A rapid personnel positioning system for long linear tunnels in emergency situations

Abstract

This application discloses a rapid personnel positioning system for long linear tunnels in emergency situations, relating to the field of positioning technology. The system includes: a base station cluster and an autonomous positioning device; the base station cluster integrates several first ranging modules, which have fixed geometric positional relationships; both the autonomous positioning device and the base station cluster are self-powered and include wireless communication modules, communicating via a self-organizing network; the autonomous positioning device includes a second ranging module; the second ranging module simultaneously measures distances with several first ranging modules to obtain distance observation values ​​between the second ranging module and each first ranging module; the autonomous positioning device pre-stores three-dimensional relative coordinates between the several first ranging modules on the base station cluster; the autonomous positioning device independently calculates its current position coordinates based on the three-dimensional relative coordinates and distance observation values. This application can be deployed quickly and independently complete positioning functions without relying on external infrastructure.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a rapid personnel positioning system for long linear tunnels in emergency situations. Background Technology

[0002] In complex environments such as mines and large buildings, existing personnel positioning systems, such as RFID, ZigBee, Wi-Fi, and UWB, typically rely on a pre-deployed network of radio frequency base stations with fixed intervals. The normal operation of such systems requires several prerequisites: first, a stable power supply system within the environment is needed to power the base stations, relay stations, and other equipment; second, wired networks such as fiber optic cables or communication cables are needed to transmit the signals collected by the base stations to the regional command center platform; and finally, the calculation of personnel location information is highly dependent on the computing power of the backend server platform.

[0003] The traditional positioning methods that rely on environmental sensors and infrastructure can still work under normal circumstances. However, in the event of disasters such as underground water inrush, gas explosion, earthquake, or fire, which cause prolonged power outages or communication network interruptions in buildings or tunnels, or when the original environmental sensors are damaged or rendered ineffective by the disaster, the traditional positioning system will become completely unusable due to the loss of power supply, network transmission, or backend processing platform support.

[0004] After a disaster, the on-site environment is often isolated, complex, and highly dangerous. Under extreme conditions such as communication disruptions, unstable power supply, low visibility, and damaged tunnels, traditional personnel positioning methods become ineffective, severely hindering rescue operations. Summary of the Invention

[0005] The purpose of this application is to provide a rapid personnel positioning system for long linear tunnels in emergency situations, which can be deployed quickly and independently without relying on external infrastructure.

[0006] To achieve the above objectives, this application provides the following solution: In a first aspect, this application provides a rapid personnel positioning system for long linear tunnels in emergency situations, comprising: a base station cluster and an autonomous positioning device; the base station cluster is configured to be independently fixed in the emergency scenario and serve as a temporary positioning reference; the autonomous positioning device is carried by the personnel. The base station cluster board integrates several first ranging modules, and the first ranging modules have a fixed geometric positional relationship. Both the autonomous positioning device and the base station cluster board are equipped with their own power supply; both the autonomous positioning device and the base station cluster board include a wireless communication module, and the two communicate through a self-organizing network. The autonomous positioning device includes a second ranging module; The second ranging module simultaneously measures distance with several first ranging modules to obtain distance observation values ​​between the second ranging module and each of the first ranging modules; The autonomous positioning device pre-stores the three-dimensional relative coordinates between several first ranging modules on the base station cluster board. The autonomous positioning device independently calculates its current location coordinates based on the three-dimensional relative coordinates and the distance observation value.

[0007] Optionally, both the first ranging module and the second ranging module are MEMS-UWB modules.

[0008] Optionally, the base station cluster board integrates four first ranging modules; The geometric positional relationship between the first ranging modules is one of a square, a circumcircle, and a midpoint triangle.

[0009] Optionally, the base station cluster board has a built-in power source, which is a rechargeable lithium battery; the rechargeable lithium battery is used to power the first ranging module.

[0010] Optionally, the autonomous positioning device further includes a central processing unit; the central processing unit uses the three-dimensional relative coordinates and the distance observations to construct a constrained distance intersection positioning mathematical model, and uses a constrained sequential quadratic programming optimization method to solve the constrained distance intersection positioning mathematical model to obtain the position coordinates of the autonomous positioning device.

[0011] Optionally, the autonomous positioning device transmits the calculated location coordinates to the base station cluster board via the wireless communication module; The base station cluster board will send the received location coordinates outwards.

[0012] Optionally, the autonomous positioning device employs a time-division multiple access mechanism to coordinate the ranging process with several of the first ranging modules.

[0013] Optionally, the autonomous positioning device further includes a display unit; the display unit displays the location coordinates, the number of the base station cluster board, the coordinates of several first ranging modules, and the personnel walking trajectory in a graphical or list format.

[0014] Optionally, the base station cluster board is used to fix itself at the entrance of the scene when personnel carry the autonomous positioning device into the long linear alleyway scene.

[0015] Optionally, when the communication distance between the autonomous positioning device and the base station cluster board reaches a preset threshold or there is physical obstruction, a second base station cluster board is set up; The autonomous positioning device performs ranging and positioning with the second base station cluster board; The wireless communication module of the second base station cluster board sends the location coordinates of the autonomous positioning device to the wireless communication module of the base station cluster board, and the wireless communication module of the base station cluster board then transmits them to the outside world.

[0016] According to the specific embodiments provided in this application, this application has the following technical effects: This application provides a rapid personnel positioning system for long linear tunnels in emergency situations. The system utilizes a self-contained power supply design for both the base station cluster and the autonomous positioning device, allowing independent operation without relying on the existing power supply system within the scenario. Furthermore, both devices incorporate wireless communication modules and employ a self-organizing network for communication, eliminating the need for existing wired or wireless communication networks. This enables the system to operate normally even in extreme emergency scenarios involving power outages and network disruptions, demonstrating strong environmental adaptability and operational independence. The base station cluster eliminates the need for existing facilities within the scenario, allowing for direct and independent installation as a temporary positioning reference. Since the base station cluster integrates multiple ranging modules with fixed geometric positions, this reference can be used directly after installation without complex on-site calibration or adjustment, significantly improving emergency response speed and deployment flexibility. The autonomous positioning device pre-stores the three-dimensional relative coordinates of multiple ranging modules on the base station cluster and can independently calculate its current location coordinates based on distance measurements obtained simultaneously from its own second ranging module and the multiple first ranging modules. This process eliminates the need to upload measurement data to external servers or command center platforms for processing, achieving true autonomous terminal positioning and avoiding positioning failures due to data transmission interruptions or backend platform malfunctions. In complex emergency environments with communication outages and power shortages, this application can provide real-time location information for rescue personnel entering the site. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments 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 This is a schematic diagram of the structure of a rapid personnel positioning system for long linear tunnels in an emergency, according to one embodiment of this application. Figure 2 is a schematic diagram of the position of the first ranging module of the base station cluster board provided in an embodiment of this application; wherein, Figure 2(a) is a square layout, Figure 2(b) is a midpoint triangular layout, and Figure 2(c) is an outer circular layout. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In large-scale scenarios such as underground mines and buildings, personnel positioning systems based on environmental sensors, such as RFID, ZigBee, Wi-Fi, and UWB, are currently mainly used. These systems generally require several essential conditions: ① Radio frequency (RF) base stations need to be deployed at specified intervals and densities within the application scenario; ② Fiber optic or communication network cables are needed to connect base stations, relay stations, and the regional command center platform; ③ Personnel need to wear RF identification tags, and as they move within the scenario, nearby RF base stations can identify the tag information and the approximate distance to the base station; ④ This identification information is transmitted to the regional command center platform via base stations and relay stations to calculate the personnel's real-time location.

[0021] As described above, current positioning systems in mines and buildings rely on two prerequisites: ① the prior deployment of personnel positioning system environmental sensors and other equipment; and ② the calculation of personnel location information depends on power supply and communication network support. In the event of a sudden, prolonged power outage or network disruption in buildings or underground tunnels, or in emergency situations where sudden disasters render environmental sensors inoperable, these conventional personnel positioning systems, based on environmental sensors, cannot provide the necessary personnel location services and exhibit significant limitations.

[0022] Following a disaster, the on-site environment is often enclosed, complex, and highly dangerous. Under extreme conditions such as communication disruptions, unstable power supply, low visibility, and damaged tunnels, traditional personnel location methods become ineffective, severely hindering rescue operations. In such scenarios, this application can be used to quickly and accurately obtain the location information of rescue personnel, improving rescue efficiency.

[0023] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] In one exemplary embodiment, such as Figure 1 As shown, a rapid personnel positioning system for long linear tunnels in emergency situations is provided, including: a base station cluster and an autonomous positioning device; the base station cluster is configured to be independently fixed in the emergency scenario and serve as a temporary positioning reference; the autonomous positioning device is carried by the personnel.

[0025] The base station cluster board integrates several first ranging modules, and the first ranging modules have a fixed geometric positional relationship.

[0026] Both the autonomous positioning device and the base station cluster board have their own power supply; both the autonomous positioning device and the base station cluster board include a wireless communication module, and the two communicate through a self-organizing network.

[0027] The autonomous positioning device includes a second ranging module.

[0028] The second ranging module simultaneously measures distances with several first ranging modules to obtain distance observation values ​​between the second ranging module and each of the first ranging modules.

[0029] The autonomous positioning device pre-stores the three-dimensional relative coordinates between several first ranging modules on the base station cluster board.

[0030] The autonomous positioning device independently calculates its current location coordinates based on the three-dimensional relative coordinates and the distance observation value.

[0031] This embodiment mainly consists of two parts: a separately attached base station cluster board and a portable autonomous positioning device for personnel. It requires no external environmental sensors, nor does it require support from the existing power supply and network communication systems within the scenario; it is self-contained. It can independently complete functions such as setting up positioning references, observing positioning signals, and processing positioning data within the emergency area.

[0032] This embodiment features a self-contained power supply for both the base station cluster board and the autonomous positioning device, allowing them to operate independently without relying on the existing power supply system within the scenario. Furthermore, both devices include wireless communication modules and communicate via a self-organizing network, eliminating the need for existing wired or wireless communication networks. This enables the embodiment to continue operating normally even in extreme emergency scenarios involving power outages or network disruptions, demonstrating strong environmental adaptability and operational independence. The base station cluster board in this embodiment does not rely on existing facilities within the scenario and can be directly and independently fixed within the emergency scenario as a temporary positioning reference. Since the base station cluster board integrates multiple ranging modules with fixed geometrical positions, this reference can be used directly after fixing without complex on-site calibration or adjustment, greatly improving emergency response speed and deployment flexibility. The autonomous positioning device in this embodiment pre-stores the three-dimensional relative coordinates of multiple ranging modules on the base station cluster board and can independently calculate its current location coordinates based on distance observations obtained simultaneously from its own second ranging module and the multiple first ranging modules. This process eliminates the need to upload measurement data to external servers or command center platforms for processing, achieving true autonomous terminal positioning and avoiding positioning failures due to data transmission interruptions or backend platform malfunctions. In complex emergency environments with communication outages and power shortages, this embodiment can provide real-time location information for rescue personnel entering the scene.

[0033] In another exemplary embodiment of this application, both the first ranging module and the second ranging module are MEMS-UWB modules.

[0034] In another exemplary embodiment of this application, four first ranging modules are integrated on the base station cluster board; The geometric positional relationship between the first ranging modules is one of a square, a circumcircle, or a midpoint triangle. A midpoint triangle refers to a geometric layout in which three of the four ranging modules form a triangle, and the fourth module is located at the midpoint of one side of the triangle.

[0035] In another exemplary embodiment of this application, the base station cluster board has a built-in power supply of a rechargeable lithium battery; the rechargeable lithium battery is used to power the first ranging module.

[0036] In another exemplary embodiment of this application, the autonomous positioning device further includes a central processing unit; the central processing unit constructs a constrained distance intersection positioning mathematical model using the three-dimensional relative coordinates and the distance observation values, and solves the constrained distance intersection positioning mathematical model using a constrained sequential quadratic programming optimization method to obtain the position coordinates of the autonomous positioning device.

[0037] In another exemplary embodiment of this application, the autonomous positioning device sends the calculated location coordinates to the base station cluster board via the wireless communication module; The base station cluster board will send the received location coordinates outwards.

[0038] In another exemplary embodiment of this application, the autonomous positioning device employs a time-division multiple access mechanism to coordinate the ranging process with several of the first ranging modules.

[0039] In another exemplary embodiment of this application, the autonomous positioning device further includes a display unit; the display unit displays the location coordinates, the number of the base station cluster board, the coordinates of several first ranging modules, and the personnel walking trajectory in a graphical or list manner.

[0040] In another exemplary embodiment of this application, the base station cluster board is used to be fixed at the entrance of the scene when a person carries the autonomous positioning device into a long linear alleyway scene.

[0041] In another exemplary embodiment of this application, a second base station cluster is set when the communication distance between the autonomous positioning device and the base station cluster reaches a preset threshold or when there is physical obstruction; in this embodiment, the preset threshold is set to 60 meters. When the ranging success rate between the autonomous positioning device and the base station cluster is less than 50% within five consecutive ranging cycles, or when the signal reception strength suddenly decreases by more than 20 dB, it is determined that there is physical obstruction.

[0042] The autonomous positioning device performs ranging and positioning with the second base station cluster board; The wireless communication module of the second base station cluster board sends the location coordinates of the autonomous positioning device to the wireless communication module of the base station cluster board, and the wireless communication module of the base station cluster board then transmits them to the outside world.

[0043] In another exemplary embodiment of this application, the base station cluster board is configured as follows: The base station cluster board has four base station clusters (i.e., the first ranging modules) integrated by MEMS-UWB modules, and one wireless communication module. The wireless communication module is a LORA wireless communication module, which is also on the base station cluster board. It is a separate sensor and can be placed near the edge of the board to prevent it from interfering with the UWB signals of the four base stations (the first ranging modules).

[0044] The base station cluster board is a flat plate designed according to specified dimensions, on which four MEMS-UWB modules are arranged at design intervals of 20-40 cm. The geometric layout of the base station cluster is shown in Figure 2, which can be arranged as a square, a circumcircle, a midpoint triangle, etc., where Figure 2(a) is a square layout, Figure 2(b) is a midpoint triangle layout, and Figure 2(c) is a circumcircle layout. In Figure 2, A1, A2, A3, and A4 represent the four MEMS-UWB modules (i.e., the first ranging module) integrated on the base station cluster board. In Figure 2(a), 'a' represents the layout spacing between the four MEMS-UWB modules, which is used to form known geometric constraints. The spacing between the modules in other layout methods can be derived from 'a' based on geometric relationships.

[0045] Each MEMS-UWB module is a long-range wireless measurement module. The module antennas preferentially utilize low group delay ultra-wideband antennas, capable of automatically transmitting and receiving pulse signals within the corresponding spectrum (bandwidth ≥ 500MHz). These four modules communicate with the autonomous positioning device at a set frequency using the TWR (time-of-flight) method, i.e., simultaneously transmitting pulse signal sequences in opposite directions for distance measurement. The maximum straight-line communication distance of this module is 60 meters, with a ranging accuracy of 10cm.

[0046] The base station cluster contains four MEMS-UWB modules arranged in a fixed geometry, connected by optical fibers according to the design, forming a closed-loop constrained system. A rechargeable lithium battery, positioned at the edge of the cluster, provides continuous signal transmission for the MEMS-UWB modules, allowing for over 36 hours of operation. An independent microcontroller (MCU) is integrated within the board to handle errors in the real-time ranging observation system of the four base stations, eliminating or mitigating the impact of UWB ranging errors on subsequent personnel positioning algorithms.

[0047] The base station cluster board also has a LoRa wireless communication module, which connects with the positioning device's communication unit and the external command vehicle's communication center to form a self-organizing network. This module can also send parameters calculating the base station ranging system error to the autonomous positioning device's communication unit, while simultaneously receiving the location coordinate information calculated by the autonomous positioning device in real time. After adding the current base station cluster number information, it retransmits the information to the emergency rescue command vehicle outside the scene.

[0048] In another exemplary embodiment of this application, the autonomous positioning device is configured as follows: The size of the autonomous positioning device is controlled within 25cm. 25 cm Within 25 cm, it can be worn directly on the body. The device is based on a MEMS integrated device and includes at least a single wireless MEMS-UWB module, a central processor unit, a communication unit (i.e., a wireless communication module), and a display unit.

[0049] The autonomous positioning device is also equipped with a single wireless MEMS-UWB module, which operates on the same principle as the first ranging module. Based on a customized protocol of the IEEE 802.15.4 standard, it can simultaneously acquire signals from the four MEMS-UWB base stations in the base station cluster. The central processing unit of the autonomous positioning device processes the raw signal using a noise reduction algorithm (to eliminate multipath effects and noise interference) and then calculates the distance between the positioning device and the four base stations. .

[0050] This module employs a Time Division Multiple Access (TDMA) mechanism and a system-level scheduling strategy to coordinate multiple TWR ranging processes, ensuring synchronization and data transmission. This guarantees that measurement data from multiple base stations (i.e., the first ranging module) are received in real time and in an orderly manner. Under unobstructed conditions, the maximum straight-line communication distance between the autonomous positioning device and the base station cluster can reach 60 meters.

[0051] The entire autonomous positioning device consists of an integrated circuit board on which the sensor modules described above are mounted. These modules are interconnected through circuit design and packaging. After the hardware is packaged, the underlying hardware development is required to implement each function.

[0052] The central processing unit of the autonomous positioning device encapsulates the executable program, which can calculate the coordinates of the device's current spatial reference position. The program already stores the coordinates of the four base stations on the base station cluster board. Known three-dimensional relative coordinates After inputting the real-time measured distances of 4 segments... (i.e., the distances between the second ranging module and the four first ranging modules respectively). By constructing a constrained distance intersection positioning mathematical model, and using the CSQP (constraint sequence quadratic program) optimization search method, the coordinates of the person's current location are solved.

[0053] The display unit of the autonomous positioning device is a screen, which displays the current base station cluster board number and the coordinates of the corresponding four base stations, the current location coordinates of the person, and the trajectory formed after walking, in a graphical or list format. The interface can also display a manual function menu for setting parameters such as signal reception and transmission frequencies.

[0054] The communication unit of the autonomous positioning device uses a LoRa module. The LoRa modules within the autonomous positioning device, the LoRa modules on the base station cluster board, and the external command vehicle communication center can connect to form a self-organizing network for wireless communication. This module can input the base station ranging system error parameters calculated by the main control MCU to the central processing unit. Simultaneously, it can send the position coordinates and other data calculated by the central processing unit of the autonomous positioning device to the LoRa module on the base station cluster board (providing relay communication functionality), thereby relaying the data to the external command vehicle.

[0055] The overall operating architecture of the autonomous positioning device is as follows: the wireless MEMS-UWB module processes and obtains four observation values. The program is input to the central processing unit to calculate the personnel's position coordinates; simultaneously, it is input to the display unit for display and to the communication unit as information to be sent externally. The entire operation refreshes automatically according to the pre-set acquisition signal frequency.

[0056] In another exemplary embodiment of this application, the working principle of the rapid personnel positioning system for long linear tunnels in emergency situations is as follows: When a pedestrian carrying an autonomous positioning device walks in a long linear scene such as a building corridor or underground tunnel, the first base station cluster board (numbered RF1) can be opened and quickly fixed at the entrance of the scene by self-adhesion, providing a known reference benchmark for the rapid positioning of people in this scene in emergency situations.

[0057] When there is a physical obstruction between the positioning device and the base station cluster board in the scene, or when the maximum straight-line communication distance between the two reaches 60 meters, the personnel open the second base station cluster board for fixation, and then continue to perform the task. The personnel positioning process is the same as the positioning process of the first base station cluster board, except that after the communication module of the second base station cluster board receives the personnel's location coordinate information, it will transmit it to board RF1, and then RF1 will send it to the emergency rescue command vehicle outside the scene.

[0058] After deploying multiple base station clusters, positioning is prioritized based on identification distance. This means that the distance between each base station cluster and the autonomous positioning device is ranked, and the closest cluster is selected as the positioning reference for calculation. This is because it's impossible to deploy multiple base station clusters simultaneously in an emergency, as rescue timeliness and cost must be considered. A second base station cluster will only be deployed if identification of a single cluster becomes difficult or signal reception is obstructed. In this case, the positioning device will automatically identify the strength and difference in received signals to determine which cluster is closer.

[0059] Outside of the scenario, if there is an emergency rescue command vehicle, the communication center can form a self-organizing network with the LoRa module inside the autonomous positioning device and the LoRa module of the base station cluster board to receive the location of rescue personnel and other monitoring information returned from the base station cluster board.

[0060] The specific process during operation is as follows: Personnel carrying multiple "base station cluster" boards and autonomous positioning devices enter a scenario requiring emergency response. ① First, the folded base station cluster board RF1 is unfolded and affixed to a relatively flat wall with a wide field of vision. The power switch on the board is then turned on (the coordinates of the base station cluster board are reference coordinates, not absolute coordinates; the system automatically sets a fixed MEMS-UWB position coordinate of the base station cluster board as the reference origin, and other coordinates are calculated based on this). ② Second, the personnel carrying the autonomous positioning device enter the scenario and begin normal work or task execution. The autonomous positioning device and the base station cluster board communicate in real time at the designed frequency, recording four distance values ​​between the autonomous positioning device on the personnel and the base station cluster board at this moment. ③ Then, these four recorded distance values ​​are used as initial input values ​​and passed to the built-in positioning calculation program of the autonomous positioning device for calculation, which determines the personnel's current position information in the reference coordinate system. ④ The communication unit of the autonomous positioning device processes this information and sends it to the base station cluster board RF1, which serves as the positioning reference. After receiving the personnel's location coordinates, the communication module of board RF1 adds the current base station cluster board number and then sends it to the emergency rescue command vehicle outside the scene. ⑤ If multiple base station cluster boards RF1, RF2...RFt have been deployed during the personnel's movement, the personnel's location coordinates are transmitted sequentially from the positioning device to base station cluster RFt, relayed through RF2 and RF1, and finally sent to the external command vehicle.

[0061] In emergency scenarios such as power outages or network disruptions in long linear tunnels or indoor spaces, or when external rescue personnel need to enter the emergency space to carry out corresponding work or perform tasks, or when traditional pre-deployed personnel positioning systems based on environmental sensors fail to function properly, this embodiment can achieve autonomous personnel location and external communication of key information, making it highly applicable in emergencies. Personnel only need to carry multiple base station clusters and autonomous positioning devices into the scenario space. The base station clusters and autonomous positioning devices are small in size and easy to carry. The equipment is not easily affected by the emergency environment and can flexibly and mobilely locate emergency or rescue personnel in corridors, tunnels, underground spaces, and indoors during emergencies. This embodiment provides economical, portable, and autonomous personnel positioning equipment for emergency command, personnel deployment, and personnel location services during emergency evacuation in emergency situations.

[0062] In another exemplary embodiment of this application, the coordinates of the above system can be specifically implemented by the following calculation method: a method for quickly calculating the coordinates of personnel positions in long linear roadways under emergency conditions, comprising: S1. Obtain four ranging data points between the autonomous positioning device and four base stations on the base station cluster board, as well as the three-dimensional coordinates of the four base stations; the autonomous positioning device is carried by personnel; the base station cluster board is set in a long linear tunnel.

[0063] S2. The average value of the four distance measurement data is used as the longitudinal coordinate in the personnel spatial coordinate system.

[0064] S3. Based on the longitudinal coordinates, the four ranging data points, and the three-dimensional coordinates of the four base stations, construct an objective function and inequality constraints with the lateral and height coordinates in the personnel space coordinates as decision variables; the objective function is the function that minimizes the sum of squares of the distance differences between the three-dimensional coordinates of the four base stations and the personnel space coordinates.

[0065] S4. Using a constrained sequential quadratic programming algorithm, the objective function is iteratively optimized under the inequality constraints to obtain the optimal solutions for the horizontal and vertical coordinates.

[0066] The inequality constraints are set based on the actual width and height of the roadway where the personnel are located. The constraint range of the lateral coordinate is set based on the roadway width, and the constraint range of the height coordinate is set based on the roadway height.

[0067] The average of the four ranging data points is used as the longitudinal coordinate in the personnel spatial coordinate system, specifically including: Field counting and cleaning are performed on the four ranging data points to remove invalid data that does not match the preset standard number of fields, resulting in four cleaned data points. The median absolute deviation of the four cleaned data is calculated, and the cleaned data at the moment when the ranging value deviation is greater than the preset anomaly detection threshold is removed, resulting in four removed data. The four discarded data are judged according to the preset distance relationship check conditions, and abnormal distance values ​​are compensated to obtain four preprocessed data. The average value of the four preprocessed data is used as the vertical coordinate in the personnel spatial coordinate system.

[0068] The four discarded data points are judged according to preset distance relationship check conditions, and abnormal distance values ​​are compensated to obtain four preprocessed data points, specifically including: For the four removed data, a judgment is made according to the preset distance relationship check condition. When it is determined that a single removed data is abnormal, the average value of the other three removed data is used to compensate and correct the abnormal removed data, resulting in four preprocessed data.

[0069] The constrained sequential quadratic programming algorithm is used to iteratively optimize the objective function under the inequality constraints, thereby obtaining the optimal solutions for the horizontal and vertical coordinates. Specifically, this includes: Initialize the decision variables, Lagrange multipliers, and convergence tolerance; the decision variables include the horizontal coordinate and the height coordinate. Calculate the gradient and Hessian matrix of the objective function given the decision variables at the current point; Construct an active set under the current point decision variable, and solve the corresponding Carlow-Kuhn-Tucker system based on whether the active set is empty to obtain the search direction and the updated Lagrange multiplier; Based on the search direction, perform a line search to determine the optimal step size and update the decision variables; The optimal solution for the horizontal and vertical coordinates is output once the convergence condition is met.

[0070] Construct the active set under the current point decision variable, and solve the corresponding Caro-Kuhn-Tucker system based on whether the active set is empty to obtain the search direction and updated Lagrange multipliers, specifically including: Construct an active set under the current point decision variables. If the active set is not empty, solve the linear equation system consisting of the Hessian matrix of the objective function and the constraint gradient matrix corresponding to the active set to obtain the search direction and temporary multipliers. If the active set is empty, the search direction is calculated based on the gradient of the objective function and the Hessian matrix; When the search direction is a zero vector and the temporary multiplier is non-negative, the temporary multiplier is used as the updated Lagrange multiplier and the search direction is output.

[0071] The convergence condition is that the gradient norm of the objective function under the decision variables at the current point is less than the convergence tolerance.

[0072] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A rapid personnel positioning system for long linear roadways in emergency situations, characterized in that, include: The base station cluster board and the autonomous positioning device; the base station cluster board is configured to be independently fixed in an emergency scenario and serve as a temporary positioning reference; the autonomous positioning device is carried by personnel. The base station cluster board integrates several first ranging modules, and the first ranging modules have a fixed geometric positional relationship. Both the autonomous positioning device and the base station cluster board are equipped with their own power supply; both the autonomous positioning device and the base station cluster board include a wireless communication module, and the two communicate through a self-organizing network. The autonomous positioning device includes a second ranging module; The second ranging module simultaneously measures distance with several first ranging modules to obtain distance observation values ​​between the second ranging module and each of the first ranging modules; The autonomous positioning device pre-stores the three-dimensional relative coordinates between several first ranging modules on the base station cluster board. The autonomous positioning device independently calculates its current location coordinates based on the three-dimensional relative coordinates and the distance observation value.

2. The rapid personnel positioning system for long linear tunnels in emergency situations according to claim 1, characterized in that, Both the first ranging module and the second ranging module are MEMS-UWB modules.

3. The rapid personnel positioning system for long linear tunnels in emergency situations according to claim 1, characterized in that, The base station cluster board integrates four first ranging modules; The geometric positional relationship between the first ranging modules is one of a square, a circumcircle, and a midpoint triangle.

4. The rapid personnel positioning system for long linear tunnels in emergency situations according to claim 1, characterized in that, The base station cluster board has a built-in power supply of a rechargeable lithium battery; the rechargeable lithium battery is used to power the first ranging module.

5. The rapid personnel positioning system for long linear roadways in emergency situations according to claim 1, characterized in that, The autonomous positioning device also includes a central processing unit; the central processing unit uses the three-dimensional relative coordinates and the distance observations to construct a constrained distance intersection positioning mathematical model, and uses a constrained sequential quadratic programming optimization method to solve the constrained distance intersection positioning mathematical model to obtain the position coordinates of the autonomous positioning device.

6. The rapid personnel positioning system for long linear tunnels in emergency situations according to claim 1, characterized in that, The autonomous positioning device transmits the calculated location coordinates to the base station cluster board via the wireless communication module; The base station cluster board will send the received location coordinates outwards.

7. The rapid personnel positioning system for long linear tunnels in emergency situations according to claim 1, characterized in that, The autonomous positioning device uses a time-division multiple access mechanism to coordinate the ranging process with several of the first ranging modules.

8. The rapid personnel positioning system for long linear tunnels in emergency situations according to claim 1, characterized in that, The autonomous positioning device also includes a display unit; the display unit displays the location coordinates, the number of the base station cluster board, the coordinates of several first ranging modules, and the personnel walking trajectory in a graphical or list format.

9. The rapid personnel positioning system for long linear roadways in emergency situations according to claim 1, characterized in that, The base station cluster board is used to fix itself at the entrance of a long linear tunnel when personnel carry the autonomous positioning device into the tunnel.

10. The rapid personnel positioning system for long linear roadways in emergency situations according to claim 9, characterized in that, When the communication distance between the autonomous positioning device and the base station cluster board reaches a preset threshold or there is a physical obstruction, a second base station cluster board is set up. The autonomous positioning device performs ranging and positioning with the second base station cluster board; The wireless communication module of the second base station cluster board sends the location coordinates of the autonomous positioning device to the wireless communication module of the base station cluster board, and the wireless communication module of the base station cluster board then transmits them to the outside world.

Images