Indoor positioning method and indoor positioning system

Abstract

This application relates to the field of emergency fire protection technology and provides an indoor positioning method and system. The method includes: using a mobile terminal, determining a unique identifier for a target fire-fighting light fixture with the best communication quality with the mobile terminal; determining a signal feature dataset between the mobile terminal and each fire-fighting light fixture; transmitting the unique identifier and signal feature dataset to a control host via a wireless ad hoc network through each fire-fighting light fixture; and using the control host to determine the current location of the mobile terminal based on the unique identifier, signal feature dataset, and real-time conditions of the target indoor location, and transmitting the current location back to the mobile terminal via the wireless ad hoc network through each fire-fighting light fixture. This method allows the mobile terminal to determine its current location even when the network is down at the target indoor location, improving the safety of emergency rescue operations indoors.

Description

Technical Field

[0001] This application belongs to the field of emergency fire protection technology, and in particular relates to an indoor positioning method and an indoor positioning system. Background Technology

[0002] In extreme emergency rescue scenarios such as complex building fires, indoor positioning and technology face severe challenges. Currently, conventional indoor positioning base stations rely on external mains power and public networks, which directly shut down in scenarios such as fires where power, communication, and equipment are cut off. This leads to a complete break in emergency command and communication links, turning rescue equipment into communication islands. Once external fiber optic cables are damaged, the equipment will be completely out of contact.

[0003] To achieve positioning in the event of a network outage, current technologies heavily rely on barometers for altitude calculation. However, the thermal pressure winds caused by disasters lead to drastic fluctuations in local air pressure, resulting in severe distortion and uncontrollable drift in barometer-based floor positioning. Simultaneously, mobile terminals (such as robots) are prone to slipping or misstepping in rubble and flooded environments, causing irreversible drift in their inertial measurement units. Furthermore, high concentrations of toxic fumes not only completely disable the optical cameras of mobile terminals but also severely scatter the lidar beam, paralyzing simultaneous localization and mapping algorithms.

[0004] These defects prevent mobile terminals from accurately determining their current location in emergency rescue scenarios, reducing the safety of emergency rescue operations in indoor locations. Summary of the Invention

[0005] In view of this, embodiments of this application provide an indoor positioning method and an indoor positioning system to solve the technical problem of low safety in emergency rescue in indoor locations in the prior art.

[0006] In a first aspect, embodiments of this application provide an indoor positioning method applied to an indoor positioning system in a disaster scenario. The indoor positioning system includes at least two fire-fighting lights, a mobile terminal, and a control host. Each fire-fighting light and the control host is positioned at a fixed location within the target indoor area. The mobile terminal moves within the target indoor area. Each fire-fighting light and the mobile terminal includes a dual-mode communication chip, which simultaneously possesses power line carrier communication and radio frequency communication functions. The dual-mode communication chip implements the radio frequency communication function through binary phase-shift keying modulation. Each fire-fighting light employs both mains power supply and battery power supply modes. Each fire-fighting light serves as a dynamic anchor point for the indoor positioning system. The method includes: When the voltage value of the power supply circuit of each of the fire lamps is detected to be less than a preset voltage threshold, a hard interrupt signal is generated. The hard interrupt signal is used to control the power supply mode of the fire lamps to switch from the mains power supply mode to the battery power supply mode, and to control the dual-mode communication chip of each of the fire lamps to stop processing power line carrier communication signals. It is also used to control the dual-mode communication chip of each of the fire lamps to form a wireless self-organizing network through the radio frequency communication function. The mobile terminal uses its dual-mode communication chip to acquire the radio frequency signal parameters transmitted by each of the fire-fighting lamps. Based on the radio frequency signal parameters, a unique identification code is determined from the at least two fire-fighting lamps to identify the target fire-fighting lamp with the best communication quality to the mobile terminal. The mobile terminal also determines the signal feature dataset between each fire-fighting lamp and the mobile terminal. The unique identification code and the signal feature dataset are then sent to the target fire-fighting lamp. The signal feature dataset is used to describe the characteristics of the communication signal between the corresponding fire-fighting lamp and the mobile terminal. Each of the aforementioned fire-fighting lights, via the wireless ad hoc network, sends the unique identification code and the signal feature dataset to the control host; The control host determines the current location of the mobile terminal based on the unique identification code, the signal feature dataset, and the real-time situation of the target indoor location. The current location is transmitted to the mobile terminal via each of the fire-fighting lights and the wireless ad hoc network.

[0007] Optional, also includes: When the voltage value of the power supply circuit of each fire-fighting lamp is detected to be greater than or equal to the preset voltage threshold, the power supply mode of the fire-fighting lamp is controlled to be the mains power supply mode, and the dual-mode communication chip of each fire-fighting lamp is controlled to communicate with the mobile terminal through the power line carrier communication function and the radio frequency communication function.

[0008] Optionally, determining the unique identification code of the target fire-fighting light fixture with the best communication quality with the mobile terminal from the at least two fire-fighting light fixtures, and determining the signal feature dataset between the mobile terminal and each of the fire-fighting light fixtures respectively, includes: The initial communication signals sent by each of the aforementioned fire-fighting lights are acquired respectively; By filtering out interference signals from each of the initial communication signals, the target communication signals corresponding to each of the fire-fighting lamps are obtained. The signal strength, channel state information, and signal-to-noise ratio of each target communication signal are obtained. Based on the signal strength, channel state information, and signal-to-noise ratio of each target communication signal, the target fire-fighting lamp with the best communication quality with the mobile terminal is determined, and a unique identification code extraction instruction is sent to the target fire-fighting lamp to instruct the target fire-fighting lamp to return the unique identification code. Based on the signal strength, channel state information, and signal-to-noise ratio corresponding to each target communication signal, a signal feature dataset is generated between the mobile terminal and each fire-fighting lamp.

[0009] Optionally, determining the current location of the mobile terminal based on the unique identification code, the signal feature dataset, and the real-time situation of the target indoor location includes: Obtain the three-dimensional building model of the target indoor space and the absolute coordinate dataset of each of the fire-fighting lights; The target absolute coordinates of the target fire-fighting lighting fixture are determined based on the unique identification code and the absolute coordinate dataset. Based on the signal feature dataset and the preset mapping relationship, the distance between the mobile terminal and each of the fire-fighting lights is determined; the preset mapping relationship is used to describe the relationship between the signal strength of the target communication signal and the distance between the mobile terminal and each of the fire-fighting lights. The current location is determined based on the absolute coordinates of the target and the distance between the mobile terminal and each of the fire-fighting lights.

[0010] Optionally, the step of sending the unique identification code and the signal feature dataset to the control host via the wireless ad hoc network through each of the fire-fighting lights includes: The working status of the dual-mode communication chip of each fire lamp is determined by each of the fire lamps, and a first target communication path is determined from the wireless ad hoc network based on the working status of the dual-mode communication chip of each fire lamp. The starting point of the first target communication path is the target fire lamp, the ending point is the control host, and the path also includes several fire lamps in between. The unique identification code and the signal feature dataset are sent to the control host via the target fire-fighting light fixture and the plurality of fire-fighting light fixtures based on the first target communication path.

[0011] Optionally, the step of transmitting the current location to the mobile terminal via the wireless ad hoc network through each of the fire-fighting lights includes: The working status of the dual-mode communication chip of each fire lamp is determined by each fire lamp, and a second target communication path is determined from the wireless ad hoc network based on the working status of the dual-mode communication chip of each fire lamp; the starting point of the second target communication path is the control host, the ending point is the target fire lamp, and the path also includes several fire lamps in between; The current location is sent to the mobile terminal via the target fire-fighting light fixture and several of the fire-fighting light fixtures, based on the second target communication path.

[0012] Optional, also includes: The mobile terminal collects environmental perception data of the target indoor location and uses the radio frequency communication function of the dual-mode communication chip to send the environmental perception data to the target fire-fighting lighting fixture; the environmental perception data includes at least one of ambient temperature, hazardous gas concentration and water depth. Upon receiving the environmental perception data, if the target fire-fighting lighting fixture determines that the environmental perception data exceeds a preset safety range, it outputs a lighting prompt message describing a preset path. The preset path is used to guide the mobile terminal to the target safe location, and the preset path is determined based on the non-real-time conditions of the target indoor location.

[0013] Optionally, the control host further includes a protocol conversion gateway; after determining that the environmental awareness data exceeds a preset security range, it also includes: The alarm information is sent to the control host via each of the fire-fighting lights through the wireless self-organizing network; The alarm information and the current location are sent to the digital trunking communication system in the fire protection system via the control host and the protocol conversion gateway.

[0014] Optionally, the mobile terminal includes a head-up display module, a bone conduction sound output module, and a zoned vibration array; the method further includes: The head-up display module outputs image information describing the current location. The bone conduction sound output module outputs sound information describing the current location. The partitioned vibration array outputs tactile information describing the current location.

[0015] Secondly, this application provides an indoor positioning system, which includes at least two fire-fighting lights, a mobile terminal, and a control host. Each fire-fighting light and the control host is set at a fixed position in the target indoor area. The mobile terminal moves within the target indoor area. Each fire-fighting light and the mobile terminal includes a dual-mode communication chip, which simultaneously has power line carrier communication and radio frequency communication functions. The dual-mode communication chip implements the radio frequency communication function through binary phase shift keying modulation. Each fire-fighting light adopts both mains power supply mode and battery power supply mode. Each fire-fighting light serves as a dynamic anchor point for the indoor positioning system. Each of the aforementioned fire-fighting lights is configured to generate a hard interrupt signal when the voltage value of the power supply circuit of the fire-fighting light is detected to be less than a preset voltage threshold. The hard interrupt signal is used to control the power supply mode of the fire-fighting light to switch from the mains power supply mode to the battery power supply mode, and to control the dual-mode communication chip of each of the fire-fighting lights to stop processing power line carrier communication signals. It is also used to control the dual-mode communication chip of each of the fire-fighting lights to form a wireless self-organizing network through the radio frequency communication function. The mobile terminal is configured to use the dual-mode communication chip of the mobile terminal to obtain the radio frequency signal parameters transmitted by each of the fire lamps, and based on the radio frequency signal parameters, determine the unique identification code of the target fire lamp with the best communication quality with the mobile terminal from the at least two fire lamps, and determine the signal feature dataset between the mobile terminal and each of the fire lamps respectively, and send the unique identification code and the signal feature dataset to the target fire lamp. The signal feature dataset is used to describe the characteristics of the communication signal between the corresponding fire lamp and the mobile terminal. Each of the aforementioned fire-fighting lights is used to send the unique identification code and the signal feature dataset to the control host via a wireless ad hoc network; The control host is used to determine the current location of the mobile terminal based on the unique identification code, the signal feature dataset, and the real-time situation of the target indoor location. Each of the aforementioned fire-fighting lights is used to transmit its current location to the mobile terminal via a wireless ad hoc network.

[0016] The indoor positioning method and indoor positioning system provided in this application have the following technical effects: When the voltage of the power supply circuit of the fire-fighting lights is lower than a preset voltage threshold (i.e., a power outage occurs), the dual-mode communication chips of each fire-fighting light form a wireless ad hoc network through radio frequency communication. This allows each fire-fighting light to transmit the unique identification code and signal feature dataset obtained by the mobile terminal to the control host via the wireless ad hoc network. The control host can determine the current location of the mobile terminal based on the unique identification code and signal feature dataset, and finally transmit the current location to the mobile terminal via the wireless ad hoc network. Therefore, during a power outage, this solution can form a wireless ad hoc network through the radio frequency communication function of the dual-mode communication chips of each fire-fighting light, and then achieve communication between the mobile terminal and the control host through the wireless ad hoc network. It can be seen that the communication between the mobile terminal and the control host in this solution does not rely on an external network. Thus, even when the network is lost in the target indoor location, the mobile terminal can still determine its current location and is not affected by the thermal pressure wind effect caused by the disaster, the drift of the mobile terminal's inertial measurement unit, or high concentrations of toxic smoke, improving the safety of emergency rescue in indoor locations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating the implementation of the indoor positioning method provided in this application embodiment; Figure 2 This is a schematic diagram of an indoor positioning system provided in an embodiment of this application. Detailed Implementation

[0019] It should be noted that the terminology used in the embodiments of this application is only for explaining specific embodiments of this application and is not intended to limit this application. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, "at least one" or "one or more" means one, two or more. 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 as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0020] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0021] Traditional indoor positioning systems suffer from deficiencies in multi-sensor fusion mechanisms during disaster scenarios. Thermostatic wind effects cause barometer altitude measurements to drift; rubble structures and flooding from fires increase the cumulative errors of odometers and inertial navigation systems; dense smoke environments disable the synchronous positioning and mapping functions of visual sensors and lidar. Furthermore, existing systems rely on mains power and external fiber optic networks for data transmission; power outages immediately paralyze internal communication equipment, creating communication islands. In addition, emergency IoT devices and professional digital trunking systems suffer from protocol fragmentation; edge devices, limited by physical size and power consumption, can only integrate microcontroller units, making it difficult to execute complex environmental filtering and positioning algorithms, leading to decreased positioning accuracy and communication link interruptions, thus affecting the continuity and reliability of rescue operations.

[0022] For example, during an emergency response to a fire in a large underground shopping mall, firefighters wearing smart helmets entered a smoke-filled basement. Due to zero visibility, the helmet's visual sensors and lidar could not acquire effective environmental features; accumulated water on the ground caused the inertial navigation system's wheeled odometer to slip, resulting in a continuous accumulation of position calculation errors; the thermal pressure effect distorted the barometer readings, making it impossible to accurately reflect changes in floor height. When the mains power was interrupted, the existing positioning base stations ceased operation due to lack of power support, completely severing the communication link between the helmet devices and the external command center. Rescuers were unable to obtain location information or send distress signals, leaving them isolated and helpless.

[0023] If the above problems are not addressed, indoor positioning systems in disaster scenarios will be unable to maintain continuous positioning services, causing rescuers to become disoriented inside complex buildings and increasing the risk to their lives; communication silos will render command and dispatch systems ineffective, making it impossible to monitor the situation on-site in real time and coordinate rescue forces; and the computing power limitations of microcontroller units will hinder the execution of environmental adaptive algorithms, further reducing the system's robustness under extreme conditions. These problems combined lead to reduced efficiency in emergency rescue operations and weakened personnel safety assurance capabilities.

[0024] The indoor positioning method provided in this application can be applied to indoor positioning systems. More specifically, the indoor positioning method provided in this application can be applied to indoor positioning systems in disaster scenarios, such as indoor positioning systems in fire scenarios. The indoor positioning system may include at least two fire-fighting lights, a mobile terminal, and a control host. Each fire-fighting light and the control host is located at a fixed position in the target indoor area. The mobile terminal moves within the target indoor area. Each fire-fighting light and the mobile terminal includes a dual-mode communication chip, which simultaneously possesses power line carrier communication and radio frequency communication functions. The dual-mode communication chip implements the radio frequency communication function through binary phase shift keying modulation. Each fire-fighting light uses both mains power supply and battery power supply modes. Each fire-fighting light serves as a dynamic anchor point for the indoor positioning system.

[0025] For example, mobile terminals may include, but are not limited to, smart devices worn by rescue personnel (such as smart fire helmets), robots, or handheld terminals.

[0026] The indoor positioning method provided in this application can be applied to any scenario requiring indoor location positioning. For example, when a fire occurs in an indoor location, the indoor positioning method provided in this application can be used so that even when the network is down in the target indoor location, the mobile terminal can still determine its current location, improving the safety of emergency rescue in indoor locations.

[0027] This application first provides an indoor positioning method. Please refer to [link to relevant documentation]. Figure 1 , Figure 1 The following is a flowchart illustrating the implementation of the indoor positioning method provided in this application embodiment. The indoor positioning method may include steps S101 to S105, as detailed below: In S101, when the voltage value of the power supply circuit of each fire lamp is detected to be less than the preset voltage threshold, a hard interrupt signal is generated. The hard interrupt signal is used to control the power supply mode of the fire lamp to switch from the mains power supply mode to the battery power supply mode, and to control the dual-mode communication chip of each fire lamp to stop processing the power line carrier communication signal. It is also used to control the dual-mode communication chip of each fire lamp to form a wireless self-organizing network through the radio frequency communication function.

[0028] Among them, mobile terminals refer to devices that move within the target indoor space, such as smart devices worn by rescue personnel (e.g., smart fire helmets), robots, or handheld terminals.

[0029] Firefighting lights refer to devices installed inside the target indoor area for emergency lighting and indicating evacuation directions. In this embodiment, each firefighting light has communication and positioning assistance functions, and each firefighting light typically has independent power supply capabilities, enabling it to operate normally in the event of a mains power outage.

[0030] Hard interrupt signals are directly triggered by hardware events (such as voltage drops) and have high priority and fast response characteristics. They are used to immediately change the operating state of the system or execute specific tasks.

[0031] In this municipal power supply mode, the equipment is directly powered by the city's power grid. This provides a stable and continuous power supply, and is the primary power supply method for the equipment during normal operation.

[0032] In this battery-powered mode, the equipment is powered by a built-in battery. This battery acts as a backup power source, automatically activating during mains power outages to ensure continuous operation in emergencies.

[0033] During system operation, each fire-fighting light continuously monitors the voltage value of its power supply circuit. When the detected voltage value is lower than a preset voltage threshold, the fire-fighting light generates a hard interrupt signal. This hard interrupt signal can be generated in two ways: either through a voltage comparator circuit, which directly triggers a level change signal when the input voltage is lower than a reference voltage; or through a microcontroller (MCU) that periodically samples the voltage value, triggering an interrupt via MCU software when the sampled value falls below a threshold. This hard interrupt signal is used to control the switching of the fire-fighting light's power supply mode from AC power to battery power.

[0034] For example, a relay or solid-state switch can disconnect the mains power supply circuit and close the battery power supply circuit upon receiving a hard interrupt signal. Simultaneously, this hard interrupt signal also controls the dual-mode communication chips of each fire-fighting light fixture to stop processing power line carrier communication signals. This can be achieved by sending specific control commands to the communication chip, such as controlling the chip's mode selection via GPIO pins. Furthermore, this hard interrupt signal also controls the dual-mode communication chips of each fire-fighting light fixture to form a wireless ad hoc network via radio frequency communication. For example, upon receiving a hard interrupt signal, the communication chip can automatically activate its radio frequency module and begin broadcasting network discovery signals to establish wireless connections with other fire-fighting light fixtures.

[0035] In some embodiments described above, this application proposes a method for switching to battery power and establishing a wireless ad hoc network for location tracking when the power supply circuit voltage of a fire-fighting light fixture falls below a preset threshold during a disaster scenario. However, in non-disaster scenarios, i.e., when the mains power supply is normal, how to fully utilize the full functionality of the dual-mode communication chip in the fire-fighting light fixture to provide more stable and efficient communication and location services is a problem that needs further consideration. To address this, this application further proposes that when the voltage of the power supply circuit of each fire-fighting light fixture is detected to be greater than or equal to a preset voltage threshold, the power supply mode of the fire-fighting light fixture is controlled to mains power supply mode, and the dual-mode communication chip of each fire-fighting light fixture is controlled to communicate with the mobile terminal through power line carrier communication and radio frequency communication functions.

[0036] If the voltage value of the power supply circuit of the fire-fighting lighting fixture is greater than or equal to a preset voltage threshold, it indicates that the mains power supply is in a normal or normal state. This detection can be achieved by integrating a voltage detection module inside the fire-fighting lighting fixture. This module monitors the mains input voltage in real time and compares it with the preset voltage threshold.

[0037] Mains power supply mode refers to fire-fighting lights directly using mains electricity as their primary energy source. When the mains power supply is normal, the power management unit of the fire-fighting lights will connect the mains power path to the internal circuit of the lights and simultaneously charge the built-in battery or keep it fully charged.

[0038] In mains power supply mode, enabling both communication functions simultaneously provides redundant and enhanced communication links for the system. Power line carrier communication utilizes existing power lines as the data transmission medium, offering advantages such as long transmission distance, strong anti-interference capabilities, and no need for additional wiring.

[0039] Radio frequency communication functions communicate via radio waves, and are characterized by flexible deployment, wide coverage, and ease of networking.

[0040] In the embodiments of this application, the dual-mode communication chips in each fire-fighting lamp and mobile terminal can realize radio frequency communication function through binary phase shift keying modulation.

[0041] The advantage of using Binary Phase Shift Keying (BPSK) modulation for radio frequency (RF) communication is that in disaster scenarios, where fire-fighting lights and mobile terminals are typically surrounded by dense smoke or high dust levels, optical or high-frequency microwave signals often attenuate drastically due to absorption and scattering by particulate matter. Since BPSK modulation uses carrier phase changes to represent digital information, and because the disturbance to electromagnetic wave phase from suspended particles like smoke is far less significant than its impact on amplitude, the RF communication function of dual-mode communication chips in fire-fighting lights and mobile terminals possesses excellent smoke penetration capabilities. In practical applications, tests show that even in fire scenarios with extremely low visibility, the BPSK-based RF communication module maintains a very low packet loss rate, achieving efficient and stable communication through smoke.

[0042] By enabling both functions simultaneously, the system can dynamically select or combine their use based on environmental conditions and signal quality to ensure the stability and reliability of communication.

[0043] Through the above technical solution, under normal mains power supply conditions, fire-fighting lights can be continuously and stably powered by mains power, avoiding frequent charging and discharging losses of the battery and extending its service life. More importantly, by simultaneously enabling the power line carrier communication and radio frequency communication functions of the dual-mode communication chip, the system provides dual communication protection for mobile terminals. This not only significantly enhances the redundancy and anti-interference capability of the communication link, making the acquisition of positioning signals more stable and reliable, but also combines the advantages of both communication methods, such as the advantage of power line carrier communication in penetrating obstacles and the advantage of radio frequency communication in flexible coverage, thereby achieving higher accuracy and more robust indoor positioning services under normal operating conditions. This provides a solid foundation for the system to quickly and reliably switch to emergency mode in the event of a disaster, ensuring the safety of personnel in indoor environments.

[0044] In S102, the dual-mode communication chip of the mobile terminal is used to obtain the radio frequency signal parameters sent by each fire lamp. Based on the radio frequency signal parameters, a unique identification code of the target fire lamp with the best communication quality with the mobile terminal is determined from at least two fire lamps. The signal feature dataset between the mobile terminal and each fire lamp is determined respectively. The unique identification code and the signal feature dataset are sent to the target fire lamp. The signal feature dataset is used to describe the characteristics of the communication signal between the corresponding fire lamp and the mobile terminal.

[0045] The unique identification code is used by a mobile terminal to obtain the radio frequency (RF) signal parameters transmitted by each fire-fighting light fixture. Based on these parameters, the mobile terminal's dual-mode communication chip is used to determine the target fire-fighting light fixture with the best communication quality from at least two available fixtures. A signal feature dataset is then generated for each fire-fighting light fixture, and both the unique identification code and the signal feature dataset are sent to the target fire-fighting light fixture. The signal feature dataset describes the unique characteristics of the communication signal between the corresponding fire-fighting light fixture and the mobile terminal, uniquely identifying and distinguishing different fire-fighting light fixtures within the system. This identification code allows the control host to accurately obtain the location information of a specific fire-fighting light fixture.

[0046] In one possible implementation, the mobile terminal can perform steps a to d to "determine the unique identification code of the target fire-fighting lamp with the best communication quality with the mobile terminal from at least two fire-fighting lamps, and determine the signal feature dataset between the mobile terminal and each fire-fighting lamp respectively", as detailed below: In step a, the initial communication signals sent by each fire-fighting lighting fixture are acquired.

[0047] In this implementation, the initial communication signal refers to the raw signal broadcast by the fire-fighting lighting fixture through the radio frequency communication function of its dual-mode communication chip. This signal could be a beacon frame, a detection response frame, or a periodic heartbeat signal. These signals carry basic information about the fire-fighting lighting fixture and form the basis for the mobile terminal's communication quality assessment. Acquiring these signals can be achieved by the mobile terminal's dual-mode communication chip continuously monitoring or scanning specific frequency bands.

[0048] In step b, interference signals in each initial communication signal are filtered out to obtain the target communication signal corresponding to each fire-fighting lamp.

[0049] In this implementation, interference signals refer to unwanted signal components introduced during signal transmission due to environmental noise, signals from other wireless devices, multipath effects, etc., which cause distortion or attenuation of the original signal. These interference signals degrade communication quality and affect the accurate extraction of signal features.

[0050] The purpose of filtering out interference signals is to separate the effective and clean signal components from the received initial communication signal, thereby improving the accuracy of subsequent signal processing. This can be achieved through various signal processing techniques. For example, digital filters (such as low-pass filters and band-pass filters) can be used to remove noise in a specific frequency range, or advanced algorithms such as adaptive filters and Kalman filters can be used to dynamically suppress time-varying interference. Wavelet transform and other methods can also be used to denoise the signal.

[0051] The target communication signal is a signal representing the true communication status of the fire-fighting lighting fixtures, obtained after filtering and removing interference. Compared to the initial communication signal, this signal has higher purity and reliability, making it more suitable for extracting precise signal characteristics.

[0052] In step c, the signal strength, channel state information, and signal-to-noise ratio of each target communication signal are obtained. Based on the signal strength, channel state information, and signal-to-noise ratio of each target communication signal, the target fire-fighting lamp with the best communication quality with the mobile terminal is determined, and a unique identification code extraction command is sent to the target fire-fighting lamp to instruct the target fire-fighting lamp to return the unique identification code.

[0053] In this implementation, signal strength refers to the power of the received signal, typically measured by metrics such as Received Signal Strength Indication (RSSI) and Reference Received Power (RSRP). Signal strength is a crucial parameter for evaluating communication link quality; generally, higher signal strength indicates better communication quality. Channel State Information (CSI) describes the characteristics of the wireless channel, such as fading, multipath effects, and phase shift. CSI provides richer channel characteristics than signal strength and is significant for refined positioning and communication quality assessment. Signal-to-Noise Ratio (SNR) is the ratio of signal power to noise power, directly reflecting signal clarity. Higher SNR indicates less noise interference and better communication quality. These parameters are typically acquired by the radio frequency module of the mobile terminal's dual-mode communication chip and calculated and extracted by its internal processing unit.

[0054] The target fire-fighting light fixture with optimal communication quality refers to the fire-fighting light fixture that has the best communication link quality with the mobile terminal under the current environment. Determining the optimal fire-fighting light fixture can be based on a comprehensive evaluation of the aforementioned signal strength, CSI, and SNR. For example, weights can be assigned to these indicators to calculate a comprehensive score; the fire-fighting light fixture with the highest score is considered to have the best communication quality. Sending a unique identification code retrieval command to the target fire-fighting light fixture is to obtain its unique identifier for accurate identification of the anchor point during subsequent positioning. This command can be a specific data packet or message, sent via the radio frequency function of the mobile terminal's dual-mode communication chip.

[0055] In step d, a signal feature dataset between the mobile terminal and each fire-fighting lamp is generated based on the signal strength, channel state information, and signal-to-noise ratio corresponding to each target communication signal.

[0056] In this implementation, the signal feature dataset is a collection used to describe the communication signal characteristics between the mobile terminal and each fire-fighting lighting fixture. This dataset may contain statistical information on signal strength, CSI, and SNR collected over a period of time.

[0057] The proposed solution first acquires the initial communication signals transmitted by each fire-fighting lamp via a mobile terminal. These signals may be subject to interference from the complex environment of a disaster scenario. To ensure the accuracy of subsequent positioning, the mobile terminal filters out interference signals from these initial communication signals, resulting in a cleaner and more reliable target communication signal. Based on these high-quality target communication signals, the mobile terminal can accurately acquire key parameters such as signal strength, channel state information, and signal-to-noise ratio for each fire-fighting lamp. By comprehensively evaluating these parameters, the mobile terminal can accurately identify the target fire-fighting lamp with the best communication quality and send a unique identification code extraction command to it to establish a reliable communication link and obtain its identity information. Simultaneously, the mobile terminal also uses these precise signal parameters to generate a detailed signal feature dataset for each fire-fighting lamp. This optimized and refined signal feature dataset, along with the unique identification code of the optimal fire-fighting lamp, is then sent to the target fire-fighting lamp and transmitted to the control host via a wireless ad hoc network. The control host, using this high-quality data and combining it with the real-time situation of the target indoor location, can more accurately determine the current location of the mobile terminal.

[0058] The following is a concrete example. After a disaster, a mobile terminal (such as a smart helmet worn by a firefighter) enters an indoor location. The mobile terminal's dual-mode communication chip continuously scans and receives radio frequency beacon signals from at least two fire extinguishers; these beacon signals constitute the initial communication signals. Due to the presence of smoke, obstacles, and interference from other electronic devices at the fire scene, these initial communication signals may contain considerable noise. The mobile terminal's signal processing module activates a digital filter, such as an adaptive Kalman filter, to filter the received initial communication signals from each fire extinguisher in real time, removing interference caused by environmental noise and multipath effects, thereby obtaining a more stable target communication signal. Subsequently, the mobile terminal extracts key signal features from these target communication signals, including Received Signal Strength Indication (RSSI), Channel State Information (CSI) feature vectors (e.g., obtaining the first few principal components by performing singular value decomposition on the CSI matrix), and Signal-to-Noise Ratio (SNR). The mobile terminal calculates a comprehensive communication quality score for each fire extinguisher, for example, by weighted averaging of RSSI, CSI quality index, and SNR. The fire luminaire with the highest score is identified as the target fire luminaire with the best communication quality. The mobile terminal then sends a specific radio frequency data packet to this target fire luminaire, containing a "request unique identifier" instruction. Simultaneously, the mobile terminal generates a signal feature dataset for each fire luminaire based on its corresponding target communication signal. For example, this dataset could include the mean and standard deviation of 100 RSSI, CSI feature vectors, and SNR samples collected over the past 5 seconds. These unique identifiers and signal feature datasets are then sent to the target fire luminaire and forwarded to the control host via a wireless ad hoc network for subsequent location calculations.

[0059] In S103, each fire-fighting light fixture sends its unique identification code and signal feature dataset to the control host via a wireless ad hoc network.

[0060] In this embodiment of the application, the working status of the dual-mode communication chip of each fire lamp can be determined through each fire lamp, and the first target communication path can be determined from the wireless ad hoc network based on the working status of the dual-mode communication chip of each fire lamp. The starting point of the first target communication path is the target fire lamp, the ending point is the control host, and the path also includes several fire lamps in between. Then, through the target fire-fighting lights and several fire-fighting lights, the unique identification code and signal feature dataset are sent to the control host based on the first target communication path.

[0061] "Determining the operating status of the dual-mode communication chip in each fire-fighting light fixture" refers to the operational status and performance indicators of the dual-mode communication chip in the fire-fighting light fixture within the wireless ad hoc network. This may include, but is not limited to, the chip's current power consumption level, remaining battery power (when in battery-powered mode), link quality with adjacent fire-fighting light fixtures (e.g., signal strength, bit error rate), network topology information (e.g., neighbor node list, hop count), and chip load (e.g., CPU utilization, memory usage). Determining the operating status can be achieved in various ways. For example, each fire-fighting light fixture can periodically monitor its own hardware status and network performance and broadcast this information to neighboring nodes. Alternatively, the control host or specific nodes in the network can actively query the status information of each fire-fighting light fixture.

[0062] "Determining the first target communication path from the wireless ad hoc network based on the operating status of the dual-mode communication chips of each fire-fighting light fixture" refers to selecting one or more data transmission paths from the target fire-fighting light fixture to the control host within the wireless ad hoc network. This path selection is based on the operating status information of each fire-fighting light fixture. Path determination can employ various routing protocols or algorithms. For example, it can be based on minimum hop count, maximum link bandwidth, minimum end-to-end latency, or a weighted metric that comprehensively considers the remaining battery power of nodes and link quality. By evaluating the overall operating status of all nodes along the path, the most stable and efficient path under the current network conditions can be selected.

[0063] "The starting point of the first target communication path is the target fire-fighting light fixture, and the ending point is the control host, with several fire-fighting light fixtures included in the path" refers to the series of intermediate nodes that data passes through from the source (target fire-fighting light fixture) to the destination (control host). These intermediate nodes are other fire-fighting light fixtures in the wireless ad hoc network. This path is designed to ensure that data can reliably reach the control host even without a direct communication link, through multiple hops. The "several fire-fighting light fixtures" in the path act as data forwarders; they receive data from upstream nodes and forward it to downstream nodes until the data reaches the control host.

[0064] "Sending a unique identification code and signal feature dataset to the control host via a target fire-fighting light fixture and several fire-fighting light fixtures, based on a first target communication path" refers to the process of data packet encapsulation, transmission, and forwarding. Once the first target communication path is determined, the target fire-fighting light fixture encapsulates the unique identification code and signal feature dataset received from the mobile terminal into a data packet and sends it along this path. Each intermediate fire-fighting light fixture on the path, upon receiving the data packet, forwards it to the next node on the path according to a preset routing table or routing protocol, until the data packet finally reaches the control host. This process ensures the reliable transmission of critical positioning data in the wireless ad hoc network.

[0065] This application's solution addresses the reliability issue of transmitting location data from mobile terminals to the control host via target fire-fighting lights in disaster scenarios by introducing a path determination mechanism based on the operating status of fire-fighting lights in a wireless ad hoc network. Specifically, when a disaster occurs and mains power is interrupted, the fire-fighting lights switch to battery power and form a wireless ad hoc network. Each fire-fighting light continuously monitors and updates the operating status of its dual-mode communication chip, such as remaining power, link quality, and network congestion level.

[0066] After receiving the unique identification code and signal feature dataset sent by the mobile terminal, the target fire-fighting lighting fixture will not blindly send out the data. Instead, it will first use this real-time updated working status information to intelligently calculate and determine a "first target communication path" from itself to the control host in the entire wireless ad hoc network.

[0067] The determination of this path comprehensively considers the health status and network performance of all intermediate fire-fighting lights along the path. For example, fire-fighting lights with sufficient power, stable links, and low load are prioritized as intermediate nodes to avoid data loss or delay due to node failure or network congestion during transmission. Once the path is determined, the target fire-fighting light will follow this optimized path, performing multi-hop forwarding through several intermediate fire-fighting lights, and finally reliably transmit the critical location data (unique identification code and signal feature dataset) to the control host. This mechanism ensures that even in dynamically changing disaster environments, location data can be delivered to the control host efficiently and stably, providing a solid data foundation for subsequent accurate location determination.

[0068] As a specific implementation method, when a disaster occurs, after the fire-fighting lights switch to battery-powered mode and form a wireless ad hoc network, each fire-fighting light can periodically broadcast the working status information of its dual-mode communication chip. For example, it can broadcast its current remaining battery capacity percentage, the signal strength indication (RSSI) value of each neighboring node, and the current data packet forwarding queue length.

[0069] After receiving the unique identification code and signal characteristic dataset sent by the mobile terminal, the target fire-fighting lighting fixture initiates a path determination process. It can employ a weighted shortest path routing algorithm, where the path weights consider not only the number of hops but also the remaining battery capacity and link quality of all intermediate nodes along the path. For example, the total weight of a path can be defined as the sum of the weights of each hop link, while the weight of each hop link is inversely proportional to the signal strength of that hop and inversely proportional to the remaining battery capacity of the next hop node.

[0070] In this way, the algorithm prioritizes paths with good signal quality and sufficient battery power at the nodes along the path. Assume the target fire extinguisher is F1, the control host is C, and there are other fire extinguishers in the network such as F2, F3, and F4. After receiving data, F1 calculates multiple possible paths based on the collected operating status information of F2, F3, F4, etc., for example: F1 -> F2 -> C (weight W1); F1 -> F3 -> F4 -> C (weight W2). If W1 is less than W2, F1 -> F2 -> C is selected as the first target communication path. Subsequently, F1 sends its unique identifier and signal feature dataset to F2, which then forwards it to C.

[0071] Through the above technical solution, in disaster scenarios, when fire-fighting lights switch to battery power and form a wireless self-organizing network, an optimal communication path from the target fire-fighting light to the control host can be intelligently determined based on the real-time operating status of the dual-mode communication chips of each fire-fighting light. This significantly improves the reliability and efficiency of the transmission of unique identification codes and signal feature datasets, effectively avoiding data loss or transmission delays caused by unstable network links or depletion of node resources in complex and ever-changing disaster environments. This ensures that the control host can obtain the core data required for positioning in a timely and accurate manner, providing stable and reliable data support for the subsequent precise location determination of mobile terminals, thereby enhancing the robustness and practicality of the entire indoor positioning system.

[0072] In S104, the control host determines the current location of the mobile terminal based on the unique identification code, signal feature dataset, and real-time conditions of the target indoor location.

[0073] In this embodiment, the control host can determine the current location of the mobile terminal based on the unique identification code, signal feature dataset, and real-time conditions of the target indoor location in the following ways: Specifically, the method involves acquiring a 3D building model of the target indoor space and a dataset of absolute coordinates for each fire-fighting lighting fixture. The 3D building model is a dataset that digitally describes the spatial structure of the target indoor space. Its purpose is to provide accurate spatial references, ensuring that the positioning results correspond to the actual environment and supporting 3D path planning and visualization. This model can be a geometric model constructed using technologies such as laser scanning and photogrammetry, or a data structure converted from Building Information Modeling (BIM) or Computer-Aided Design (CAD) drawings. The absolute coordinate dataset records the precise spatial position of each fire-fighting lighting fixture within the 3D building model, typically represented in 3D coordinates (X, Y, Z). This dataset can be acquired through on-site measurement, pre-configuration, or calibration using high-precision positioning equipment. Its purpose is to provide known reference points, i.e., dynamic anchor points, for the positioning algorithm.

[0074] Subsequently, based on the unique identification code and the absolute coordinate dataset, the target absolute coordinates of the fire-fighting light fixture are determined. The unique identification code is an identifier used by mobile terminals to identify specific fire-fighting light fixtures. By searching for the record corresponding to the unique identification code in the absolute coordinate dataset, the precise location of the target fire-fighting light fixture in three-dimensional space can be obtained.

[0075] Next, based on the signal feature dataset and the preset mapping relationship, the distance between the mobile terminal and each fire-fighting lamp is determined. The preset mapping relationship describes the relationship between the signal strength of the target communication signal and the distance between the mobile terminal and each fire-fighting lamp. The signal feature dataset contains features such as the signal strength, channel state information (CSI), and signal-to-noise ratio (SNR) received by the mobile terminal from each fire-fighting lamp. These features are the basis for evaluating communication quality and estimating distance. The preset mapping relationship is a pre-established mathematical model or lookup table that converts signal features (such as Received Signal Strength Indication (RSSI)) into physical distances. For example, a logarithmic distance path loss model can be used, i.e., RSSI = A - 10nlog10(d / d0), where A is the received signal strength at a reference distance d0, n is the path loss exponent, and d is the distance. This mapping relationship can be trained and optimized through offline measurement, simulation, or machine learning methods to adapt to the signal propagation characteristics of different indoor environments. By substituting the signal strength from the signal feature dataset into this preset mapping relationship, the estimated distance between the mobile terminal and each fire-fighting lamp can be calculated.

[0076] Finally, the current location is determined based on the target's absolute coordinates and the distances between the mobile terminal and each fire-fighting light fixture. After obtaining the absolute coordinates of at least three fire-fighting lights and the distances between the mobile terminal and these lights, various positioning algorithms can be used to calculate the mobile terminal's current location. For example, trilateration or multilateration can be used, determining the mobile terminal's location by solving for the intersection points of a set of spheres centered on the fire-fighting lights and with the calculated distances as radii. To improve positioning accuracy and robustness, state estimation algorithms such as Kalman filtering and particle filtering can be combined to smooth and optimize the location information, addressing signal fluctuations and measurement errors.

[0077] This application's solution uses a 3D building model of the target indoor location and an absolute coordinate dataset of fire-fighting lighting fixtures. Combined with a signal feature dataset and a pre-defined mapping relationship, it accurately estimates the distance and ultimately uses a geometric positioning algorithm to determine the mobile terminal's current location. This method provides a structured and systematic positioning process that effectively utilizes multi-source information, overcoming the limitation of relying solely on signal features to directly obtain a precise physical location.

[0078] The following is a concrete example to illustrate this. Suppose that in a disaster scenario, a firefighter wearing a mobile terminal enters a pre-modeled building. The control host has pre-stored a 3D building model of the building, which can be a fine mesh model generated based on BIM data, and records the precise 3D coordinates of all fire-fighting lights 100 within the building, forming an absolute coordinate dataset. When the mobile terminal receives radio frequency signals from multiple fire-fighting lights 100, it determines the fire-fighting light 100 with the best communication quality based on parameters such as signal strength, channel state information, and signal-to-noise ratio, and obtains its unique identification code. Simultaneously, the mobile terminal generates a signal characteristic dataset between itself and each fire-fighting light 100. For example, the mobile terminal receives signals from fire-fighting lights A, B, and C, and calculates their respective signal strengths as RSSI_A, RSSI_B, and RSSI_C. After receiving this information, the control host first uses the unique identification code of fire-fighting light A to find the precise 3D coordinates (XA, YA, ZA) of fire-fighting light A from the absolute coordinate dataset. Next, the control host uses a pre-established RSSI-distance mapping relationship (e.g., through a logarithmic decay model d = 10^((A - RSSI) / (10n)))) to convert RSSI_A, RSSI_B, and RSSI_C into distances dA, dB, and dC between the mobile terminal and fire-fighting lights A, B, and C, respectively. Finally, the control host inputs the absolute coordinates of the fire-fighting lights A, B, and C along with the calculated distances dA, dB, and dC into the trilateration algorithm. Combined with the three-dimensional building model of the building, the precise three-dimensional position of the mobile terminal within the building is calculated.

[0079] In S105, each fire-fighting light fixture transmits its current location to the mobile terminal via a wireless self-organizing network.

[0080] In this embodiment of the application, the current location can be sent to the mobile terminal via a wireless ad hoc network through each fire-fighting light fixture, as detailed below: By using each fire-fighting light fixture, the working status of the dual-mode communication chip of each fire-fighting light fixture is determined, and based on the working status of the dual-mode communication chip of each fire-fighting light fixture, a second target communication path is determined from the wireless ad hoc network; the starting point of the second target communication path is the control host, the ending point is the target fire-fighting light fixture, and the path also includes several fire-fighting light fixtures in between; Using the target fire-fighting lights and several other fire-fighting lights, the current location is sent to the mobile terminal based on the second target communication path.

[0081] The specific implementation method for determining the second target communication path can refer to the specific implementation method for determining the first target communication path in the above embodiments, and will not be repeated here.

[0082] Furthermore, the specific implementation method of sending the current location to the mobile terminal through the target fire lamp and several fire lamps based on the second target communication path can refer to the specific implementation method of sending the unique identification code and signal feature dataset to the control host through the target fire lamp and several fire lamps based on the first target communication path in the above embodiment, which will not be repeated here.

[0083] Through the above technical solution, this application effectively solves the technical problem that in disaster scenarios, the current location information of the mobile terminal determined by the control host is difficult to reliably transmit back to the mobile terminal. By dynamically determining and utilizing the second target communication path in the wireless ad hoc network, it ensures that even in the event of a power outage or power line carrier communication failure, the location information can still be efficiently and stably transmitted from the control host to the target fire-fighting lights via multi-hop routing, and ultimately delivered to the mobile terminal. This greatly improves the robustness and reliability of the indoor positioning system in disaster scenarios, enabling the mobile terminal to obtain its own location information and necessary guidance paths in a timely manner, thereby providing crucial technical support for personnel evacuation and rescue, and effectively protecting the lives of people in disaster scenarios.

[0084] As can be seen from the above, when the voltage of the power supply circuit of the fire-fighting lights is less than the preset voltage threshold (i.e., a power outage occurs), the dual-mode communication chips of each fire-fighting light form a wireless ad hoc network through radio frequency communication. This allows the mobile terminal to send its unique identification code and signal feature dataset to the control host via the wireless ad hoc network. The control host can then determine the current location of the mobile terminal based on the unique identification code and signal feature dataset, and finally send the current location back to the mobile terminal via the wireless ad hoc network. Therefore, during a power outage, this solution can form a wireless ad hoc network through the radio frequency communication function of the dual-mode communication chips of each fire-fighting light, thereby enabling communication between the mobile terminal and the control host. It can be seen that the communication between the mobile terminal and the control host in this solution does not rely on an external network. Thus, even when the network is down in the target indoor location, the mobile terminal can still determine its current location and is not affected by the thermal pressure wind effect caused by the disaster, the drift of the mobile terminal's inertial measurement unit, or high concentrations of toxic smoke, improving the safety of emergency rescue in indoor locations.

[0085] In some of the above embodiments, this application proposes a method for indoor positioning in disaster scenarios, which can provide mobile terminals with their current location. However, in actual disaster relief operations, simply providing location information may not be sufficient to effectively guide people to safety or conduct rescue operations. For example, when the environment undergoes drastic changes, such as a sudden rise in temperature, a toxic gas leak, or severe flooding, mobile terminal users may not be able to perceive these dangers in time, or even if they do, they may not be able to determine a safe evacuation route, thereby increasing the difficulty of rescue and the risk to personnel.

[0086] In response, this application further proposes to collect environmental perception data in the target indoor area through a mobile terminal, and to send the environmental perception data to the target fire-fighting lighting fixture using the radio frequency communication function of a dual-mode communication chip; the environmental perception data includes at least one of ambient temperature, hazardous gas concentration, and water depth; after receiving the environmental perception data, if the target fire-fighting lighting fixture determines that the environmental perception data exceeds a preset safety range, it outputs light prompt information describing a preset path; the preset path is used to guide the mobile terminal to the target safe location, and the preset path is determined based on the non-real-time situation of the target indoor area.

[0087] Among them, collecting environmental perception data in the target indoor space refers to the mobile terminal acquiring environmental parameters in the target indoor space through its built-in or external sensors.

[0088] Environmental sensing data can include, but is not limited to, ambient temperature, hazardous gas concentrations, and water depth. For example, a mobile terminal can integrate temperature sensors, gas sensors, and / or liquid level sensors to monitor the physical and chemical state of the surrounding environment in real time. These sensors can collect data periodically or trigger collection when environmental changes are detected.

[0089] Sending environmental perception data to target fire-fighting lights using the radio frequency communication function of a dual-mode communication chip refers to a mobile terminal using the radio frequency communication function of its dual-mode communication chip to wirelessly transmit the collected environmental perception data to the target fire-fighting light with which it has the best communication quality.

[0090] The radio frequency (RF) communication function can employ one or more wireless communication technologies such as Wi-Fi, Bluetooth, ZigBee, and LoRa. RF communication is chosen for data transmission because in disaster scenarios, mains power supply may be interrupted, and power line carrier communication may fail. However, RF communication can still function normally in a wireless ad hoc network, ensuring reliable transmission of environmental data.

[0091] Environmental sensing data includes at least one of the following: ambient temperature, hazardous gas concentration, and water depth. This clarifies the specific types of environmental sensing data. Ambient temperature refers to the real-time temperature of an indoor space and can be used to assess high-temperature hazards such as fires. Hazardous gas concentration refers to the content of specific harmful gases in the air and can be used to detect toxic gas leaks. Water depth refers to the height of water accumulation on the ground or in a specific area and can be used to assess flood risk. These data types are key indicators for assessing the degree of environmental hazard in disaster scenarios, but other types of environmental data, such as smoke concentration and light intensity, are not excluded.

[0092] Upon receiving environmental perception data, if it is determined that the data exceeds a preset safety range, a lighting alert describing the preset path will be output. This means that the target fire-fighting lighting fixture analyzes and judges the environmental perception data sent by the mobile terminal. The preset safety range consists of pre-defined environmental parameter thresholds, such as a temperature above 60℃, a gas concentration exceeding 100ppm, or a water depth exceeding 10cm. Once any environmental perception data exceeds these thresholds, the target fire-fighting lighting fixture will trigger an alarm mechanism and issue a specific alert through its own lighting system.

[0093] Light prompts can be implemented by changing the color, flashing frequency, brightness, or projecting specific patterns to visually indicate a preset evacuation route to mobile terminal users. The preset route, used to guide the mobile terminal to the target safe location, refers to the path described in the light prompts. Its purpose is to provide clear action guidance to mobile terminal users, enabling them to safely evacuate from a dangerous area to a predetermined safe location.

[0094] The target safe location can be an emergency exit, a shelter, or an area less affected by a disaster. The preset path can be indicated by a series of continuous lights or by providing directional guidance at key points. The preset path is determined based on the non-real-time conditions of the target indoor space, meaning that the preset path is generated not based on real-time environmental changes, but on static or semi-static information about the target indoor space.

[0095] Non-real-time information may include building structure diagrams, locations of safety exits, distribution of refuge areas, locations of fire-fighting facilities, and fixed locations of potential hazards. This information is pre-entered into the system before a disaster occurs, and multiple possible safe evacuation routes are planned accordingly. When the light prompt is triggered, the system selects the optimal preset route based on the current location of the mobile terminal and known safety exits or refuges.

[0096] This application's solution enhances emergency response capabilities in disaster scenarios beyond basic indoor positioning functionality. When a disaster occurs and the mobile terminal user is in a hazardous environment, the mobile terminal actively collects environmental perception data, such as ambient temperature, hazardous gas concentration, or water depth. This data is reliably transmitted to the target fire-fighting lighting fixture with the best communication quality via the mobile terminal's dual-mode communication chip's radio frequency communication function. Radio frequency communication was chosen because power line carrier communication may fail in the event of a power outage caused by a disaster, while radio frequency communication can maintain a connection in a wireless ad hoc network.

[0097] Upon receiving this environmental perception data, the target fire-fighting lights immediately compare it with a preset safety range. If any environmental parameter exceeds a safety threshold, indicating the mobile user is in danger, the target fire-fighting lights will respond swiftly. They no longer merely provide location anchors but proactively take on the responsibility of guiding evacuation, outputting specific light cues through their own lighting system. These cues are not randomly generated but precisely describe a preset evacuation path.

[0098] This pre-planned path is based on non-real-time conditions of the target indoor environment, such as building layout and the location of safety exits, and aims to guide mobile terminal users to the nearest or safest target location. In this way, the proposed solution tightly integrates environmental monitoring, hazard warning, and path guidance functions. During a disaster, it not only provides mobile terminal users with their precise current location, but more importantly, it proactively provides intuitive and effective evacuation guidance based on real-time environmental hazards. This enables mobile terminal users to quickly assess danger and evacuate along clear light guidance in disaster environments with low visibility and poor orientation, greatly improving the chances of survival and rescue efficiency. This integrated emergency response mechanism effectively compensates for the insufficient guidance capabilities of simple location information in disaster scenarios, providing more comprehensive and intelligent support for disaster relief.

[0099] The following is a concrete example. When a firefighter enters an indoor fire scene to conduct a search and rescue operation, the mobile terminal can continuously collect data on the ambient temperature and smoke concentration in the area. Assume the mobile terminal has built-in temperature and smoke sensors. These sensors periodically measure the ambient temperature and smoke concentration and wirelessly transmit the collected data via the mobile terminal's dual-mode communication chip's radio frequency communication module to the fire extinguisher with the best current communication quality.

[0100] For example, when a firefighter enters a room, the mobile terminal detects a sharp rise in ambient temperature to 80°C and a dangerous level of smoke concentration. The mobile terminal sends this environmental data to the nearest fire extinguisher. Upon receiving the data, the fire extinguisher compares it to preset safety thresholds (e.g., a temperature safety threshold of 60°C and a moderate smoke concentration safety threshold). Since both the current temperature and smoke concentration exceed the preset safety ranges, the fire extinguisher immediately triggers its lighting warning function. At this time, the fire extinguisher can switch its light color from normal white to red and flash at a specific frequency. Additionally, if the fire extinguisher has a directional indicator function, it can also indicate a preset evacuation route by projecting arrows or changing the brightness of specific areas.

[0101] This pre-planned route is designed based on non-real-time information such as the building's floor plan, the location of safety exits, and fire escape routes. It aims to guide firefighters to the nearest safe exit or refuge area. For example, lights can create a continuous red band along the floor or walls, pointing to the nearest emergency exit. By observing these light cues, firefighters can clearly identify safe evacuation directions and routes, even in smoky environments with extremely low visibility, enabling them to quickly and effectively evacuate from danger zones.

[0102] Through the aforementioned technical solution, this application further enhances emergency response capabilities in disaster scenarios by providing accurate location information for mobile terminals. When a mobile terminal user is in a dangerous environment, the system can perceive environmental changes in real time and proactively provide intuitive and clear evacuation guidance based on the degree of environmental danger. This solves the technical problem that simply providing location information is insufficient to effectively guide personnel to safety. Specifically, by collecting environmental perception data through the mobile terminal and sending it to fire-fighting lights, the system can promptly obtain information about the dangerous situation on-site; the fire-fighting lights determine whether the data exceeds the safe range and output light warning information, providing users with immediate and visual danger warnings and evacuation route guidance. This intelligent path guidance based on environmental perception enables mobile terminal users to quickly assess danger and evacuate along clear light guidance in disaster environments with low visibility and unclear direction, greatly improving the survival rate and rescue efficiency, and effectively reducing personnel risks in disaster scenarios.

[0103] In some of the aforementioned implementations, a method was proposed to collect environmental perception data via a mobile terminal, and when the data exceeds a preset safety range, the target fire-fighting lights would output light alerts to guide the mobile terminal to the target safe location. However, in practice, relying solely on on-site light alerts may be insufficient to handle complex disaster situations, especially when external professional rescue forces are required. Efficiently and accurately transmitting real-time hazard information and personnel location information from the scene to the external emergency system is crucial to ensuring the timeliness and effectiveness of rescue efforts.

[0104] In response, this application further proposes that the control host also includes a protocol conversion gateway; after determining that the environmental perception data exceeds the preset safety range, it also includes: sending alarm information to the control host through a wireless self-organizing network; and sending the alarm information and the current location to the digital trunking communication system in the fire protection system through the control host using the protocol conversion gateway.

[0105] A protocol conversion gateway is a device or software module used to convert data formats and protocols between different communication protocols. It can understand and translate the communication rules and data structures used by different systems or networks, thereby enabling interconnection and interoperability between heterogeneous systems. A protocol conversion gateway can be a standalone hardware device with multiple built-in communication interfaces and protocol stacks.

[0106] The solution in this application operates as follows: When the environmental perception data collected by the mobile terminal exceeds a preset safety range, the target fire-fighting lighting fixture will output a light prompt to guide the mobile terminal. Furthermore, to more comprehensively address disaster situations, the control host also includes a protocol conversion gateway. When the target fire-fighting lighting fixture detects that the environmental perception data exceeds the preset safety range, it will send an alarm message to the control host via a wireless ad hoc network. Upon receiving the alarm message, the control host uses its internal protocol conversion gateway to convert the alarm message and the current location of the mobile terminal into the correct protocol.

[0107] Protocol conversion gateways can convert the communication protocols and data formats used within a wireless ad hoc network into standard protocols and data formats that can be recognized and processed by the digital trunking communication system in a fire protection system. Subsequently, the control host sends the converted alarm information and its current location to the digital trunking communication system in the fire protection system via the protocol conversion gateway. In this way, not only is local guidance provided to mobile terminals on-site, but more importantly, real-time hazard information and personnel location information are transmitted to external professional emergency rescue systems in a timely and accurate manner. This enables external rescue forces to quickly understand the disaster situation, accurately determine the location of trapped personnel, and thus more efficiently allocate resources, formulate rescue plans, and take targeted rescue actions, greatly improving personnel safety and rescue efficiency in disaster scenarios.

[0108] In some of the embodiments described above in this application, a method is proposed to determine the current location of a mobile terminal using an indoor positioning system and send the information to the mobile terminal. However, in disaster scenarios, the environment is complex and changeable, such as the presence of dense smoke, noise, or insufficient light. Simply sending the current location information to the mobile terminal in a single form may not ensure that the user can perceive and understand their location information in a timely, accurate, and intuitive manner, thereby affecting their rapid response and safe evacuation.

[0109] In this regard, this application further proposes a mobile terminal including a head-up display module, a bone conduction sound output module, and a zoned vibration array; the method also includes: outputting image information describing the current location through the head-up display module; outputting sound information describing the current location through the bone conduction sound output module; and outputting tactile information describing the current location through the zoned vibration array.

[0110] A head-up display (HUD) is a display device that projects information in front of a user's field of vision, allowing them to acquire information while observing their external environment. This module can be integrated into a mobile terminal (such as a helmet or glasses), projecting image information directly onto a transparent display screen or the user's retina via a micro-projector; alternatively, it can be a screen on a mobile terminal (such as a handheld device) with augmented reality (AR) capabilities, overlaying location information onto real-time environmental images captured by a camera.

[0111] A bone conduction sound output module is an audio output device that transmits sound directly to the auditory nerve through bone vibrations, bypassing the ear canal and eardrum. This module can be integrated into mobile devices (such as helmets or headphones) to transmit sound through contact with the skull; alternatively, it can be a miniaturized bone conduction unit that converts sound signals into mechanical vibrations by clipping or wearing it behind the ear.

[0112] A zoned vibration array is an array composed of multiple independently controllable vibration units that can transmit tactile information through combinations of vibrations in different areas. This array can be integrated into a mobile device (such as a vest, glove, or belt) and consists of multiple small vibration motors. By controlling the vibration intensity and frequency of different motors, it can generate a sense of direction or provide warning information. Alternatively, it can employ piezoelectric ceramics or electromagnetically driven tactile feedback units, achieving refined tactile information transmission through array arrangement.

[0113] The head-up display (HUD) module outputs image information describing the current location, visualizing abstract location data such as maps, arrows, and text. This can be achieved by displaying a marker of the current location on an indoor map, a path arrow indicating the nearest safety exit, or directly displaying text information such as "You are currently in room Y, zone X." Augmented reality technology can also be used to overlay virtual indicators in the user's field of vision, such as virtual arrows pointing in a safe direction or highlighting safe areas. The bone conduction sound output module outputs sound information describing the current location, informing the user of their location through hearing, providing voice navigation or warnings. This can be achieved by playing voice prompts such as "You have reached a safe area," "Turn left ahead into the passage," or "Current location: Zone A, third floor." Specific sound effects can also be played, such as an alarm sounding when approaching a danger zone or a guiding sound when nearing an exit. The zoned vibration array outputs tactile information describing the current location, providing location or direction information through tactile feedback, especially helpful when other senses are limited. This can be achieved through a partitioned vibration array, for example, the left-side vibration unit vibrates when a left turn is needed; the whole unit vibrates as a warning when approaching a target location; or different vibration modes can represent different information, for example, continuous vibration indicates danger, and intermittent vibration indicates guidance.

[0114] In this application, after receiving the current location information sent by the control host, the mobile terminal no longer presents the information in a single form. Instead, it transforms the location information into a multi-sensory output form through a head-up display module, a bone conduction sound output module, and a zoned vibration array integrated on the mobile terminal. Specifically, the head-up display module is responsible for presenting the current location intuitively in the user's field of vision in the form of image information, such as displaying a map, route instructions, or text descriptions. Simultaneously, the bone conduction sound output module converts the location information into sound information, directly transmitting it to the user's auditory system via bone conduction, such as providing voice navigation or warning sounds. Furthermore, the zoned vibration array generates corresponding tactile information based on the current location information, using vibration patterns in different areas of the body to indicate direction or provide warnings. These three output modules work together to transform abstract location data into multi-dimensional, multi-channel perceptual information, including visual, auditory, and tactile senses. This multimodal feedback mechanism enables users to obtain and understand their location information in a timely, accurate, and intuitive manner, even in extreme environments such as dense smoke, noise, or insufficient light, through at least one sensory channel or even the synergistic effect of multiple sensory channels. This greatly improves the reliability of information transmission and the efficiency of users' perception of information.

[0115] In other embodiments, this application proposes an indoor positioning system, please refer to... Figure 2 , Figure 2 This is a schematic diagram of an indoor positioning system provided in an embodiment of this application.

[0116] The indoor positioning system includes at least two fire-fighting lights, a mobile terminal, and a control host. Each fire-fighting light and the control host is installed at a fixed position in the target indoor area. The mobile terminal moves within the target indoor area. Each fire-fighting light and the mobile terminal includes a dual-mode communication chip, which has both power line carrier communication and radio frequency communication functions. The dual-mode communication chip implements the radio frequency communication function through binary phase shift keying modulation. Each fire-fighting light uses both mains power supply mode and battery power supply mode. Each fire-fighting light serves as a dynamic anchor point for the indoor positioning system. Each fire-fighting light fixture is used to generate a hard interrupt signal when the voltage value of the power supply circuit of the fire-fighting light fixture is detected to be less than the preset voltage threshold. The hard interrupt signal is used to control the power supply mode of the fire-fighting light fixture to switch from the mains power supply mode to the battery power supply mode, and to control the dual-mode communication chip of each fire-fighting light fixture to stop processing the power line carrier communication signal. It is also used to control the dual-mode communication chip of each fire-fighting light fixture to form a wireless self-organizing network through the radio frequency communication function. The mobile terminal is used to obtain the radio frequency signal parameters sent by each fire lamp using its dual-mode communication chip, and based on the radio frequency signal parameters, to determine the unique identification code of the target fire lamp with the best communication quality with the mobile terminal from at least two fire lamps, and to determine the signal feature dataset between the mobile terminal and each fire lamp respectively, and to send the unique identification code and the signal feature dataset to the target fire lamp. The signal feature dataset is used to describe the characteristics of the communication signal between the corresponding fire lamp and the mobile terminal. Each fire-fighting light fixture is used to send its unique identification code and signal feature dataset to the control host via a wireless ad hoc network; The control host is used to determine the current location of the mobile terminal based on the unique identification code, signal feature dataset, and real-time conditions of the target indoor location. Each fire-fighting light fixture is also used to send its current location to a mobile terminal via a wireless self-organizing network.

[0117] The core innovation of this embodiment lies in the underlying hard binding of the "dual-power" architecture and "dual-mode" mechanism of the fire-fighting lights. Using a voltage drop in the mains power supply as a hard interrupt trigger signal, the power supply mode and communication mode are switched within 10 milliseconds, thus transforming each fire-fighting light into a self-powered HRF wireless mesh node group at the moment of power failure. Traditional multi-sensor fusion positioning is prone to failure due to the severe drift of barometer height caused by thermal pressure winds in fire scenes, slippage of odometers and inertial navigation caused by debris and accumulated water, and complete blinding of visual sensors by dense smoke. Simultaneously, existing indoor positioning base stations are highly dependent on mains power and external networks, forming "communication islands" after power failure. This application, through a strong coupling design at the hardware level, avoids network jitter caused by module switching or cold starts, ensuring the absolute continuity of the underlying communication link. The high penetration characteristics of HRF effectively eliminate physical obstacles in fire scene debris, thick load-bearing walls, and high-dust environments, solving the communication interruption problem. Furthermore, by centralizing the complex positioning calculation tasks to the control host, while the mobile terminal only needs to perform signal acquisition and transmission, the limitations of weak computing power of the end-side devices are overcome, and high-precision spatial positioning and robust communication support are achieved in extreme disaster scenarios.

[0118] Through the above technical solutions, this application provides reliable location information and communication support for fire emergency rescue in extreme disaster scenarios involving "three disruptions" (power outage, fire malfunction, and power failure), significantly improving rescue efficiency and safety. For example, when a fire in a large underground shopping mall causes a power outage, the voltage detection module of the fire-fighting lights detects a voltage drop within 10 milliseconds, immediately triggering the closure of the battery power supply circuit and activating the HRF communication function to quickly establish a mesh network. The mobile terminal processes the RSSI and CSI characteristics of surrounding fire-fighting lights using a quantitative AI model to accurately locate the fire-fighting lights with the best communication quality. The control host calculates the precise coordinates of the mobile terminal using a BIM database and transmits the location information back in real time through a wireless ad hoc network, ensuring that rescue personnel can obtain continuous and reliable location guidance even in harsh environments such as dense smoke and flooded areas.

[0119] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

[0120] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0121] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An indoor positioning method, characterized in that, An indoor positioning system for disaster scenarios includes at least two fire-fighting lights, a mobile terminal, and a control host. Each fire-fighting light and the control host is positioned at a fixed location within the target indoor area. The mobile terminal moves within the target indoor area. Each fire-fighting light and the mobile terminal includes a dual-mode communication chip, which simultaneously possesses power line carrier communication and radio frequency communication functions. The dual-mode communication chip implements the radio frequency communication function through binary phase-shift keying modulation. Each fire-fighting light employs both mains power and battery power modes. Each fire-fighting light serves as a dynamic anchor point for the indoor positioning system. The method includes: When the voltage value of the power supply circuit of each of the fire lamps is detected to be less than a preset voltage threshold, a hard interrupt signal is generated. The hard interrupt signal is used to control the power supply mode of the fire lamps to switch from the mains power supply mode to the battery power supply mode, and to control the dual-mode communication chip of each of the fire lamps to stop processing power line carrier communication signals. It is also used to control the dual-mode communication chip of each of the fire lamps to form a wireless self-organizing network through the radio frequency communication function. The mobile terminal uses its dual-mode communication chip to acquire the radio frequency signal parameters transmitted by each of the fire-fighting lamps. Based on the radio frequency signal parameters, a unique identification code is determined from the at least two fire-fighting lamps to identify the target fire-fighting lamp with the best communication quality to the mobile terminal. The mobile terminal also determines the signal feature dataset between each fire-fighting lamp and the mobile terminal. The unique identification code and the signal feature dataset are then sent to the target fire-fighting lamp. The signal feature dataset is used to describe the characteristics of the communication signal between the corresponding fire-fighting lamp and the mobile terminal. Each of the aforementioned fire-fighting lights, via the wireless ad hoc network, sends the unique identification code and the signal feature dataset to the control host; The control host determines the current location of the mobile terminal based on the unique identification code, the signal feature dataset, and the real-time situation of the target indoor location. The current location is transmitted to the mobile terminal via each of the fire-fighting lights and the wireless ad hoc network.

2. The method according to claim 1, characterized in that, Also includes: When the voltage value of the power supply circuit of each fire-fighting lamp is detected to be greater than or equal to the preset voltage threshold, the power supply mode of the fire-fighting lamp is controlled to be the mains power supply mode, and the dual-mode communication chip of each fire-fighting lamp is controlled to communicate with the mobile terminal through the power line carrier communication function and the radio frequency communication function.

3. The method according to claim 1, characterized in that, The step of determining a unique identification code for the target fire-fighting lamp with the best communication quality with the mobile terminal from the at least two fire-fighting lamps, and determining the signal feature dataset between the mobile terminal and each of the fire-fighting lamps respectively, includes: The initial communication signals sent by each of the aforementioned fire-fighting lights are acquired respectively; By filtering out interference signals from each of the initial communication signals, the target communication signals corresponding to each of the fire-fighting lights are obtained. The signal strength, channel state information, and signal-to-noise ratio of each target communication signal are obtained. Based on the signal strength, channel state information, and signal-to-noise ratio of each target communication signal, the target fire-fighting lamp with the best communication quality with the mobile terminal is determined, and a unique identification code extraction instruction is sent to the target fire-fighting lamp to instruct the target fire-fighting lamp to return the unique identification code. Based on the signal strength, channel state information, and signal-to-noise ratio corresponding to each target communication signal, a signal feature dataset is generated between the mobile terminal and each fire-fighting lamp.

4. The method according to claim 3, characterized in that, Determining the current location of the mobile terminal based on the unique identification code, the signal feature dataset, and the real-time situation of the target indoor location includes: Obtain a 3D building model of the target indoor space and a dataset of absolute coordinates for each of the fire-fighting lights; The target absolute coordinates of the target fire-fighting lighting fixture are determined based on the unique identification code and the absolute coordinate dataset. Based on the signal feature dataset and the preset mapping relationship, the distance between the mobile terminal and each of the fire-fighting lights is determined; the preset mapping relationship is used to describe the relationship between the signal strength of the target communication signal and the distance between the mobile terminal and each of the fire-fighting lights. The current location is determined based on the absolute coordinates of the target and the distance between the mobile terminal and each of the fire-fighting lights.

5. The method according to claim 4, characterized in that, The step of sending the unique identification code and the signal feature dataset to the control host via the wireless ad hoc network through each of the fire-fighting lights includes: The working status of the dual-mode communication chip of each fire lamp is determined by each of the fire lamps, and a first target communication path is determined from the wireless ad hoc network based on the working status of the dual-mode communication chip of each fire lamp. The starting point of the first target communication path is the target fire lamp, the ending point is the control host, and the path also includes several fire lamps in between. The unique identification code and the signal feature dataset are sent to the control host via the target fire-fighting light fixture and the plurality of fire-fighting light fixtures based on the first target communication path.

6. The method according to claim 4, characterized in that, The step of transmitting the current location to the mobile terminal via each of the fire-fighting lights and the wireless ad hoc network includes: The working status of the dual-mode communication chip of each fire lamp is determined by each fire lamp, and a second target communication path is determined from the wireless ad hoc network based on the working status of the dual-mode communication chip of each fire lamp; the starting point of the second target communication path is the control host, the ending point is the target fire lamp, and the path also includes several fire lamps in between; The current location is sent to the mobile terminal via the target fire-fighting light fixture and several of the fire-fighting light fixtures, based on the second target communication path.

7. The method according to any one of claims 1 to 6, characterized in that, Also includes: The mobile terminal collects environmental perception data in the target indoor space and uses the radio frequency communication function of the dual-mode communication chip to send the environmental perception data to the target fire-fighting lighting fixture. The environmental sensing data includes at least one of ambient temperature, hazardous gas concentration, and water depth. Upon receiving the environmental perception data, the target fire-fighting lighting fixture will output a light prompt message describing the preset path if it determines that the environmental perception data exceeds the preset safety range. The preset path is used to guide the mobile terminal to the target safe location, and the preset path is determined based on the non-real-time situation of the target indoor location.

8. The method according to claim 7, characterized in that, The control host further includes a protocol conversion gateway; after determining that the environmental awareness data exceeds a preset security range, it also includes: The alarm information is sent to the control host via each of the fire-fighting lights through the wireless self-organizing network; The alarm information and the current location are sent to the digital trunking communication system in the fire protection system via the control host and the protocol conversion gateway.

9. The method according to any one of claims 1 to 6, characterized in that, The mobile terminal includes a head-up display module, a bone conduction sound output module, and a zoned vibration array; the method further includes: The head-up display module outputs image information describing the current location. The bone conduction sound output module outputs sound information describing the current location. The partitioned vibration array outputs tactile information describing the current location.

10. An indoor positioning system, characterized in that, The indoor positioning system includes at least two fire-fighting lights, a mobile terminal, and a control host. Each fire-fighting light and the control host is set at a fixed position in the target indoor area. The mobile terminal moves within the target indoor area. Each fire-fighting light and the mobile terminal includes a dual-mode communication chip. The dual-mode communication chip has both power line carrier communication and radio frequency communication functions. The dual-mode communication chip implements the radio frequency communication function through binary phase shift keying modulation. Each fire-fighting light adopts both mains power supply mode and battery power supply mode. Each fire-fighting light serves as a dynamic anchor point for the indoor positioning system. Each of the aforementioned fire-fighting lights is configured to generate a hard interrupt signal when the voltage value of the power supply circuit of the fire-fighting light is detected to be less than a preset voltage threshold. The hard interrupt signal is used to control the power supply mode of the fire-fighting light to switch from the mains power supply mode to the battery power supply mode, and to control the dual-mode communication chip of each of the fire-fighting lights to stop processing power line carrier communication signals. It is also used to control the dual-mode communication chip of each of the fire-fighting lights to form a wireless self-organizing network through the radio frequency communication function. The mobile terminal is configured to use the dual-mode communication chip of the mobile terminal to obtain the radio frequency signal parameters transmitted by each of the fire lamps, and based on the radio frequency signal parameters, determine the unique identification code of the target fire lamp with the best communication quality with the mobile terminal from the at least two fire lamps, and determine the signal feature dataset between the mobile terminal and each of the fire lamps respectively, and send the unique identification code and the signal feature dataset to the target fire lamp. The signal feature dataset is used to describe the characteristics of the communication signal between the corresponding fire lamp and the mobile terminal. Each of the aforementioned fire-fighting lights is used to send the unique identification code and the signal feature dataset to the control host via a wireless ad hoc network; The control host is used to determine the current location of the mobile terminal based on the unique identification code, the signal feature dataset, and the real-time situation of the target indoor location. Each of the aforementioned fire-fighting lights is also used to transmit its current location to the mobile terminal via a wireless ad hoc network.

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