CN105160807A - Firefighter safety positioning system based on UWB and positioning method thereof - Google Patents

Abstract

The invention relates to the technical field of fire safety and UWB wireless sensor network, and discloses a UWB-based firefighter safety positioning system, including several sub-anchor nodes and a main anchor node set in each room of a building, and a positioning bracelet , routers and command centers. The invention also discloses a positioning method using the positioning system. The invention enables the fire command center to know the real-time position information of the firefighters in the building where the fire broke out, and judge whether the firefighters are in danger according to the real-time position information. At the same time, the real-time fire situation of the building where the fire broke out is grasped in real time to prevent firefighters from entering dangerous areas and causing danger.

Description

Safety positioning system and positioning method for firefighters based on UWB

technical field

The invention relates to the technical field of fire safety and UWB wireless sensor network, in particular to a UWB-based firefighter safety positioning system and positioning method.

Background technique

With the further advancement of urbanization, the number of high-rise buildings and large-scale entertainment venues in my country is increasing, and the fire hazards are also greatly increasing. The requirements for fire safety systems that are related to the safety of people's lives and property are also increasing. When a fire breaks out in a building, firefighters often need to enter the building to control the fire.

In the existing fire protection system, after firefighters enter a building where a fire occurs, they often have poor visibility due to the smoke caused by the fire, and cannot identify their own location, and may stray into a fire dangerous area and cause damage to the firefighters. The personal safety of firefighters is threatened. If a firefighter faints due to high temperature or smoke from a fire, it is even more necessary to collect real-time location information and personnel movement information of the firefighters in the fire to ensure the personal safety of the firefighters.

Contents of the invention

In order to solve the above problems, the present invention proposes a UWB-based firefighter safety positioning system and positioning method, so that the command center can judge whether the firefighters are in danger according to the real-time location information, and at the same time grasp the real-time fire situation of the building where the fire broke out. Prevent firefighters from entering dangerous areas and causing danger.

The technical scheme that the present invention takes is:

A UWB-based firefighter safety positioning system is characterized in that it includes several sub-anchor nodes and a main anchor node, a positioning bracelet, a router and a command center arranged in each room of the building, and the router is connected through a network To the command center, the main anchor node is connected to the network through the router, the sub-anchor node is connected to the main anchor node, and the wristband is connected to the sub-anchor node through UWB communication , the sub-anchor node monitors the fire information in the room and the position information of the positioning bracelet is transmitted to the main anchor node, and the main anchor node transmits the above information to the command center through a router, and the command center After the center processes and judges the information, it feeds back to the positioning bracelet through the main anchor node and sub-anchor nodes.

Further, the positioning wristband includes a wristband MCU, a wristband power supply module, a wristband UWB module and a warning module, the wristband UWB module and the warning module are connected to the wristband MCU, and the wristband UWB module passes UWB wireless communication realizes the positioning of the positioning bracelet and the data communication with each sub-anchor node.

Further, the positioning wristband also includes a radio frequency antenna module, and the radio frequency antenna module is connected to the UWB module of the wristband to strengthen the wireless signal of the UWB module of the wristband.

Further, the warning module includes an LED indicator light, a vibration motor and a buzzer.

Further, the main anchor node mainly includes a main anchor MCU, a main anchor power module, a main anchor UWB module, a network module, a smoke sensor, a temperature sensor, and an AD module. The main anchor UWB module, a network module, a smoke sensor The sensor, the temperature sensor and the AD module are connected to the main anchor MCU, the smoke sensor and the temperature sensor monitor the smoke level and temperature information near the main anchor node, and the AD module converts the smoke level and temperature information converted into digital signals, and the main anchor MCU communicates the digital signals with the command center through the network module.

Further, the sub-anchor node mainly includes a sub-anchor MCU, a sub-anchor power module, a sub-anchor UWB module, a smoke sensor, a temperature sensor, and an AD module. The sub-anchor UWB module, a smoke sensor, a temperature sensor and The AD module is connected to the sub-anchor MCU, the smoke sensor and the temperature sensor monitor the smoke level and temperature information near the sub-anchor node, and the AD module converts the smoke level and temperature information into digital signals, so The sub-anchor MCU sends the digital signal to the main anchor MCU through the sub-anchor UWB module.

Further, the main anchor node includes a GPRS module, and both the main anchor node and the sub-anchor nodes include backup power supply modules.

Further, the router is located in a building, and the router connects main anchor nodes in multiple rooms in the building to the network.

Further, the command center includes a server and a monitoring host. The server is responsible for receiving and analyzing the fire information uploaded by each main anchor node and the positioning information of the bracelet. The monitoring host performs visual early warning processing of the fire information.

A positioning method using the above-mentioned UWB-based firefighter safety positioning system is characterized in that it includes the following steps:

(1) The sub-anchor node and the main anchor node of each room regularly collect the surrounding temperature and smoke data;

(2) The main anchor node and the sub-anchor node detect whether they receive the UWB signal sent by the positioning bracelet at the same time. If the signal is received, it is judged that someone has entered the room, and the distance detection of the person is performed according to the UWB signal. The sub-anchor node sends the distance data to the main anchor node for summarization;

(3) After completing step (1), each sub-anchor node and the main anchor node respectively judge whether their smoke and temperature data exceed the first threshold value, and the first threshold value is the smoke sensor for judging whether a fire has occurred. The threshold value of the sensor and temperature sensor,

If it does not exceed the first threshold, each sub-anchor node will send each sensor data to the main anchor node for summary upload;

If it exceeds the first threshold, it is further judged whether it exceeds the second threshold, and the second threshold is whether the fire is suitable for firefighters to enter the room;

If it does not exceed the second threshold, the first alarm information is generated, and each sub-anchor node carries out the summary of fire sensing data and alarm information to the main anchor node; the first alarm information is a fire;

If it exceeds the second threshold, it will be known whether there is any person entering according to the judgment result in step (2);

If no personnel enters, then directly generate the second alarm information, and each sub-anchor node carries out the summary of fire sensing data and alarm information to the main anchor node, and the second alarm information is that the room is not suitable for firefighters to enter;

If someone enters, an alarm message will be sent to the UWB module of the positioning bracelet to warn the firefighters that the room is dangerous and not suitable for firefighters to enter, and a third alarm message will be issued, and each sub-anchor node will send a fire sensor to the main anchor node Summary of data and alarm information, the third alarm information is that the room is not suitable for firefighters to enter and firefighters have entered;

(4) The main anchor node summarizes the above-mentioned distance information between each anchor node and firefighters, the firefighting data collected by the sensor, and the generated alarm information, and uploads the data to the command center through the network;

(5) After the command center receives the data of the main anchor nodes in each room, it first obtains whether there is alarm information according to the data; if the alarm information is found, it processes the alarm information, and then processes the uploaded distance information of firefighters , determine its specific location information in the room, and combine with the pre-established building model to display the location information of the personnel and the data information of the fire sensor;

(6) According to the obtained personnel positioning information, alarm information and fire data information of each room, judge whether the firefighters entering each room are safe. If the above-mentioned command center detects that there is no change in the position information of the firefighters within one minute, an emergency alarm will be issued to carry out emergency rescue to prevent the danger caused by overheating and smoke.

The beneficial effects of the present invention are:

(1) UWB nodes are used to locate firefighters, with high precision, and can judge the specific location information of firefighters in the room; and can further judge whether the personnel have fainted or other dangers according to whether their location has not changed for a long time, and further guarantee the safety of firefighters;

(2) The combination of personnel positioning and fire perception is realized. While UWB anchor nodes are used as a positioning method, temperature and smoke sensors are added to their hardware modules, so that each UWB anchor node can obtain fire information and judge the degree of danger. If it is too dangerous and not suitable for firefighters to enter, then The vibration motor of the fire bracelet and the buzzer remind the firefighters of the danger, which not only realizes the positioning of personnel, but also realizes the early warning of danger;

(3) Combined with the model of the building, through the fire data collected by each anchor node, the fire information of each main location of each room of the building can be obtained, and the fire information in the building can be generally understood. In this way , which can realize reasonable safety guidance for firefighters and prevent them from entering high-risk fire areas;

(4) Each UWB anchor node adopts a complete backup plan to deal with various failures when a fire occurs. The use of backup power and multiple network communication modes greatly improves the availability and reliability of the system, and further ensures the safety of personnel in case of fire.

Description of drawings

Accompanying drawing 1 is the hardware block diagram of fire locating bracelet;

Accompanying drawing 2 is the hardware block diagram of UWB main anchor node;

Accompanying drawing 3 is the hardware block diagram of UWB sub-anchor node;

Accompanying drawing 4 is the overall structure diagram of the system;

Accompanying drawing 5 is system flowchart.

Detailed ways

The specific implementation of the UWB-based firefighter safety positioning system and positioning method of the present invention will be described in detail below.

UWB (UltraWideband) is a carrier-free communication technology that uses nanosecond to picosecond non-sine wave narrow pulses to transmit data. The pulse-type data transmission method of UWB technology has extremely high resolution in time, and can be better suitable for high-precision positioning. By transmitting extremely low-power signals over a wide frequency spectrum, UWB can achieve data transmission rates from hundreds of Mbit/s to several Gbit/s within a range of about 10 meters. UWB has strong anti-interference performance, high transmission rate, large system capacity and very small transmission power. The transmission power of the UWB system is very small, and the communication equipment can realize communication with the transmission power less than 1mW. Low transmit power greatly prolongs the working time of the system power supply. Moreover, the transmission power is small, and the influence of its electromagnetic wave radiation on the human body will be small, and the application area is wide.

The UWB-based firefighter safety positioning system includes a firefighter positioning bracelet, a UWB main anchor node, a UWB sub-anchor node, a router, and a fire command center. The fire positioning bracelet is carried on the wrist of the firefighter; the UWB main anchor node and the UWB sub-anchor nodes are located in the room of the building, and UWB anchor nodes are arranged around each room to monitor the fire situation in the room information and locate the firefighters entering the room, three UWB sub-anchor nodes and one UWB main anchor node are arranged in each room; uploading of positioning data; the fire command center is a remote fire data center, equipped with a server and a monitoring host.

The fire positioning wristband mainly includes MCU, power module, LED indicator light, UWB module, RF antenna module, vibration motor, buzzer, etc. The MCU microprocessor can be used to control the operation of other modules and data processing tasks; the power module can use a lithium battery to supply power to the positioning bracelet; the LED indicator displays the current battery power information and system working status. If the system is working normally and there is no fire alarm information, it will display green, if it enters a fire danger area, it will display orange, and if the battery is low, it will display red. The UWB module is responsible for UWB wireless communication to realize data communication with each UWB anchor node and distance measurement for positioning; the radio frequency antenna module is used to strengthen the UWB wireless signal strength to ensure the strength and stability of the wireless signal; the vibration motor And the buzzer is mainly used to notify firefighters when entering a dangerous fire area.

UWB main anchor node mainly includes MCU, power module, backup power supply, UWB module, RF antenna module, network module, GPRS module, smoke sensor, temperature sensor, AD module, etc. Its MCU microprocessor can be used to control the operation of other modules and data processing tasks; the power supply module is powered by wire; the backup battery is powered by a lithium battery, which can supply power when the external power supply is cut off after a fire , to ensure the reliability of the anchor node; the UWB module is responsible for the UWB wireless communication to realize the data communication with each UWB anchor node and the positioning bracelet and the distance measurement for the positioning of the positioning bracelet; the radio frequency antenna module is used to strengthen the The UWB wireless signal strength ensures the strength and stability of the wireless signal; the network module is the interface between the UWB main anchor node and the fire command center equipment for network communication, which can realize TCP/IP communication and upload fire data and positioning data; In order to ensure the reliability of the equipment, a spare GPRS module is used. When a network failure occurs, wireless GPRS is used to upload fire data; the smoke sensor is used to monitor the smoke information near the UWB; the temperature sensor is used to monitor The temperature information of the UWB node; the AD module is used to realize AD conversion, and convert the analog signal collected by each sensor into a digital signal and provide it to the MCU.

On the basis of the UWB main anchor node, the UWB sub-anchor node reduces the network module and the GPRS module, and does not need network communication. It only needs to send data to the UWB main anchor node through the UWB module through the UWB signal.

The router is located in the fire protection building and is responsible for connecting each UWB main anchor node to the network and uploading the data of each UWB main anchor node.

The fire command center includes servers and monitoring hosts. The server is responsible for receiving the fire information and personnel positioning information uploaded by each UWB main anchor node, and processing and storing them, using personnel positioning algorithms to determine the location of personnel, and visually displaying their real-time positions in the pre-established model. Alarm processing of fire danger information uploaded by UWB main anchor node.

A kind of UWB-based fire safety positioning system that the present invention proposes, its specific steps are as follows:

(1) Three UWB sub-anchor nodes and one UWB main anchor node arranged around the room regularly (every minute) collect the surrounding temperature and smoke data;

(2) Each UWB anchor node in the room detects whether it receives the UWB signal sent by the positioning bracelet at the same time. If the signal is received, it is judged that someone has entered the room, and the distance detection of the person is performed according to the UWB signal. Each UWB sub-anchor node sends the distance data to the UWB main anchor node for summary;

(3) After (1) the fire information collection near each UWB anchor node is completed, each UWB anchor node judges whether its smoke and temperature data exceed the first threshold value (each sensor valve for judging whether a fire has occurred value);

If it does not exceed the first threshold, each UWB sub-anchor node sends each sensor data to the UWB main anchor node for summary upload;

If it exceeds the first threshold, further judge whether it exceeds the second threshold (judging whether the fire is suitable for firefighters to enter the room);

If the second threshold is not exceeded, the first alarm information is generated (that is, it is judged that a fire has occurred), and each UWB sub-anchor node conducts a summary of fire sensing data and alarm information to the UWB main anchor node;

If it exceeds the second threshold, it will be known whether there are people entering according to the judgment result in (2);

If no one enters, the second alarm information is directly generated (that is, it is judged that the room is not suitable for firefighters to enter), and each UWB sub-anchor node conducts a summary of fire sensing data and alarm information to the UWB main anchor node;

If someone enters, an alarm message will be sent to the UWB module of the positioning bracelet to make its vibration motor and buzzer work, to warn the firefighters that the room is dangerous and not suitable for firefighters to enter, and a third alarm message (that is, judgment judgment) will be issued. The room is not suitable for firefighters to enter and firefighters have entered), and each UWB sub-anchor node summarizes fire sensing data and alarm information to the UWB main anchor node;

(4) The UWB main anchor node summarizes the distance information between the above-mentioned anchor nodes and firefighters, the fire data collected by the sensor, and the generated alarm information, and uploads the data through the Internet;

(5) After the fire control command center receives the data of the UWB anchor nodes in each room, it first obtains whether there is an alarm message according to the data; Various types of alarm information, and then process the uploaded distance information of firefighters, determine their specific location information in the room through a three-point positioning algorithm, and combine the pre-established building model to display the location information of personnel and fire sensors of each data information;

(6) According to the obtained personnel positioning information, alarm information and fire data information of each room, judge whether the firefighters entering each room are safe, if not, contact and warn by radio. Combined with the location information of the personnel, if the fire command center monitors that the location information of the firefighters has not changed within one minute, an emergency alarm will be issued to carry out emergency rescue to prevent personnel from fainting due to overheating and smoke, which may cause life-threatening.

The present invention will be further described below according to accompanying drawing, referring to accompanying drawing 1, this figure is the hardware block diagram of fire-fighting positioning bracelet. The fire positioning wristband mainly includes MCU, power module, LED indicator light, UWB module, RF antenna module, vibration motor, buzzer, etc. The MCU microprocessor can be used to control the operation of other modules and data processing tasks; the power module can use a lithium battery to supply power to the positioning bracelet; the LED indicator displays the current battery power information and system working status. If the system is working normally and there is no fire alarm information, it will display green, if it enters a fire danger area, it will display orange, and if the battery is low, it will display red. The UWB module is responsible for UWB wireless communication to realize data communication with each UWB anchor node and distance measurement for positioning; the radio frequency antenna module is used to strengthen the UWB wireless signal strength to ensure the strength and stability of the wireless signal; the vibration motor And the buzzer is mainly used to notify firefighters when entering a dangerous fire area.

Referring to accompanying drawing 2, this figure is the hardware block diagram of UWB main anchor node. UWB main anchor node mainly includes MCU, power module, backup power supply, UWB module, RF antenna module, network module, GPRS module, smoke sensor, temperature sensor, AD module, etc. Its MCU microprocessor can be used to control the operation of other modules and data processing tasks; the power supply module is powered by wire; the backup battery is powered by a lithium battery, which can supply power when the external power supply is cut off after a fire , to ensure the reliability of the anchor node; the UWB module is responsible for the UWB wireless communication to realize the data communication with each UWB anchor node and the positioning bracelet and the distance measurement for the positioning of the positioning bracelet; the radio frequency antenna module is used to strengthen the The UWB wireless signal strength ensures the strength and stability of the wireless signal; the network module is the interface between the UWB main anchor node and the fire command center equipment for network communication, which can realize TCP/IP communication and upload fire data and positioning data; In order to ensure the reliability of the equipment, a spare GPRS module is used. When a network failure occurs, wireless GPRS is used to upload fire data; the smoke sensor is used to monitor the smoke information near the UWB; the temperature sensor is used to monitor The temperature information of the UWB node; the AD module is used to realize AD conversion, and convert the analog signal collected by each sensor into a digital signal and provide it to the MCU.

Referring to accompanying drawing 3, this figure is the hardware block diagram of UWB sub-anchor node. On the basis of the UWB main anchor node, the UWB sub-anchor node reduces the network module and the GPRS module, and does not need network communication. It only needs to send data to the UWB main anchor node through the UWB module through the UWB signal.

Referring to accompanying drawing 4, this figure is the overall structure diagram of the system. The figure shows the internal structure of a certain building. There are four UWB anchor nodes in each room, including three UWB sub-anchor nodes and one UWB main anchor node. The UWB main anchor nodes in each room are wired into the network, and can upload data to the remote fire command center through the Internet. The fire command center is equipped with a server and a monitoring host. The server is responsible for receiving, processing and computing data. The monitoring host is mainly responsible for monitoring the buildings and processing alarm information.

Referring to accompanying drawing 5, it is the overall flowchart of this system, and its main process is divided into the following several steps:

(1) Three UWB sub-anchor nodes and one UWB main anchor node arranged around the room regularly (every minute) collect the surrounding temperature and smoke data;

(2) Each UWB anchor node in the room detects whether it receives the UWB signal sent by the positioning bracelet at the same time. If the signal is received, it is judged that someone has entered the room, and the distance detection of the person is performed according to the UWB signal. Each UWB sub-anchor node sends the distance data to the UWB main anchor node for summary;

(3) After (1) the fire information collection near each UWB anchor node is completed, each UWB anchor node judges whether its smoke and temperature data exceed the first threshold value (each sensor valve for judging whether a fire has occurred value);

If it does not exceed the first threshold, each UWB sub-anchor node sends each sensor data to the UWB main anchor node for summary upload;

If it exceeds the first threshold, further judge whether it exceeds the second threshold (judging whether the fire is suitable for firefighters to enter the room);

If the second threshold is not exceeded, the first alarm information is generated (that is, it is judged that a fire has occurred), and each UWB sub-anchor node conducts a summary of fire sensing data and alarm information to the UWB main anchor node;

If it exceeds the second threshold, it will be known whether there are people entering according to the judgment result in (2);

If no one enters, the second alarm information is directly generated (that is, it is judged that the room is not suitable for firefighters to enter), and each UWB sub-anchor node conducts a summary of fire sensing data and alarm information to the UWB main anchor node;

If someone enters, an alarm message will be sent to the UWB module of the positioning bracelet to make its vibration motor and buzzer work, to warn the firefighters that the room is dangerous and not suitable for firefighters to enter, and a third alarm message (that is, judgment judgment) will be issued. The room is not suitable for firefighters to enter and firefighters have entered), and each UWB sub-anchor node summarizes fire sensing data and alarm information to the UWB main anchor node;

(4) The UWB main anchor node summarizes the distance information between the above-mentioned anchor nodes and firefighters, the fire data collected by the sensor, and the generated alarm information, and uploads the data through the Internet;

(5) After the fire control command center receives the data of the UWB anchor nodes in each room, it first obtains whether there is an alarm message according to the data; Various types of alarm information, and then process the uploaded distance information of firefighters, determine their specific location information in the room through a three-point positioning algorithm, and combine the pre-established building model to display the location information of personnel and fire sensors of each data information;

(6) According to the obtained personnel positioning information, alarm information and fire data information of each room, judge whether the firefighters entering each room are safe, if not, contact and warn by radio. Combined with the location information of the personnel, if the fire command center detects that the location information of the firefighters has not changed within one minute, an emergency alarm will be issued to carry out emergency rescue to prevent personnel from fainting due to overheating and smoke. resulting in danger to life.

The above are only preferred embodiments of the present invention. It should be pointed out that those skilled in the art can make some improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as the present invention. protection scope of the invention.

Claims (10)

1. the fire fighter's security positioning system based on UWB, it is characterized in that: be included in some the sub-anchor nodes and a Bower Anchor node that arrange in each room of buildings, location bracelet, router and command centre, described router is connected to described command centre by network, described Bower Anchor node is connected to described network by described router, described sub-anchor node is connected to described Bower Anchor node, communicated to connect by UWB between described bracelet and described sub-anchor node, condition of a fire information in described sub-anchor node monitoring room and the positional information of described location bracelet are sent to described Bower Anchor node, above-mentioned information is sent to described command centre by router by described Bower Anchor node, after information processing judges by described command centre, described location bracelet is fed back to by described Bower Anchor node and sub-anchor node.

2. the fire fighter's security positioning system based on UWB according to claim 1, it is characterized in that: described location bracelet comprises bracelet MCU, bracelet power module, bracelet UWB module and alarm module, described bracelet UWB module and alarm module are connected to described bracelet MCU, and described bracelet UWB module realizes the location of described location bracelet and the data communication with each sub-anchor node by UWB radio communication.

3. the fire fighter's security positioning system based on UWB according to claim 2, it is characterized in that: described location bracelet also comprises radio frequency antenna module, described radio frequency antenna module connects described bracelet UWB module, and the wireless signal of described bracelet UWB module is strengthened.

4. the fire fighter's security positioning system based on UWB according to claim 2, is characterized in that: described alarm module comprises LED light, vibrating motor and hummer.

5. the fire fighter's security positioning system based on UWB according to claim 1, it is characterized in that: described Bower Anchor node mainly comprises Bower Anchor MCU, Bower Anchor power module, Bower Anchor UWB module, mixed-media network modules mixed-media, sense smoke sensor, temperature sensing sensor, A/D module, described Bower Anchor UWB module, mixed-media network modules mixed-media, sense smoke sensor, temperature sensing sensor is connected described Bower Anchor MCU with A/D module, described sense smoke sensor, temperature sensing sensor monitors smoke intensity and the temperature information of described Bower Anchor near nodal, described A/D module converts described smoke intensity and temperature information to digital signal, described digital signal is carried out data communication by described mixed-media network modules mixed-media and described command centre by described Bower Anchor MCU.

6. the fire fighter's security positioning system based on UWB according to claim 1, it is characterized in that: described sub-anchor node mainly comprises sub-anchor MCU, sub-anchor power module, sub-anchor UWB module, sense smoke sensor, temperature sensing sensor, A/D module, described sub-anchor UWB module, sense smoke sensor, temperature sensing sensor is connected described sub-anchor MCU with A/D module, described sense smoke sensor, smoke intensity near the described sub-anchor node of temperature sensing sensor monitoring and temperature information, described A/D module converts described smoke intensity and temperature information to digital signal, described digital signal is sent to described Bower Anchor MCU by sub-anchor UWB module by described sub-anchor MCU.

7. the fire fighter's security positioning system based on UWB according to claim 5 or 6, is characterized in that: described Bower Anchor node comprises GPRS module, and described Bower Anchor node and sub-anchor node all comprise standby power supply module.

8. the fire fighter's security positioning system based on UWB according to claim 7, is characterized in that: described router is positioned at buildings, and the Bower Anchor node in room multiple in described buildings is accessed described network by described router.

9. the fire fighter's security positioning system based on UWB according to claim 8, it is characterized in that: described command centre includes server and monitoring host computer, described network in charge receives condition of a fire information and bracelet locating information that each Bower Anchor node uploads and analyzes, and carries out condition of a fire information carry out visual early warning process by described monitoring host computer.

10. application is as claimed in claim 9 based on a localization method for fire fighter's security positioning system of UWB, it is characterized in that: comprise the steps:

(1) temperature around the described sub-anchor node in each room and Bower Anchor node timing acquiring and smoke intensity data;

(2) described Bower Anchor node and sub-anchor node detect the UWB signal whether receiving described location bracelet and send simultaneously, if receive signal, judge that someone enters this room, and the distance detection of personnel is carried out according to described UWB signal, range data is sent to described Bower Anchor node and gathers by described sub-anchor node;

(3), after completing steps (1), each sub-anchor joint and Bower Anchor node judge whether its smoke intensity and temperature data have exceeded the first threshold values respectively, and described first threshold values is judge whether the described sense smoke sensor of breaking out of fire, the threshold values of temperature sensing sensor,

If be no more than the first threshold values, then each sensing data is sent to Bower Anchor node and is carried out gathering uploading by each sub-anchor node;

If more than the first threshold values, then judge whether further more than the second threshold values, described second threshold values is that the whether applicable fire fighter of the condition of a fire enters room;

If be no more than the second threshold values, then generate the first warning message, then each sub-anchor node carries out gathering of fire-fighting sensing data and warning message to Bower Anchor node; Described first warning message is for there occurs fire;

If more than the second threshold values, then know whether have personnel to enter according to the judged result in step (2);

If enter without personnel, then directly generate Secondary Report alarming information, and each sub-anchor node carries out gathering of fire-fighting sensing data and warning message to Bower Anchor node, described Secondary Report alarming information enters for this room is not suitable for fire fighter;

If there are personnel to enter, then send warning message to location bracelet UWB module, warning this room of fire fighter is dangerous, be not suitable for fire fighter to enter, and send the 3rd warning message, and each sub-anchor node carries out gathering of fire-fighting sensing data and warning message to Bower Anchor node, and described 3rd warning message enters for this room is not suitable for fire fighter and has fireman to enter;

(4) warning message of the range information of above-mentioned each anchor node and fire fighter, fire-fighting data that sensor gathers and generation gathers by Bower Anchor node, and by described network by data upload to described command centre;

(5), after described command centre receives the data of Bower Anchor node in each room, first whether warning message is had according to data acquisition; If discovery warning message, then carry out the process of warning message, then the fire fighter's range information uploaded is processed, determine its more specific location information in this room, and combine the BUILDINGS MODELS set up in advance, the display positional information of personnel and each data message of fire protection sensor;

(6) according to the personnel positioning information of acquisition and warning message, the fire-fighting data message in each room, judge the fireman's whether safety entering each room, if dangerous, then contacted by radio, warning, in conjunction with the locating information of personnel, if the positional information that described command centre monitors fireman within one minute without any variation, then send emergency alarm, carry out emergency relief, prevent the danger that personnel cause because of overheated and smog.