frequency. When the battery power of the positioning terminal 13 is not lower than a battery threshold and / or the density of positioning base stations 120 is not greater than a density threshold, the positioning terminal 13 can switch its operating mode to the active wake-up mode (Mode A) and enable the active wake-up function. The positioning terminal 13 can send location requests and authentication signals at a second transmission frequency. The second transmission frequency is higher than the first transmission frequency. For example, the first transmission frequency may include 1 hour / time, and the second transmission frequency may include 24 hours / time. It should be noted that the present invention does not limit the specific value of the transmission frequency; in practical applications, it can be determined according to requirements.

[0092] In some embodiments, the positioning terminal 13 can switch between active wake-up mode ModeA and low-power heartbeat mode ModeH based on displacement changes, its own power (battery voltage) and / or the density of positioning base stations.

[0093] It is understandable that the communication carrying capacity of the fire protection bus is limited. By dynamically adjusting the transmission frequency according to the power consumption and / or the density of the positioning base stations, the communication frequency of the fire protection bus can be adjusted, the total load of the fire protection bus can be balanced, which helps to improve the effectiveness and reliability of communication, reduce power consumption, extend service life, and achieve a trade-off between power consumption and reliability in the positioning process.

[0094] In some embodiments, the positioning terminal 13 further includes a near-field operating mode (ModeN) and a far-field operating mode (ModeF). In near-field operating mode (ModeN) (e.g., the distance between the positioning terminal and the positioning base station is below a distance threshold), the positioning terminal 13 can operate in the 2.4 GHz or 5.8 GHz high-frequency band. In far-field operating mode (ModeF) (e.g., the distance between the positioning terminal and the positioning base station is not below a distance threshold), the positioning terminal 13 can operate in the SUB 1G low-frequency band. The positioning terminal 13 can switch between near-field operating mode and far-field operating mode. For example, the positioning terminal 13 may include a near-field module and a far-field module. When one of the near-field module and the far-field module is enabled, the positioning terminal 13 can switch to either near-field operating mode (ModeN) or far-field operating mode (ModeF). When both the near-field module and the far-field module are enabled, the positioning terminal 13 can operate simultaneously in near-field operating mode (ModeN) and far-field operating mode (ModeF). The near-field working mode (ModeN) and the long-field working mode (ModeF) operate on different frequency bands, have strong anti-interference capabilities, and can communicate with positioning base stations at different distances, which helps to improve communication reliability and positioning accuracy.

[0095] In some embodiments, the positioning terminal 13 can select multiple target positioning base stations 120 for communication based on the signal strength, signal-to-noise ratio, and / or packet error rate of the positioning base station 120. For example, the positioning terminal 13 can select multiple positioning base stations 120 with signal strength higher than a preset signal strength, signal-to-noise ratio higher than a preset signal-to-noise ratio, and / or packet error rate lower than a preset packet error rate as target positioning base stations for communication. Actively initiating positioning requests to three or more target positioning base stations with better signals can ensure communication quality and help improve positioning reliability.

[0096] In some embodiments, multiple target positioning base stations 120 are configured to determine their distances to the positioning terminal 13 based on Time of Arrival (ToA) and report these distances to the central controller 11. Each target positioning base station determines the distance between itself and the positioning terminal 13 based on the communication time between them and reports the distance to the central controller 11. The central controller 11 can then determine the location of the positioning terminal 13 based on triangulation, using the distances reported by three or more target positioning base stations.

[0097] In some embodiments, the central controller 11 can select multiple target distances from the distances reported by multiple target positioning base stations based on the signal strength, signal-to-noise ratio, and / or packet error rate of the target positioning base stations, and determine the location of the positioning terminal 13 based on the multiple target distances. For example, the central controller 11 can select multiple distances reported by target positioning base stations with signal strength higher than a preset signal strength, signal-to-noise ratio higher than a preset signal-to-noise ratio, and / or packet error rate lower than a preset packet error rate as target distances, and determine the location of the positioning terminal 13 based on three or more target distances. In some embodiments, the central controller 11 can execute a multi-base station weight election algorithm to dynamically select the optimal base station group for error-resistant triangulation positioning. The selection error of the target distance is as low as within the meter level, which helps to improve communication quality, reduce positioning errors, and improve positioning reliability.

[0098] For example, the main controller 11 can select multiple target distances from the distances reported by multiple target positioning base stations based on the signal strength, signal-to-noise ratio, and / or packet error rate of the target positioning base stations and based on a weighted election algorithm, and determine the location of the positioning terminal based on the multiple target distances.

[0099] For example, ① the main controller 11 receives distance data d1, d2, d3…dn reported by multiple target positioning base stations, and simultaneously acquires the signal strength RSSI, signal-to-noise ratio SNR, and packet error rate PER of each target positioning base station. ② Based on the signal strength RSSI, signal-to-noise ratio SNR, and packet error rate PER of each target positioning base station, the main controller 11 calculates the weight value W of each target positioning base station as W = (RSSI / MAX(RSSI)) × 0.4 + (SNR / MAX(SNR)) × 0.4 + (1-PER) × 0.2. ③ The main controller 11 selects the distance data of the first 3 target positioning base stations whose weight value W ≥ a preset weight value (e.g., 0.6) as the target distance. ④ The main controller 11 uses the triangulation formula (x = (d1…dn)…dn ... 2 -d2 2 +x2 2 -x1 2 ) / (2 (x2-x1)), y and z are calculated similarly) to determine the coordinates of the positioning terminal.

[0100] In some embodiments, the main controller 11 can correct the positioning terminal coordinates based on an error correction factor. For example, the error correction factor = 1 - (PER × 0.3 + ambient noise floor deviation × 0.7).

[0101] The emergency rescue positioning system 10 of the present invention implements a two-way selection mechanism between the positioning terminal 13 and the main controller 11. The positioning terminal 13 can actively select multiple target positioning base stations with good communication quality for communication, and the main controller 11 can dynamically select multiple target distances reported by multiple target positioning base stations with good communication quality for triangulation positioning, which can reduce errors and greatly improve positioning accuracy.

[0102] In some embodiments, the positioning terminal 13 can determine whether the signal of the target positioning base station 120 is abnormal or lost. For example, the positioning terminal 13 can determine whether the signal of the target positioning base station 120 is abnormal or lost based on the signal strength and / or signal-to-noise ratio of the target positioning base station 120. When the signal strength is not higher than a preset signal strength and / or the signal-to-noise ratio is not higher than a preset signal-to-noise ratio, the positioning terminal 13 can determine that the signal of the target positioning base station 120 is abnormal or lost. Conversely, the positioning terminal 13 can determine that the signal of the target positioning base station 120 is normal.

[0103] In some embodiments, the positioning terminal 13 has an activated beacon function. When the signal of the target positioning base station 120 is abnormal or lost, the positioning terminal 13 can form a temporary wireless mesh network with other positioning terminals 13, activate its own beacon function, and broadcast its own coordinates. These coordinates can be reported to the central controller 11 via other positioning base stations (e.g., nearby positioning base stations) and the SUB1G communication band, improving the communication success rate. The central controller 11 can receive the coordinates reported by other positioning base stations via the first communication link (wired communication link), dynamically correct the coordinate accuracy, and update the accuracy of the multi-base station weight election algorithm, which helps improve positioning reliability and accuracy.

[0104] In some embodiments, the positioning terminal 13 can automatically activate nearby communicable positioning base stations as supplementary beacons; simultaneously, the positioning terminals 13 can support emergency communication to solve the positioning blind spot problem in beacon-sparse scenarios, and the central controller 11 can call upon more positioning base stations to participate in the terminal's positioning process. This is particularly suitable for situations where dense smoke occurs during a fire, and where some beacon base stations are damaged or wireless signal transmission is abnormal, leading to reduced positioning capabilities, enabling timely, effective, and reliable terminal positioning.

[0105] In some embodiments, when the target positioning base station is unavailable (e.g., due to signal abnormality, loss, or fire), the main controller 11 can temporarily request authorization for a backup positioning base station for communication. Simultaneously, based on dual-mode communication characteristics, the backup positioning base station can utilize the SUB 1G communication band to improve communication success rate while maintaining high system robustness and survivability. In some embodiments, when more than 30% but less than 70% of the target positioning base station signals are lost, the positioning terminal can automatically request backup base station positioning. In some embodiments, when more than 70% of the target positioning base station signals are lost, a temporary wireless mesh network can be established between positioning terminals to relay coordinates to the effective positioning base station, making it more suitable for emergency communication scenarios. This helps improve the system's adaptability to radio interference, enhances communication effectiveness and reliability in emergency situations, and improves positioning reliability.

[0106] In some embodiments, the positioning base station 120 is configured to periodically perform static calibration on the ambient noise level based on a location fingerprint database. This operation can be simply referred to as wireless static calibration. The period can be simply referred to as the static calibration period. The positioning base station 120 can perform wireless static calibration periodically or during the system initialization phase to ensure the initial accuracy and stability of the system. In some embodiments, the fire alarm detector 12 or the positioning base station 120 may include sensors for sensing surrounding environmental information. The sensors may include image sensors, temperature sensors, smoke sensors, etc.

[0107] In some embodiments, during the static calibration phase, the positioning base station 120 can collect signal characteristics and device status data of a preset reference point in a fixed scenario. This includes, for example, the RSSI (Signal Strength Index) environmental fingerprint of the preset reference point, a typical multipath reflection feature library, and the positioning base station's own reference parameters, such as antenna gain, frequency band, and clock cumulative compensation value, to construct a location fingerprint database. This location fingerprint database can serve as a benchmark or reference for static calibration of the environmental noise floor.

[0108] In some embodiments, the positioning base station 120 can perform static calibration based on the following process: ① During system initialization, RSSI signal strength and multipath reflection characteristics are collected at preset reference points (e.g., one preset reference point every 5m), and the base station antenna gain (e.g., 2dBi), frequency band (e.g., 2.4GHz), and clock compensation value (e.g., ≤10μs) are recorded. ② The collected data is stored in a location fingerprint database to form a positioning reference model. ③ The static calibration cycle is 7 days. If a change in ambient noise is detected (e.g., >10dB), emergency calibration is triggered, reference point data is re-collected, and the database is updated. It should be noted that these values ​​are only illustrative examples, and the present invention is not limited thereto. In practical applications, they can be appropriately adjusted according to requirements.

[0109] In some embodiments, the positioning base station can control the cycle (i.e., the static calibration cycle) based on whether the fire alarm sensor detects a fire signal. When the fire alarm sensor detects a fire signal, the positioning base station can shorten the positioning cycle of the fire alarm sensor. When the fire alarm sensor does not detect a fire signal, the positioning base station can maintain or extend the positioning cycle of the fire alarm sensor.

[0110] In some embodiments, the positioning base station 120 can construct a positioning reference model based on a location fingerprint database. In some embodiments, the positioning base station 120 can collect signal characteristics and device status in a fixed scene in real time and compare them with the location fingerprint database or the positioning reference model to identify whether the environment has changed significantly, such as whether there has been a significant change in the metallic reflective surfaces in the room, or whether the noise floor in certain frequency bands has significantly increased. If the environment has not changed significantly, the positioning base station 120 can perform static calibration of the environmental noise floor based on the location fingerprint database. The statically calibrated environmental noise floor (wireless static calibration data) can be used for subsequent dynamic positioning, providing an initial reference for dynamic calibration. If the environment has changed significantly, the statically calibrated environmental noise floor is no longer suitable for subsequent dynamic positioning. The positioning base station 120 can dynamically update the environmental noise floor based on the statically calibrated environmental noise floor, providing a new initial reference for dynamic calibration, effectively avoiding cumulative errors and ensuring positioning reliability.

[0111] In some embodiments, during the dynamic calibration phase, the positioning base station 120 can perform further dynamic calibration based on wireless static calibration data. For example, during system operation, the positioning base station 120 can sense environmental changes and equipment status fluctuations in real time, and dynamically correct positioning parameters through multi-source data fusion and feedback mechanisms and real-time calibration mechanisms, thereby ensuring the continuous reliability of distance measurement in complex dynamic radio electromagnetic operating environments. For example, the positioning base station 120 can analyze information such as signal RSSI strength values, SNR signal-to-noise ratio data, communication packet error rate (PER), and frequency hopping communication resistance to multipath transmission interference in real time. For example, it can perform real-time fluctuation monitoring by statistically detecting the short-term variance and long-term drift of RSSI through sliding window. For example, it can identify Ricean fading and Rayleigh fading modes based on the time-series characteristics of RSSI using a multipath identification algorithm. For example, it can monitor the noise floor based on SNR signal-to-noise ratio data to track the environmental background noise level in real time. For example, it can further identify and analyze the type of interference based on the characteristics of interfering electromagnetic signals in RSSI and SNR, using the communication bit error rate (PER). For example, interference types may include narrowband interference, broadband interference, and impulse interference. Narrowband interference is continuous interference at a specific frequency. Broadband interference is noise interference across a wide or even full frequency band. Impulse interference is sudden, high-energy pulse interference. Based on different types of interference, the positioning base station 120 can perform frequency hopping communication, avoiding interference signals by operating at different frequencies at different times, thereby improving the signal-to-noise ratio, communication reliability, ranging reliability, and ultimately positioning reliability.

[0112] In some embodiments, the positioning base station 120 can switch positioning algorithms by sensing changes in the environment. For example, when a fire alarm is triggered, it can switch to an emergency communication mode with high environmental signal distortion. The system automatically reduces RSSI weight, disables non-critical communications such as heartbeat communication, forcibly starts positioning broadcast, starts Mesh enhanced communication as needed, and reallocates base station power supply time slices to improve the timeliness, effectiveness, and reliability of communication and power supply in emergency situations, ensuring timely and effective terminal positioning in the fire alarm area.

[0113] In some embodiments, during the dynamic calibration phase, the positioning base station 120 can dynamically adjust the fingerprint database weights based on the real-time RSSI distribution, such as reducing the weight of metal reflection characteristics in dense smoke areas, and iteratively update the location fingerprint database and positioning benchmark model to provide a reliable reference for dynamic calibration.

[0114] In some embodiments, the positioning terminal 13 includes an inertial sensor. The inertial sensor may include an accelerometer, gyroscope, magnetometer, nine-axis sensor, etc. The inertial sensor can sense the attitude data of the positioning terminal 13. The positioning terminal 13 can communicate the attitude data to the positioning base station 120. The positioning base station 120 can perform further dynamic calibration based on wireless static calibration data and attitude data, which can further improve the accuracy of dynamic calibration. The inertial sensor can help track the attitude changes of the positioning terminal 13, making it compatible with both fixed and mobile asset positioning.

[0115] In some embodiments, dynamic calibration can be performed during each ranging measurement by the positioning terminal. Dynamic calibration can further trigger static emergency calibration when dealing with sudden environmental changes (e.g., a sudden temperature rise due to fire, a change in the dielectric constant of the propagating air medium, or a change in the propagation path of electromagnetic waves due to structural collapse). This involves rapidly updating the environmental noise floor data using a fast algorithm to reduce errors caused by sudden environmental changes in a timely manner. It has the advantage of resisting sudden environmental changes and helps to achieve accurate ranging in changing environments.

[0116] In some embodiments, the main controller 11 provides a synchronization clock to the positioning base station 120 via a first communication link L1. The positioning base station 120 can periodically perform static calibration of the ambient noise floor based on the location fingerprint database and the synchronization clock provided by the main controller 11. This combines static calibration with the wired synchronization clock, which has high accuracy, thus improving the accuracy of static calibration. In some embodiments, the positioning base station 120 can use the static calibration data as the initial reference for dynamic calibration based on the statically calibrated ambient noise floor, dynamically updating the ambient noise floor. This combines dynamic calibration with the wired synchronization clock, which has high accuracy, thus improving the accuracy of dynamic calibration. When the signal PER of the positioning terminal is greater than 10% or the SNR is less than -8dB, an emergency update of the ambient noise floor is triggered, improving the timeliness of the emergency update.

[0117] In some traditional solutions, static calibration is often independent of the synchronization clock, or the synchronization clock has low accuracy, resulting in insufficient initial reference accuracy for dynamic calibration. This application combines static calibration with the synchronization time of the fire-fighting high-precision clock bus, integrating the wired high-precision synchronization clock (error ≤10μs) of the industry's emergency bus-type positioning base station with the static calibration data of wireless positioning. High-precision timestamps are used to periodically correct environmental noise. Static data is used as the reference during the dynamic calibration phase, and during the data acquisition phase, threshold filtering is used to reduce the risk of erroneous updates. For example, PER > 10% or SNR < -8dB is used as the trigger threshold. High-precision clock synchronization reduces calibration errors, solves the positioning drift problem caused by sudden changes in noise in dynamic environments, and improves positioning accuracy.

[0118] For example, the clock error Δt = |tsynchronous clock - tbase station local clock|.

[0119] Wherein, t_synchronization clock is the synchronization clock provided by the main controller 11. t_base station local clock is the local clock of the positioning base station 120.

[0120] The clock error Δt of this invention is as low as less than 10 μs. This extremely low clock error helps improve the accuracy of ranging results, thereby improving positioning precision.

[0121] In some embodiments, the positioning terminal 13 can determine its own displacement changes based on attitude data sensed by inertial sensors and a synchronization clock from the main controller 11. The wired synchronization clock has high accuracy, and the positioning terminal 13, based on the time-division high-precision periodic network clock characteristics of the fire bus (first communication link L1), can obtain accurate time synchronization, achieving high-precision time-based identification of changes in environmental static electromagnetic data, and accurately sensing the attitude data of the positioning terminal 13. Based on accurate attitude data and a synchronization clock, it can accurately determine its own displacement changes. On the one hand, it can accurately switch between the active wake-up mode (ModeA) and the low-power heartbeat mode (ModeH), achieving accurate and reliable power consumption adaptation. On the other hand, it can accurately correct the ranging parameters of the time-of-arrival method, accurately measuring distance and providing accurate and reliable positioning.

[0122] The positioning system of the present invention can suppress positioning errors and improve positioning accuracy through cyclic static calibration and real-time dynamic calibration of positioning base stations.

[0123] In some embodiments, before determining the distance between itself and the positioning terminal, the positioning base station 120 may perform filtering based on an abnormal signal rejection filtering mechanism. For example, the data fed back by the positioning terminal 13 may first be filtered to exclude abnormal dynamic data, such as severely abnormal ranging data with PER > 10% and / or SNR < -8dB. If the positioning terminal 13 is equipped with an inertial sensor, the positioning base station 120 may perform filtering based on a Kalman filter to fuse the inertial navigation displacement and ToA ranging results, thereby performing error compensation, suppressing jitter errors, improving ranging reliability, and thus improving positioning reliability.

[0124] In some embodiments, the positioning base station 120 can determine its distance to the positioning terminal 13 based on one or more of complementary filtering algorithms, Kalman filtering algorithms, attitude data, and time-of-arrival methods. For example, the positioning base station 120 can determine its distance to the positioning terminal 13 based on the time-of-arrival method. Alternatively, the positioning base station 120 can determine its distance to the positioning terminal 13 based on attitude data and the time-of-arrival method. For example, the positioning base station 120 can use a quaternion update algorithm and attitude data for Mahony complementary filtering, and perform attitude estimation using a Kalman filtering algorithm and attitude data to deduce the position and velocity of the positioning terminal 13, thereby determining the distance between the positioning base station 120 and the positioning terminal 13. This can reduce errors and improve positioning accuracy.

[0125] In some embodiments, the main controller 11 can compensate for the signal delay of the positioning base station 120 caused by factors such as high temperatures from fires based on attitude data from inertial sensors. The compensation coefficient can be dynamically adjusted based on ambient temperature sensor data. Compensating for the signal delay of the positioning base station using attitude data can reduce the ranging error caused by the signal delay, thereby improving positioning accuracy, timeliness, and effectiveness. By dynamically adjusting the compensation coefficient, the system's adaptability and environmental resilience can be improved.

[0126] Understandably, during a fire, the positioning base station is in a high-temperature, smoke-filled environment. Internal components such as crystal oscillators are highly sensitive to temperature, and the interference of burning aerosols on radio signals further affects time accuracy, consequently impacting ranging accuracy. The main controller 11 can compensate for signal delays in the positioning base station 120 based on attitude data from inertial sensors. For example, by fusing attitude data (Ax, Ay, Az) with Time of Arrival (ToA), the main controller 11 can compensate for ranging errors, correcting ranging errors caused by environmental factors such as high temperatures during a fire. These errors include time-related errors caused by burning aerosols interfering with radio signals, and positioning deviations caused by changes in signal propagation speed in high-temperature environments, thereby improving positioning accuracy in dynamic scenarios.

[0127] Example, ranging error .

[0128] Where k is the temperature compensation coefficient. Let be the rate of change of attitude.

[0129] In some embodiments, the positioning base station 120 can be based on one or more of complementary filtering algorithms, Kalman filtering algorithms, attitude data and time-of-arrival methods, and can also combine environmental parameters during the ranging process, such as temperature, aerosols, attitude change rate, etc., to dynamically compensate for the propagation time and calculate the distance between the positioning base station 120 and the positioning terminal 13, which can improve the positioning accuracy in dynamic scenarios.

[0130] During a fire, dense smoke, suspended particulate matter, and intense thermal convection significantly alter the dielectric constant, causing drastic changes in electromagnetic wave propagation speed and attenuation models. Traditional Time-of-Availability (ToA) and RSSI ranging methods in such situations can produce substantial errors. This invention addresses these issues with the following innovations: Utilizing the physical characteristics of multimode communication, given the extreme sensitivity of high-frequency (2.4G / 5.8G) frequencies to smoke particle scattering attenuation and the strong penetrating power of low-frequency (Sub-1G) frequencies to smoke, the cross-frequency attenuation difference between the two is calculated. This difference is then used to deduce the current smoke concentration and thermal convection disturbance level in the space. Based on this disturbance level, a dynamic lookup table or model is used to correct the ToA propagation time error in the fire-affected medium and to compensate for the observation noise covariance matrix of the Kalman filter. Simultaneously, within the fire scene, based on the sequential timing of fire alarm triggers from multiple sensors on the fire controller, the direction and speed of fire spread are calculated. Further refined dynamic time slice allocation (e.g., weighted priority allocation) can be performed along the fire's leading edge, assigning the most frequent polling slices to base stations located in the fire's spread zone (i.e., the most dangerous area). The system automatically sends an "emergency evacuation mesh routing table" to positioning terminals within this area to guide personnel towards safer base stations for network relay. Furthermore, addressing the significant clock deviations caused by temperature in fire environments, the system improves bus timing accuracy, enabling the sensor's MCU to calibrate its clock more frequently. Combined with temperature sampling values ​​from the sensor's environment, dual compensation—local compensation and bus communication compensation—ensures accurate positioning.

[0131] In non-line-of-sight (Line-of-Sight) scenarios for multi-mode communication ranging, when a terminal communicates with a base station, it can alternately send Sub-1G ranging frames and 5.8G ranging frames containing the same timestamp within the same time segment. Due to the strong penetration of low-frequency (Sub-1G) frames and their straight-line propagation path (line-of-sight wall penetration), while the weak penetration of high-frequency (5.8G) frames makes them easily reflected by walls (non-line-of-sight diffraction), the distance calculated by the 5.8G ToA frame received by the base station is likely to be significantly greater than the distance calculated by the Sub-1G ToA frame. In this case, the positioning terminal and / or the main controller can directly determine that the current link is in a non-line-of-sight blocked state. The positioning terminal can then select a target positioning base station again, or the main controller can prioritize allocating other base stations with better communication as the target communication base station to the positioning terminal, so as to achieve reliable communication between the positioning terminal and the positioning base station, thereby ensuring the accuracy of positioning.

[0132] In some embodiments, positioning data is distributed across positioning base stations, reducing bus communication pressure. For example, positioning base station 120 may include a memory. Positioning terminal 13 can report ranging results to positioning base station 120, and positioning base station 120 can store ranging data in its memory. The central controller 11 can read the positioning data stored at the target positioning base station and select multiple target distances to determine the location of the positioning terminal.

[0133] In some embodiments, the memory may include random access memory (RAM) or non-volatile memory (NVM). Further, the memory may include at least one of phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), read-only memory (ROM), and electrically erasable programmable read-only memory (EEPROM).

[0134] The present invention also provides a building. Figure 8 A schematic diagram of a building according to some embodiments of the present invention is shown. For example... Figure 8 As shown, building 20 includes an emergency rescue positioning system 10.

[0135] In some embodiments, building 20 may include various buildings of indoor places such as libraries, hotels, and buildings, or various buildings of non-open spaces (e.g., tunnels, etc.). For example, Figure 8As shown, building 20 comprises 8 floors F1-F8. Each floor includes multiple rooms. For example, floor F1 includes rooms R101-R10X, floor F2 includes rooms R201-R20X, floor F3 includes rooms R301-R30X, and floor F8 includes rooms R801-R80X. Each floor forms a loop, and the 8 floors form loops 1-8. Each room includes a fire alarm sensor 12. Each fire alarm sensor 12 includes a positioning base station 120. Each room includes a positioning terminal 13. The main controller 11 connects the fire alarm sensor 12 and the positioning base station 120 of each room on each floor via a first communication link L1. The positioning terminal 13 of each room is connected to the positioning base station 120 via a second communication link L2. It should be noted that the present invention does not limit the number of floors in the building. The number of rooms on each floor, the number of fire alarm sensors in each room, the number of positioning base stations for each fire alarm sensor, and the number of positioning terminals in each room can be configured according to requirements in practical applications.

[0136] In some embodiments, Figure 8 The building presents a wired fire protection network architecture, with the fire control host (central controller 11) as the core hub, connecting each floor area via wired lines. In terms of layout, smoke detectors, heat detectors, and audible and visual alarm terminals (fire warning probes 12) are distributed on different floors to construct a basic fire monitoring and response system. Simultaneously, each room's wired fire protection equipment location is equipped with a wireless monitoring module (positioning base station 120), which can monitor indoor occupant movement, the status of fire protection facilities (such as the location, position, and cylinder pressure of fire extinguishers, the location of fire hydrants, and the pressure of the sprinkler system), and the distribution and integrity of assets. When a fire occurs, smoke and heat sensors trigger signals, which are then rapidly transmitted to the control host via a wired network, triggering alarms, sprinklers, and other systems. In both routine and emergency scenarios, personnel, equipment (positioning terminal 13), and asset data collected by the positioning base station are also transmitted back to the fire control host (central controller 11) via a wired network. This helps to accurately grasp multi-dimensional information within the building, enabling efficient and intelligent integrated fire safety management. It also creates a comprehensive monitoring and response network covering the entire building, achieving low-cost and highly reliable asset positioning and emergency rescue.

[0137] In some embodiments, based on the deployed fire protection network, a positioning coordinate system can be directly constructed using the fire protection cabling topology, for example, by using building drawings or maps to determine the location of fire detection equipment (i.e., the location of the base station). The location of the fire detection equipment (i.e., the location of the base station) is then associated with its ID and stored in memory. When a fire occurs, smoke and heat detection trigger signals are transmitted rapidly to the control host via the wired network, and then to the fire control host (main controller 11) via the wired network. This allows for rapid location of the fire area, enabling timely and effective rescue, greatly simplifying workload and improving efficiency.

[0138] In some embodiments, the building may include a semi-open building, such as a tunnel. The solution of the present invention is also applicable to semi-open emergency scenarios such as tunnels. For example, in a tunnel scenario, the tunnel is 1000m long, and a fire warning detector (integrated with a positioning base station) is deployed every 50m, connected to the main controller via an RS485 bus. After a fire occurs, the dense smoke causes the signals of base stations #5 and #6 to be interrupted, and firefighters can enter the tunnel carrying positioning terminals (with 30% battery power).

[0139] For example, the system workflow is as follows: ① The main controller polls positioning base stations #1 to #20 using a time-division multiplexing method, with bus occupancy as low as 0.5%. ② When a firefighter moves, the positioning terminal detects a displacement change greater than the displacement threshold (e.g., 0.3m) and activates the active wake-up mode (ModeA). ③ When the distance between the positioning terminal and the nearest positioning base station #4 is 60m (not less than the distance threshold), the positioning terminal switches to long-distance working mode (ModeF) and the SUB 1G low-frequency band, sending a positioning request, authentication signal, and PSN encoding. ④ After receiving the request, positioning base station #4 corrects the ToA ranging parameters by combining the statically calibrated location fingerprint database (tunnel environment noise baseline value -70dB) with the dynamically updated dense smoke environment noise (-65dB). ⑤ Simultaneously, the positioning terminal's inertial sensor collects attitude data (e.g., acceleration 0.5m / s²). 2 The base station calculates distance d4 = 60.2m by fusing algorithms (e.g., Kalman filter weight 70%, complementary filter weight 30%) using a Kalman filter algorithm and a complementary filter algorithm (angular velocity 10° / s). ⑥ Base station #7 (not obscured by smoke) simultaneously receives the positioning terminal signal and calculates distance d7 = 58.5m. ⑦ The positioning terminal detects signal loss from positioning base stations #5 and #6, activates the beacon function, and relays coordinates from positioning base stations #4 and #7. ⑧ The main controller receives distances d4, d7, and other base station data, selects distance d4 with weight W = 0.85 and distance d7 with weight W = 0.78 using a weighted election algorithm, combines this with distance d3 = 62.1m from positioning base station #3 (weight W = 0.65), and calculates the positioning terminal coordinates based on triangulation (error as low as 0.3m). The positioning terminal coordinates can be fed back to the rescue command center in real time for timely rescue. It should be noted that this embodiment is only an illustrative example, and the invention is not limited thereto.

[0140] The present invention also provides an emergency rescue positioning method performed by an emergency rescue positioning system. Figure 9 A flowchart illustrating an emergency rescue positioning method according to some embodiments of the present invention is shown. Figure 9As shown, the emergency rescue positioning method 30 includes steps S31 to S35. Step S31: A positioning broadcast packet is sent via the positioning base station 120. Step S32: The positioning terminal 13 receives the positioning broadcast packet and sends a positioning request and authentication signal. Step S33: The positioning base station 120 receives and responds to the positioning request and authentication signal during the receiving time slice. After authentication, the positioning terminal information is reported to the central controller 11. Step S34: The positioning base station 120 determines the distance between itself and the positioning terminal 13 and reports the distance to the central controller 11. Step S35: The central controller 11 determines the location of the positioning terminal 13 based on multiple distances.

[0141] Figure 10 A flowchart illustrating an emergency rescue positioning method according to some embodiments of the present invention is shown. Figure 10 As shown, in operation OP1, the positioning base station 120 periodically sends out base station positioning broadcast packets to the positioning terminal 13 to identify the presence of the nearby positioning base station 120, calibrate the time anchor, and correct time errors. In operation OP2, after the positioning terminal 13 recognizes the positioning broadcast packet from the positioning base station 120, it initiates a positioning request and authentication signal. In operation OP3, the positioning base station 120 receives and responds to the positioning request and authentication signal during its receiving time slice. After successful authentication, it reports the positioning terminal 13's information to the central controller 11 for information aggregation and backup, facilitating subsequent multi-base station data analysis. In operation OP4, the positioning base station 120 periodically performs wireless static calibration to ensure the initial accuracy and stability of the system. In operation OP5, the positioning base station 120 performs real-time wireless dynamic calibration based on the wireless static calibration data, dynamically correcting positioning parameters to ensure the continuous reliability of ranging in complex dynamic radio electromagnetic operating environments. In operation OP6, the positioning terminal 13 uses an inertial navigation module (inertial sensor) to sense attitude data, which helps improve the accuracy of dynamic calibration. In operation OP7, the positioning base station 120 performs ranging in a wireless ranging environment. The positioning base station 120 can perform data filtering, that is, first exclude abnormal dynamic data, such as severely abnormal ranging data with PER > 10% or SNR < -8dB. The positioning base station 120 can fuse inertial navigation displacement and ToA ranging results based on a Kalman filter to perform data compensation, suppress jitter errors, and improve the accuracy of ranging results. In operation OP8, after completing single-point wireless ranging, the positioning base station 120 reports the ranging result to the main controller 11. The main controller 11 integrates the comprehensive data from multiple base stations, executes a multi-base station weighted election algorithm, and dynamically selects the optimal base station group (three or more target positioning base stations or target distances) for comprehensive judgment and positioning. In operation OP9, the main controller 11, based on the attitude data sensed by the inertial sensor, the ranging result of the positioning base station 120, and the optimal base station group selected by the main controller 11, comprehensively calculates the location of the positioning terminal 13, achieving accurate positioning of the positioning terminal 13.

[0142] Figure 11 A flowchart illustrating an emergency rescue positioning method according to some embodiments of the present invention is shown. Figure 11 As shown, the positioning base station 120 periodically sends out base station positioning broadcast packets and periodically polls the base station broadcasts. After the wireless positioning cycle begins, the positioning terminal 13 is woken up by the polling data from the positioning base station 120 and performs displacement judgment based on the wireless signal. The positioning terminal 13 can intelligently determine whether the displacement has changed based on historical positioning data. If the PSN identification code, signal strength, and communication time of the positioning base station received in this round have not changed significantly, it is determined that the displacement has not changed significantly, and it will not enter the wireless positioning process, but will continue to be in the energy-saving protection state and continue to work in the low-power heartbeat mode ModeH. If the positioning terminal 13 determines that the displacement has changed significantly or is in a periodic active positioning cycle, it will cancel the energy-saving protection state, switch the working mode to the active wake-up mode ModeA, enter the wake-up state, and initiate the positioning request process. The positioning terminal 13 selects positioning base stations A, B, and C with better signals as target positioning base stations for communication. The positioning terminal 13 actively initiates the positioning request, and when there are ≥3 high-quality signal positioning base stations, it does not interact with base stations with RSSI < -100dBm to ensure communication reliability. Positioning base stations A, B, and C receive and respond to positioning requests and authentication signals during their receiving time slices. After authentication, positioning communication is initiated. Positioning base stations A, B, and C perform periodic static calibration and real-time dynamic calibration to ensure positioning accuracy. During static calibration, positioning base stations A, B, and C read the RSSI historical fingerprint database to determine environmental characteristic baselines. During dynamic calibration, positioning base stations A, B, and C perform at least three rounds of ToA frequency hopping ranging, and combine RSSI signal strength processing, SNR / PER weighted calculation, digital signal processing, and error filtering to remove abnormal data with PER > 10% and / or SNR < -8dB. Compensation can also be performed using inertial navigation data from the positioning terminal to obtain compensated data. After completing the ranging, positioning base stations A, B, and C report the ranging results to the main controller 11 for aggregation, which is then used for subsequent triangulation or single / dual base station signal positioning. The main controller 11 calculates the location of the positioning terminal 13 based on the ranging data, compensation data, and base station signal strength reported by the positioning base stations A, B, and C, thereby achieving accurate positioning of the positioning terminal 13.

[0143] In some embodiments, under scenarios with strict cost control or where some positioning base stations 120 are unavailable or sparsely deployed, single-base station or dual-base station positioning can be performed. In some embodiments, when the failure rate of positioning base stations exceeds a preset threshold, a backup positioning base station can be activated, or a mesh communication network between terminals can be activated to achieve positioning data relay, improve communication reliability, and help to locate in a timely and effective manner, thereby ensuring the safety of personnel and property.

[0144] The present invention also provides a computer-readable storage medium. The computer-readable storage medium includes computer-executable instructions stored thereon, which, when executed by a processor, implement the emergency rescue positioning method 30.

[0145] In some embodiments, the present invention may take the form of a computer program product implemented on one or more storage media containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: PRAM, SRAM, DRAM, other types of RAM, ROM, EEPROM, flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital video disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0146] The emergency rescue positioning system and method of the present invention integrate the positioning base station into the fire early warning probe. The positioning base station is connected to the main controller through the first communication link and to the positioning terminal through the second communication link. It can realize low-cost and high-reliability positioning of the positioning terminal, thereby realizing asset positioning. It is suitable for positioning scenarios such as indoor or non-open space places (e.g., tunnels).

[0147] The emergency rescue positioning system and method of the present invention have advantages such as resistance to environmental changes, low deployment and transformation costs, rapid base station deployment, and self-calibration characteristics of AI computing data at the base station edge for personnel and asset positioning.

[0148] The emergency rescue positioning system and method of the present invention include at least three positioning base stations, at least one positioning terminal, a central controller or server, a first communication link (wired link), and a second communication link (wireless link). The central controller provides a unified synchronization clock to each positioning base station through the first communication link. Each positioning base station performs static environmental calibration based on the synchronization clock to generate environmental noise floor reference data; during the positioning process, it performs dynamic calibration, using the environmental noise floor reference data as the initial condition for dynamic calibration. Dynamic calibration can be triggered when a sudden environmental change or communication quality anomaly is detected, and can update the environmental noise floor reference data. The positioning base stations can also collect channel parameters of multiple sub-frequency bands, including noise floor, packet error rate, signal-to-noise ratio, and bandwidth; calculate channel quality scores based on channel parameters and environmental attenuation factors; and perform frequency hopping communication and channel allocation based on the channel quality scores. The positioning terminal can receive positioning broadcast packets and initiate positioning requests; and acquire attitude data based on inertial sensors. The positioning base stations can further acquire ranging data based on the Time of Arrival (ToA) method; and compensate for ranging errors by fusing attitude data. The main controller can perform base station selection and weighted fusion based on the ranging results of multiple positioning base stations; and output the location results of the positioning terminal.

[0149] This invention offers significant advantages over traditional solutions in numerous aspects through three core innovations: wired-wireless hybrid networking, multi-mode error suppression, and high- and low-precision hybrid positioning. At the communication layer, it breaks through the reliance on pure wireless communication, resolving beacon synchronization and reliability bottlenecks through a single-wire link. At the perception layer, it reconstructs the beacon deployment logic, achieving low-cost, high-density coverage, while the terminal supports displacement recognition based on wireless signal characteristics, further saving network communication bandwidth and extending battery life. At the algorithm layer, it integrates hardware suppression and dynamic calibration to overcome positioning challenges in complex environments. By using a dual-mode beacon multiplexing method, a positioning beacon module is integrated into the existing wired probes (such as smoke and heat detectors) of the emergency rescue fire warning system, forming a network via an emergency rescue fire two-wire bus, CAN, or RS485. By using the already deployed emergency rescue fire network, there is no need to increase wiring and sensor terminal costs, and costs can even be saved. Utilizing the centralized power supply line of the fire warning system, power reuse is achieved, avoiding independent power supply deployment and saving costs. The existing wired bus communication network is reused, and positioning beacon control commands are extended based on existing fire protocols, with beacon operating time slots and warning signals time-division multiplexing the bus bandwidth. To address the personnel and asset location needs in the emergency rescue field, a positioning technology with an accuracy of approximately 1% compared to the coverage area is developed, while also supporting ultra-low power standby without affecting the battery life of current fire protection products.

[0150] This invention saves more than 95% of the cost of redundant hardware construction by reusing the emergency rescue Internet of Things network and the terminal hardware platform. At the same time, by using time-division multiplexing control, power is supplied to the positioning beacon of each base station terminal in sequence, reducing the overall current demand of the bus. Therefore, there is no need to increase the power supply unit cost of the existing emergency rescue fire protection network. Only the positioning base station component needs to be added to upgrade traditional smoke detectors, heat detectors, modules and other equipment into base stations with positioning functions.

[0151] This invention utilizes a channel state information (CSI) reporting mechanism to add CSI data such as wireless signal transmission time, signal strength, multi-round frequency hopping signal accumulation, transmission error rate, and historical signal data analysis to an emergency rescue self-organized private network. This reduces the impact of environmental interference, provides better interference suppression and dynamic calibration capabilities, and improves positioning accuracy.

[0152] This invention collects data from different positioning base stations using wired base stations, supporting a lower cost reduction potential. It uses only signal strength and the signal strength values ​​of multiple base stations to achieve a denser deployment of low-cost positioning base stations, thereby enabling accurate indoor positioning of personnel and assets in their rooms.

[0153] The present invention relates to an emergency rescue personnel and asset positioning system and method based on wired multiplexing time-division collaboration. By leveraging a mature wired network, and without changing the power supply and other hardware, only a positioning module is added to upgrade it into a positioning network. Precise positioning is achieved through technologies such as ToA, RSSI fingerprinting, frequency hopping polling, and enhanced positioning.

[0154] The innovative method of this invention enhances traditional wired communication technology with time-division multiple access (TDMA) to achieve the extension of positioning beacon control commands based on wired protocols. Specifically, the beacon operating time slot and the warning signal are coordinated and transmitted in the same wired channel through a time-division multiplexing bus bandwidth mechanism. At the same time, the system uses the address of the wired communication device to accurately transmit the wireless information of the corresponding location to the controller, thereby constructing a new communication architecture that integrates the scalability of wired protocols and the flexibility of wireless positioning.

[0155] The emergency rescue positioning system and method of this invention are based on the positioning technology of current fire wireless communication self-organizing private networks. By using the existing self-organizing private network communication physical layer of the terminal, it adds ranging based on the Time of Arrival (ToA) method and uses RSSI signal strength to extract regional environmental fingerprint features of fixed installation location assets. By training the model for a sufficiently long time, the asset positioning accuracy is improved. It forms a network coverage of at least three base stations with known coordinates and performs multi-block triangulation positioning. For indoor base station installation locations, it uses lateral technology in the terminal ranging process to calculate angle values ​​and reverse the relative installation positions of each base station to improve the positioning calculation accuracy.

[0156] In the positioning process, the terminal actively sends periodic positioning request signals to the surrounding base stations. After coordination by the server, the base stations sequentially authenticate the identity of the positioning initiator or device and perform static calibration. After authentication, N rounds of frequency hopping and variable speed communication ranging are performed. Data such as RSSI, SNR, and PER are transmitted wirelessly for validity weighting, and then dynamic error filtering and calibration are performed.

[0157] This invention reduces transmission angle measurement errors through spatial diversity; reduces environmental measurement errors caused by abnormal frequency points or environmental interference based on multi-frequency hopping and variable-speed communication technology of the fire-fighting wireless system; and reduces ground reflection errors based on a polarized isolation antenna. After multiple ranging measurements at different distances, inertial navigation compensation is selected to dynamically calibrate accuracy. After ranging measurements from at least three base stations in sequence, the positioning coordinates of the positioning terminal in three-dimensional space are obtained.

[0158] This invention achieves a breakthrough in hardware sharing between fire communication networks and positioning systems. Using existing positioning and communication base stations, a dynamic positioning field can be constructed at the fire scene, making it particularly suitable for scenarios where traditional visual positioning fails in dense smoke environments. It not only saves over 95% of equipment deployment costs but also builds an all-weather emergency rescue positioning system by reusing existing fire protection facilities. This provides crucial technical support for indoor positioning of emergency rescue assets, firefighters, and automatic rescue positioning terminals in indoor or non-open spaces, as well as for the automatic execution of inspection tasks.

[0159] This invention achieves significant advantages through three innovations: a deep fusion of wired and wireless architecture, a dual-mode terminal mechanism, and a multi-dimensional positioning algorithm. Utilizing existing infrastructure in fire alarm systems, it achieves near-zero-cost base station deployment, realizing architectural innovation and overcoming the high-cost bottleneck of traditional positioning systems, resulting in significant cost savings. By using device ID (PSN encoding)-triggered wake-up and dynamic heartbeat frequency modulation, it solves the industry challenge of balancing low power consumption and real-time performance, achieving mode innovation and achieving a balance between low power consumption and high real-time performance. By integrating multi-parameter weighted election and robust triangulation, it overcomes the accuracy degradation problem caused by multi-device competition in complex electromagnetic environments, achieving algorithmic innovation and strong anti-interference capabilities.

[0160] It should be noted that this specification provides method operation steps as shown in the embodiments or diagrams, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only execution order. In actual system or device products, the methods shown in the embodiments or flowcharts can be executed sequentially or in parallel.

[0161] It should be noted that although several modules of the emergency rescue positioning system have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more modules described above can be implemented in one module. Conversely, the features and functions of one module described above can be further divided and specified by multiple modules.

[0162] It should be noted that the present invention may include Figures 1-11 Any one or more features of any one or more embodiments. In other words, not all features shown in the figures need to be implemented simultaneously in the emergency rescue positioning system / method of the present invention.

[0163] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An emergency rescue positioning system, characterized in that, include: Main controller; Multiple fire alarm detectors, each of which includes a positioning base station, and the positioning base station is connected to the main controller via a first communication link; Multiple positioning terminals, wherein the positioning terminals are connected to the positioning base station via a second communication link, the second communication link being different from the first communication link; The positioning base station is configured to send positioning broadcast packets; The positioning terminal is configured to receive the positioning broadcast packet and send a positioning request and an identity authentication signal; The positioning base station is configured to receive and respond to the positioning request and identity authentication signal in the receiving time slice, and after authentication, report the positioning terminal information to the main controller. The positioning base station is configured to determine the distance between itself and the positioning terminal, and report the distance to the central controller; The main controller is configured to determine the location of the positioning terminal based on a plurality of the distances.

2. The emergency rescue positioning system according to claim 1, characterized in that, The first communication link includes a wired communication link; the second communication link includes a wireless communication link; the positioning base station reuses the fire-fighting wired communication link and the power supply line; The positioning base station supports multi-mode communication and can operate in the 2.4GHz communication band, the SUB1G communication band, and / or the 5.8GHz communication band.

3. The emergency rescue positioning system according to claim 2, characterized in that, Each of the 2.4GHz, SUB1G, and 5.8GHz communication bands includes multiple sub-bands. The main controller is configured to statistically analyze the noise floor information of each sub-band, perform quality scoring and environmental attenuation factor compensation, and dynamically allocate sub-bands for transmitting control signaling and data streams. The sub-bands for transmitting control signaling are different from those for transmitting data streams. The multiple sub-bands of the SUB1G communication band include the 433MHz, CN470MHz, EU868MHz, and AS915MHz operating bands.

4. The emergency rescue positioning system according to claim 1 or 2, characterized in that, The multiple fire alarm detectors each have different operating time slots for their respective positioning base stations. The main controller is configured to power each positioning base station based on time-division multiplexing. The main controller is configured to send downlink voltage carrier signals through the first communication link to achieve multiple communication level broadcast frames. The fire alarm detectors are configured to send uplink echo current through the first communication link. Each fire alarm detector is divided into its own working time slot during the stable power supply time slot in the downlink broadcast frame.

5. The emergency rescue positioning system according to claim 4, characterized in that, When the positioning base station communicates with multiple positioning terminals, the positioning base station is configured to communicate based on the PSN codes of the multiple positioning terminals; The positioning base station is configured to communicate with the terminal to be located that has passed authentication and entered the network, based on the power consumption time slice distribution. The main controller is configured to perform load balancing based on the signal strength of the location broadcast packet, the signal strength of the location request and identity authentication, and the bus allocation time slice load.

6. The emergency rescue positioning system according to claim 5, characterized in that, The main controller is configured to count the number of terminals connected to each positioning base station. If the number of terminals is less than or equal to a preset number, the main controller is configured to shorten the working time slice of the positioning base station; if the number of terminals is greater than the preset number, the main controller is configured to extend the working time slice of the positioning base station.

7. The emergency rescue positioning system according to claim 6, characterized in that, The main controller is configured to monitor whether the fire alarm probes detect a fire signal, and control the working time slice of the positioning base station of the fire alarm probes based on whether a fire signal is detected, including: extending the working time slice of the positioning base station of the fire alarm probe that has detected a fire signal, extending the time slice of the corresponding positioning base station to the longest preset working time slice, and raising it to the highest priority; and shortening the working time slice of the positioning base station of the fire alarm probe that has not detected a fire signal.

8. The emergency rescue positioning system according to claim 1 or 2, characterized in that, The positioning terminal includes an active wake-up mode. The positioning terminal is configured to determine its own displacement change based on the signal characteristics of the positioning base station. When the displacement change is greater than the displacement threshold, the positioning terminal is configured to work in the active wake-up mode and send the positioning request and identity authentication signal. The signal characteristics include at least one of PSN identification code, signal strength, and communication time.

9. The emergency rescue positioning system according to claim 8, characterized in that, The positioning terminal also includes a low-power heartbeat mode. The positioning terminal is configured to control the transmission frequency of the positioning request and identity authentication signal based on its own battery level and / or the density of the positioning base stations. When the battery level is lower than a battery threshold and / or the density is greater than a density threshold, the positioning terminal is configured to operate in the low-power heartbeat mode and reduce the transmission frequency. When the displacement change is greater than the displacement threshold and / or the battery level is lower than the battery threshold, the positioning terminal is configured to operate in the active wake-up mode. After completing the positioning, it switches to the low-power heartbeat mode and reduces the transmission frequency to N times the original frequency.

10. The emergency rescue positioning system according to claim 1 or 2, characterized in that, The positioning terminal also includes a near-field working mode and a far-field working mode. In the near-field working mode, the positioning terminal operates in the 2.4GHz or 5.8GHz high-frequency band; in the far-field working mode, the positioning terminal operates in the SUB 1G low-frequency band; the positioning terminal is configured to switch between the near-field working mode and the far-field working mode.

11. The emergency rescue positioning system according to claim 1 or 2, characterized in that, The positioning terminal is configured to communicate with multiple target positioning base stations based on the signal strength, signal-to-noise ratio, and / or packet error rate of the positioning base station; each of the multiple target positioning base stations is configured to determine its distance from the positioning terminal based on the time-of-arrival method and report the distance to the central controller; the central controller is configured to select multiple target distances based on the signal strength, signal-to-noise ratio, and / or packet error rate of the target positioning base stations and based on a weighted election algorithm, and determine the position of the positioning terminal based on the multiple target distances.

12. The emergency rescue positioning system according to claim 11, characterized in that, The positioning terminal is configured to determine whether the signal of the target positioning base station is abnormal or lost. When an abnormality or loss occurs, the positioning terminal is configured to form a temporary wireless mesh network with other positioning terminals, activate the beacon function, and broadcast its own coordinates. The coordinates can be reported to the main controller through other positioning base stations and the SUB1G communication band.

13. The emergency rescue positioning system according to claim 8, characterized in that, The positioning base station is configured to periodically perform static calibration of the ambient noise level based on the location fingerprint database and the synchronous clock provided by the main controller. The ambient noise level is dynamically updated based on static calibration.

14. The emergency rescue positioning system according to claim 13, characterized in that, The positioning base station is configured to control the cycle based on whether the fire alarm probe detects a fire signal; when a fire signal is detected, the cycle is shortened; when no fire signal is detected, the cycle is maintained or extended.

15. The emergency rescue positioning system according to claim 13, characterized in that, The positioning terminal includes an inertial sensor configured to sense the attitude data of the positioning terminal. The positioning terminal is configured to determine its own displacement change based on the attitude data and the synchronization clock. The positioning base station is configured to determine the distance between itself and the positioning terminal based on one or more of the complementary filtering algorithm, the Kalman filtering algorithm, the attitude data, and the time-of-arrival method.

16. The emergency rescue positioning system according to claim 13, characterized in that, The main controller is configured to compensate for the signal delay of the positioning base station based on attitude data from inertial sensors, and to correct ranging errors based on the attitude data and the time-of-arrival method.

17. A building, characterized in that, Including the emergency rescue positioning system as described in any one of claims 1-16.

18. An emergency rescue positioning method executed by the emergency rescue positioning system according to any one of claims 1-16, characterized in that, include: The location broadcast packet is sent through the location base station; The positioning terminal receives the positioning broadcast packet and sends a positioning request and identity authentication signal. The positioning base station receives and responds to the positioning request and identity authentication signal during the receiving time slice. After authentication, the positioning terminal information is reported to the central controller. The distance between the positioning base station and the positioning terminal is determined by the positioning base station, and the distance is reported to the central controller; The location of the positioning terminal is determined by the central controller and based on multiple distances.

19. A computer-readable storage medium, characterized in that, It includes computer-executable instructions stored thereon, which, when executed by a processor, implement the emergency rescue positioning method as described in claim 18.

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